void main_game_loop(nstate *state)
{
wait_for_start(state);
while(state->state != STATE_EXIT) {
if(state->state == STATE_RUNNING) run_game(state);
if(state->state == STATE_STOPPED) wait_for_start(state);
if(state->state != STATE_EXIT) new_game(state);
}
}
void play_game(void) {
// Identify myself
fprintf(stdout, "#name %s\n", name);
fflush(stdout);
// Wait for start of game
wait_for_start();
// Main game loop
for (;;) {
if (current_player == my_player) {
// My turn
// Check if game is over (optional)
// Determine next move
next_move();
// Apply it to local state
// Tell the world
print_and_recv_echo(next_move_cache);
// It is the opponents turn
current_player = (current_player == player1) ? player2 : player1;
} else {
// Wait for move from other player
// Get server's next instruction
read_msg_and_tokenize();
if (tokens_size == 6 && strcmp(tokens[0], "MOVE") == 0) {
// Translate to local coordinates and update our local state
// It is now my turn
current_player = (current_player == player1) ? player2 : player1;
} else if (tokens_size == 4 && strcmp(tokens[0], "FINAL") == 0 &&
strcmp(tokens[2], "BEATS") == 0) {
// Game over
if (strcmp(tokens[1], name) == 0 && strcmp(tokens[3], opp_name) == 0) {
fprintf(stderr, "I, %s, have won!\n", name);
fflush(stderr);
} else if (strcmp(tokens[3], name) == 0&& strcmp(tokens[1], opp_name) == 0) {
fprintf(stderr, "I, %s, have lost.\n", name);
fflush(stderr);
} else {
fprintf(stderr, "Did not find expected players in FINAL command.\n");
fprintf(stderr, "Found '%s' and '%s'.\n", tokens[1], tokens[3]);
fprintf(stderr, "Expected '%s' and '%s'.\n", name, opp_name);
fprintf(stderr, "Received message '%s'\n", message);
fflush(stderr);
}
break;
} else {
// Unknown command
fprintf(stderr, "Unknown command of '%s' from the server\n", message);
fflush(stderr);
}
}
}
}
static void do_pio(int fd, u32 runs,
struct benchmark *bench, const void *opts)
{
if (iopl(3) == -1)
err(errno, "iopl");
send_ack(fd);
if (wait_for_start(fd)) {
u32 i;
for (i = 0; i < runs; i++)
outb(0xFF, 0x512);
send_ack(fd);
}
}
static void do_context_switch(int fd, u32 runs,
struct benchmark *b, const void *opts)
{
char c = 1;
int fds1[2], fds2[2], child;
if (pipe(fds1) != 0 || pipe(fds2) != 0)
err(1, "Creating pipe");
child = fork();
if (child == -1)
err(1, "forking");
if (child > 0) {
close(fds1[0]);
close(fds2[1]);
send_ack(fd);
if (wait_for_start(fd)) {
while ((int)runs > 0) {
write(fds1[1], &c, 1);
read(fds2[0], &c, 1);
runs -= 2;
}
if (runs == 0)
send_ack(fd);
} else
kill(child, SIGTERM);
waitpid(child, NULL, 0);
close(fds1[1]);
close(fds2[0]);
} else {
close(fds2[0]);
close(fds1[1]);
while ((int)runs > 0) {
read(fds1[0], &c, 1);
write(fds2[1], &c, 1);
runs -= 2;
}
if ((int)runs == -1)
send_ack(fd);
exit(0);
}
}
void roi_start_multiprogram() {
sem_t *wait = sem_open(waiting_sem_name, 0, 0644, 0);
if (wait == SEM_FAILED) {
if (errno == ENOENT) {
perror("Didn't find running multiprogram coordinator, proceeding as usual");
roi_start();
}
}
else {
sem_trywait(wait);
sem_t *go = sem_open(go_sem_name, 0, 0644, 0);
if (go == SEM_FAILED) {
perror("'go' semaphore failed");
abort();
}
wait_for_start(go);
}
}
static void do_bandwidth_bench(int fd, u32 runs,
struct benchmark *bench, const void *opts)
{
char *mem = malloc(NET_BANDWIDTH_SIZE);
if (!mem)
err(1, "allocating %i bytes", NET_BANDWIDTH_SIZE);
send_ack(fd);
if (wait_for_start(fd)) {
u32 i;
/* We always send 1MB of warmup, to open TCP window. */
send_data(fd, mem, NET_WARMUP_BYTES);
for (i = 0; i < runs; i++)
send_data(fd, mem, NET_BANDWIDTH_SIZE);
send_ack(fd);
}
free(mem);
}
int a2dp_write(a2dpData d, const void* buffer, int count)
{
struct bluetooth_data* data = (struct bluetooth_data*)d;
uint8_t* src = (uint8_t *)buffer;
int codesize;
int err, ret = 0;
long frames_left = count;
int encoded;
unsigned int written;
const char *buff;
int did_configure = 0;
#ifdef ENABLE_TIMING
uint64_t begin, end;
DBG("********** a2dp_write **********");
begin = get_microseconds();
#endif
err = wait_for_start(data, WRITE_TIMEOUT);
if (err < 0)
return err;
codesize = data->codesize;
while (frames_left >= codesize) {
/* Enough data to encode (sbc wants 512 byte blocks) */
encoded = sbc_encode(&(data->sbc), src, codesize,
data->buffer + data->count,
sizeof(data->buffer) - data->count,
&written);
if (encoded <= 0) {
ERR("Encoding error %d", encoded);
goto done;
}
VDBG("sbc_encode returned %d, codesize: %d, written: %d\n",
encoded, codesize, written);
src += encoded;
data->count += written;
data->frame_count++;
data->samples += encoded;
data->nsamples += encoded;
/* No space left for another frame then send */
if ((data->count + written >= data->link_mtu) ||
(data->count + written >= BUFFER_SIZE)) {
VDBG("sending packet %d, count %d, link_mtu %u",
data->seq_num, data->count,
data->link_mtu);
err = avdtp_write(data);
if (err < 0)
return err;
}
ret += encoded;
frames_left -= encoded;
}
if (frames_left > 0)
ERR("%ld bytes left at end of a2dp_write\n", frames_left);
done:
#ifdef ENABLE_TIMING
end = get_microseconds();
print_time("a2dp_write total", begin, end);
#endif
return ret;
}
void Client::play_game() {
// Identify myself
std::cout << "#name " << name << std::endl;
// Wait for start of game
wait_for_start();
// Main game loop
for (;;) {
if (current_player == my_player) {
// My turn
// Check if game is over
/*
if (gs.game_over()) {
std::cerr << "I, " << name << ", have lost" << std::endl;
switch_current_player();
continue;
}
*/
// Determine next move
const Move m = next_move();
// Apply it locally
// gs.apply_move(m);
// Tell the world
print_and_recv_echo(m);
// It is the opponents turn
switch_current_player();
} else {
// Wait for move from other player
// Get server's next instruction
std::string server_msg = read_msg();
const std::vector<std::string> tokens = tokenize_msg(server_msg);
if (tokens.size() == 5 && tokens[0] == "MOVE") {
// Translate to local coordinates and update our local state
// const Move m = gs.translate_to_local(tokens);
// gs.apply_move(m);
// It is now my turn
switch_current_player();
} else if (tokens.size() == 4 && tokens[0] == "FINAL" &&
tokens[2] == "BEATS") {
// Game over
if (tokens[1] == name && tokens[3] == opp_name)
std::cerr << "I, " << name << ", have won!" << std::endl;
else if (tokens[3] == name && tokens[1] == opp_name)
std::cerr << "I, " << name << ", have lost." << std::endl;
else
std::cerr << "Did not find expected players in FINAL command.\n"
<< "Found '" << tokens[1] << "' and '" << tokens[3] << "'. "
<< "Expected '" << name << "' and '" << opp_name << "'.\n"
<< "Received message '" << server_msg << "'" << std::endl;
break;
} else {
// Unknown command
std::cerr << "Unknown command of '" << server_msg << "' from the server"
<< std::endl;
}
}
}
}
/*
* ======== bridge_brd_start ========
* purpose:
* Initializes DSP MMU and Starts DSP.
*
* Preconditions:
* a) DSP domain is 'ACTIVE'.
* b) DSP_RST1 is asserted.
* b) DSP_RST2 is released.
*/
static int bridge_brd_start(struct bridge_dev_context *dev_ctxt,
u32 dsp_addr)
{
int status = 0;
struct bridge_dev_context *dev_context = dev_ctxt;
struct iommu *mmu = NULL;
struct shm_segs *sm_sg;
int l4_i = 0, tlb_i = 0;
u32 sg0_da = 0, sg1_da = 0;
struct bridge_ioctl_extproc *tlb = dev_context->atlb_entry;
u32 dw_sync_addr = 0;
u32 ul_shm_base; /* Gpp Phys SM base addr(byte) */
u32 ul_shm_base_virt; /* Dsp Virt SM base addr */
u32 ul_tlb_base_virt; /* Base of MMU TLB entry */
/* Offset of shm_base_virt from tlb_base_virt */
u32 ul_shm_offset_virt;
struct cfg_hostres *resources = NULL;
u32 temp;
u32 ul_dsp_clk_rate;
u32 ul_dsp_clk_addr;
u32 ul_bios_gp_timer;
u32 clk_cmd;
struct io_mgr *hio_mgr;
u32 ul_load_monitor_timer;
struct omap_dsp_platform_data *pdata =
omap_dspbridge_dev->dev.platform_data;
/* The device context contains all the mmu setup info from when the
* last dsp base image was loaded. The first entry is always
* SHMMEM base. */
/* Get SHM_BEG - convert to byte address */
(void)dev_get_symbol(dev_context->hdev_obj, SHMBASENAME,
&ul_shm_base_virt);
ul_shm_base_virt *= DSPWORDSIZE;
DBC_ASSERT(ul_shm_base_virt != 0);
/* DSP Virtual address */
ul_tlb_base_virt = dev_context->sh_s.seg0_da;
DBC_ASSERT(ul_tlb_base_virt <= ul_shm_base_virt);
ul_shm_offset_virt =
ul_shm_base_virt - (ul_tlb_base_virt * DSPWORDSIZE);
/* Kernel logical address */
ul_shm_base = dev_context->sh_s.seg0_va + ul_shm_offset_virt;
DBC_ASSERT(ul_shm_base != 0);
/* 2nd wd is used as sync field */
dw_sync_addr = ul_shm_base + SHMSYNCOFFSET;
/* Write a signature into the shm base + offset; this will
* get cleared when the DSP program starts. */
if ((ul_shm_base_virt == 0) || (ul_shm_base == 0)) {
pr_err("%s: Illegal SM base\n", __func__);
status = -EPERM;
} else
__raw_writel(0xffffffff, dw_sync_addr);
if (!status) {
resources = dev_context->resources;
if (!resources)
status = -EPERM;
/* Assert RST1 i.e only the RST only for DSP megacell */
if (!status) {
(*pdata->dsp_prm_rmw_bits)(OMAP3430_RST1_IVA2_MASK,
OMAP3430_RST1_IVA2_MASK, OMAP3430_IVA2_MOD,
OMAP2_RM_RSTCTRL);
/* Mask address with 1K for compatibility */
__raw_writel(dsp_addr & OMAP3_IVA2_BOOTADDR_MASK,
OMAP343X_CTRL_REGADDR(
OMAP343X_CONTROL_IVA2_BOOTADDR));
/*
* Set bootmode to self loop if dsp_debug flag is true
*/
__raw_writel((dsp_debug) ? OMAP3_IVA2_BOOTMOD_IDLE : 0,
OMAP343X_CTRL_REGADDR(
OMAP343X_CONTROL_IVA2_BOOTMOD));
}
}
if (!status) {
(*pdata->dsp_prm_rmw_bits)(OMAP3430_RST2_IVA2_MASK, 0,
OMAP3430_IVA2_MOD, OMAP2_RM_RSTCTRL);
mmu = dev_context->dsp_mmu;
if (mmu)
dsp_mmu_exit(mmu);
mmu = dsp_mmu_init();
if (IS_ERR(mmu)) {
dev_err(bridge, "dsp_mmu_init failed!\n");
dev_context->dsp_mmu = NULL;
status = (int)mmu;
}
}
if (!status) {
dev_context->dsp_mmu = mmu;
sm_sg = &dev_context->sh_s;
sg0_da = iommu_kmap(mmu, sm_sg->seg0_da, sm_sg->seg0_pa,
sm_sg->seg0_size, IOVMF_ENDIAN_LITTLE | IOVMF_ELSZ_32);
if (IS_ERR_VALUE(sg0_da)) {
status = (int)sg0_da;
sg0_da = 0;
}
}
if (!status) {
sg1_da = iommu_kmap(mmu, sm_sg->seg1_da, sm_sg->seg1_pa,
sm_sg->seg1_size, IOVMF_ENDIAN_LITTLE | IOVMF_ELSZ_32);
if (IS_ERR_VALUE(sg1_da)) {
status = (int)sg1_da;
sg1_da = 0;
}
}
if (!status) {
u32 da;
for (tlb_i = 0; tlb_i < BRDIOCTL_NUMOFMMUTLB; tlb_i++) {
if (!tlb[tlb_i].ul_gpp_pa)
continue;
dev_dbg(bridge, "IOMMU %d GppPa: 0x%x DspVa 0x%x Size"
" 0x%x\n", tlb_i, tlb[tlb_i].ul_gpp_pa,
tlb[tlb_i].ul_dsp_va, tlb[tlb_i].ul_size);
da = iommu_kmap(mmu, tlb[tlb_i].ul_dsp_va,
tlb[tlb_i].ul_gpp_pa, PAGE_SIZE,
IOVMF_ENDIAN_LITTLE | IOVMF_ELSZ_32);
if (IS_ERR_VALUE(da)) {
status = (int)da;
break;
}
}
}
if (!status) {
u32 da;
l4_i = 0;
while (l4_peripheral_table[l4_i].phys_addr) {
da = iommu_kmap(mmu, l4_peripheral_table[l4_i].
dsp_virt_addr, l4_peripheral_table[l4_i].
phys_addr, PAGE_SIZE,
IOVMF_ENDIAN_LITTLE | IOVMF_ELSZ_32);
if (IS_ERR_VALUE(da)) {
status = (int)da;
break;
}
l4_i++;
}
}
/* Lock the above TLB entries and get the BIOS and load monitor timer
* information */
if (!status) {
/* Enable the BIOS clock */
(void)dev_get_symbol(dev_context->hdev_obj,
BRIDGEINIT_BIOSGPTIMER, &ul_bios_gp_timer);
(void)dev_get_symbol(dev_context->hdev_obj,
BRIDGEINIT_LOADMON_GPTIMER,
&ul_load_monitor_timer);
if (ul_load_monitor_timer != 0xFFFF) {
clk_cmd = (BPWR_ENABLE_CLOCK << MBX_PM_CLK_CMDSHIFT) |
ul_load_monitor_timer;
dsp_peripheral_clk_ctrl(dev_context, &clk_cmd);
} else {
dev_dbg(bridge, "Not able to get the symbol for Load "
"Monitor Timer\n");
}
if (ul_bios_gp_timer != 0xFFFF) {
clk_cmd = (BPWR_ENABLE_CLOCK << MBX_PM_CLK_CMDSHIFT) |
ul_bios_gp_timer;
dsp_peripheral_clk_ctrl(dev_context, &clk_cmd);
} else {
dev_dbg(bridge,
"Not able to get the symbol for BIOS Timer\n");
}
/* Set the DSP clock rate */
(void)dev_get_symbol(dev_context->hdev_obj,
"_BRIDGEINIT_DSP_FREQ", &ul_dsp_clk_addr);
/*Set Autoidle Mode for IVA2 PLL */
(*pdata->dsp_cm_write)(1 << OMAP3430_AUTO_IVA2_DPLL_SHIFT,
OMAP3430_IVA2_MOD, OMAP3430_CM_AUTOIDLE_PLL);
if ((unsigned int *)ul_dsp_clk_addr != NULL) {
/* Get the clock rate */
ul_dsp_clk_rate = dsp_clk_get_iva2_rate();
dev_dbg(bridge, "%s: DSP clock rate (KHZ): 0x%x \n",
__func__, ul_dsp_clk_rate);
(void)bridge_brd_write(dev_context,
(u8 *) &ul_dsp_clk_rate,
ul_dsp_clk_addr, sizeof(u32), 0);
}
/*
* Enable Mailbox events and also drain any pending
* stale messages.
*/
dev_context->mbox = omap_mbox_get("dsp");
if (IS_ERR(dev_context->mbox)) {
dev_context->mbox = NULL;
pr_err("%s: Failed to get dsp mailbox handle\n",
__func__);
status = -EPERM;
}
}
if (!status) {
dev_context->mbox->rxq->callback = (int (*)(void *))io_mbox_msg;
/*PM_IVA2GRPSEL_PER = 0xC0;*/
temp = readl(resources->dw_per_pm_base + 0xA8);
temp = (temp & 0xFFFFFF30) | 0xC0;
writel(temp, resources->dw_per_pm_base + 0xA8);
/*PM_MPUGRPSEL_PER &= 0xFFFFFF3F; */
temp = readl(resources->dw_per_pm_base + 0xA4);
temp = (temp & 0xFFFFFF3F);
writel(temp, resources->dw_per_pm_base + 0xA4);
/*CM_SLEEPDEP_PER |= 0x04; */
temp = readl(resources->dw_per_base + 0x44);
temp = (temp & 0xFFFFFFFB) | 0x04;
writel(temp, resources->dw_per_base + 0x44);
/*CM_CLKSTCTRL_IVA2 = 0x00000003 -To Allow automatic transitions */
(*pdata->dsp_cm_write)(OMAP34XX_CLKSTCTRL_ENABLE_AUTO,
OMAP3430_IVA2_MOD, OMAP2_CM_CLKSTCTRL);
/* Let DSP go */
dev_dbg(bridge, "%s Unreset\n", __func__);
/* release the RST1, DSP starts executing now .. */
(*pdata->dsp_prm_rmw_bits)(OMAP3430_RST1_IVA2_MASK, 0,
OMAP3430_IVA2_MOD, OMAP2_RM_RSTCTRL);
dev_dbg(bridge, "Waiting for Sync @ 0x%x\n", dw_sync_addr);
dev_dbg(bridge, "DSP c_int00 Address = 0x%x\n", dsp_addr);
if (dsp_debug)
while (__raw_readw(dw_sync_addr))
;;
/* Wait for DSP to clear word in shared memory */
/* Read the Location */
if (!wait_for_start(dev_context, dw_sync_addr))
status = -ETIMEDOUT;
/* Start wdt */
dsp_wdt_sm_set((void *)ul_shm_base);
dsp_wdt_enable(true);
status = dev_get_io_mgr(dev_context->hdev_obj, &hio_mgr);
if (hio_mgr) {
io_sh_msetting(hio_mgr, SHM_OPPINFO, NULL);
/* Write the synchronization bit to indicate the
* completion of OPP table update to DSP
*/
__raw_writel(0XCAFECAFE, dw_sync_addr);
/* update board state */
dev_context->dw_brd_state = BRD_RUNNING;
return 0;
} else {
dev_context->dw_brd_state = BRD_UNKNOWN;
}
}
while (tlb_i--) {
if (!tlb[tlb_i].ul_gpp_pa)
continue;
iommu_kunmap(mmu, tlb[tlb_i].ul_gpp_va);
}
while (l4_i--)
iommu_kunmap(mmu, l4_peripheral_table[l4_i].dsp_virt_addr);
if (sg0_da)
iommu_kunmap(mmu, sg0_da);
if (sg1_da)
iommu_kunmap(mmu, sg1_da);
return status;
}
int main()
{
// PC connection
Serial pc(0, 9600);
// Turn all leds on while waiting
Bus leds(4, LED4, LED3, LED2, LED1);
leds.mode(Output);
leds.write_all(1);
// Config motors
Motor motorB (P22, P21, P23);
Motor motorA (P25, P24, P26);
// Turn lights on
FarolA = 1;
FarolB = 1;
// The interface with the remote control
Serial cmdLink(1, 38400);
// Read until the control says START
wait_for_start(cmdLink);
// Seteo velocidad y direccion del motor A
motorA.set_sentido(ADELANTE);
motorA.Velocidad = MARCHA_IZQ;
// Seteo velocidad y direccion del motor B
motorB.set_sentido(ADELANTE);
motorB.Velocidad = MARCHA_DER;
while (1)
{
// encendemos los leds de acuerdo con los sensores
//estado_sensores();
unsigned char cmd = get_command(cmdLink);
leds.write(cmd);
// Stop makes the car stop until the next start
if (cmd == STOP) {
motorA.set_sentido(DETENIDO);
motorB.set_sentido(DETENIDO);
wait_for_start(cmdLink);
}
// Go faster
else if (cmd == START) {
motorA.Velocidad = 0.9;
motorB.Velocidad = 0.9;
}
// Enter line_follower mode
else if (cmd == LINE_FOLLOWER) {
line_follower(motorA, motorB);
}
// Go forward
else if (cmd == (CENTER+FORWARD)) {
motorA.set_sentido(ADELANTE);
motorA.Velocidad = MARCHA_IZQ;
motorB.set_sentido(ADELANTE);
motorB.Velocidad = MARCHA_DER;
}
// Go backward
else if (cmd == (CENTER+BACKWARD)) {
motorA.set_sentido(ATRAS);
motorA.Velocidad = MARCHA_IZQ;
motorB.set_sentido(ATRAS);
motorB.Velocidad = MARCHA_DER;
}
// Go left
else if (cmd > LEFT && cmd < RIGHT) {
motorB.set_sentido(ADELANTE);
float f = (cmd - LEFT) / 10.;
if (f > 0.7) {
motorA.set_sentido(ATRAS);
motorA.Velocidad = MARCHA_IZQ*(f-0.2);
motorB.Velocidad = MARCHA_DER*(f-0.2);
} else {
motorA.set_sentido(ADELANTE);
motorA.Velocidad = MARCHA_IZQ*(0.7-f);
motorB.Velocidad = MARCHA_DER*(1+f);
}
}
// Go right
else if (cmd > RIGHT && cmd < BACKWARD) {
motorA.set_sentido(ADELANTE);
float f = (cmd - RIGHT) / 10.;
if (f > 0.7) {
motorB.set_sentido(ATRAS);
motorA.Velocidad = MARCHA_IZQ*(f-0.2);
motorB.Velocidad = MARCHA_DER*(f-0.2);
} else {
motorB.set_sentido(ADELANTE);
motorA.Velocidad = MARCHA_IZQ*(1+f);
motorB.Velocidad = MARCHA_DER*(0.7-f);
}
} else {
cmd -= BACKWARD;
if (cmd > LEFT && cmd < RIGHT) {
float f = (cmd - LEFT) / 10.;
motorB.set_sentido(ATRAS);
if (f > 0.7) {
motorA.set_sentido(ADELANTE);
motorA.Velocidad = MARCHA_IZQ*(f-0.2);
motorB.Velocidad = MARCHA_DER*(f-0.2);
} else {
motorA.set_sentido(ATRAS);
motorA.Velocidad = MARCHA_IZQ*(0.9-f);
motorB.Velocidad = MARCHA_DER*(1+f);
}
} else {
float f = (cmd - RIGHT) / 10.;
motorA.set_sentido(ATRAS);
if (f > 0.7) {
motorB.set_sentido(ADELANTE);
motorA.Velocidad = MARCHA_IZQ*(f-0.2);
motorB.Velocidad = MARCHA_DER*(f-0.2);
} else {
motorB.set_sentido(ATRAS);
motorA.Velocidad = MARCHA_IZQ*(1+f);
motorB.Velocidad = MARCHA_DER*(0.9-f);
}
}
}
}
}
