/*
* Print a polynomial p
* - prefix = variable prefix name ('x' or 'i')
*/
static void dsolver_print_poly(FILE *f, polynomial_t *p, char prefix) {
uint32_t i, n;
int32_t x;
n = p->nterms;
if (n == 0) {
fprintf(f, "0");
} else if (n == 1) {
x = p->mono[0].var;
if (x == const_idx) {
q_print(f, &p->mono[0].coeff);
} else {
dsolver_print_monomial(f, &p->mono[0].coeff, p->mono[0].var, prefix);
}
} else {
fprintf(f, "(+");
i = 0;
x = p->mono[i].var;
if (x == const_idx) {
fprintf(f, " ");
q_print(f, &p->mono[i].coeff);
i ++;
}
while (i < n) {
fprintf(f, " ");
dsolver_print_monomial(f, &p->mono[i].coeff, p->mono[i].var, prefix);
i ++;
}
fprintf(f, ")");
}
}
/*
* Check whether cnstr => var[k] = period * integer + phase
*/
static void check_period_and_phase(int_constraint_t *cnstr, uint32_t k, rational_t *period, rational_t *phase) {
rational_t test_val;
int32_t x, z;
q_init(&test_val);
x = int_constraint_get_var(cnstr, k);
for (z = -10; z < 10; z++) {
get_solution_for_var(cnstr, k, &test_val, z);
q_sub(&test_val, phase); // value - phase
if (q_divides(period, &test_val)) {
printf(" passed test for %s = ", var[x].name);
q_print(stdout, &test_val);
printf("\n");
} else {
printf("*** BUG ***");
printf(" failed test for %s = ", var[x].name);
q_print(stdout, &test_val);
printf("\n");
fflush(stdout);
exit(1);
}
}
q_clear(&test_val);
}
/*
* Test 3: a is small, b is large
*/
static void test_small_big(void) {
rational_t a, b, c;
uint32_t i;
int32_t x;
q_init(&a);
q_init(&b);
q_init(&c);
for (i=0; i<NBIGS; i++) {
q_set_from_string(&b, large_divisor[i]);
for (x=-10; x<=10; x++) {
q_set32(&a, x);
q_set32(&c, x);
q_integer_div(&a, &b);
q_integer_rem(&c, &b);
printf("div[%"PRId32", %s]: quotient = ", x, large_divisor[i]);
q_print(stdout, &a);
printf(", remainder = ");
q_print(stdout, &c);
printf("\n");
}
printf("\n");
}
q_clear(&a);
q_clear(&b);
q_clear(&c);
}
/*
* Test 2: a is large, b is small
*/
static void test_big_small(void) {
rational_t a, b, c;
uint32_t i;
int32_t y;
q_init(&a);
q_init(&b);
q_init(&c);
for (y=1; y<8; y++) {
q_set32(&b, y);
for (i=0; i<NBIGS; i++) {
q_set_from_string(&a, large_signed[i]);
q_set(&c, &a);
q_integer_div(&a, &b);
q_integer_rem(&c, &b);
printf("div[%s, %"PRId32"]: quotient = ", large_signed[i], y);
q_print(stdout, &a);
printf(", remainder = ");
q_print(stdout, &c);
printf("\n");
}
printf("\n");
}
q_clear(&a);
q_clear(&b);
q_clear(&c);
}
/*
* Test 1: a divided by b
* - both a and b are small integers
*/
static void test_small_small(void) {
rational_t a, b, c;
int32_t x, y;
q_init(&a);
q_init(&b);
q_init(&c);
for (y=1; y<8; y++) {
q_set32(&b, y);
for (x=-20; x<=20; x++) {
q_set32(&a, x);
q_integer_div(&a, &b);
q_set32(&c, x);
q_integer_rem(&c, &b);
printf("div[%3"PRId32", %"PRId32"]: quotient = ", x, y);
q_print(stdout, &a);
printf(", remainder = ");
q_print(stdout, &c);
printf("\n");
}
printf("\n");
}
q_clear(&a);
q_clear(&b);
q_clear(&c);
}
/*
* Test 4: a is large, b is large
*/
static void test_big_big(void) {
rational_t a, b, c;
uint32_t i, j;
q_init(&a);
q_init(&b);
q_init(&c);
for (i=0; i<NBIGS; i++) {
q_set_from_string(&b, large_divisor[i]);
for (j=0; j<NBIGS; j++) {
q_set_from_string(&a, large_signed[j]);
q_set(&c, &a);
q_integer_div(&a, &b);
q_integer_rem(&c, &b);
printf("div[%s, %s]: quotient = ", large_signed[j], large_divisor[i]);
q_print(stdout, &a);
printf(", remainder = ");
q_print(stdout, &c);
printf("\n");
}
printf("\n");
}
q_clear(&a);
q_clear(&b);
q_clear(&c);
}
int test_div ( void )
{
Q a,inv,x,y;
/* Set x and y to k */
q_set_k(x);
q_print(x);
printf("\n");
q_set_k(y);
q_print(y);
printf("\n\n");
/* Divide x by y */
q_div(a,x,y);
/* Print the outcome */
q_print(x);
printf(" / ");
q_print(y);
printf(" = ");
q_print(a);
printf("\n");
return 0;
}
/*
* Difference logic triple (x - y + d)
* - x and y are vertices
*/
void print_idl_triple(FILE *f, dl_triple_t *triple) {
bool space;
space = false;
if (triple->target >= 0) {
print_idl_vertex(f, triple->target); // x
space = true;
}
if (triple->source >= 0) {
if (space) fputc(' ', f);
fputs("- ", f);
print_idl_vertex(f, triple->source); // y
space = true;
}
if (! space) {
q_print(f, &triple->constant);
} else if (q_is_pos(&triple->constant)) {
fprintf(f, " + ");
q_print(f, &triple->constant);
} else if (q_is_neg(&triple->constant)) {
fprintf(f, " - ");
q_print_abs(f, &triple->constant);
}
}
static void convert_int64_test(rational_t *r1) {
int64_t a;
uint64_t b;
rational_t check;
if (q_get_int64(r1, &a, &b)) {
printf("Rational: ");
q_print(stdout, r1);
printf(" decomposed to %"PRId64"/%"PRIu64" (64 bits)\n", a, b);
q_init(&check);
q_set_int64(&check, a, b);
if (! q_eq(r1, &check)) {
printf("---> BUG\n");
fflush(stdout);
exit(1);
}
if (! q_fits_int64(r1)) {
printf("---> BUG\n");
fflush(stdout);
exit(1);
}
q_clear(&check);
} else {
printf("Rational: ");
q_print(stdout, r1);
printf(" not convertible to 64bit integers\n");
if (q_fits_int64(r1)) {
printf("---> BUG\n");
fflush(stdout);
exit(1);
}
}
}
/*
* Conversion to an integer
*/
static void convert32_test(rational_t *r1) {
int32_t a;
rational_t check;
if (q_get32(r1, &a)) {
printf("Rational: ");
q_print(stdout, r1);
printf(" equal to %"PRId32" (32 bits)\n", a);
q_init(&check);
q_set32(&check, a);
if (! q_eq(r1, &check)) {
printf("---> BUG\n");
fflush(stdout);
exit(1);
}
if (! q_is_int32(r1)) {
printf("---> BUG\n");
fflush(stdout);
exit(1);
}
q_clear(&check);
} else {
printf("Rational: ");
q_print(stdout, r1);
printf(" not convertible to a 32bit integer\n");
if (q_is_int32(r1)) {
printf("---> BUG\n");
fflush(stdout);
exit(1);
}
}
}
/*
* Test the period/phase computation
*/
static void test_periods_and_phases(int_constraint_t *cnstr) {
ivector_t v;
rational_t *p, *q;
uint32_t i, n;
int32_t x;
init_ivector(&v, 10);
n = int_constraint_num_terms(cnstr);
for (i=0; i<n; i++) {
ivector_reset(&v);
int_constraint_period_of_var(cnstr, i, &v);
x = int_constraint_get_var(cnstr, i);
p = int_constraint_period(cnstr);
q = int_constraint_phase(cnstr);
printf("Variable %s: period = ", var[x].name);
q_print(stdout, p);
printf(", phase = ");
q_print(stdout, q);
printf("\n");
printf(" antecedents: ");
show_varnames(stdout, v.data, v.size);
check_period_and_phase(cnstr, i, p, q);
}
delete_ivector(&v);
}
static void show_constraint_details(FILE *f, int_constraint_t *cnstr) {
fprintf(f, "Details\n");
fprintf(f, " num_gcd = ");
q_print(f, &cnstr->num_gcd);
fprintf(f, "\n");
fprintf(f, " den_lcm = ");
q_print(f, &cnstr->den_lcm);
fprintf(f, "\n");
fprintf(f, " gcd = ");
q_print(f, &cnstr->gcd);
fprintf(f, "\n");
fprintf(f, " fixed = ");
q_print(f, &cnstr->fixed_constant);
fprintf(f, "\n");
}
void print_arith_vartable(FILE *f, arith_vartable_t *table) {
uint32_t i, n;
n = table->nvars;
for (i=0; i<n; i++) {
print_avar(f, table, i);
switch (arith_var_kind(table, i)) {
case AVAR_FREE:
break;
case AVAR_POLY:
fputs(" := ", f);
print_avar_poly(f, table, arith_var_poly_def(table, i));
break;
case AVAR_PPROD:
fputs(" := ", f);
print_avar_product(f, table, arith_var_product_def(table, i));
break;
case AVAR_CONST:
fputs(" := ", f);
q_print(f, arith_var_rational_def(table, i));
break;
}
if (arith_var_has_eterm(table, i)) {
fputs(" --> ", f);
print_eterm_id(f, arith_var_eterm(table, i));
}
fputc('\n', f);
}
}
int main(int argc, const char * argv[]) {
QUEUE* queue = q_init();
for (int i = 0; i < 5; i++) {
q_enter(queue, i);
}
q_print(queue);
q_quit(queue);
q_quit(queue);
q_print(queue);
q_clear(queue);
q_print(queue);
return 0;
}
int main()
{
int q[MAX_Q];
int front;
int rear;
q_init(q, MAX_Q, &front, &rear); q_print(q, MAX_Q, &front, &rear);
q_insert(q, MAX_Q, &front, &rear, 10); q_print(q, MAX_Q, &front, &rear);
q_insert(q, MAX_Q, &front, &rear, 20); q_print(q, MAX_Q, &front, &rear);
q_insert(q, MAX_Q, &front, &rear, 30); q_print(q, MAX_Q, &front, &rear);
printf("Val = %d\n", q_delete(q, MAX_Q, &front, &rear));
printf("Val = %d\n", q_delete(q, MAX_Q, &front, &rear));
printf("Val = %d\n", q_delete(q, MAX_Q, &front, &rear));
q_insert(q, MAX_Q, &front, &rear, 40); q_print(q, MAX_Q, &front, &rear);
q_insert(q, MAX_Q, &front, &rear, 50); q_print(q, MAX_Q, &front, &rear);
printf("Val = %d\n", q_delete(q, MAX_Q, &front, &rear));
q_insert(q, MAX_Q, &front, &rear, 60); q_print(q, MAX_Q, &front, &rear);
printf("Val = %d\n", q_delete(q, MAX_Q, &front, &rear));
printf("Val = %d\n", q_delete(q, MAX_Q, &front, &rear));
return 0;
}
void queue_test_empty(void) {
queue_t* q = queue_init(q_compare, q_print, q_clone, q_destroy);
CU_ASSERT (q != NULL);
q_print(q, stderr);
CU_ASSERT (queue_peek(q) == NULL);
CU_ASSERT (queue_pop(q) == NULL);
CU_ASSERT (queue_destroy(q) == 0);
}
/*
* Print a solution row:
* - x = variable defined by that row
* - r = the row index
* - v = column indices (as an int_bag)
*/
static void dsolver_print_sol_row_core(FILE *f, dsolver_t *solver, int32_t x, int32_t r, int32_t *v) {
dcolumn_t *c, *b;
uint32_t i, n, m;
int32_t k, j;
// j = constant index for row r, j == -1 means constant = 0
b = solver->constant_column;
j = find_row(b, r);
if (v == NULL) {
n = 0;
m = 0;
} else {
m = ibag_nelems(v);
n = ibag_size(v);
}
if (m == 0 && j < 0) {
fprintf(f, "(= x_%"PRId32" 0)", x);
} else {
if (m > 1 || j >= 0) {
fprintf(f, "(= x_%"PRId32" (+", x);
} else {
fprintf(f, "(= x_%"PRId32, x);
}
// print the constant first
if (j >= 0) {
fprintf(f, " ");
q_print(f, &b->data[j].coeff);
}
// print the matrix element
for (i=0; i<n; i++) {
if (v[i] >= 0) {
assert(v[i] < solver->ncolumns);
c = solver->column[v[i]];
assert(c != NULL);
k = find_row(c, r);
assert(k >= 0);
fprintf(f, " ");
dsolver_print_monomial(f, &c->data[k].coeff, c->var, 'i');
}
}
if (m > 1 || j >= 0) {
fprintf(f, "))");
} else {
fprintf(f, ")");
}
}
}
/*
* Print monomial (* a <prefix>_<x>)
*/
static void dsolver_print_monomial(FILE *f, rational_t *a, int32_t x, char prefix) {
if (q_is_one(a)) {
fprintf(f, "%c_%"PRId32, prefix, x);
} else if (q_is_minus_one(a)) {
fprintf(f, "(- %c_%"PRId32")", prefix, x);
} else {
fprintf(f, "(* ");
q_print(f, a);
fprintf(f, " %c_%"PRId32")", prefix, x);
}
}
int main(int argc, char *argv[])
{
/* Set the matrix values directly. Ugly but true. */
q_matrix_type col_matrix = { {-0.999848, 0.002700, -0.017242, 0.001715},
{ 0, -0.987960, -0.154710, -0.207295},
{-0.017452, -0.154687, 0.987809, -0.098239},
{ 0, 0, 0, 1} };
/*
q_matrix_type col_matrix = { { 0.999848, -0.002700, 0.017242, -0.001715},
{ 0, 0.987960, 0.154710, 0.207295},
{-0.017452, -0.154687, 0.987809, -0.098239},
{ 0, 0, 0, 1} };
*/
q_matrix_type row_matrix;
q_xyz_quat_type q;
q_xyz_quat_type q_inverse;
/* Transpose the column matrix into a row matrix */
unsigned i,j;
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
row_matrix[i][j] = col_matrix[j][i];
}
}
printf("Row Matrix directly:\n");
q_print_matrix(row_matrix);
/* Convert to pos/quat and print. */
q_row_matrix_to_xyz_quat(&q, row_matrix);
printf("XYZ Quat:\n");
q_vec_print(q.xyz);
q_print(q.quat);
/* Invert the result and print that. */
printf("XYZ Quat inverse:\n");
q_xyz_quat_invert(&q_inverse, &q);
q_vec_print(q_inverse.xyz);
q_print(q_inverse.quat);
} /* main */
void print_fixed_var_vector(FILE *f, arith_vartable_t *vtbl, fvar_vector_t *fvars) {
uint32_t i, n;
n = fvars->nvars;
for (i=0; i<n; i++) {
fprintf(f, " fixed[%"PRIu32"]: ", i);
print_space(f, i, n);
print_avar(f, vtbl, fvars->fvar[i].var);
fputs(" == ", f);
q_print(f, &fvars->fvar[i].value);
fputc('\n', f);
}
fputc('\n', f);
}
/*
* Print a triple
*/
static void print_dl_triple(dl_triple_t *t) {
bool space;
space = false;
if (t->target >= 0) {
printf("x!%"PRId32, t->target);
space = true;
}
if (t->source >= 0) {
if (space) printf(" ");
printf("- x!%"PRId32, t->source);
}
if (! space) {
q_print(stdout, &t->constant);
} else if (q_is_pos(&t->constant)) {
printf(" + ");
q_print(stdout, &t->constant);
} else if (q_is_neg(&t->constant)) {
printf(" - ");
q_print_abs(stdout, &t->constant);
}
}
static void show_var(FILE *f, uint32_t i) {
const char *type;
const char *fixed;
assert(i < NVARS);
type = var[i].is_int ? "int" : "rational";
fixed = var[i].is_fixed ? "fixed" : "not fixed";
fprintf(f, "var[%"PRIu32"]: name = %s, type = %s, %s", i, var[i].name, type, fixed);
if (var[i].is_fixed) {
fprintf(f, ", value = ");
q_print(f, &var[i].fixed_value);
}
fprintf(f, "\n");
}
/*
* Print a row:
* - r = row index
* - v = array of columns where i occurs (as an integer vector)
*/
static void dsolver_print_row_vector(FILE *f, dsolver_t *solver, int32_t r, ivector_t *v) {
dcolumn_t *c, *b;
uint32_t i, n;
int32_t k, j;
// j = constant index for row r, j == -1 means constant = 0
b = solver->constant_column;
j = find_row(b, r);
n = v->size;
if (n == 0 && j < 0) {
fprintf(f, "(= 0 0)");
} else {
if (n > 1 || j >= 0) {
fprintf(f, "(= (+");
} else {
fprintf(f, "(=");
}
// print the matrix element
for (i=0; i<n; i++) {
assert(0 <= v->data[i] && v->data[i] < solver->ncolumns);
c = solver->column[v->data[i]];
assert(c != NULL);
k = find_row(c, r);
assert(k >= 0);
fprintf(f, " ");
dsolver_print_monomial(f, &c->data[k].coeff, c->var, 'x');
}
// print the constant
if (j >= 0) {
fprintf(f, " ");
q_print(f, &b->data[j].coeff);
}
// close parentheses
if (n > 1 || j >= 0) {
fprintf(f, ") 0)");
} else {
fprintf(f, " 0)");
}
}
}
/*
* Print the basic solution
*/
void dsolver_print_solution(FILE *f, dsolver_t *solver) {
uint32_t i, n;
if (solver->base_sol == NULL) {
fprintf(f, "No solution computed\n");
} else {
fprintf(f, "Solution\n");
n = solver->nvars;
for (i=0; i<n; i++) {
if (solver->sol_row[i] >= 0) {
fprintf(f, " x_%"PRIu32" = ", i);
q_print(f, dsolver_get_value(solver, i));
fprintf(f, "\n");
}
}
}
}
static void show_fixed_vars(FILE *f, int_constraint_t *cnstr) {
uint32_t i, n;
int32_t x;
n = cnstr->fixed_nterms;
if (n == 0) {
fprintf(f, "No fixed variable\n");
} else {
fprintf(f, "Fixed variables:\n");
for (i=0; i<n; i++) {
x = cnstr->fixed_sum[i].var;
fprintf(f, " val[%s] = ", var[x].name);
q_print(f, &cnstr->fixed_val[i]);
printf("\n");
}
}
}
int
main(int argc, char *argv[])
{
q_type multQuat;
q_type xformedPoint;
q_type point;
double matrix[4][4];
/*
* read in, echo, and normalize 2 quaternions
*/
printf("\nEnter xform quaternion: (vec, s) ");
scanf("%lf %lf %lf %lf",
&multQuat[0], &multQuat[1], &multQuat[2], &multQuat[3]);
printf("\nEnter point: (x y z) ");
scanf("%lf %lf %lf",
&point[Q_X], &point[Q_Y], &point[Q_Z]);
point[Q_W] = 0.0;
/*
* matrix of product quat
*/
q_to_col_matrix(matrix, multQuat);
printf("Transformation (column) matrix:\n");
q_print_matrix(matrix);
/*
* xformedPoint = (multQuat * candQuat) * invertedQuat
*/
q_xform(xformedPoint, multQuat, point);
printf("Xform Result:\n");
q_print(xformedPoint);
return(0);
} /* main */
static void test_buffer(rba_buffer_t *b) {
int32_t x;
mono_t *m;
printf("Buffer %p: ", b);
print_rba_buffer(stdout, b);
printf("\n");
test_buffer_pred("is_zero", b, rba_buffer_is_zero);
test_buffer_pred("is_constant", b, rba_buffer_is_constant);
test_buffer_pred("is_nonzero", b, rba_buffer_is_nonzero);
test_buffer_pred("is_pos", b, rba_buffer_is_pos);
test_buffer_pred("is_neg", b, rba_buffer_is_neg);
test_buffer_pred("is_nonneg", b, rba_buffer_is_nonneg);
test_buffer_pred("is_nonpos", b, rba_buffer_is_nonpos);
printf(" size: %"PRIu32"\n", rba_buffer_num_terms(b));
printf(" degree: %"PRIu32"\n", rba_buffer_degree(b));
if (! rba_buffer_is_zero(b)) {
printf(" main term: ");
print_pprod0(stdout, rba_buffer_main_term(b));
printf("\n");
m = rba_buffer_main_mono(b);
printf(" main monomial: ");
q_print(stdout, &m->coeff);
printf(" * ");
print_pprod0(stdout, m->prod);
printf("\n");
}
for (x=0; x<5; x++) {
printf(" degree in x_%"PRId32": %"PRIu32"\n",
x, rba_buffer_var_degree(b, x));
}
printf("---\n");
}
/*
* Print a row in a matrix or tableau
* - a variable k of index 1 ... m-1 is printed as x_<k>
* - a variable k of index m ... is printed as i_<k>
*/
static void dsolver_print_matrix_row(FILE *f, row_t *row, int32_t m) {
uint32_t i, n;
int32_t x;
char prefix;
n = row->size;
if (n == 0) {
fputs("(= 0 0)", f); // empty row (should not happen)
} else {
if (n == 1) {
fputs("(=", f);
} else {
fputs("(= (+", f);
}
for (i=0; i<n; i++) {
x = row->data[i].c_idx;
if (x >= 0) {
fputc(' ', f);
if (x == const_idx) {
q_print(f, &row->data[i].coeff);
} else {
prefix = x < m ? 'x' : 'i';
dsolver_print_monomial(f, &row->data[i].coeff, x, prefix);
}
}
}
if (n == 1) {
fputs("0)", f);
} else {
fputs(") 0)", f);
}
}
}
int main(int argc, char **argv)
{
pthread_t nthread;
pthread_t sthread;
pthread_t ethread;
pthread_t wthread;
char *dirs;
int i;
setvbuf(stdout, NULL, _IOLBF,0);
if (argc != 2)
{
printf("usage: %s <directions>\n",argv[0]);
return 1;
}
dirs = argv[1];
/*initialize four queues; one for each direction*/
q_init();
/*add carts to queues from command line args*/
for (i=0; dirs[i] != '\0'; ++i)
{
if (dirs[i] == 'n')
q_putCart('n');
else if (dirs[i] == 's')
q_putCart('s');
else if (dirs[i] == 'e')
q_putCart('e');
else if (dirs[i] == 'w')
q_putCart('w');
else
printf("Invalid character %c supplied, ignoring...\n",dirs[i]);
}
printf("\nStarting queues:\n");
q_print('n');
q_print('w');
q_print('s');
q_print('e');
printf("\n");
/*init monitor*/
monitor_init();
/*start threads*/
if (pthread_create(&nthread,NULL,&north,NULL))
{
printf("North thread creation failed.\n");
return -1;
}
if (pthread_create(&sthread,NULL,&south,NULL))
{
printf("South thread creation failed.\n");
return -1;
}
if (pthread_create(ðread,NULL,&east,NULL))
{
printf("East thread creation failed.\n");
return -1;
}
if (pthread_create(&wthread,NULL,&west,NULL))
{
printf("West thread creation failed.\n");
return -1;
}
/*wait until all threads exit*/
pthread_join(nthread,NULL);
pthread_join(sthread,NULL);
pthread_join(ethread,NULL);
pthread_join(wthread,NULL);
printf("\nEnding queues (should all be NULL):\n");
q_print('n');
q_print('w');
q_print('s');
q_print('e');
printf("\n");
/*free up memory and exit program*/
q_shutdown();
monitor_shutdown();
return 0;
}
int main(int argc, char *argv[]) {
char *directions;
int i;
pthread_t tid[4];
char *arg;
int rc;
/* get command line */
if (argc != 2) {
fprintf(stderr, "usage: %s <string: any length/combination of n,e,w,s>\n", argv[0]);
exit(1);
}
directions = argv[1];
/* init other modules */
q_init();
monitor_init();
pthread_barrier_init(&endBarrier, NULL, 4);
/* 1. place all carts on appropriate queue */
for (i=0; i<strlen(directions); i++)
q_putCart(directions[i]);
#if 1
q_print(Q_NORTH);
q_print(Q_SOUTH);
q_print(Q_EAST);
q_print(Q_WEST);
#endif
/* 2. create 4 threads, one for each direction */
arg = malloc(sizeof(char));
*arg = Q_NORTH;
if ((rc = pthread_create(&tid[0], NULL, moveCart, (void *)arg)) != 0)
fprintf(stderr, "thread create %c failed (%s)\n", *arg, strerror(rc)), exit(1);
arg = malloc(sizeof(char));
*arg = Q_SOUTH;
if ((rc = pthread_create(&tid[1], NULL, moveCart, (void *)arg)) != 0)
fprintf(stderr, "thread create %c failed (%s)\n", *arg, strerror(rc)), exit(1);
arg = malloc(sizeof(char));
*arg = Q_EAST;
if ((rc = pthread_create(&tid[2], NULL, moveCart, (void *)arg)) != 0)
fprintf(stderr, "thread create %c failed (%s)\n", *arg, strerror(rc)), exit(1);
arg = malloc(sizeof(char));
*arg = Q_WEST;
if ((rc = pthread_create(&tid[3], NULL, moveCart, (void *)arg)) != 0)
fprintf(stderr, "thread create %c failed (%s)\n", *arg, strerror(rc)), exit(1);
/* 3. join threads as they complete */
if ((rc = pthread_join(tid[0], NULL)) != 0)
fprintf(stderr, "thread join 0 failed (%s)\n", strerror(rc)), exit(1);
if ((rc = pthread_join(tid[1], NULL)) != 0)
fprintf(stderr, "thread join 1 failed (%s)\n", strerror(rc)), exit(1);
if ((rc = pthread_join(tid[2], NULL)) != 0)
fprintf(stderr, "thread join 2 failed (%s)\n", strerror(rc)), exit(1);
if ((rc = pthread_join(tid[3], NULL)) != 0)
fprintf(stderr, "thread join 3 failed (%s)\n", strerror(rc)), exit(1);
/* release resources */
q_shutdown();
monitor_shutdown();
pthread_barrier_destroy(&endBarrier);
return 0;
}