/**
* Main entry point; start worker threads, setup signal handling, wait for threads to exit, exit
* @param argc - Num args
* @param argv - Args
* @returns 0 on success, error code on failure
* NOTE: NEVER USE exit(3)! Instead call Thread_QuitProgram
*/
int main(int argc, char ** argv)
{
// Open log before calling ParseArguments (since ParseArguments may call the Log functions)
openlog("mctxserv", LOG_PID | LOG_PERROR, LOG_USER);
ParseArguments(argc, argv); // Setup the g_options structure from program arguments
Log(LOGINFO, "Server started");
#ifdef REALTIME_VERSION
if (is_realtime())
{
Log(LOGDEBUG, "Running under realtime kernel");
}
else
{
Fatal("Not running under realtime kernel");
}
struct sched_param param;
param.sched_priority = 49;
if (sched_setscheduler(0, SCHED_FIFO, ¶m) < 0)
Fatal("sched_setscheduler failed - %s", strerror(errno));
if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1)
Fatal("mlockall failed - %s", strerror(errno));
stack_prefault();
#endif //REALTIME_VERSION
Pin_Init();
// Try and start things
//const char *ret;
//if ((ret = Control_SetMode(CONTROL_START, "test")) != NULL)
// Fatal("Control_SetMode failed with '%s'", ret);
// run request thread in the main thread
FCGI_RequestLoop(NULL);
Control_SetMode(CONTROL_STOP, NULL);
//if ((ret = Control_SetMode(CONTROL_STOP, "test")) != NULL)
// Fatal("Control_SetMode failed with '%s'", ret);
//Sensor_StopAll();
//Actuator_StopAll();
Pin_Close();
Cleanup();
return 0;
}
int main(int argc, char *argv[])
{
struct sched_param param;
pthread_t allthr[MAX_THR];
int i, ret;
det_set_debug(1);
while((i=getopt(argc, argv, "n:i:h")) != EOF) {
switch(i) {
case 'h':
usage();
return 0;
case 'n':
max_thr = atoi(optarg);
if (max_thr >= MAX_THR)
errx(1, "no more than %d threads", MAX_THR);
break;
case 'i':
iteration = atoi(optarg);
break;
default:
errx(1, "invalid option");
}
}
param.sched_priority = MY_PRIORITY;
if(sched_setscheduler(0, SCHED_RR, ¶m) == -1) {
perror("sched_setscheduler failed");
// exit(-1);
}
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
// exit(-2);
}
/* Pre-fault our stack */
stack_prefault();
pthread_mutex_init(&mutexsum, NULL);
pthread_barrier_init(&barrier, NULL, max_thr);
for(i=1; i < max_thr; i++) {
pthread_create(allthr+i, NULL, my_worker, (void *)(unsigned long)i);
}
// comp_worker(0);
my_worker(0);
for (i = 1; i < max_thr; i++) {
pthread_join(allthr[i], NULL);
}
return 0;
}
int main(int argc, char* argv[])
{
struct timespec t;
struct sched_param param;
int interval = 1000000; /* 50us*/
/* Declare ourself as a real time task */
param.sched_priority = MY_PRIORITY;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
exit(-1);
}
/* Lock memory */
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
exit(-2);
}
/* Pre-fault our stack */
stack_prefault();
clock_gettime(CLOCK_MONOTONIC ,&t);
/* start after one second */
t.tv_sec++;
while(1) {
/* wait until next shot */
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
printf("%ld:%ld\n",t.tv_sec, t.tv_nsec/1000000);
/* do the stuff */
/* calculate next shot */
t.tv_nsec += interval;
while (t.tv_nsec >= NSEC_PER_SEC) {
t.tv_nsec -= NSEC_PER_SEC;
t.tv_sec++;
}
}
}
bool hrpExecutionContext::enterRT()
{
struct sched_param param;
param.sched_priority = m_priority;
#ifndef __APPLE__
if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler");
std::cerr << "If you are running this program on normal linux kernel for debug purpose, you can ignore the error message displayed above. If not, this program must have superuser privilege." << std::endl;
//return -1;
}else{
/* Lock memory */
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
}
}
#endif
/* Pre-fault our stack */
stack_prefault();
return true;
}
void set_rt(void) {
struct sched_param param;
/* Declare ourself as a real time task */
param.sched_priority = MY_PRIORITY;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
exit(-1);
}
// Lock memory
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
exit(-2);
}
// Pre-fault our stack
stack_prefault();
}
void hubo_daemonize()
{
syslog( LOG_NOTICE, "Starting daemonization for CAN" );
// Initialize signal variables
hubo_sig_quit = 0;
hubo_sig_usr1 = 0;
hubo_sig_usr2 = 0;
pid_t pid, child, sid, parent;
int lfp = -1; // lockfile pointer
// Already a daemon:
if( getppid() == 1 ) return; // A value of 1 indicates that there is no parent process
// Make sure lock directory exists
struct stat st = {0};
if( stat(LOCKDIR, &st) == -1 )
mkdir(LOCKDIR, 0700);
// Create the lockfile
if( LOCKFILE && LOCKFILE[0] )
{
lfp = open(LOCKFILE,O_RDWR|O_CREAT|O_EXCL,0640);
if( lfp < 0 )
{
syslog( LOG_ERR, "Unable to create lock file %s, code=%d (%s)",
LOCKFILE, errno, strerror(errno) );
syslog( LOG_ERR, " -- Run the kill script and try again!");
exit(EXIT_FAILURE);
}
}
// Drop the user if there is one
if( getuid()==0 || geteuid()==0 )
{
struct passwd *pw = getpwnam(RUN_AS_USER);
if( pw )
{
syslog( LOG_NOTICE, "Setting user to " RUN_AS_USER );
setuid( pw->pw_uid );
}
}
// Redirect the expected signals
signal( SIGCHLD, hubo_sig_handler );
// signal( SIGUSR1, hubo_sig_handler );
signal( SIGUSR2, hubo_sig_handler );
signal( SIGALRM, hubo_sig_handler );
signal( SIGINT, hubo_sig_handler );
signal( SIGQUIT, hubo_sig_handler );
signal( SIGTERM, hubo_sig_handler );
//Specific to the fork
signal( SIGUSR1, fork_sig_handler );
// First fork
child = fork();
// Quit if a child process could not be made
if( child<0 )
{
syslog( LOG_ERR, "Unable to fork daemon, code=%d (%s)",
errno, strerror(errno) );
exit( EXIT_FAILURE );
}
// Quit if we get a good Process ID
if( child>0 )
{
// Wait for confirmation from the child
// or forcibly quit after 2 seconds elapse
alarm(2);
pause();
exit( EXIT_FAILURE );
}
// If child == 0, then we are in the child process
//Second fork
pid = fork(); // pid will now represent the final process ID of the daemon
// Quit if the final process could not be made
if( pid<0 )
{
syslog( LOG_ERR, "Unable to fork daemon, code=%d (%s)",
errno, strerror(errno) );
exit( EXIT_FAILURE );
}
if( pid>0 )
{
// Kill the useless parent
parent = getppid();
kill( parent, SIGUSR1 );
// Wait for confirmation from the daemon
// or forcibly quit after 2 seconds elapse
alarm(2);
pause();
exit( EXIT_FAILURE );
}
// If pid == 0, then we are in the final process
// Now we execute as the final process
parent = getppid();
// TODO: Look into correctly handling these signals (SIG_DFL is default and SIG_IGN is ignore):
signal( SIGCHLD, SIG_DFL ); // Child process dies
signal( SIGTSTP, SIG_IGN ); // Stop (pause) signal
signal( SIGTTOU, SIG_IGN ); // Trying to write to terminal
signal( SIGTTIN, SIG_IGN ); // Trying to read from terminal
signal( SIGHUP, SIG_IGN ); // Hangup signal
signal( SIGUSR1, hubo_sig_handler ); // Return SIGUSR1 to the standard sig handler
// Change file mode mask
umask(0);
// Create a new Session ID for the child process
sid = setsid();
if( sid<0 )
{
syslog( LOG_ERR, "Unable to create a new session, code=%d (%s)",
errno, strerror(errno) );
exit(EXIT_FAILURE);
}
// Change the current working directory to prevent the current directory from being locked
if( (chdir("/")) < 0 )
{
syslog( LOG_ERR, "Unable to change directory, code=%d (%s)",
errno, strerror(errno) );
exit(EXIT_FAILURE);
}
struct stat logst = {0};
if( stat(LOGDIR, &logst) == -1 )
mkdir(LOGDIR, 0700);
// Create files for logging, in case they don't exist already
if( !fopen( "/var/log/hubo/daemon-output", "w" ) ||
!fopen( "/var/log/hubo/daemon-error", "w" ) )
{
syslog( LOG_ERR, "Unable to create log files, code=%d (%s)",
errno, strerror(errno) );
syslog( LOG_ERR, " -- Make sure /var/log/hubo/ directory exists!" );
exit(EXIT_FAILURE);
}
// Redirect standard files to /dev/hubo-daemon
if( !freopen( "/var/log/hubo/daemon-output", "w", stdout ) ||
!freopen( "/var/log/hubo/daemon-error", "w", stderr ) )
{
syslog( LOG_ERR, "Unable to stream output, code=%d (%s)",
errno, strerror(errno) );
exit(EXIT_FAILURE);
}
// Tell parent process that everything is okay
kill( parent, SIGUSR1 );
// RT
struct sched_param param;
// Declare ourself as a real time task
param.sched_priority = MY_PRIORITY;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
exit(-1);
}
// Lock memory
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
exit(-2);
}
// Pre-fault our stack
stack_prefault();
syslog( LOG_NOTICE, "Daemonization finished - Process Beginning" );
}
int main() {
struct sched_param param;
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
param.sched_priority = 49;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
exit(-1);
}
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
exit(-2);
}
stack_prefault();
err=config_open("/var/local/rpicopter.config");
if (err<0) {
printf("Failed to initiate config! [%s]\n", strerror(err));
return -1;
}
err=flog_open("/var/local/");
if (err<0) {
printf("Failed to initiate log! [%s]\n", strerror(err));
return -1;
}
err = sc_open();
if (err != 0) {
printf("Failed to initiate speedcontroller! [%s]\n", strerror(err));
return -1;
}
err=ms_open(GYRO_RATE);
if (err != 0) {
printf("Failed to initiate gyro! [%s]\n", strerror(err));
return -1;
}
err=rec_open();
if (err<0) {
printf("Failed to initiate receiver! [%s]\n", strerror(err));
return -1;
}
/*
err=bs_open();
if (err<0) {
printf("Failed to initiate pressure sensor! [%s]\n", strerror(err));
return -1;
}
*/
printf("Waiting for MPU calibration... \n");
delay_ms(1000);
controller_stable(NULL);
return 0;
}
int main(int argc, char **argv) {
int vflag = 0;
int c;
char* ach_chan = HUBO_CHAN_REF_FILTER_NAME;
int i = 1;
while(argc > i) {
if(strcmp(argv[i], "-d") == 0) {
debug = 1;
}
if(strcmp(argv[i], "-r") == 0) {
ach_chan = HUBO_CHAN_REF_NAME;
}
i++;
}
/* RT */
struct sched_param param;
/* Declare ourself as a real time task */
param.sched_priority = MY_PRIORITY;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
exit(-1);
}
/* Lock memory */
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
exit(-2);
}
/* Pre-fault our stack */
stack_prefault();
/* open ach channel */
//int r = ach_open(&chan_hubo_ref, HUBO_CHAN_REF_NAME , NULL);
int r = ach_open(&chan_hubo_ref, ach_chan , NULL);
assert( ACH_OK == r );
r = ach_open(&chan_hubo_state, HUBO_CHAN_STATE_NAME , NULL);
assert( ACH_OK == r );
// get initial values for hubo
struct hubo_ref H_ref;
struct hubo_init_cmd H_init;
struct hubo_state H_state;
struct hubo_param H_param;
memset( &H_ref, 0, sizeof(H_ref));
memset( &H_init, 0, sizeof(H_init));
memset( &H_state, 0, sizeof(H_state));
memset( &H_param, 0, sizeof(H_param));
usleep(250000);
// set default values for Hubo
setJointParams(&H_param, &H_state);
huboLoop(&H_param);
pause();
return 0;
}
void daemonize(const char *daemon_name)
{
char pbuff[100];
sprintf(gdaemon_name, "%s", daemon_name);
// sprintf(pbuff, "Starting daemonization for %s", daemon_name);
syslog( LOG_NOTICE, "Starting daemonization for %s", daemon_name );
// Initialize signal variables;
daemon_sig_quit = 0;
daemon_sig_usr1 = 0;
daemon_sig_usr2 = 0;
pid_t pid, child, sid, parent;
int lfp = -1; // lockfile pointer
// Already a daemon:
if( getppid() == 1 ) return; // A value of 1 indicates that there is no parent process
// Create the lockfile
sprintf(lockfile, "/var/lock/%s", daemon_name);
if( lockfile && lockfile[0] )
{
lfp = open(lockfile,O_RDWR|O_CREAT|O_EXCL,0640);
if( lfp < 0 )
{
syslog( LOG_ERR, "Unable to create lock file %s, code=%d (%s)"
" Check if daemon already exists!",
lockfile, errno, strerror(errno) );
exit( EXIT_FAILURE );
}
}
// Drop the user if there is one
if( getuid()==0 || geteuid()==0 )
{
struct passwd *pw = getpwnam(RUN_AS_USER);
if( pw )
{
syslog( LOG_NOTICE, "Setting user to " RUN_AS_USER );
setuid( pw->pw_uid );
}
}
// Redirect the expected signals
signal( SIGCHLD, daemon_sig_handler );
// signal( SIGUSR1, daemon_sig_handler );
signal( SIGUSR2, daemon_sig_handler );
signal( SIGALRM, daemon_sig_handler );
signal( SIGINT, daemon_sig_handler );
signal( SIGQUIT, daemon_sig_handler );
signal( SIGTERM, daemon_sig_handler );
// Specific to the fork
signal( SIGUSR1, fork_sig_handler );
// First fork
child = fork();
// Quit if a child process could not be made
if( child<0 )
{
syslog( LOG_ERR, "Unable to fork daemon, code=%d (%s)",
errno, strerror(errno) );
exit( EXIT_FAILURE );
}
// Quit if we get a good Process ID
if( child>0 )
{
// Wait for confirmation from the child
// or forcibly quit after 2 seconds
alarm(2);
pause();
exit( EXIT_FAILURE );
}
// If child == 0, then we are in the child process
// Second fork
pid = fork(); // pid will now represent the final Process ID of the daemon
// Quit if the final process could not be made
if( pid<0 )
{
syslog( LOG_ERR, "Unable to fork daemon, code=%d (%s)",
errno, strerror(errno) );
exit( EXIT_FAILURE );
}
if( pid>0 )
{
// Kill the useless parent
parent = getppid();
kill( parent, SIGUSR1 );
// Wait for confirmation from the daemon
// or forcibly quit after 2 seconds
alarm(2);
pause();
exit( EXIT_FAILURE );
}
// If pid == 0, then we are in the final process
// Now we execute as the final process
parent = getppid();
// TODO: Look into correctly handling these signals (SIG_DFL is default and SIG_IGN is ignore):
signal( SIGCHLD, SIG_DFL ); // Child process dies
signal( SIGTSTP, SIG_IGN ); // Stop (pause) signal
signal( SIGTTOU, SIG_IGN ); // Trying to write to terminal
signal( SIGTTIN, SIG_IGN ); // Trying to read from terminal
signal( SIGHUP, SIG_IGN ); // Hangup signal
signal( SIGUSR1, daemon_sig_handler ); // Return SIGUSR1 to the standard sig handler
// Change file mode mask
umask(0);
// Create a new Session ID for the child process
sid = setsid();
if( sid<0 )
{
syslog( LOG_ERR, "Unable to create new session, code=%d (%s)",
errno, strerror(errno) );
exit( EXIT_FAILURE );
}
// Change the current working directory to prevent the current directory from being locked
if( (chdir("/")) < 0 )
{
syslog( LOG_ERR, "Unable to change directory, code=%d (%s)",
errno, strerror(errno) );
exit( EXIT_FAILURE );
}
// Create files for logging, in case they don't exist already
char outfile[100];
char errfile[100];
sprintf(outfile, "/var/log/daemon/%s-output", daemon_name);
sprintf(errfile, "/var/log/daemon/%s-error", daemon_name);
if( !fopen( outfile, "w" ) ||
!fopen( errfile, "w" ) )
{
syslog( LOG_ERR, "Unable to create log files, code=%d (%s)",
errno, strerror(errno) );
exit(EXIT_FAILURE);
}
// Redirect standard files to /var/log/daemon/xx
if( !freopen( outfile, "w", stdout ) ||
!freopen( errfile, "w", stderr ) )
{
syslog( LOG_ERR, "Unable to stream output, code=%d (%s)",
errno, strerror(errno) );
exit( EXIT_FAILURE );
}
// Tell parent process that everything is okay
kill( parent, SIGUSR1 );
// Real Time
struct sched_param param;
// Declare ourself as a real time task
param.sched_priority = MY_PRIORITY;
if( sched_setscheduler(0, SCHED_FIFO, ¶m) == -1 )
{
fprintf(stderr, "sched_setscheduler Failed!\n");
exit( EXIT_FAILURE );
}
// Lock memory
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1)
{
fprintf(stderr, "mlockall Failed!\n");
exit( EXIT_FAILURE );
}
// Pre-fault our stack
stack_prefault();
syslog( LOG_NOTICE, "Daemonization finished - Process Beginning" );
}
void readFTDI()
{
struct timespec t;
struct sched_param param;
int interval = 5000000 ; /* 5000000 ns */
struct timeval start, end;
uint64_t millis;
long mtime, seconds;
double useconds = 0.0;
int id = 0;
int i;
sqlite3 *db;
sqlite3_stmt * stmt;
char * sErrMsg = 0;
char *zErrMsg = 0;
int rc;
/* Declare ourself as a real time task */
param.sched_priority = MY_PRIORITY;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
exit(-1);
}
/* Lock memory */
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
exit(-2);
}
/* Pre-fault our stack */
stack_prefault();
rc = sqlite3_open("test.db", &db);
if( rc ){
fprintf(stderr, "Can't open database: %s\n", sqlite3_errmsg(db));
exit(0);
}else{
fprintf(stderr, "Opened database successfully\n");
sqlite3_exec(db, TABLE, NULL, NULL, &sErrMsg);
// Free table
sqlite3_exec(db, "delete from TTC", NULL, NULL, &sErrMsg);
}
sqlite3_exec(db, "BEGIN TRANSACTION", NULL, NULL, &sErrMsg);
char buffer[] = "INSERT INTO TTC(millis) VALUES (?1)";
sqlite3_prepare_v2(db, buffer, strlen(buffer), &stmt, NULL);
clock_gettime(CLOCK_MONOTONIC ,&t);
/* start after one second */
t.tv_sec++;
while( keepRunning )
{
/* wait until next shot */
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
/* do the stuff */
gettimeofday(&start, NULL);
// useconds = start.tv_sec/1.0 + start.tv_usec/(1000000.0);
// millis = (start.tv_sec * (uint64_t)1000) + (start.tv_usec / 1000);
millis = (start.tv_sec * (uint64_t)1000000) + (start.tv_usec);
// sqlite3_bind_int(stmt, 1, ++id);
sqlite3_bind_int64(stmt, 1, millis);
if (sqlite3_step(stmt) != SQLITE_DONE)
{
printf("Commit Failed!\n");
}
sqlite3_reset(stmt);
/* calculate next shot */
t.tv_nsec += interval;
while (t.tv_nsec >= NSEC_PER_SEC)
{
t.tv_nsec -= NSEC_PER_SEC;
t.tv_sec++;
}
}
sqlite3_exec(db, "END TRANSACTION", NULL, NULL, &sErrMsg);
sqlite3_finalize(stmt);
printf("Write OK\r\n");
sqlite3_close(db);
}
int main(int argc, char *argv[])
{
struct sched_param param;
pthread_t allthr[MAX_THR];
int i, ret;
while((i=getopt(argc, argv, "n:i:s:hd")) != EOF) {
switch(i) {
case 'h':
usage();
return 0;
case 'd':
det = 1;
break;
case 'n':
max_thr = atoi(optarg);
if (max_thr >= MAX_THR)
errx(1, "no more than %d threads", MAX_THR);
break;
case 'i':
iteration = atoi(optarg);
break;
case 's':
size = atoi(optarg);
break;
default:
errx(1, "invalid option");
}
}
param.sched_priority = MY_PRIORITY;
if(sched_setscheduler(0, SCHED_RR, ¶m) == -1) {
perror("sched_setscheduler failed");
// exit(-1);
}
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
// exit(-2);
}
/* Pre-fault our stack */
stack_prefault();
// pthread_mutex_init(&(mutexsum.mutex), NULL);
det_init(argc, argv);
det_lock_init(&mutexsum);
if ( det ) {
det_create(allthr+0, NULL, my_worker1, (void *)(unsigned long)0);
det_create(allthr+1, NULL, my_worker2, (void *)(unsigned long)1);
det_enable(); // enable deterministic execution
} else {
pthread_create(allthr+0, NULL, my_worker1, (void *)(unsigned long)0);
pthread_create(allthr+1, NULL, my_worker2, (void *)(unsigned long)1);
}
for (i = 0; i < 2; i++) {
pthread_join(allthr[i], NULL);
}
return 0;
}
int main(int argc, char **argv) {
int vflag = 0;
int c;
int i = 1;
while(argc > i) {
if(strcmp(argv[i], "-d") == 0) { // debug
debug = 1;
}
if(strcmp(argv[i], "-n") == 0) {
if( argc > (i+1)) {
fileName = argv[i+1];
printf("Trejectory file changed\n");
}
else {
printf("ERROR: File name not changed\n");
}
}
if(strcmp(argv[i], "-f") == 0) {
int j = i+1;
if( argc > (j)) {
if(strcmp(argv[j], "100") == 0) { interval = 10000000; /* 100 hz (0.01 sec) */ }
else if(strcmp(argv[j], "50") == 0) { interval = 20000000; /* 50 hz (0.02 sec) */ }
else if(strcmp(argv[j], "25") == 0) { interval = 40000000; /* 25 hz (0.04 sec) */ }
else if(strcmp(argv[j], "10") == 0) { interval = 100000000; /* 25 hz (0.04 sec) */}
else if(strcmp(argv[j], "200") == 0) { interval = 5000000; /* 200 hz (0.005 sec)*/ }
else if(strcmp(argv[j], "500") == 0) { interval = 2000000; /* 500 hz (0.002 sec)*/ }
else { printf("ERROR: Frequency not changed\n"); }
}
else {
printf("ERROR: Frequency not changed\n");
}
}
if(strcmp(argv[i], "-h") == 0) {
printf("------------------------------------------\n");
printf("-----------hubo-read-trajectory-----------\n");
printf("------------------------------------------\n");
printf("\n");
printf("Usage: ./hubo-read-trajectory -f 100 -n fileName.traj\n");
printf("\tOptions:\n");
printf("\t\t-h help menu\n");
printf("\t\t-n change trajectory\n");
printf("\t\t\t\tdefault: no file\n");
printf("\t\t\t\tatguements: filename\n");
printf("\t\t-f change frequency\n");
printf("\t\t\tdefault: 25hz\n");
printf("\t\t\tatguements: frequency\n");
printf("\t\t\t\toptions (hz):\n");
printf("\t\t\t\t\t10\n");
printf("\t\t\t\t\t25\n");
printf("\t\t\t\t\t50\n");
printf("\t\t\t\t\t100\n");
printf("\t\t\t\t\t200\n");
printf("\t\t\t\t\t500\n");
printf("\n");
printf("File format (Each Column)\n");
printf("\tRHY RHR RHP RKN RAP RAR LHY LHR LHP LKN LAP LAR RSP RSR RSY REB RWY RWR RWP LSP LSR LSY LEB LWY LWR LWP NKY NK1 NK2 WST RF1 RF2 RF3 RF4 RF5 LF1 LF2 LF3 LF4 LF5\n");
printf("\n");
return 0;
}
i++;
}
printf("\n");
printf("-----------------------------\n");
printf("Using file: %s \n",fileName);
printf("Sampling frequency %f\n", 1/((double)interval/(double)NSEC_PER_SEC));
printf("-----------------------------\n");
printf("\n");
/* RT */
struct sched_param param;
/* Declare ourself as a real time task */
param.sched_priority = MY_PRIORITY;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
exit(-1);
}
/* Lock memory */
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
exit(-2);
}
/* Pre-fault our stack */
stack_prefault();
/* open ach channel */
int r = ach_open(&chan_hubo_ref, HUBO_CHAN_REF_NAME , NULL);
assert( ACH_OK == r );
huboLoop();
// pause();
return 0;
}
int main()
{
struct sched_param param;
param.sched_priority = 97;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1)
{
perror("sched_setscheduler failed");
exit(-1);
}
/* Lock memory */
if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1)
{
perror("mlockall failed");
exit(-2);
}
/* Pre-fault our stack */
stack_prefault();
struct timespec t;
clock_gettime(CLOCK_MONOTONIC, &t);
t.tv_sec++;
char *dev;
dev = WATCHDOGDEV;
int fd = open(dev, O_RDWR);
int interval=1;
int n = 0;
struct sockaddr_in serv_addr;
char *message ;
int num;
signal(SIGPIPE, SIG_IGN);
signal(SIGINT,Sa_handler);
char recvBuff[68];
char sendBuff[68];
memset(recvBuff, '0',sizeof(recvBuff));
if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) < 0)
{
printf("\n Error : Could not create socket \n");
return -1 ;
}
memset(&serv_addr, '0', sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(5000);
if(inet_pton(AF_INET,"192.168.7.1", &serv_addr.sin_addr)<=0)
{
printf("\n inet_pton error occured\n");
return -1;
}
if( connect(sockfd, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0)
{
printf("\n Error : Connect Failed \n");
return -1;
}
if (ioctl(fd, WDIOC_SETTIMEOUT, &interval) != 0)
{
fprintf(stderr,"Error: Set watchdog interval failed\n");
exit(EXIT_FAILURE);
}
while(1)
{
ioctl(fd, WDIOC_KEEPALIVE, NULL);
fprintf(stdout, "Kick watchdog through IOCTL\n");
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
struct state st;
signal(SIGINT,Sa_handler);
int k,g;
memset(recvBuff, '0', sizeof(recvBuff));
if((num = recv(sockfd, &k, sizeof(k),0))<=0)
{
printf("Either Connection Closed or Error\n");
close(sockfd);
exit(1);
}
printf("k=%d \n",k);
if((num = recv(sockfd, recvBuff, k,0))<=0)
{
printf("Either Connection Closed or Error\n");
close(sockfd);
exit(1);
}
recvBuff[num] = '\0';
printf("Client:Message Received From Server - %s\n",recvBuff);
sscanf(strtok(recvBuff , ", "), "%lf", &st.elevation);
sscanf(strtok(NULL, ", "), "%lf",&st.pitch);
sscanf(strtok(NULL, ", "), "%lf",&st.travel);
sscanf(strtok(NULL, ", "), "%lf",&st.d_elevation);
sscanf(strtok(NULL, ", "), "%lf",&st.d_pitch);
sscanf(strtok(NULL, ", "), "%lf",&st.d_travel);
printf("client:state received \n");
printf("elevation %lf\n",st.elevation);
printf("pitch %lf\n",st.pitch);
printf("travel %lf\n",st.travel);
printf("d_elevation %lf\n",st.d_elevation);
printf("d_pitch %lf\n",st.d_pitch);
printf("d_travel %lf\n",st.d_travel);
struct command comm= controller_safety(st);
printf(" u1= %d u2= %d \n",comm.u1,comm.u2);
sprintf(sendBuff,"complex, %f, %f, ",comm.u1,comm.u2);
g=strlen(sendBuff);
if ((send(sockfd,&g,sizeof(int),0))== -1)
{
fprintf(stderr, "Failure Sending Message\n");
close(sockfd);
break;
}
if((send(sockfd,sendBuff,g,0))==-1)
{
printf("Failure in sending Message\n");
close(sockfd);
exit(1);
}
t.tv_nsec += interval;
while (t.tv_nsec >= NSEC_PER_SEC)
{
t.tv_nsec -= NSEC_PER_SEC;
t.tv_sec++;
}
}
close(sockfd);
return -1;
}
int main(int argc, char **argv)
{
#define MAX_BITS (49) // 49-bit word.
#define MAX_DATA (1*1024) // 1 KB data buffer of 49-bit data words - ~70 seconds @ 1 kHz.
char data[MAX_DATA*MAX_BITS], word[MAX_BITS];
//int (*data_ptr)[MAX_DATA][MAX_BITS] = &data, (*bit_ptr)[MAX_BITS] = data;
int i = 0, j = 0, flag = 0, bit_cnt = 0, data_cnt = 0, zones, cmd;
int data0,data1,data2,data3,data4,data5,data6;
char year3[2],year4[2],month[2],day[2],hour[2],minute[2];
FILE *out_file;
struct sched_param param;
struct timespec t, tmark;
char msg[100] = "", oldMsg[100] = "";
struct fifo dataFifo;
/* Declare ourself as a real time task */
param.sched_priority = MY_PRIORITY;
if(sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
perror("sched_setscheduler failed");
exit(-1);
}
/* Lock memory */
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
perror("mlockall failed");
exit(-2);
}
/* Pre-fault our stack */
stack_prefault();
for(i = 0; i < MAX_DATA*MAX_BITS; i++)
data[i] = '0';
for(i = 0; i < MAX_BITS; i++)
word[i] = '0';
// Set up gpio pointer for direct register access
setup_io();
// Set up FIFO
fifo_init(&dataFifo, data, MAX_DATA*MAX_BITS);
// Set pin direction
INP_GPIO(PI_DATA_OUT); // must use INP_GPIO before we can use OUT_GPIO
OUT_GPIO(PI_DATA_OUT);
INP_GPIO(PI_DATA_IN);
INP_GPIO(PI_CLOCK_IN);
// Set PI_DATA_OUT pin low.
GPIO_CLR = 1<<PI_DATA_OUT;
clock_gettime(CLOCK_MONOTONIC, &t);
tmark = t;
while (1) {
//printf("pi_data:%i,data[%i][%i]:%i\n",GET_GPIO(PI_DATA_IN),data_cnt,bit_cnt,data[data_cnt][bit_cnt]);
t.tv_nsec += INTERVAL;
tnorm(&t);
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
if (GET_GPIO(PI_CLOCK_IN) == PI_CLOCK_HI) flag = 1;
else if ((GET_GPIO(PI_CLOCK_IN) == PI_CLOCK_LO) && (flag == 1)) {
if (ts_diff(&t, &tmark) > 1100000) { // new word
bit_cnt = 0; // start new word
fifo_write(&dataFifo, word, MAX_BITS); // write current word to FIFO
/*printf("%04i: wrote ", data_cnt);
for(i=0; i<MAX_BITS; i++) printf("%c", word[i]);
printf(" to dataFifo\n");*/
data_cnt++;
}
tmark = t;
flag = 0;
t.tv_nsec += INTERVAL;
tnorm(&t);
t.tv_nsec += INTERVAL;
tnorm(&t);
t.tv_nsec += INTERVAL;
tnorm(&t);
t.tv_nsec += INTERVAL;
tnorm(&t);
t.tv_nsec += INTERVAL;
tnorm(&t);
/*t.tv_nsec += INTERVAL;
tnorm(&t);
t.tv_nsec += INTERVAL;
tnorm(&t);
t.tv_nsec += INTERVAL;
tnorm(&t);
t.tv_nsec += INTERVAL;
tnorm(&t);
t.tv_nsec += INTERVAL;
tnorm(&t);*/
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL); // wait 50 uS for valid data
word[bit_cnt++] = (GET_GPIO(PI_DATA_IN) == PI_DATA_HI) ? '0' : '1';
}
if (data_cnt == MAX_DATA)
break;
}
// decode and write to file
if ( (out_file = fopen ("data", "w")) == NULL )
printf ("*** data could not be opened. \n" );
else
for ( i = 0; i < MAX_DATA; i++ ) {
strcpy(msg, "");
fifo_read(&dataFifo, word, MAX_BITS);
/*printf("%04i: read ", i);
for(j=0; j<MAX_BITS; j++) printf("%c", word[j]);
printf(" from dataFifo\n");*/
cmd = getBinaryData(word,0,8);
if (cmd == 0x05) {
strcpy(msg, "LED Status: ");
if (getBinaryData(word,12,1)) strcat(msg, "Error ");
if (getBinaryData(word,13,1)) strcat(msg, "Bypass ");
if (getBinaryData(word,14,1)) strcat(msg, "Memory ");
if (getBinaryData(word,15,1)) strcat(msg, "Armed ");
if (getBinaryData(word,16,1)) strcat(msg, "Ready ");
}
else if (cmd == 0xa5) {
sprintf(year3, "%d", getBinaryData(word,9,4));
sprintf(year4, "%d", getBinaryData(word,13,4));
sprintf(month, "%d", getBinaryData(word,19,4));
sprintf(day, "%d", getBinaryData(word,23,5));
sprintf(hour, "%d", getBinaryData(word,28,5));
sprintf(minute, "%d", getBinaryData(word,33,6));
strcpy(msg, "Date: 20");
strcat(msg, year3);
strcat(msg, year4);
strcat(msg, "-");
strcat(msg, month);
strcat(msg, "-");
strcat(msg, day);
strcat(msg, " ");
strcat(msg, hour);
strcat(msg, ":");
strcat(msg, minute);
}
else if (cmd == 0x27) {
strcpy(msg, "Zone1: ");
zones = getBinaryData(word,41,8);
if (zones & 1) strcat(msg, "1 ");
if (zones & 2) strcat(msg, "2 ");
if (zones & 4) strcat(msg, "3 ");
if (zones & 8) strcat(msg, "4 ");
if (zones & 16) strcat(msg, "5 ");
if (zones & 32) strcat(msg, "6 ");
if (zones & 64) strcat(msg, "7 ");
if (zones & 128) strcat(msg, "8 ");
}
else if (cmd == 0x2d) {
strcpy(msg, "Zone2: ");
zones = getBinaryData(word,41,8);
if (zones & 1) strcat(msg, "9 ");
if (zones & 2) strcat(msg, "10 ");
if (zones & 4) strcat(msg, "11 ");
if (zones & 8) strcat(msg, "12 ");
if (zones & 16) strcat(msg, "13 ");
if (zones & 32) strcat(msg, "14 ");
if (zones & 64) strcat(msg, "15 ");
if (zones & 128) strcat(msg, "16 ");
}
else if (cmd == 0x34) {
strcpy(msg, "Zone3: ");
zones = getBinaryData(word,41,8);
if (zones & 1) strcat(msg, "9 ");
if (zones & 2) strcat(msg, "10 ");
if (zones & 4) strcat(msg, "11 ");
if (zones & 8) strcat(msg, "12 ");
if (zones & 16) strcat(msg, "13 ");
if (zones & 32) strcat(msg, "14 ");
if (zones & 64) strcat(msg, "15 ");
if (zones & 128) strcat(msg, "16 ");
}
else if (cmd == 0x3e) {
strcpy(msg, "Zone4: ");
zones = getBinaryData(word,41,8);
if (zones & 1) strcat(msg, "9 ");
if (zones & 2) strcat(msg, "10 ");
if (zones & 4) strcat(msg, "11 ");
if (zones & 8) strcat(msg, "12 ");
if (zones & 16) strcat(msg, "13 ");
if (zones & 32) strcat(msg, "14 ");
if (zones & 64) strcat(msg, "15 ");
if (zones & 128) strcat(msg, "16 ");
}
else
strcpy(msg, "Unknown command.");
data0 = getBinaryData(word,0,8); data1 = getBinaryData(word,8,8);
data2 = getBinaryData(word,16,8); data3 = getBinaryData(word,24,8);
data4 = getBinaryData(word,32,8); data5 = getBinaryData(word,40,8);
data6 = getBinaryData(word,48,2);
if (strcmp(msg, oldMsg) != 0) {
fprintf (out_file, "data[%i],cmd:0x%02x,%s\n", i, cmd, msg);
fprintf (out_file, "***data-all: 0x%02x 0x%02x 0x%02x 0x%02x 0x%02x 0x%02x 0x%02x\n",data0,data1,data2,data3,data4,data5,data6);
strcpy(oldMsg, msg);
}
}
fclose (out_file);
/* Unlock memory */
if(munlockall() == -1) {
perror("munlockall failed");
exit(-2);
}
return 0;
} // main
int main(int argc, char* argv[]) {
cout<<"beta ="<<beta<<endl;
if (argc < 6) {
cout
<< "invalid format: <tasksets><hyperperiod length><computation utilization><interval> <seed>"
<< endl;
exit(1);
}
#if(MATLAB_ENABLE)
ep =engOpen(NULL);
if(ep==0)
{
cout<<"connection with matlab engine failed"<<endl;
}
#endif
#if (RT_ENABLE)
struct sched_param param;
signal(SIGINT, int_handler);
freq_set(CORE,"performance");
cpu_set_t mask;
CPU_ZERO(&mask);
CPU_SET(1,&mask);
cout<<"setting affinity to processor "<<CORE<<endl;
if(sched_setaffinity(0,CPU_COUNT(&mask),&mask)==-1)
{
perror("sched_setscheduler failed");
exit(-1);
}
param.sched_priority = MY_PRIORITY; //priority for the scheduler
if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) { //scheduler has cooporative scheduling
perror("sched_setscheduler failed");
exit(-1);
}
//lock memory
if(mlockall(MCL_CURRENT | MCL_FUTURE)==-1)
{
perror("mlockall failed");
exit(-2);
}
stack_prefault();
#endif
corrected_threshold = corrected_temperature(THRESHOLD);
cout<<"beta "<<beta<<" corrected threshold "<<corrected_threshold<<endl;
// exit(1);
int iter = atoi(argv[1]);
int hyperperiod = atoi(argv[2]);
int comp_util = atoi(argv[3]);
int sched_interval=atoi(argv[4]);
seed = atoi(argv[5]);
string task_file;
if (argc == 7) {
task_file = argv[6];
}
srand(seed);
vector<task> tasks;
vector<schedule> edf;
vector<task> scaled_tasks;
vector<double> speeds;
vector<schedule> edf2;
vector<task> discrete_scaled;
vector<schedule> edf3;
vector<schedule> edl2;
vector<schedule> i_schedule;
vector<schedule> opt;
vector<schedule> opt_exact;
vector<float> possible_speeds;
vector<double> h_speed;
vector<double> s_speed;
vector<double> m_speed;
vector<double> i_speed;
vector<double> i_speed_temp;
vector<slack> slacks;
vector<schedule> edl;
vector<task> scaled_max_first;
vector<task> scaled_static;
vector<task> scaled_matlab;
vector<schedule> edf_max_first;
vector<schedule> edf_static;
vector<schedule> edf_matlab;
for (int z = 0; z < iter; z++) {
thermal_optimal = 0;
// generate_tasksets(&tasks,1,hyperperiod,50,100);
if (argc == 6) {
// generate_tasksets(&tasks, 1, hyperperiod, comp_util, comp_util);
} else {
read_tasksets(&tasks, task_file);
}
int_pointer=&tasks;
#if(OPT_ENABLE)
call_gams();
store_opt(&tasks);
#endif
double t_util;
// edf_schedule(&tasks, &edf);
// consolidate_schedule(&edf, &tasks);
thermal_optimal = 1;
// compute_profile(&edf, &tasks, t_util);
// edl_schedule2(&edl2, &edf);
// consolidate_schedule(&edl2, &tasks);
// populate_slacks(&slacks, &edf);
// edl_schedule(&edl, &edf, &tasks, &slacks);
// consolidate_schedule(&edl, &tasks);
#if(INST_ENABLE)
cout<<"entering optimize instances"<<endl;
vector<int>slack;
optimize_instances(&i_speed,&tasks,&i_schedule,&edl, &edl2,MIN_SPEED,MAX_SPEED,&i_speed_temp,&slack);
cout<<"exiting optimize instances"<<endl;
cout<<"printing optimal schedule"<<endl;
for(unsigned int i=0;i<i_schedule.size();i++)
{
cout<<"task "<<i_schedule[i].task_id<<" start "<<i_schedule[i].start<<" end "<<i_schedule[i].end
<<" speed "<<i_speed[i]<<" power "<<tasks[i_schedule[i].task_id].power*pow(i_speed[i],3.0)<<
" slack "<<slack[i]<<" deadline "<<(i_schedule[i].start/tasks[i_schedule[i].task_id].period+1)*tasks[i_schedule[i].task_id].period<<endl;
}
verify(&i_schedule,&tasks,&i_speed);
#endif
#if(SLACK_ENABLE)
verify(&edl, &tasks);
opt_schedule_exact(&opt_exact, &tasks);
opt_schedule(&opt, &tasks, &edl);
#endif
#if(MAX_ENABLE)
vector<float_task>ft;
vector<long_task>ltasks;
vector<long_schedule>lschedule;
vector<long_schedule>lschedule2;
vector<long_schedule>lschedule3;
vector<float_schedule>wsch;
vector<float_schedule>wsch2;
vector<float_schedule>wsch3;
vector<float_schedule>fedf;
vector<schedule>o_sch;
vector<interval_s>intervals;
// cout<<"generating task set "<<endl;
float thermal_util=0.98;
float computation_util=1.0;
int num_tasks=rand() % (11) + 10;
// generate_taskset(&ft, 1000, num_tasks,computation_util, thermal_util);
// w2fq_task_convert(<asks, &ft);
// generate_intervals_gps(&intervals, <asks);/
// w2fq_schedule(&lschedule, <asks,&intervals,0);
// edf_schedule(&ft,&fedf);
// w2fq_schedule_convert(&wsch, &lschedule);
//cout<<" printing float schedule "<<endl;
// compute_profile(&wsch, &ft, 1);
// compute_profile(&fedf, &ft, 4);
// instance_override(&ft);
// dynamic_instance_schedule(&lschedule2, <asks,&intervals,1);
// w2fq_schedule_convert(&wsch2, &lschedule2);
// compute_profile(&wsch2, &ft, 2);
// dynamic_instance_schedule(&lschedule3, <asks,&intervals,2);
// w2fq_schedule_convert(&wsch3, &lschedule3);
// compute_profile(&wsch3, &ft, 3);
ft.clear();
ltasks.clear();
lschedule.clear();
fedf.clear();
wsch.clear();
float power;
power=rand()/(float)RAND_MAX*20.00;
power=power+18.00;
cout<<power<<endl;
float comp_util=1.5;//0.6;
ofstream taskfile("taskset_file");
int ** matrix;
matrix = new int *[20];
for(unsigned int i=0;i<20;i++)
{
matrix[i] =new int[20];
}
resource_matrix(matrix,20,0.5);
stringstream command;
generate_taskset_multi(&ft, 100, 15,2.0);
gams_include(&ft, matrix);
ofstream tasksetfile("taskset");
for(unsigned int i=0;i<ft.size();i++)
{
tasksetfile<<"task"<<i<<"\t"<<ft[i].computation_time<<"\t"<<ft[i].period<<"\t"<<ft[i].power<<endl;
}
tasksetfile.close();
vector<instance>inst;
vector<interval>speed_intervals;
vector<long_schedule>lsch;
generate_intervals_multi(&speed_intervals, "instanceassign_speed.put");
for(unsigned int i=0;i<speed_intervals.size();i++)
{
cout<<"start "<<speed_intervals[i].start<<" end "<<speed_intervals[i].end<<endl;
for(unsigned int j=0;j<speed_intervals[i].get_size();j++)
{
cout<<"task "<<speed_intervals[i].exec[j].task<<"|"<<speed_intervals[i].exec[j].exec<<"|"<<speed_intervals[i].exec[j].core<<endl;
}
}
//exit(1);
instance_override_speed(&ft, &inst);
w2fq_task_convert(<asks, &ft);
dynamic_instance_schedule_speed(&lsch, <asks, &speed_intervals, &inst,0);
// vector<long_schedule>lsch2;
// dynamic_instance_schedule_speed(&lsch2, <asks, &speed_intervals, &inst,0);
float scaled_power[CORE];
double avg_power;
generate_power_trace(&lsch, "power_profile_scaled", hyperperiod, scaled_power);
multi_simulate("power_profile_scaled", "multi.flp",0,avg_power);
// dynamic_instance_schedule
exit(1);
float comps[CORE];
for(unsigned int i=0;i<speed_intervals.size();i++)
{
for(unsigned int j=0;j<CORE;j++)
{
comps[j]=0;
}
for(unsigned int j=0;j<speed_intervals[i].get_size();j++)
{
comps[speed_intervals[i].exec[j].core]=comps[speed_intervals[i].exec[j].core]+
speed_intervals[i].exec[j].exec;
}
cout<<speed_intervals[i].start<<"|"<<speed_intervals[i].end<<"|"<<comps[0]<<"|"<<comps[1]<<"|"<<comps[2]<<endl;
}
exit(1);
float bins[BIN_LENGTH]={0.5,0.6,0.7,0.8,0.9,1.0,1.1};
int bin_count[BIN_LENGTH]={0,0,0,0,0,0,0};
int task_num=0;
bool tutil_incomplete=true;
while(comp_util<3.0)//1.0)
{
cout<<"generating for computil"<<comp_util<<endl;
tutil_incomplete=true;
for(unsigned int b=0;b<BIN_LENGTH;b++)
{
bin_count[b]=0;
}
while(tutil_incomplete)
{
//cout<<" task num "<<task_num<<endl;
//generate_taskset(&ft, 100, 10, comp_util);
generate_taskset_multi(&ft, 100, 15,comp_util);
float avg_power=0.00;
float real_cutil=0.00;
for(unsigned int i=0;i<ft.size();i++)
{
avg_power=avg_power+ft[i].computation_time/ft[i].period*ft[i].power;
real_cutil=real_cutil+ft[i].computation_time/ft[i].period;
}
float tutil=avg_power/(beta*corrected_threshold);//UTIL_POWER;
bool accept=false;
for(unsigned int b=0;b<BIN_LENGTH;b++)
{
if(tutil> bins[b] && tutil<(bins[b]+0.1) && bin_count[b]<10)
{
accept=true;
bin_count[b]=bin_count[b]+1;
}
}
if(accept)
{
/*if(tutil<0.6 && comp_util>0.75)
{
ofstream tasksetfile("taskset");
for(unsigned int i=0;i<ft.size();i++)
{
tasksetfile<<"task"<<i<<"\t"<<ft[i].computation_time<<"\t"<<ft[i].period<<"\t"<<ft[i].power<<endl;
}
taskfile<<real_cutil<<"\t"<<tutil<<endl;
//w2fq_task_convert(<asks, &ft);
//generate_intervals_gps(&intervals, <asks);
//w2fq_schedule(&lschedule, <asks,&intervals,0);
//edf_schedule(&ft,&fedf);
//w2fq_schedule_convert(&wsch, &lschedule);
//cout<<" printing float schedule "<<endl;
//compute_profile(&wsch, &ft, 1);
//compute_profile(&fedf, &ft, 4);
//command<<"mkdir results_uni/"<<task_num<<";";
//command<<"cp profile_float results_uni/"<<task_num<<"/.;";
//command<<"cp profile_default results_uni/"<<task_num<<"/.;";
//command<<"cp taskset results_uni/"<<task_num<<"/.";
//system(command.str().c_str());
//command.str("");
tasksetfile.close();
//exit(1);
}*/
//cout<<"checkpoint 1 "<<endl;
gams_include(&ft, matrix);
//cout<<"checkpoint 2 "<<endl;
system("cd gams_files; ~rehan/gams/gams lower_bound.gms");
system("cd gams_files; ~rehan/gams/gams task_assign.gms");
command<<"mkdir results/"<<task_num<<";";
command<<"cp gams_files/results.put results/"<<task_num<<"/.;";
command<<"cp gams_files/taskassign.put results/"<<task_num<<"/.;";
command<<"cp gams_files/taskassign_assign.put results/"<<task_num<<"/.;";
command<<"cp gams_files/task_assign.lst results/"<<task_num<<"/.;";
command<<"cp gams_files/lower_bound.lst results/"<<task_num<<"/.;";
command<<"cp gams_files/taskset.put results/"<<task_num<<"/.";
system(command.str().c_str());
command.str("");
//cin.get();
//exit(1);
task_num=task_num+1;
tutil_incomplete=false;
for(unsigned int b=0;b<BIN_LENGTH;b++)
{
if(bin_count[b]<10)
{
tutil_incomplete=true;
}
}
//exit(1);
}
intervals.clear();
lschedule.clear();
ltasks.clear();
fedf.clear();
wsch.clear();
ft.clear();//only ft needs to be cleared for multicore simulation
}
//comp_util=comp_util+0.0025;//0.01;
comp_util=comp_util+0.01;//0.01;
}
exit(1);
/*
int task_num=0;
while(comp_util<3.0)
{
for(unsigned int m=0;m<10;m++)
{
generate_taskset_multi(&ft, 100, 15,comp_util);
float avg_power=0.00;
float real_cutil=0.00;
for(unsigned int i=0;i<ft.size();i++)
{
avg_power=avg_power+ft[i].computation_time/ft[i].period*ft[i].power;
real_cutil=real_cutil+ft[i].computation_time/ft[i].period;
}
float tutil=avg_power/UTIL_POWER;
if(tutil>0.5 && tutil<1.2)
{
taskfile<<real_cutil<<"\t"<<tutil<<endl;
cout<<"checkpoint 1 "<<endl;
gams_include(&ft, matrix);
cout<<"checkpoint 2 "<<endl;
system("cd gams_files; ~rehan/gams/gams lower_bound.gms");
system("cd gams_files; ~rehan/gams/gams task_assign.gms");
command<<"mkdir results/"<<task_num<<";";
command<<"cp gams_files/results.put results/"<<atoi(argv[5])<<"/.;";
command<<"cp gams_files/taskassign.put results/"<<atoi(argv[5])<<"/.;";
command<<"cp gams_files/taskassign_assign.put results/"<<atoi(argv[5])<<"/.;";
command<<"cp gams_files/task_assign.lst results/"<<atoi(argv[5])<<"/.;";
command<<"cp gams_files/lower_bound.lst results/"<<atoi(argv[5])<<"/.;";
command<<"cp gams_files/taskset.put results/"<<atoi(argv[5])<<"/.";
system(command.str().c_str());
command.str("");
task_num=task_num+1;
}
ft.clear();
}
comp_util=comp_util+0.001;
}
/*
exit(1);
// generate_taskset_multi(&ft, 100, 8,2.5, power);
//read_taskset_multi(&ft, "gams_folder/taskset.put");
float cutil=0;
float tutil=0;
for(unsigned int i=0;i<ft.size();i++)
{
cout<<"task "<<i<<" computation time "<<ft[i].computation_time<<" period "
<<ft[i].period<<" power "<<ft[i].power<<" comp util "<<ft[i].computation_time/ft[i].period
<<" thermal util "<<ft[i].computation_time*ft[i].power/(ft[i].period*beta*corrected_threshold)<<endl;
cutil=cutil+ft[i].computation_time/ft[i].period;
tutil=tutil+ft[i].computation_time*ft[i].power/(ft[i].period*beta*corrected_threshold);
}
cout<<" computation utilization "<<cutil<<" thermal utilization "<<tutil<<endl;
int int_size=gams_include(&ft, matrix);
populate_beta();
for(unsigned int i=0;i<CORE;i++)
{
for(unsigned int j=0;j<CORE;j++)
{
cout<<beta_multi[i][j]<<"\t";
}
cout<<endl;
}
system("cd gams_files; ~rehan/gams/gams task_assign.gms");//
//system("cd gams_files; ~rehan/gams/gams instance_assign.gms");//
//vector<trace>ttrace;
// read_ttrace("hotspot_files/thermal_profile", &ttrace);
intervals.clear();
vector<mprofile>prof;
generate_intervals_multi(&intervals,"gams_files/taskassign.put", &ft);
vector<long_schedule>multi_sch;
ltasks.clear();
w2fq_task_convert(<asks, &ft);
multi_schedule(&multi_sch,&intervals, <asks);
long hyperperiod=compute_lcm(<asks);
float avg_power[CORE];
generate_power_trace(&multi_sch, "power_profile", hyperperiod, avg_power);
generate_power_profile(&prof,&multi_sch, hyperperiod);
cout<<"power profile length "<<prof.size()<<endl;
double average_power;
for(unsigned int i=0;i<ltasks.size();i++)
{
average_power=average_power+(((double)ltasks[i].computation_time)/((double)ltasks[i].period))*ltasks[i].power;
}
//compute_profile_multi(&multi_sch, <asks);
//exit(1);
// multi_simulate("power_profile", "multi.flp",0,average_power);
exit(1);
multi_sch.clear();
intervals.clear();
generate_intervals_multi(&intervals,"gams_files/instanceassign.put", &ft);
multi_schedule(&multi_sch,&intervals, <asks);
generate_power_trace(&multi_sch, "power_profile", hyperperiod, avg_power);
//multi_simulate("power_profile", "multi.flp",1);
// exit(1);
system(command.str().c_str());
for(unsigned int i=0;i<intervals.size();i++)
{
cout<<" start "<<intervals[i].start<<" end "<<intervals[i].end<<endl;
for(unsigned int k=0;k<CORE;k++)
{
cout<<" core"<<k<<": ";
int total=0;
float average_power=0;
for(unsigned int j=0;j<ft.size();j++)
{
cout<<intervals[i].computations[j][k]<<" ";
total=total+intervals[i].computations[j][k];
average_power=average_power+((float)intervals[i].computations[j][k])*ft[j].power/((float)(intervals[i].end-intervals[i].start));
}
assert(total<=(intervals[i].end-intervals[i].start));
cout<<" total "<<total<<" average power "<<average_power<< endl;
}
}
cout<<endl<<endl;
for(unsigned int i=0;i<multi_sch.size();i++)
{
// cout<<"task "<<multi_sch[i].task_id<<" start "<<multi_sch[i].start<<" end "<<multi_sch[i].end<<" core "<<multi_sch[i].core<<endl;
}
//avg_power=(float*)malloc(sizeof(float)*CORE);
cout<<" printing average power"<<endl;
for(unsigned int i=0;i<CORE;i++)
{
cout<<"core"<<i<<" average power "<<avg_power[i]<<endl;
}
total_comps(&multi_sch,<asks,&intervals);
// exit(1);
// void w2fq_schedule(vector<long_schedule>*sch, vector<long_task>*tasks, vector<interval>*intervals, int core)
/* while(computation_util<=1.0)
{
thermal_util=0.99;
while(thermal_util<=1.0)
{
generate_taskset(&ft, 1000, computation_util, thermal_util);
w2fq_task_convert(<asks, &ft);
w2fq_schedule(&lschedule, <asks);
edf_schedule(&ft,&fedf);
w2fq_schedule_convert(&wsch, &lschedule);
//cout<<" printing float schedule "<<endl;
compute_profile(&wsch, &ft, 1);
compute_profile(&fedf, &ft, 2);
ft.clear();
ltasks.clear();
lschedule.clear();
fedf.clear();
wsch.clear();
thermal_util=thermal_util+0.001;
}
computation_util=computation_util+0.01;
}
*/
/*
// t_util=optimize_maxfirst(&h_speed,&tasks,0.75,1.2);
timespec start_time,end_time;
clock_gettime(1,&start_time);
t_util=optimize_maxmin(&h_speed,&tasks,MIN_SPEED,MAX_SPEED);
clock_gettime(1,&end_time);
scale(&scaled_max_first,&tasks,&h_speed);
edf_schedule(&scaled_max_first,&edf_max_first);
thermal_optimal=4;
compute_profile(&edf_max_first, &scaled_max_first,t_util);
float max_first_time=time_diff(&start_time,&end_time);
slacks.clear();
opt.clear();
opt_exact.clear();
edl.clear();
populate_slacks(&slacks, &edf_max_first);
edl_schedule(&edl, &edf_max_first, &scaled_max_first, &slacks);
consolidate_schedule(&edl, &scaled_max_first);
clock_gettime(1,&start_time);
//opt_schedule(&opt, &scaled_max_first, &edl);
clock_gettime(1,&end_time);
// opt_schedule_exact(&opt_exact, &scaled_max_first);
// cout<<" schedule size "<<opt_exact.size()<<endl;
// run_schedule(&opt,&scaled_max_first);
// cout<<"TIME to find the optimal schedule "<<time_diff(&start_time,&end_time)<<"ms"<< " Maxfirst time" << max_first_time<<" Hyperperiod "<<tasksets[0].hyperperiod<<" tasks "<< tasks.size()<<endl;
float max_speeds[tasks.size()];
for(unsigned int i=0;i<tasks.size();i++)
{
max_speeds[i]=((float)tasks[i].computation_time)/((float)scaled_max_first[i].computation_time);
}
vector<schedule>o_sch2;
//run_dynamic(&scaled_max_first,max_speeds);
vector<instance>dyn_inst;
dynamic_instances(&scaled_max_first,max_speeds ,&dyn_inst);
vector<instance>dyn_inst2;
for(unsigned int i=0;i<dyn_inst.size();i++)
{
dyn_inst2.push_back(dyn_inst[i]);
}
double tutil=0;
scheduler(&o_sch,&scaled_max_first,&dyn_inst,max_speeds,sched_interval);
compute_profile_dynamic(&o_sch, &tasks,tutil,"");
scheduler2(&o_sch2,&scaled_max_first,&dyn_inst2, max_speeds, sched_interval);
compute_profile_dynamic(&o_sch2, &tasks,tutil,"window");
/* for(unsigned int i=0;i<o_sch2.size();i++)
{
cout<<"task "<<o_sch2[i].task_id<<" start "<<o_sch2[i].start<<" end "<<o_sch2[i].end<<" speed "<<o_sch2[i].speed<<endl;
}
*/
#endif
#if(STATIC_ENABLE)
t_util=optimize_static(&s_speed,&tasks,MIN_SPEED,MAX_SPEED);
scale(&scaled_static,&tasks,&s_speed);
edf_schedule(&scaled_static,&edf_static);
thermal_optimal=5;
compute_profile(&edf_static, &scaled_static,t_util);
#endif
#if(MATLAB_ENABLE)
t_util=optimize_matlab(&m_speed,&tasks,MIN_SPEED,MAX_SPEED);
scale(&scaled_matlab,&tasks,&m_speed);
edf_schedule(&scaled_matlab,&edf_matlab);
thermal_optimal=6;
compute_profile(&edf_matlab, &scaled_matlab,t_util);
#endif
#if(NOCONS_ENABLE)
speed_scale(&scaled_tasks,&speeds,&tasks,1.0);
edf_schedule(&scaled_tasks,&edf2);
thermal_optimal=7;
compute_profile(&edf2,&scaled_tasks,t_util);
#endif
#if(SPEED_DEBUG)
for(int i=0;i<tasks.size();i++)
{
cout<<"matlab: "<<m_speed[i]<<" max first:"<<h_speed[i]<<" static speed:<<"<<s_speed[i]<<" nocons speed:"<< speeds[i]<<endl;
}
#endif
#if(ENABLE_PRINTS)
cout<<"max first taskset"<<endl;
for(int i=0;i<scaled_max_first.size();i++)
{
cout<<"task "<<i<<" computation time:"<<scaled_max_first[i].computation_time<<" period:"<<scaled_max_first[i].period<<" power:"<<scaled_max_first[i].power<<endl;
}
cout<<"static speed taskset"<<endl;
for(int i=0;i<scaled_max_first.size();i++)
{
cout<<"task "<<i<<" computation time:"<<scaled_static[i].computation_time<<" period:"<<scaled_static[i].period<<" power:"<<scaled_static[i].power<<endl;
}
#endif
#if(ENABLE_PRINTS)
for(unsigned int i=0;i<speeds.size();i++)
{
cout<<"speed for task: "<<i<<"|"<<speeds[i]<<endl;
}
#endif
for (unsigned int i = 0; i < tasks.size(); i++) {
// tasks[i].stat_stream->clear();
// tasks[i].stat_stream->close();
// util1=util1+(float)tasks[i].computation_time/(float)tasks[i].period;
// util2=util2+(float)scaled_tasks[i].computation_time/(float)scaled_tasks[i].period;
// util3=util3+(float)discrete_scaled[i].computation_time/(float)discrete_scaled[i].period;
}
#if(ENABLE_PRINTS)
// cout<<"util "<<util1<<"|"<<util2<<"|"<<util3<<endl;
// cout<<"globally optimal power"<<g_power<<endl;
//cout<<"computed thermally optimal schedule"<<endl;
#endif
tasks.clear();
edf.clear();
scaled_tasks.clear();
speeds.clear();
edf2.clear();
discrete_scaled.clear();
edf3.clear();
possible_speeds.clear();
tasksets.clear();
opt.clear();
possible_speeds.clear();
slacks.clear();
h_speed.clear();
s_speed.clear();
m_speed.clear();
i_speed.clear();
i_speed_temp.clear();
scaled_max_first.clear();
scaled_static.clear();
scaled_matlab.clear();
edf_max_first.clear();
edf_static.clear();
edf_matlab.clear();
edl2.clear();
edl.clear();
i_schedule.clear();
o_sch.clear();
}
#if(MATLAB_ENABLE)
engClose(ep);
#endif
}
