//function to call periodically to refresh the values red by the radar
void radarRefresh(){
unsigned long time=millis();
static unsigned long time_prev_rad=0;
static int pos_rad = RAD_POS_MIN, etat_rad = 0,sens_rad=1;
// gestion radar
if(etat_rad) {
if((time-time_prev_rad)>=RAD_TIMER_1) {
if ((time-time_prev_rad)>=RAD_TIMER_1+RAD_TIMER_1/2) time_prev_rad=time-RAD_TIMER_1; //to avoid problems due to long loop
time_prev_rad = time_prev_rad + RAD_TIMER_1;
// get the ranges
for(int nb = 0; nb<RAD_NB_SENSORS; nb++) {
C_rad[ (pos_rad-RAD_POS_MIN)/RAD_POS_INC + (RAD_NB_SENSORS-1-nb)*RAD_NB_POS] = getRangeResult(nb);
}
if(servoRad.attached()){
//move the servo
if(sens_rad && pos_rad < RAD_POS_MAX)
{
pos_rad = pos_rad + RAD_POS_INC;
if(pos_rad == RAD_POS_MAX) sens_rad = 0;
}
else if(!sens_rad && pos_rad > RAD_POS_MIN)
{
pos_rad = pos_rad - RAD_POS_INC;
if(pos_rad == RAD_POS_MIN) sens_rad = 1;
}
servoRad.write(pos_rad);
}
etat_rad = 0;
#ifdef DEBUG_RADAR
int i;
for (i=0;i<RAD_NB_PTS;i++) {
Serial.print(C_rad[i]);
Serial.print("|");
Serial.print(C_rad_limit[i]);
Serial.print(",\t");
}
Serial.println(" ");
#endif
}
}
else {
if((time-time_prev_rad)>=RAD_TIMER_2) {
if ((time-time_prev_rad)>=RAD_TIMER_2+(RAD_TIMER_2)/2) time_prev_rad=time-RAD_TIMER_2; //to avoid problems due to long loop
time_prev_rad = time_prev_rad + RAD_TIMER_2;
// start the ranges
for(int nb = 0; nb<RAD_NB_SENSORS; nb++) {
startRange(nb);
}
etat_rad = 1;
}
}
}
void node_mgr::handle_split(const string& key) {
/* Find interval_db that contains the split point */
// Does not lock the db.
interval_db* db = findIntervalDb(&key, NOLOCK);
if (db != NULL) {
fawn::FawnDS<FawnDS_Flash>* h = db->h;
// Insert new interval file at the end of list
// Current DB will always be found until we change its range.
// Don't need lock on h to read startID because no one else should be splitting this range.
const DBID *d_start_id = h->getStartID();
string startRange((char*)d_start_id->const_data(), DBID_LENGTH);
interval_db* new_interval_db = init_interval_db(key, db->vid, startRange);
delete d_start_id;
if (new_interval_db != NULL) {
// update interval list
insertIntervalFile(new_interval_db);
cout << "Beginning split" << endl;
stat_file << "Beginning split" << endl;
bool success = h->Split(new_interval_db->h, &(db->dbLock));
// h's lock is held
if (success == true) {
/* Update split Interval_DB with new start id */
DBID new_start_id(key);
db->h->setStartID(new_start_id);
db->splitPoint = "";
// We hold the lock on db, and we don't need to hold the lock
// on new_interval_db because no puts have been directed to it.
while (!db->seq_msg_queue_tmp.empty()) {
new_interval_db->seq_msg_queue.push_back(db->seq_msg_queue_tmp.front());
db->seq_msg_queue_tmp.pop_front();
}
// unlock h's dblock
pthread_rwlock_unlock(&(db->dbLock));
cout << "Ending split" << endl;
stat_file << "Ending split" << endl;
} else {
cerr << "Error: split failed in splitConsumer." << endl;
}
} else {
cerr << "Unable to allocate new interval file in splitConsumer." << endl;
}
} else {
/* Error, hash not found */
cerr << "Error: key does not lie in the DB ranges owned by this node!" << endl;
}
}
