void aux_test_for_agressive(int num)
{
int i;
ThreadPool* tp = tpCreate(num);
for(i=0; i<num; ++i)
{
tpInsertTask(tp,doMediumTask,NULL);
}
tpDestroy(tp,1);
int precent = num*5;
char bar[43];
int j;
for (j = 0; j < 42; j++)
{
if (j==0) {
bar[j] = '[';
} else if (j>=1 && j<=num*2){
bar[j] = '=';
} else if (j>num*2 && j<=40){
bar[j] = ' ';
} else {
bar[j] = ']';
}
}
bar[42] = '\0';
printf("%d%% %s\n",precent, bar);
printf("\033[1A");
printf("\r");
}
void test_destroy_should_wait_for_tasks_2()
{
//ignore
ThreadPool* tp = tpCreate(5);
AwesomeContainer con;
con.awesomeNum = 0;
con.awesomeString = "DontCare"; // we use only the awesomeNum
tpInsertTask(tp,doLongTask,NULL);
tpInsertTask(tp,doLongTask,NULL);
tpInsertTask(tp,doLongTask,NULL);
tpInsertTask(tp,doLongTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doLongTask,&con);
tpDestroy(tp,1);
assert(con.awesomeNum==1);
printOK();
printf(" \n");
}
void test_single_thread_many_tasks()
{
//ignore
ThreadPool* tp = tpCreate(1);
tpInsertTask(tp,doMediumTaskWithPrint,NULL);
tpInsertTask(tp,doMediumTaskWithPrint,NULL);
AwesomeContainer con;
con.awesomeNum = 3;
con.awesomeString = "betty bought a bit of butter but the butter betty bought was bitter";
tpInsertTask(tp,awesomePrint,&con);
tpInsertTask(tp,doMediumTaskWithPrint,NULL);
tpInsertTask(tp,doMediumTaskWithPrint,NULL);
int num1 = 10;
tpInsertTask(tp,fibonaci,&num1);
int num2 = 20;
tpInsertTask(tp,fibonaci,&num2);
int a=0;
AwesomeContainer con2;
con2.awesomeNum = 3;
con2.awesomeString = "Whats your name? my name is Arnio";
tpInsertTask(tp,awesomePrint,&con2);
tpInsertTask(tp,printingCannabisText,NULL);
tpInsertTask(tp,doLongTaskWithPrint,&a);
tpDestroy(tp,1);
printOK();
printf(" \n");
}
void test_create_and_destroy()
{
int i = 0;
//ignore
printf("ok1\n");
ThreadPool* tp1 = tpCreate(3);
printf("ok2\n");
tpDestroy(tp1,1);
printf("ok3\n");
ThreadPool* tp2 = tpCreate(3);
printf("ok4\n");
tpDestroy(tp2,0);
printf("ok5\n");
/*//*/
printOK();
printf(" \n");
}
// Once this operation is still taking place no concurrent tpDestroy() are allowed on the same threadPool (PDF)
void test_destroy_twice()
{
//ignore
ThreadPool* tp = tpCreate(5);
tpInsertTask(tp,doLongTask,NULL);
tpInsertTask(tp,doLongTask,NULL);
tpDestroy(tp,1);
tpDestroy(tp,1);
printOK();
printf(" \n");
}
void test_insert_task_after_destroy_2()
{
//ignore
ThreadPool* tp = tpCreate(5);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doLongTask,NULL);
tpDestroy(tp,0);
tpInsertTask(tp,badfunction,NULL);
printOK();
printf(" \n");
}
void test_thread_pool_sanity()
{
//ignore
int i;
ThreadPool* tp = tpCreate(3);
for(i=0; i<3; ++i)
{
tpInsertTask(tp,hello,NULL);
}
tpDestroy(tp,1);
printOK();
printf(" \n");
}
void test_many_threads_single_task()
{
//ignore
ThreadPool* tp = tpCreate(50);
tpInsertTask(tp,doMediumTask,NULL);
// AwesomeContainer con;
// con.awesomeNum = 0;
// con.awesomeString = NULL; // we use only the awesomeNum
// tpInsertTask(tp,doLongTask,&con);
tpDestroy(tp,1);
//assert(con.awesomeNum==1);
printOK();
printf(" \n");
}
void test_destroy_should_not_wait_for_tasks()
{
//ignore
ThreadPool* tp = tpCreate(4);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
tpInsertTask(tp,doMediumTask,NULL);
// AwesomeContainer con;
// con.awesomeNum = 0;
// con.awesomeString = "DontCare"; // we use only the awesomeNum
// tpInsertTask(tp,doMediumTaskWithPrint,&con);
// tpInsertTask(tp,doMediumTaskWithPrint,&con);
// tpInsertTask(tp,doMediumTaskWithPrint,&con);
tpDestroy(tp,0);
printOK();
printf(" \n");
}
/* init_comm_buffers() allocates and initializes the command,
status, and error buffers used to communicate with the user
space parts of emc.
*/
static int init_comm_buffers(void)
{
int joint_num, n;
emcmot_joint_t *joint;
int retval;
rtapi_print_msg(RTAPI_MSG_INFO,
"MOTION: init_comm_buffers() starting...\n");
emcmotStruct = 0;
emcmotDebug = 0;
emcmotStatus = 0;
emcmotCommand = 0;
emcmotConfig = 0;
/* record the kinematics type of the machine */
kinType = kinematicsType();
/* allocate and initialize the shared memory structure */
emc_shmem_id = rtapi_shmem_new(key, mot_comp_id, sizeof(emcmot_struct_t));
if (emc_shmem_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MOTION: rtapi_shmem_new failed, returned %d\n", emc_shmem_id);
return -1;
}
retval = rtapi_shmem_getptr(emc_shmem_id, (void **) &emcmotStruct);
if (retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MOTION: rtapi_shmem_getptr failed, returned %d\n", retval);
return -1;
}
/* zero shared memory before doing anything else. */
memset(emcmotStruct, 0, sizeof(emcmot_struct_t));
/* we'll reference emcmotStruct directly */
emcmotCommand = &emcmotStruct->command;
emcmotStatus = &emcmotStruct->status;
emcmotConfig = &emcmotStruct->config;
emcmotDebug = &emcmotStruct->debug;
emcmotInternal = &emcmotStruct->internal;
emcmotError = &emcmotStruct->error;
/* init error struct */
emcmotErrorInit(emcmotError);
/* init command struct */
emcmotCommand->head = 0;
emcmotCommand->command = 0;
emcmotCommand->commandNum = 0;
emcmotCommand->tail = 0;
emcmotCommand->spindlesync = 0.0;
/* init status struct */
emcmotStatus->head = 0;
emcmotStatus->commandEcho = 0;
emcmotStatus->commandNumEcho = 0;
emcmotStatus->commandStatus = 0;
/* init more stuff */
emcmotDebug->head = 0;
emcmotConfig->head = 0;
emcmotStatus->motionFlag = 0;
SET_MOTION_ERROR_FLAG(0);
SET_MOTION_COORD_FLAG(0);
SET_MOTION_TELEOP_FLAG(0);
emcmotDebug->split = 0;
emcmotStatus->heartbeat = 0;
emcmotStatus->computeTime = 0.0;
emcmotConfig->numJoints = num_joints;
ZERO_EMC_POSE(emcmotStatus->carte_pos_cmd);
ZERO_EMC_POSE(emcmotStatus->carte_pos_fb);
emcmotStatus->vel = VELOCITY;
emcmotConfig->limitVel = VELOCITY;
emcmotStatus->acc = ACCELERATION;
emcmotStatus->feed_scale = 1.0;
emcmotStatus->spindle_scale = 1.0;
emcmotStatus->net_feed_scale = 1.0;
/* adaptive feed is off by default, feed override, spindle
override, and feed hold are on */
emcmotStatus->enables_new = FS_ENABLED | SS_ENABLED | FH_ENABLED;
emcmotStatus->enables_queued = emcmotStatus->enables_new;
emcmotStatus->id = 0;
emcmotStatus->depth = 0;
emcmotStatus->activeDepth = 0;
emcmotStatus->paused = 0;
emcmotStatus->overrideLimitMask = 0;
emcmotStatus->spindle.speed = 0.0;
SET_MOTION_INPOS_FLAG(1);
SET_MOTION_ENABLE_FLAG(0);
emcmotConfig->kinematics_type = kinType;
emcmotDebug->oldPos = emcmotStatus->carte_pos_cmd;
ZERO_EMC_POSE(emcmotDebug->oldVel);
emcmot_config_change();
/* init pointer to joint structs */
#ifdef STRUCTS_IN_SHMEM
joints = &(emcmotDebug->joints[0]);
#else
joints = &(joint_array[0]);
#endif
/* init per-joint stuff */
for (joint_num = 0; joint_num < num_joints; joint_num++) {
/* point to structure for this joint */
joint = &joints[joint_num];
/* init the config fields with some "reasonable" defaults" */
joint->type = 0;
joint->max_pos_limit = 1.0;
joint->min_pos_limit = -1.0;
joint->vel_limit = 1.0;
joint->acc_limit = 1.0;
joint->min_ferror = 0.01;
joint->max_ferror = 1.0;
joint->home_search_vel = 0.0;
joint->home_latch_vel = 0.0;
joint->home_final_vel = -1;
joint->home_offset = 0.0;
joint->home = 0.0;
joint->home_flags = 0;
joint->home_sequence = -1;
joint->backlash = 0.0;
joint->comp.entries = 0;
joint->comp.entry = &(joint->comp.array[0]);
/* the compensation code has -DBL_MAX at one end of the table
and +DBL_MAX at the other so _all_ commanded positions are
guaranteed to be covered by the table */
joint->comp.array[0].nominal = -DBL_MAX;
joint->comp.array[0].fwd_trim = 0.0;
joint->comp.array[0].rev_trim = 0.0;
joint->comp.array[0].fwd_slope = 0.0;
joint->comp.array[0].rev_slope = 0.0;
for ( n = 1 ; n < EMCMOT_COMP_SIZE+2 ; n++ ) {
joint->comp.array[n].nominal = DBL_MAX;
joint->comp.array[n].fwd_trim = 0.0;
joint->comp.array[n].rev_trim = 0.0;
joint->comp.array[n].fwd_slope = 0.0;
joint->comp.array[n].rev_slope = 0.0;
}
/* init status info */
joint->flag = 0;
joint->coarse_pos = 0.0;
joint->pos_cmd = 0.0;
joint->vel_cmd = 0.0;
joint->backlash_corr = 0.0;
joint->backlash_filt = 0.0;
joint->backlash_vel = 0.0;
joint->motor_pos_cmd = 0.0;
joint->motor_pos_fb = 0.0;
joint->pos_fb = 0.0;
joint->ferror = 0.0;
joint->ferror_limit = joint->min_ferror;
joint->ferror_high_mark = 0.0;
/* init internal info */
cubicInit(&(joint->cubic));
/* init misc other stuff in joint structure */
joint->big_vel = 10.0 * joint->vel_limit;
joint->home_state = 0;
/* init joint flags (reduntant, since flag = 0 */
SET_JOINT_ENABLE_FLAG(joint, 0);
SET_JOINT_ACTIVE_FLAG(joint, 0);
SET_JOINT_NHL_FLAG(joint, 0);
SET_JOINT_PHL_FLAG(joint, 0);
SET_JOINT_INPOS_FLAG(joint, 1);
SET_JOINT_HOMING_FLAG(joint, 0);
SET_JOINT_HOMED_FLAG(joint, 0);
SET_JOINT_FERROR_FLAG(joint, 0);
SET_JOINT_FAULT_FLAG(joint, 0);
SET_JOINT_ERROR_FLAG(joint, 0);
}
/*! \todo FIXME-- add emcmotError */
emcmotDebug->tMin = 0.0;
emcmotDebug->tMax = 0.0;
emcmotDebug->tAvg = 0.0;
emcmotDebug->sMin = 0.0;
emcmotDebug->sMax = 0.0;
emcmotDebug->sAvg = 0.0;
emcmotDebug->nMin = 0.0;
emcmotDebug->nMax = 0.0;
emcmotDebug->nAvg = 0.0;
emcmotDebug->yMin = 0.0;
emcmotDebug->yMax = 0.0;
emcmotDebug->yAvg = 0.0;
emcmotDebug->fyMin = 0.0;
emcmotDebug->fyMax = 0.0;
emcmotDebug->fyAvg = 0.0;
emcmotDebug->fMin = 0.0;
emcmotDebug->fMax = 0.0;
emcmotDebug->fAvg = 0.0;
emcmotDebug->cur_time = emcmotDebug->last_time = 0.0;
emcmotDebug->start_time = etime();
emcmotDebug->running_time = 0.0;
/* init motion emcmotDebug->queue */
if (-1 == tpCreate(&emcmotDebug->queue, DEFAULT_TC_QUEUE_SIZE,
emcmotDebug->queueTcSpace)) {
rtapi_print_msg(RTAPI_MSG_ERR,
"MOTION: failed to create motion emcmotDebug->queue\n");
return -1;
}
// tpInit(&emcmotDebug->queue); // tpInit called from tpCreate
tpSetCycleTime(&emcmotDebug->queue, emcmotConfig->trajCycleTime);
tpSetPos(&emcmotDebug->queue, emcmotStatus->carte_pos_cmd);
tpSetVmax(&emcmotDebug->queue, emcmotStatus->vel, emcmotStatus->vel);
tpSetAmax(&emcmotDebug->queue, emcmotStatus->acc);
emcmotStatus->tail = 0;
rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_comm_buffers() complete\n");
return 0;
}
