static int deband_16_c(AVFilterContext *ctx, void *arg, int jobnr, int nb_jobs)
{
DebandContext *s = ctx->priv;
ThreadData *td = arg;
AVFrame *in = td->in;
AVFrame *out = td->out;
int x, y, p;
for (p = 0; p < s->nb_components; p++) {
const uint16_t *src_ptr = (const uint16_t *)in->data[p];
uint16_t *dst_ptr = (uint16_t *)out->data[p];
const int dst_linesize = out->linesize[p] / 2;
const int src_linesize = in->linesize[p] / 2;
const int thr = s->thr[p];
const int start = (s->planeheight[p] * jobnr ) / nb_jobs;
const int end = (s->planeheight[p] * (jobnr+1)) / nb_jobs;
const int w = s->planewidth[p] - 1;
const int h = s->planeheight[p] - 1;
for (y = start; y < end; y++) {
const int pos = y * s->planeheight[0];
for (x = 0; x < s->planewidth[p]; x++) {
const int x_pos = s->x_pos[pos + x];
const int y_pos = s->y_pos[pos + x];
const int ref0 = src_ptr[av_clip(y + y_pos, 0, h) * src_linesize + av_clip(x + x_pos, 0, w)];
const int ref1 = src_ptr[av_clip(y + -y_pos, 0, h) * src_linesize + av_clip(x + x_pos, 0, w)];
const int ref2 = src_ptr[av_clip(y + -y_pos, 0, h) * src_linesize + av_clip(x + -x_pos, 0, w)];
const int ref3 = src_ptr[av_clip(y + y_pos, 0, h) * src_linesize + av_clip(x + -x_pos, 0, w)];
const int src0 = src_ptr[y * src_linesize + x];
if (s->blur) {
const int avg = get_avg(ref0, ref1, ref2, ref3);
const int diff = FFABS(src0 - avg);
dst_ptr[y * dst_linesize + x] = diff < thr ? avg : src0;
} else {
dst_ptr[y * dst_linesize + x] = (FFABS(src0 - ref0) < thr) &&
(FFABS(src0 - ref1) < thr) &&
(FFABS(src0 - ref2) < thr) &&
(FFABS(src0 - ref3) < thr) ? get_avg(ref0, ref1, ref2, ref3) : src0;
}
}
}
}
return 0;
}
static pa_cvolume* set_balance(pa_cvolume *v, const pa_channel_map *map, float new_balance,
bool (*on_l)(pa_channel_position_t), bool (*on_r)(pa_channel_position_t)) {
pa_volume_t left, nleft, right, nright, m;
unsigned c;
get_avg(map, v, &left, &right, on_l, on_r);
m = PA_MAX(left, right);
if (new_balance <= 0) {
nright = (new_balance + 1.0f) * m;
nleft = m;
} else {
nleft = (1.0f - new_balance) * m;
nright = m;
}
for (c = 0; c < map->channels; c++) {
if (on_l(map->map[c])) {
if (left == 0)
v->values[c] = nleft;
else
v->values[c] = (pa_volume_t) PA_CLAMP_VOLUME(((uint64_t) v->values[c] * (uint64_t) nleft) / (uint64_t) left);
} else if (on_r(map->map[c])) {
if (right == 0)
v->values[c] = nright;
else
v->values[c] = (pa_volume_t) PA_CLAMP_VOLUME(((uint64_t) v->values[c] * (uint64_t) nright) / (uint64_t) right);
}
}
return v;
}
float pa_cvolume_get_balance(const pa_cvolume *v, const pa_channel_map *map) {
pa_volume_t left, right;
pa_assert(v);
pa_assert(map);
pa_return_val_if_fail(pa_cvolume_compatible_with_channel_map(v, map), 0.0f);
if (!pa_channel_map_can_balance(map))
return 0.0f;
get_avg(map, v, &left, &right, on_left, on_right);
if (left == right)
return 0.0f;
/* 1.0, 0.0 => -1.0
0.0, 1.0 => 1.0
0.0, 0.0 => 0.0
0.5, 0.5 => 0.0
1.0, 0.5 => -0.5
1.0, 0.25 => -0.75
0.75, 0.25 => -0.66
0.5, 0.25 => -0.5 */
if (left > right)
return -1.0f + ((float) right / (float) left);
else
return 1.0f - ((float) left / (float) right);
}
/*
Compute the standard deviation of the set of measurements <data>.
*/
double get_std(double data[], int32_t no_values)
{
int32_t i;
double sum_, mean;
mean = get_avg(data, no_values);
sum_ = 0;
for (i=0; i<no_values; i++) sum_ += pow(data[i]-mean, 2.);
return sqrt(sum_ / (double)(no_values-1));
}
/*
* Do a single performance test, of one type of operation.
*
* @param h
* hash table to run test on
* @param func
* function to call (add, delete or lookup function)
* @param avg_occupancy
* The average number of entries in each bucket of the hash table
* @param invalid_pos_count
* The amount of errors (e.g. due to a full bucket).
* @return
* The average number of ticks per hash function call. A negative number
* signifies failure.
*/
static double
run_single_tbl_perf_test(const struct rte_hash *h, hash_operation func,
const struct tbl_perf_test_params *params, double *avg_occupancy,
uint32_t *invalid_pos_count)
{
uint64_t begin, end, ticks = 0;
uint8_t *key = NULL;
uint32_t *bucket_occupancies = NULL;
uint32_t num_buckets, i, j;
int32_t pos;
/* Initialise */
num_buckets = params->entries / params->bucket_entries;
key = (uint8_t *) rte_zmalloc("hash key",
params->key_len * sizeof(uint8_t), 16);
if (key == NULL)
return -1;
bucket_occupancies = (uint32_t *) rte_zmalloc("bucket occupancies",
num_buckets * sizeof(uint32_t), 16);
if (bucket_occupancies == NULL) {
rte_free(key);
return -1;
}
ticks = 0;
*invalid_pos_count = 0;
for (i = 0; i < params->num_iterations; i++) {
/* Prepare inputs for the current iteration */
for (j = 0; j < params->key_len; j++)
key[j] = (uint8_t) rte_rand();
/* Perform operation, and measure time it takes */
begin = rte_rdtsc();
pos = func(h, key);
end = rte_rdtsc();
ticks += end - begin;
/* Other work per iteration */
if (pos < 0)
*invalid_pos_count += 1;
else
bucket_occupancies[pos / params->bucket_entries]++;
}
*avg_occupancy = get_avg(bucket_occupancies, num_buckets);
rte_free(bucket_occupancies);
rte_free(key);
return (double)ticks / params->num_iterations;
}
float pa_cvolume_get_lfe_balance(const pa_cvolume *v, const pa_channel_map *map) {
pa_volume_t hfe, lfe;
pa_assert(v);
pa_assert(map);
pa_return_val_if_fail(pa_cvolume_compatible_with_channel_map(v, map), 0.0f);
if (!pa_channel_map_can_lfe_balance(map))
return 0.0f;
get_avg(map, v, &hfe, &lfe, on_hfe, on_lfe);
if (hfe == lfe)
return 0.0f;
if (hfe > lfe)
return -1.0f + ((float) lfe / (float) hfe);
else
return 1.0f - ((float) hfe / (float) lfe);
}
float pa_cvolume_get_fade(const pa_cvolume *v, const pa_channel_map *map) {
pa_volume_t rear, front;
pa_assert(v);
pa_assert(map);
pa_return_val_if_fail(pa_cvolume_compatible_with_channel_map(v, map), 0.0f);
if (!pa_channel_map_can_fade(map))
return 0.0f;
get_avg(map, v, &rear, &front, on_rear, on_front);
if (front == rear)
return 0.0f;
if (rear > front)
return -1.0f + ((float) front / (float) rear);
else
return 1.0f - ((float) rear / (float) front);
}
int main (int argc, char *argv[])
{
u8 *buf;
int fd;
ssize_t written;
size_t toWrite;
unsigned i;
unsigned bufsize;
unsigned n;
u64 size;
u64 rest;
u64 l;
Option.file_size = 8ULL * GIBI;
Option.iterations = 1;
Option.loops = 1;
punyopt(argc, argv, myopt, "b:");
n = Option.iterations;
bufsize = 1 << Bufsize_log2;
buf = emalloc(bufsize);
size = Option.file_size;
buf = emalloc(bufsize);
for (i = 0; i < bufsize; ++i) {
buf[i] = random();
}
for (l = 0; l < Option.loops; l++) {
startTimer();
for (i = 0; i < n; i++) {
/* Because eCryptfs has to decrypt a page before
* overwriting it, recreating the file on each
* iteration gives a more realistic value.
*/
fd = open(Option.file,
O_RDWR | O_CREAT | O_TRUNC, 0666);
if (fd == -1) fatal("open %s:", Option.file);
for (rest = size; rest; rest -= written) {
if (rest > bufsize) {
toWrite = bufsize;
} else {
toWrite = rest;
}
written = write(fd, buf, toWrite);
if (written != toWrite) {
if (written == -1) {
perror("write");
exit(1);
}
fprintf(stderr,
"toWrite=%lu != written=%ld\n",
(unint)toWrite, (snint)written);
exit(1);
}
/* Make next buffer unique */
buf[urand(bufsize)] = random();
}
fsync(fd);
close(fd);
}
stopTimer();
printf("size=%lld n=%d ", size, n);
prTimer();
printf("\t%6.4g MiB/s",
(double)(n * size) / get_avg() / MEBI);
printf("\n");
}
unlink(Option.file);
return 0;
}
int main(int argc, char **argv)
{
int i=0;
setsignals();
#ifdef RCU_SIGNAL
rcu_init();
#endif
setup_test(argc, argv);
printf("nbthreads %lu nbupdaters %lu nbbuckets %lu perbucket-pbnodes %lu nbtest %d nbreaders %d nbcores %d"
#ifdef POPULATE
" POPULATE"
#endif
"\n",
nbthreads, nbupdaters, nbbuckets, pbnodes, NB_TEST, nbreaders, get_nbcores());
for(; i < ITERATION; i++)
test(i);
double rops = get_avg(&trd_ops[0],ITERATION);
double wops = get_avg(&twr_ops[0],ITERATION);
printf("read ops per micsec = %g\n", rops);
printf("write ops per micsec = %g\n", wops);
printf("write/read = %g\n", wops/rops);
printf("nbmallocs = %g\n", get_avg(&run_mallocs[0],ITERATION));
printf("nbretry = %g\n", get_avg(&run_retry[0],ITERATION));
printf("nbrelink = %g\n", get_avg(&run_relink[0],ITERATION));
printf("nbreprev = %g\n", get_avg(&run_reprev[0],ITERATION));
printf("nbblockeds = %g\n", get_avg(&run_blockeds[0],ITERATION));
printf("sucess_search = %g on %g\n", get_avg(&run_sea[0],ITERATION), get_avg(&thd_ops[nbupdaters], nbreaders) );
printf("sucess_insert = %g on %g\n", get_avg(&run_ins[0],ITERATION), get_avg(&thd_ops[0], nbupdaters)/2);
printf("sucess_delete = %g on %g\n", get_avg(&run_del[0],ITERATION), get_avg(&thd_ops[0], nbupdaters)/2);
printf("\n");
printf("avg_max_read = %gus\n", get_max(&run_avg_rd[0],ITERATION));
printf("avg_avg_read = %gus\n", get_avg(&run_avg_rd[0],ITERATION));
printf("avg_min_read = %gus\n", get_min(&run_avg_rd[0],ITERATION));
printf("\n");
printf("avg_max_write = %gus\n", get_max(&run_avg_wr[0],ITERATION));
printf("avg_avg_write = %gus\n", get_avg(&run_avg_wr[0],ITERATION));
printf("avg_min_write = %gus\n", get_min(&run_avg_wr[0],ITERATION));
printf("\n");
printf("max_read = %gus\n", get_max(&run_max_rd[0],ITERATION));
printf("min_read = %gus\n", get_min(&run_min_rd[0],ITERATION));
printf("\n");
printf("max_write = %gus\n", get_max(&run_max_wr[0],ITERATION));
printf("min_write = %gus\n", get_min(&run_min_wr[0],ITERATION));
//printf("cpu time = %gus\n", get_avg(&run_cput[0],ITERATION));//FIXME
return 0;
}
int test(int iteration)
{
long i;
pthread_attr_t attr;
pthread_t thread[nbthreads];
hash_init();
init_allocator();
pthread_attr_init(&attr);
done = 0;
go = 0;
ready = 0;
memory_barrier();
//printf("loop %d is started\n", iteration);
//printf("thread !!%d\n",thread);
for(i=0; i< nbthreads; i++)
{
set_affinity(i);
//printf("thread = %d ...", i);
if(pthread_create(&thread[i], &attr, run, (void*)i))
{
perror("creat");
}
//printf("thread = %d created\n", i);
}
while(ready != nbthreads) memory_barrier();
go = 1;
memory_barrier();
void* res;
for(i=(nbthreads-1); i >= 0; i--)
{
pthread_join(thread[i], &res);
if(i == nbupdaters)
{
done = 1;//Stop the writers!
memory_barrier();
}
}
//printf("Done!\n", i);
unsigned nbcores = get_nbcores();
unsigned mtc = nbcores < nbreaders ? nbcores : nbreaders;
run_avg_rd[iteration] = get_avg(&avg_time[nbupdaters], nbreaders);
run_avg_wr[iteration] = get_avg(&avg_time[0], nbupdaters);
run_max_rd[iteration] = get_max(&avg_time[nbupdaters], nbreaders);
run_max_wr[iteration] = get_max(&avg_time[0], nbupdaters);
run_min_rd[iteration] = get_min(&avg_time[nbupdaters], nbreaders);
run_min_wr[iteration] = get_min(&avg_time[0], nbupdaters);
run_retry[iteration] = get_sum(&thd_retry[nbupdaters], nbreaders);
run_relink[iteration] = get_sum(&thd_relink[nbupdaters], nbreaders);
run_reprev[iteration] = get_sum(&thd_reprev[nbupdaters], nbreaders);
run_cput[iteration] = get_cpu_work(&thd_time[nbupdaters], nbreaders, mtc)/NB_TEST;
run_mallocs[iteration] = get_sum(&thd_mallocs[0], nbupdaters);
run_blockeds[iteration] = get_sum(&thd_blockeds[0], nbupdaters);
run_sea[iteration] = get_avg(&suc_sea[nbupdaters], nbreaders);
run_del[iteration] = get_avg(&suc_del[0], nbupdaters);
run_ins[iteration] = get_avg(&suc_ins[0], nbupdaters);
//printf("avg = %gus\n", run_avg_rd[iteration]);
//printf("first reader %gus\n", thd_time[nbupdaters]);
double time = get_avg(&thd_time[nbupdaters], nbreaders);
trd_ops[iteration] = get_avg(&thd_ops[nbupdaters], nbreaders)/time;
twr_ops[iteration] = get_avg(&thd_ops[0], nbupdaters)/time;
//hash_delete();
//delete_allocator();
}
/*!
*/
void Reptation_method::runWithVariables(Properties_manager & prop,
System * sys,
Wavefunction_data * wfdata,
Pseudopotential * psp,
ostream & output)
{
allocateIntermediateVariables(sys, wfdata);
prop.setSize(wf->nfunc(), nblock, nstep, 1,
sys, wfdata);
prop.initializeLog(average_var);
Properties_manager prop_center;
string logfile, label_temp;
prop.getLog(logfile, label_temp);
label_temp+="_cen";
prop_center.setLog(logfile, label_temp);
prop_center.setSize(wf->nfunc(), nblock, nstep, 1, sys,
wfdata);
prop_center.initializeLog(average_var);
cout.precision(10);
output.precision(10);
Sample_point * center_samp(NULL);
sys->generateSample(center_samp);
Reptile_point pt;
Array1 <Reptile> reptiles;
int nreptile=1;
if(!readcheck(readconfig,reptiles)) {
Array1 <Config_save_point> configs;
generate_sample(sample,wf,wfdata,guidewf,nreptile,configs);
reptiles.Resize(nreptile);
for(int r=0; r< nreptile; r++) {
reptiles[r].direction=1;
configs(r).restorePos(sample);
wf->notify(all_electrons_move,0);
wf->updateLap(wfdata,sample);
for(int i=0; i< reptile_length; i++) {
doublevar main_diffusion;
slither(1,reptiles[r].reptile, mygather,pt,main_diffusion);
reptiles[r].reptile.push_back(pt);
}
}
}
nreptile=reptiles.GetDim(0);
//assert(reptile.size()==reptile_length);
//Branch limiting variables
//we start off with no limiting, and establish the parameters after the
//first block. This seems to be reasonably stable, since it's mostly
//to keep the reptile from getting stuck.
eref=0;
energy_cutoff=1e16;
//--------begin averaging..
Array3 <doublevar> derivatives_block(nblock, sys->nIons(), 3);
for(int block=0; block< nblock; block++) {
//clock_t block_start_time=clock();
doublevar avg_age=0;
doublevar max_age=0;
doublevar main_diff=0;
double ntry=0, naccept=0;
double nbounce=0;
for(int r=0; r< nreptile; r++) {
Reptile & curr_reptile=reptiles[r];
//Control variable that will be set to one when
//we change direction, which signals to recalculate
//the wave function
int recalc=1;
for(int step=0; step< nstep; step++) {
psp->randomize();
if(recalc) {
if(curr_reptile.direction==1)
curr_reptile.reptile[reptile_length-1].restorePos(sample);
else
curr_reptile.reptile[0].restorePos(sample);
}
doublevar main_diffusion;
doublevar accept=slither(curr_reptile.direction, curr_reptile.reptile,mygather, pt,
main_diffusion);
ntry++;
if(accept+rng.ulec() > 1.0) {
recalc=0;
naccept++;
main_diff+=main_diffusion;
if(curr_reptile.direction==1) {
curr_reptile.reptile.pop_front();
curr_reptile.reptile.push_back(pt);
}
else {
curr_reptile.reptile.pop_back();
curr_reptile.reptile[0].branching=pt.branching;
curr_reptile.reptile.push_front(pt);
}
}
else {
recalc=1;
curr_reptile.direction*=-1;
nbounce++;
}
for(deque<Reptile_point>::iterator i=curr_reptile.reptile.begin();
i!=curr_reptile.reptile.end(); i++) {
i->age++;
avg_age+=i->age/reptile_length;
if(i->age > max_age) max_age=i->age;
}
Properties_point avgpt;
get_avg(curr_reptile.reptile, avgpt);
avgpt.parent=0; avgpt.nchildren=1; //just one walker
avgpt.children(0)=0;
prop.insertPoint(step, 0, avgpt);
int cpt=reptile_length/2+1;
Properties_point centpt;
get_center_avg(curr_reptile.reptile, centpt);
centpt.parent=0; centpt.nchildren=1;
centpt.children(0)=0;
prop_center.insertPoint(step, 0, centpt);
curr_reptile.reptile[cpt].restorePos(center_samp);
for(int i=0; i< densplt.GetDim(0); i++)
densplt(i)->accumulate(center_samp,1.0);
if(center_trace != ""
&& (block*nstep+step)%trace_wait==0) {
ofstream checkfile(center_trace.c_str(), ios::app);
if(!checkfile)error("Couldn't open ", center_trace);
checkfile << "SAMPLE_POINT { \n";
write_config(checkfile, sample);
checkfile << "}\n\n";
}
} //step
} //reptile
prop.endBlock();
prop_center.endBlock();
double ntot=parallel_sum(nstep);
Properties_block lastblock;
prop.getLastBlock(lastblock);
eref=lastblock.avg(Properties_types::total_energy,0);
energy_cutoff=10*sqrt(lastblock.var(Properties_types::total_energy,0));
nbounce=parallel_sum(nbounce);
naccept=parallel_sum(naccept);
ntry=parallel_sum(ntry);
avg_age=parallel_sum(avg_age);
for(int i=0; i< densplt.GetDim(0); i++)
densplt(i)->write();
storecheck(reptiles, storeconfig);
main_diff=parallel_sum(main_diff);
if(output) {
output << "****Block " << block
<< " acceptance " << naccept/ntry
<< " average steps before bounce " << ntot/nbounce
<< endl;
output << "average age " << avg_age/ntot
<< " max age " << max_age << endl;
output << "eref " << eref << " cutoff " << energy_cutoff << endl;
output << "Green's function sampler:" << endl;
sampler->showStats(output);
prop.printBlockSummary(output);
output << "Center averaging: " << endl;
prop_center.printBlockSummary(output);
}
sampler->resetStats();
//clock_t block_end_time=clock();
//cout << mpi_info.node << ":CPU block time "
//// << double(block_end_time-block_start_time)/double(CLOCKS_PER_SEC)
// << endl;
} //block
if(output) {
output << "############## Reptation Done ################\n";
output << "End averages " << endl;
prop.printSummary(output,average_var);
output << "Center averages " << endl;
prop_center.printSummary(output,average_var);
//Print out a PDB file with one of the reptiles, for visualization purposes
if(print_pdb) {
ofstream pdbout("rmc.pdb");
pdbout.precision(3);
pdbout << "REMARK 4 Mode COMPLIES WITH FORMAT V. 2.0\n";
int nelectrons=sample->electronSize();
int counter=1;
string name="H";
for(int e=0; e<nelectrons; e++) {
for(deque<Reptile_point>::iterator i=reptiles[0].reptile.begin();
i!=reptiles[0].reptile.end(); i++) {
pdbout<<"ATOM"<<setw(7)<< counter <<" " <<name<<" UNK 1"
<<setw(12)<< i->electronpos[e][0]
<<setw(8)<< i->electronpos[e][1]
<<setw(8)<< i->electronpos[e][2]
<< " 1.00 0.00\n";
counter++;
}
}
int nions=sys->nIons();
Array1 <doublevar> ionpos(3);
vector <string> atomnames;
sys->getAtomicLabels(atomnames);
for(int i=0; i< nions; i++) {
sys->getIonPos(i,ionpos);
pdbout<<"ATOM"<<setw(7)<< counter <<" " <<atomnames[i]<<" UNK 1"
<<setw(12)<< ionpos[0]
<<setw(8)<< ionpos[1]
<<setw(8)<< ionpos[2]
<< " 1.00 0.00\n";
}
counter=1;
for(int e=0; e<nelectrons; e++) {
for(deque<Reptile_point>::iterator i=reptiles[0].reptile.begin();
i!=reptiles[0].reptile.end(); i++) {
if(i != reptiles[0].reptile.begin()) {
pdbout << "CONECT" << setw(5) << counter << setw(5) << counter-1 << endl;
}
counter++;
}
}
}
//------------Done PDB file
}
delete center_samp;
wfdata->clearObserver();
deallocateIntermediateVariables();
}
int main()
{
int arr_1[] = {1, 2, 3, 4, 5};
int arr_2[] = {6, 7, 8};
int lenght_1 = LENGHT_ARRAY(arr_1);
int lenght_2 = LENGHT_ARRAY(arr_2);
int min = get_min(arr_1, lenght_1);
printf("min = %d\n", min);
int min_2 = get_min(arr_2, lenght_2);
printf("min_2 = %d\n", min_2);
int max = get_max(arr_1, lenght_1);
printf("max = %d\n", max);
int max_2 = get_max(arr_2, lenght_2);
printf("max_2 = %d\n", max_2);
double average = get_avg(arr_1, lenght_1);
printf("average = %f\n", average);
double average_2 = get_avg(arr_2, lenght_2);
printf("average_2 = %f\n", average_2);
int sum = get_sum(arr_1, lenght_1);
printf("sum = %d\n", sum);
int sum_2 = get_sum(arr_2, lenght_2);
printf("sum_2 = %d\n", sum_2);
bool isContain = arr_contains(arr_1, lenght_1, 5);
printf("isContain 5 = %d\n", isContain);
bool isContain_2 = arr_contains(arr_2, lenght_2, 5);
printf("isContain_2 5 = %d\n", isContain_2);
int *arrMerge;
arrMerge = arr_merge(arr_1, arr_2, lenght_1, lenght_2);
int i;
printf("Merged: ");
for (i = 0; i < (lenght_1 + lenght_2); i++)
{
printf("%d ", arrMerge[i]);
}
printf("\n");
free(arrMerge);
printf("Clearing... \n");
arr_clear(arr_1, lenght_1);
for (i = 0; i < lenght_1; i++)
{
printf("%d ", arr_1[i]);
}
printf("\n");
arr_clear(arr_2, lenght_2);
for (i = 0; i < lenght_2; i++)
{
printf("%d ", arr_2[i]);
}
return (EXIT_SUCCESS);
}
int main (int argc, char *argv[])
{
u8 *buf;
int fd;
ssize_t haveRead;
size_t toRead;
unsigned i;
unsigned bufsize;
unsigned n;
u64 size;
u64 rest;
u64 l;
drop_caches();
Option.file_size = 0;
Option.iterations = 1;
Option.loops = 1;
punyopt(argc, argv, myopt, "b:");
n = Option.iterations;
bufsize = 1 << Bufsize_log2;
buf = emalloc(bufsize);
size = Option.file_size;
if (!size) {
size = memtotal() / FRACTION_OF_MEMORY;
}
if (Hog_memory) {
hog_leave_memory(size / FRACTION_OF_FILE_SIZE);
}
fd = open(Option.file, O_RDWR | O_CREAT | O_TRUNC, 0666);
fill_file(fd, size);
for (l = 0; l < Option.loops; l++) {
startTimer();
for (i = 0; i < n; ++i) {
for (rest = size; rest; rest -= haveRead) {
if (rest > bufsize) {
toRead = bufsize;
} else {
toRead = rest;
}
haveRead = read(fd, buf, toRead);
if (haveRead != toRead) {
if (haveRead == -1) {
perror("read");
exit(1);
}
fprintf(stderr,
"toRead=%llu != haveRead=%lld\n",
(u64)toRead, (s64)haveRead);
exit(1);
}
}
lseek(fd, 0, 0);
}
stopTimer();
printf("size=%lld n=%d ", size, n);
prTimer();
printf("\t%6.4g MiB/s\n",
(double)(n * size) / get_avg() / MEBI);
}
close(fd);
unlink(Option.file);
return 0;
}
/***********************************
* MAIN
* *********************************/
int main(int argc, char *argv[]){
Connection connection;
write_error_ptr = &write_error; //initialize the function pointer to write error
//parse arguments
if(argc == 4){
//first argument is always name of program or empty string
connection.planebone_ip=argv[1];
connection.port_number_server_to_planebone=atoi(argv[2]);
connection.port_number_planebone_to_server=atoi(argv[3]);
}else{
printf("wrong parameters: planebone ip - send port number - receive port number\n");
exit(EXIT_FAILURE);
}
pthread_t thread_server_to_planebone;
//create a second thread which executes server_to_planebone
if(pthread_create(&thread_server_to_planebone, NULL, server_to_planebone,&connection)) {
error_write(FILENAME,"error creating lisa thread");
exit(EXIT_FAILURE);
}
/*-------------------------START OF FIRST THREAD: PLANEBONE TO SERVER------------------------*/
static UDP udp_server;
uint8_t input_stream[MAX_INPUT_STREAM_SIZE];
timeval tv_now;
UDP_err_handler(openUDPServerSocket(&udp_server,connection.port_number_planebone_to_server,UDP_SOCKET_TIMEOUT),write_error_ptr);
//init the data decode pointers
init_decoding();
/*
* WHAT WE EXPECT:
* IMU_ACCEL_RAW 204
* IMU_GYRO_RAW 203
* IMU_MAG_RAW 205
* BARO_RAW 221
* GPS_INT 155
* AIRSPEED_ETS 57
* SYSMON 33
* UART_ERROR 208
* ACTUATORS_received 105
* */
int IMU_ACCEL_RAW_received=0;
int IMU_GYRO_RAW_received=0;
int IMU_MAG_RAW_received=0;
int BARO_RAW_received=0;
int GPS_INT_received=0;
int AIRSPEED_received=0;
int SVINFO_received=0;
int SYSMON_received=0;
int UART_ERROR_received=0;
int ACTUATORS_received=0;
int NMEA_IIMWV_received = 0;
int NMEA_WIXDR_received = 0;
int err;
#if ANALYZE
Analyze an_imu_accel_raw_freq,an_imu_accel_raw_lat;
int an_imu_accel_freq_done=0,an_imu_accel_lat_done=0;
init_analyze(&an_imu_accel_raw_freq,2000);
init_analyze(&an_imu_accel_raw_lat,2000);
Analyze an_imu_gyro_raw_freq,an_imu_gyro_raw_lat;
int an_imu_gyro_freq_done=0,an_imu_gyro_lat_done=0;
init_analyze(&an_imu_gyro_raw_freq,2000);
init_analyze(&an_imu_gyro_raw_lat,2000);
Analyze an_imu_mag_raw_freq,an_imu_mag_raw_lat;
int an_imu_mag_freq_done=0,an_imu_mag_lat_done=0;
init_analyze(&an_imu_mag_raw_freq,2000);
init_analyze(&an_imu_mag_raw_lat,2000);
Analyze an_baro_raw_freq,an_baro_raw_lat;
int an_baro_raw_freq_done=0,an_baro_raw_lat_done=0;
init_analyze(&an_baro_raw_freq,2000);
init_analyze(&an_baro_raw_lat,2000);
Analyze an_gps_int_freq,an_gps_int_lat;
int an_gps_int_freq_done=0,an_gps_int_lat_done=0;
init_analyze(&an_gps_int_freq,40);
init_analyze(&an_gps_int_lat,40);
Analyze an_airspeed_ets_freq,an_airspeed_ets_lat;
int an_airspeed_ets_freq_done=0,an_airspeed_ets_lat_done=0;
init_analyze(&an_airspeed_ets_freq,100);
init_analyze(&an_airspeed_ets_lat,100);
Analyze an_actuators_freq,an_actuators_lat;
int an_actuators_freq_done=0,an_actuators_lat_done=0;
init_analyze(&an_actuators_freq,500);
init_analyze(&an_actuators_lat,500);
Analyze an_UART_errors_freq,an_UART_errors_lat;
int an_UART_errors_freq_done=0,an_UART_errors_lat_done=0;
init_analyze(&an_UART_errors_freq,50);
init_analyze(&an_UART_errors_lat,50);
Analyze an_sys_mon_freq,an_sys_mon_lat;
int an_sys_mon_freq_done=0,an_sys_mon_lat_done=0;
init_analyze(&an_sys_mon_freq,50);
init_analyze(&an_sys_mon_lat,50);
#endif
int recv_len;
size_t data_len = sizeof(input_stream);
while (1){
// err = receiveUDPServerData(&udp_server,(void *)&input_stream, sizeof(input_stream)); //blocking !!!
//1. retreive UDP data form planebone from ethernet port.
err = receiveUDPServerData(&udp_server,(void *)&input_stream, data_len, &recv_len); //blocking !!!
if (recv_len != 30) {
printf("Wrong number of bytes in received UDP packet!\n");
printf("Expected 30 bytes, Received %d bytes!\n", recv_len);
err = UDP_ERR_RECV;
}
UDP_err_handler(err,write_error_ptr);
if(err == UDP_ERR_NONE){
gettimeofday(&tv_now,NULL); //timestamp from receiving to calculate latency
#if DEBUG > 0
printf("message raw: ");
int i;
for(i=0;i<input_stream[1];i++){
printf("%d ",input_stream[i]);
}
printf("\n");
printf("start hex: %x\n", input_stream[0]);
printf("length: %d\n", input_stream[1]);
printf("send id: %d\n", input_stream[2]);
printf("message id: %d\n", input_stream[3]);
printf("checksum1: %d\n", input_stream[input_stream[1]-2]);
printf("checksum2: %d\n", input_stream[input_stream[1]-1]);
// printf("%d", input_stream[3]);
printf("\n");
#endif
//2. decode data
int err = data_decode(input_stream);
DEC_err_handler(err,write_error_ptr);
if(err==DEC_ERR_NONE){
switch_read_write(); //only switch read write if data decoding was succesfull
Data* data = get_read_pointer();
if(input_stream[3]==IMU_GYRO_RAW){
IMU_GYRO_RAW_received=1;
}else if(input_stream[3]==IMU_ACCEL_RAW){
IMU_ACCEL_RAW_received=1;
}else if(input_stream[3]==IMU_MAG_RAW){
IMU_MAG_RAW_received=1;
}else if(input_stream[3]==BARO_RAW){
BARO_RAW_received=1;
}else if(input_stream[3]==GPS_INT){
GPS_INT_received=1;
}else if(input_stream[3]==AIRSPEED_ETS){
AIRSPEED_received=1;
}else if(input_stream[3]==SVINFO){
SVINFO_received=1;
}else if(input_stream[3]==SYSMON){
SYSMON_received=1;
}else if(input_stream[3]==UART_ERRORS){
UART_ERROR_received=1;
}else if(input_stream[3]==ACTUATORS){
ACTUATORS_received=1;
}else if(input_stream[3]==NMEA_IIMWV_ID){
NMEA_IIMWV_received=1;
}else if(input_stream[3]==NMEA_WIXDR_ID){
NMEA_WIXDR_received=1;
}
/*printf("IMU_GYRO_RAW_received %d\n",IMU_GYRO_RAW_received);
printf("IMU_ACCEL_RAW_received %d\n",IMU_ACCEL_RAW_received);
printf("IMU_MAG_RAW_received %d\n",IMU_MAG_RAW_received);
printf("BARO_RAW_received %d\n",BARO_RAW_received);
printf("GPS_INT_received %d\n",GPS_INT_received);
printf("AIRSPEED_received %d\n",AIRSPEED_received);
printf("SVINFO_received %d\n",SVINFO_received);
printf("SYSMON_received %d\n",SYSMON_received);
printf("UART_ERROR_received %d\n",UART_ERROR_received);
printf("ACTUATORS_received %d\n",ACTUATORS_received);
printf("NMEA_IIMWV_received %d\n",NMEA_IIMWV_received);
printf("NMEA_WIXDR_received %d\n",NMEA_WIXDR_received);
printf("\n");*/
if(input_stream[3]==BARO_RAW){
#if ANALYZE
if(calculate_frequency(&an_baro_raw_freq,data->lisa_plane.baro_raw.tv)==1){
an_baro_raw_freq_done=1;
}
if(calculate_latency(&an_baro_raw_lat,data->lisa_plane.baro_raw.tv,tv_now)==1){
an_baro_raw_lat_done=1;
}
#endif
/*int i;
printf("Baro_raw content:");
print_mem((void *)&data->lisa_plane.baro_raw,sizeof(Baro_raw));
printf("abs %d\n",data->lisa_plane.baro_raw.abs);
printf("diff %d\n",data->lisa_plane.baro_raw.diff);
printf("\n\n\n");*/
}
if(input_stream[3]==IMU_GYRO_RAW){
#if ANALYZE
if(calculate_frequency(&an_imu_gyro_raw_freq,data->lisa_plane.imu_gyro_raw.tv)==1){
an_imu_gyro_freq_done=1;
}
if(calculate_latency(&an_imu_gyro_raw_lat,data->lisa_plane.imu_gyro_raw.tv,tv_now)==1){
an_imu_gyro_lat_done=1;
}
#endif
/* int i;
printf("Imu_gyro_raw content:");
print_mem((void *)&data->lisa_plane.imu_gyro_raw,sizeof(Imu_gyro_raw));
printf("\n");
printf("gp %d\n",data->lisa_plane.imu_gyro_raw.gp);
printf("gq %d\n",data->lisa_plane.imu_gyro_raw.gq);
printf("gr %d\n",data->lisa_plane.imu_gyro_raw.gr);
print_latency(data->lisa_plane.imu_gyro_raw.tv);
printf("\n\n\n");*/
}
if(input_stream[3]==IMU_ACCEL_RAW){
#if ANALYZE
if(calculate_frequency(&an_imu_accel_raw_freq,data->lisa_plane.imu_accel_raw.tv)==1){
an_imu_accel_freq_done=1;
}
if(calculate_latency(&an_imu_accel_raw_lat,data->lisa_plane.imu_accel_raw.tv,tv_now)==1){
an_imu_accel_lat_done=1;
}
#endif
/*int i;
printf("Imu_accel_raw content:");
print_mem((void *)&data->lisa_plane.imu_accel_raw,sizeof(Imu_accel_raw));
printf("\n");
printf("ax %d\n",data->lisa_plane.imu_accel_raw.ax);
printf("ay %d\n",data->lisa_plane.imu_accel_raw.ay);
printf("az %d\n",data->lisa_plane.imu_accel_raw.az);
printf("\n");
printf("\n\n\n");*/
}
if(input_stream[3]==IMU_MAG_RAW){
#if ANALYZE
if(calculate_frequency(&an_imu_mag_raw_freq,data->lisa_plane.imu_mag_raw.tv)==1){
an_imu_mag_freq_done=1;
}
if(calculate_latency(&an_imu_mag_raw_lat,data->lisa_plane.imu_mag_raw.tv,tv_now)==1){
an_imu_mag_lat_done=1;
}
#endif
}
if(input_stream[3]==AIRSPEED_ETS){
#if ANALYZE
if(calculate_frequency(&an_airspeed_ets_freq,data->lisa_plane.airspeed_ets.tv)==1){
an_airspeed_ets_freq_done=1;
}
if(calculate_latency(&an_airspeed_ets_lat,data->lisa_plane.airspeed_ets.tv,tv_now)==1){
an_airspeed_ets_lat_done=1;
}
#endif
/*int i;
printf("airspeed content:");
print_mem((void *)&data->lisa_plane.airspeed_ets,sizeof(Airspeed_ets));
char temp[64];
timestamp_to_timeString(data->lisa_plane.airspeed_ets.tv,temp);
printf("send time %s\n",temp);
printf("adc %d\n",data->lisa_plane.airspeed_ets.adc);
printf("offset %d\n",data->lisa_plane.airspeed_ets.offset);
printf("scaled %f\n",data->lisa_plane.airspeed_ets.scaled);*/
}
if(input_stream[3]==GPS_INT){
#if ANALYZE
if(calculate_frequency(&an_gps_int_freq,data->lisa_plane.gps_int.tv)==1){
an_gps_int_freq_done=1;
}
if(calculate_latency(&an_gps_int_lat,data->lisa_plane.gps_int.tv,tv_now)==1){
an_gps_int_lat_done=1;
}
#endif
/*int i;
printf("Gps_int_message content:");
print_mem((void *)&data->lisa_plane.gps_int,sizeof(Gps_int));
printf("\n");
printf("ecef_x %d\n",data->lisa_plane.gps_int.ecef_x);
printf("ecef_y %d\n",data->lisa_plane.gps_int.ecef_y);
printf("ecef_z %d\n",data->lisa_plane.gps_int.ecef_z);
printf("lat %d\n",data->lisa_plane.gps_int.lat);
printf("lon %d\n",data->lisa_plane.gps_int.lon);
printf("alt %d\n",data->lisa_plane.gps_int.alt);
printf("hmsl %d\n",data->lisa_plane.gps_int.hmsl);
printf("ecef_xd %d\n",data->lisa_plane.gps_int.ecef_xd);
printf("ecef_yd %d\n",data->lisa_plane.gps_int.ecef_yd);
printf("ecef_zd %d\n",data->lisa_plane.gps_int.ecef_zd);
printf("pacc %d\n",data->lisa_plane.gps_int.pacc);
printf("sacc %d\n",data->lisa_plane.gps_int.sacc);
printf("tow %d\n",data->lisa_plane.gps_int.tow);
printf("pdop %d\n",data->lisa_plane.gps_int.pdop);
printf("numsv %d\n",data->lisa_plane.gps_int.numsv);
printf("fix %d\n",data->lisa_plane.gps_int.fix);
print_latency(data->lisa_plane.gps_int.tv);*/
}
if(input_stream[3]==SYSMON){
#if ANALYZE
if(calculate_frequency(&an_sys_mon_freq,data->lisa_plane.sys_mon.tv)==1){
an_sys_mon_freq_done=1;
}
if(calculate_latency(&an_sys_mon_lat,data->lisa_plane.sys_mon.tv,tv_now)==1){
an_sys_mon_lat_done=1;
}
#endif
/* int i;
printf("sysmon content:");
print_mem((void *)&data->lisa_plane.sys_mon,sizeof(Sys_mon));
printf("\n");
printf("periodic_time %d\n",data->lisa_plane.sys_mon.periodic_time);
printf("periodic_cycle %d\n",data->lisa_plane.sys_mon.periodic_cycle);
printf("periodic_cycle_min %d\n",data->lisa_plane.sys_mon.periodic_cycle_min);
printf("periodic_cycle_max %d\n",data->lisa_plane.sys_mon.periodic_cycle_max);
printf("event_number %d\n",data->lisa_plane.sys_mon.event_number);
printf("cpu_load %d\n",data->lisa_plane.sys_mon.cpu_load);
print_latency(data->lisa_plane.sys_mon.tv);*/
}
if(input_stream[3]==UART_ERRORS){
#if ANALYZE
if(calculate_frequency(&an_UART_errors_freq,data->lisa_plane.uart_errors.tv)==1){
an_UART_errors_freq_done=1;
}
if(calculate_latency(&an_UART_errors_lat,data->lisa_plane.uart_errors.tv,tv_now)==1){
an_UART_errors_lat_done=1;
}
#endif
/* int i;
printf("uart error content:");
print_mem((void *)&data->lisa_plane.uart_errors,sizeof(UART_errors));
printf("overrun_cnt %d\n",data->lisa_plane.uart_errors.overrun_cnt);
printf("noise_err_cnt %d\n",data->lisa_plane.uart_errors.noise_err_cnt);
printf("framing_err_cnt %d\n",data->lisa_plane.uart_errors.framing_err_cnt);
printf("bus_number %d\n",data->lisa_plane.uart_errors.bus_number);
print_latency(data->lisa_plane.uart_errors.tv);*/
}
if(input_stream[3]==ACTUATORS){
#if ANALYZE
if(calculate_frequency(&an_actuators_freq,data->lisa_plane.actuators.tv)==1){
an_actuators_freq_done=1;
}
if(calculate_latency(&an_actuators_lat,data->lisa_plane.actuators.tv,tv_now)==1){
an_actuators_lat_done=1;
}
#endif
/*int i;
printf("actuators content:");
print_mem((void *)&data->lisa_plane.actuators,sizeof(Actuators));
printf("arr_length %d\n",data->lisa_plane.actuators.arr_length);
for(i=0;i<data->lisa_plane.actuators.arr_length;i++){
printf("servo_%d %d\n",i,data->lisa_plane.actuators.values[i]);
}
print_latency(data->lisa_plane.actuators.tv);*/
}
if(input_stream[3]==BEAGLE_ERROR){
//printf("beagle bone error content:");
//print_mem((void *)&data->bone_plane.error,sizeof(Beagle_error));
switch(data->bone_plane.error.library){
case UDP_L:
UDP_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
case UART_L:
UART_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
case DECODE_L:
DEC_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
case LOG_L:
LOG_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
}
}
if(input_stream[3]==NMEA_IIMWV_ID){
printf("NMEA_IIMWV_ID content:");
print_mem((void *)&data->bone_wind.nmea_iimmwv,sizeof(NMEA_IIMWV));
printf("wind angle %lf\n",data->bone_wind.nmea_iimmwv.wind_angle);
printf("relative %c\n",data->bone_wind.nmea_iimmwv.relative);
printf("wind speed %lf\n",data->bone_wind.nmea_iimmwv.wind_speed);
printf("wind speed unit %c\n",data->bone_wind.nmea_iimmwv.wind_speed_unit);
printf("status %c\n",data->bone_wind.nmea_iimmwv.status);
char temp[64];
timestamp_to_timeString16(data->bone_wind.nmea_iimmwv.tv,temp);
printf("send time: %s\n",temp);
printf("\n");
}
if(input_stream[3]==NMEA_WIXDR_ID){
printf("NMEA_WIXDR_ID content:");
print_mem((void *)&data->bone_wind.nmea_wixdr,sizeof(NMEA_WIXDR));
printf("Temperature %lf\n",data->bone_wind.nmea_wixdr.temperature);
printf("unit %c\n",data->bone_wind.nmea_wixdr.unit);
char temp[64];
timestamp_to_timeString16(data->bone_wind.nmea_wixdr.tv,temp);
printf("send time: %s\n",temp);
printf("\n");
}
if(input_stream[3]==LINE_ANGLE_ID){
// Send a character (to gpio of arduino)
// to stop the arduino-timer
/*
FILE *myFile;
myFile = fopen("/dev/ttyUSB0", "w");
fputs ("a", myFile);
fclose (myFile);
*/
printf("LINE_ANGLE_ID content:");
print_mem((void *)&data->bone_arm.line_angle,sizeof(LINE_ANGLE));
printf("Azimuth %i\n",data->bone_arm.line_angle.azimuth_raw);
printf("Elevation %i\n",data->bone_arm.line_angle.elevation_raw);
// printf("unit %c\n",data->bone_wind.nmea_wixdr.unit);
//char temp[64];
//timestamp_to_timeString16(data->bone_arm.line_angle.tv,temp);
//printf("send time: %s\n",temp);
printf("\n");
}
}else{
printf("UNKNOW PACKAGE with id %d\n",input_stream[3]);
exit(1);
}
}
#if ANALYZE
if(an_imu_accel_freq_done==1 &&
an_imu_accel_lat_done==1 &&
an_imu_gyro_freq_done==1 &&
an_imu_gyro_lat_done==1 &&
an_imu_mag_freq_done==1 &&
an_imu_mag_lat_done==1 &&
an_baro_raw_lat_done==1 &&
an_baro_raw_freq_done==1 &&
an_airspeed_ets_lat_done==1 &&
an_airspeed_ets_freq_done==1 &&
an_actuators_lat_done==1 &&
an_actuators_freq_done==1 &&
an_UART_errors_lat_done==1 &&
an_UART_errors_freq_done==1 &&
an_sys_mon_lat_done==1 &&
an_sys_mon_freq_done==1)
{
printf("ANALYZE RESULTS - IMU_ACCEL_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_imu_accel_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_imu_accel_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_imu_accel_raw_lat));
printf("\n");
dump_buffer_to_file(&an_imu_accel_raw_freq,"analyze/imu_accel_raw_per.csv");
dump_buffer_to_file(&an_imu_accel_raw_lat,"analyze/imu_accel_raw_lat.csv");
destroy_analyze(&an_imu_accel_raw_freq);
destroy_analyze(&an_imu_accel_raw_lat);
printf("ANALYZE RESULTS - IMU_GYRO_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_imu_gyro_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_imu_gyro_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_imu_gyro_raw_lat));
printf("\n");
dump_buffer_to_file(&an_imu_gyro_raw_freq,"analyze/imu_gyro_raw_per.csv");
dump_buffer_to_file(&an_imu_gyro_raw_lat,"analyze/imu_gyro_raw_lat.csv");
destroy_analyze(&an_imu_gyro_raw_freq);
destroy_analyze(&an_imu_gyro_raw_lat);
printf("ANALYZE RESULTS - IMU_MAG_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_imu_mag_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_imu_mag_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_imu_mag_raw_lat));
printf("\n");
dump_buffer_to_file(&an_imu_mag_raw_freq,"analyze/imu_mag_raw_per.csv");
dump_buffer_to_file(&an_imu_mag_raw_lat,"analyze/imu_mag_raw_lat.csv");
destroy_analyze(&an_imu_mag_raw_freq);
destroy_analyze(&an_imu_mag_raw_lat);
printf("ANALYZE RESULTS - BARO_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_baro_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_baro_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_baro_raw_lat));
printf("\n");
dump_buffer_to_file(&an_baro_raw_freq,"analyze/baro_raw_per.csv");
dump_buffer_to_file(&an_baro_raw_lat,"analyze/baro_raw_lat.csv");
destroy_analyze(&an_baro_raw_freq);
destroy_analyze(&an_baro_raw_lat);
printf("ANALYZE RESULTS - GPS_INT:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_gps_int_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_gps_int_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_gps_int_lat));
printf("\n");
dump_buffer_to_file(&an_gps_int_freq,"analyze/gps_int_per.csv");
dump_buffer_to_file(&an_gps_int_lat,"analyze/gps_int_lat.csv");
destroy_analyze(&an_gps_int_freq);
destroy_analyze(&an_gps_int_lat);
printf("ANALYZE RESULTS - AIRSPEED_ETS:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_airspeed_ets_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_airspeed_ets_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_airspeed_ets_lat));
printf("\n");
dump_buffer_to_file(&an_airspeed_ets_freq,"analyze/airspeed_ets_per.csv");
dump_buffer_to_file(&an_airspeed_ets_lat,"analyze/airspeed_ets_lat.csv");
destroy_analyze(&an_airspeed_ets_freq);
destroy_analyze(&an_airspeed_ets_lat);
printf("ANALYZE RESULTS - ACTUATORS:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_actuators_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_actuators_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_actuators_lat));
printf("\n");
dump_buffer_to_file(&an_actuators_freq,"analyze/actuators_per.csv");
dump_buffer_to_file(&an_actuators_lat,"analyze/actuators_lat.csv");
destroy_analyze(&an_actuators_freq);
destroy_analyze(&an_actuators_lat);
printf("ANALYZE RESULTS - UART_ERRORS:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_UART_errors_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_UART_errors_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_UART_errors_lat));
printf("\n");
dump_buffer_to_file(&an_UART_errors_freq,"analyze/UART_errors_per.csv");
dump_buffer_to_file(&an_UART_errors_lat,"analyze/UART_errors_lat.csv");
destroy_analyze(&an_UART_errors_freq);
destroy_analyze(&an_UART_errors_lat);
printf("ANALYZE RESULTS - SYS_MON:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_sys_mon_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_sys_mon_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_sys_mon_lat));
printf("\n");
dump_buffer_to_file(&an_sys_mon_freq,"analyze/sys_mon_per.csv");
dump_buffer_to_file(&an_sys_mon_lat,"analyze/sys_mon_lat.csv");
destroy_analyze(&an_sys_mon_freq);
destroy_analyze(&an_sys_mon_lat);
exit(1);
}
#endif
}
UDP_err_handler(closeUDPServerSocket(&udp_server),write_error_ptr);
/*------------------------END OF FIRST THREAD------------------------*/
//wait for the second thread to finish
if(pthread_join(thread_server_to_planebone, NULL)) {
error_write(FILENAME,"error joining thread_lisa_to_pc");
exit(EXIT_FAILURE);
}
return 0;
}
