bool CARCONTROLMAP_LOCAL::CONTROL::operator==(const CONTROL & other) const
{
CONTROL me = *this;
CONTROL them = other;
//don't care about certain flags
me.onetime = 1;
me.pushdown = 1;
me.deadzone = 0;
me.exponent = 1;
me.gain = 1;
them.onetime = 1;
them.pushdown = 1;
them.deadzone = 0;
them.exponent = 1;
them.gain = 1;
std::stringstream mestr;
std::stringstream themstr;
me.DebugPrint(mestr);
them.DebugPrint(themstr);
return (mestr.str() == themstr.str());
/*std::cout << "Checking:" << std::endl;
me.DebugPrint(std::cout);
me.MemDump(std::cout);
them.DebugPrint(std::cout);
them.MemDump(std::cout);
std::cout << "Equality check: " << (std::memcmp(&me,&them,sizeof(CONTROL)) == 0) << std::endl;
return (std::memcmp(&me,&them,sizeof(CONTROL)) == 0);*/
//bool equality = (type == other.type) && (type == other.type) &&
}
VOID Handler(CONTROL_EVENT ev, VOID * v, CONTEXT * ctxt, VOID * ip, THREADID tid)
{
std::cerr << "tid: " << dec << tid << " ip: 0x" << hex << ip;
// get line info on current instruction
INT32 linenum = 0;
string filename;
PIN_LockClient();
PIN_GetSourceLocation((ADDRINT)ip, NULL, &linenum, &filename);
PIN_UnlockClient();
if(filename != "")
{
std::cerr << " ( " << filename << ":" << dec << linenum << " )";
}
std::cerr << dec << " Inst. Count " << icount.Count(tid) << " ";
#if defined(TARGET_IA32) || defined(TARGET_IA32E)
std::cerr << " [ with REP iterations " << icount.CountWithREP() << "] ";
#endif
switch(ev)
{
case CONTROL_START:
std::cerr << "Start" << endl;
if(control.PinPointsActive())
{
std::cerr << "PinPoint: " << control.CurrentPp(tid) << " PhaseNo: " << control.CurrentPhase(tid) << endl;
}
break;
case CONTROL_STOP:
std::cerr << "Stop" << endl;
if(control.PinPointsActive())
{
std::cerr << "PinPoint: " << control.CurrentPp(tid) << endl;
}
break;
default:
ASSERTX(false);
break;
}
}
int main(int argc, char **argv)
{
if (PIN_Init(argc, argv))
return 1;
PIN_AddThreadStartFunction(OnNewThread, 0);
Control.CheckKnobs(Handler, 0);
PIN_StartProgram();
}
// argc, argv are the entire command line, including pin -t <toolname> -- ...
int main(int argc, char * argv[])
{
if( PIN_Init(argc,argv) )
{
return Usage();
}
PIN_InitLock(&output_lock);
icount.Activate();
// Activate alarm, must be done before PIN_StartProgram
control.RegisterHandler(Handler, 0, FALSE);
control.Activate();
// Start the program, never returns
PIN_StartProgram();
return 0;
}
LOCALFUN VOID Fini(int n, void *v)
{
*outfile << endl;
double whole_MPKI = 1000.0 * (double)bimodal.Mispredicts()/icount.Count();
*outfile << "Whole-program MPKI = " << whole_MPKI << dec << endl;
if (control.PinPointsActive())
{
UINT32 NumPp = control.NumPp();
double predicted_MPKI = 0.0;
*outfile << "PP #," << " %Weight," << " MPKI" << endl;
for (UINT32 p = 1; p <= NumPp ; p++)
{
double weight = (double) ppinfo.ppstats[p].ppWeightTimesThousand/1000.0;
double mpki = (double)ppinfo.ppstats[p].ppMispredicts*1000/ppinfo.ppstats[p].ppInstructions;
*outfile << dec << p << ", " << weight << ", " << mpki << endl;
predicted_MPKI += (double) weight*mpki/100.0;
}
*outfile << "Predicted MPKI = " << predicted_MPKI << dec << endl;
}
}
bool CARCONTROLMAP_LOCAL::CONTROL::operator<(const CONTROL & other) const
{
CONTROL me = *this;
CONTROL them = other;
me.onetime = 1;
me.pushdown = 1;
me.deadzone = 0;
me.exponent = 1;
me.gain = 1;
them.onetime = 1;
them.pushdown = 1;
them.deadzone = 0;
them.exponent = 1;
them.gain = 1;
std::stringstream mestr;
std::stringstream themstr;
me.DebugPrint(mestr);
them.DebugPrint(themstr);
return (mestr.str() < themstr.str());
}
// argc, argv are the entire command line, including pin -t <toolname> -- ...
int main(int argc, char * argv[])
{
if( PIN_Init(argc,argv) )
{
return Usage();
}
icount.Activate();
// Activate alarm, must be done before PIN_StartProgram
control.CheckKnobs(Handler, 0);
// Start the program, never returns
PIN_StartProgram();
return 0;
}
void CreateBody()
{
//convert array to vectors
TransArrToVec();
//create an interface to control body and legs
CONTROL obj;
//set right leg position relative to body
obj.set_iniTrans_R_leg(-0.5,-3,0);
obj.set_iniTrans_L_leg(0.5,-3,0);
//set leg move speed
obj.setlegSpeed(3.0);
//compute matrix
obj.iniProcess(Power_T, B_splines,vec_PosInfo);
//get body's matrix
Mat_body = obj.getBodyMatrix();
//get right leg's matrix
Mat_R_Leg = obj.getRLegMatrix();
//get left leg's matrix
Mat_L_Leg = obj.getLLegMatrix();
}
int main(int argc, char *argv[])
{
if( PIN_Init(argc,argv) )
{
return Usage();
}
icount.Activate();
bimodal.Activate();
// Activate alarm, must be done before PIN_StartProgram
control.CheckKnobs(Handler, 0);
outfile = new ofstream("bimodal.out");
PIN_AddFiniFunction(Fini, 0);
PIN_StartProgram();
}
int main(int argc, char * argv[])
{
if( PIN_Init(argc,argv) )
{
return Usage();
}
icount.Activate();
// Activate alarm, must be done before PIN_StartProgram
control.CheckKnobs(Handler, 0);
// Callback function "byeWorld" is invoked
// right before Pin releases control of the application
// to allow it to return to normal execution
PIN_AddDetachFunction(helloWorld, 0);
PIN_AddDetachFunction(byeWorld, 0);
// Never returns
PIN_StartProgram();
return 0;
}
VOID Handler(CONTROL_EVENT ev, VOID * v, CONTEXT * ctxt, VOID * ip, THREADID tid)
{
std::cout << "ip: " << ip << " Instructions: " << icount.Count() << " ";
switch(ev)
{
case CONTROL_START:
std::cout << "Start" << endl;
ppinfo.startMispredicts = bimodal.Mispredicts();
ppinfo.startIcount = icount.Count();
if(control.PinPointsActive())
{
std::cout << "PinPoint: " << control.CurrentPp() << endl;
UINT32 pp = control.CurrentPp();
ASSERTX( pp <= MAXPP);
ppinfo.ppstats[pp].ppWeightTimesThousand = control.CurrentPpWeightTimesThousand();
ppinfo.currentpp = pp;
}
break;
case CONTROL_STOP:
std::cout << "Stop" << endl;
if(control.PinPointsActive())
{
std::cout << "PinPoint: " << control.CurrentPp() << endl;
UINT64 mispredicts = bimodal.Mispredicts() - ppinfo.startMispredicts;
UINT64 instructions = icount.Count() - ppinfo.startIcount;
UINT32 pp = ppinfo.currentpp;
ppinfo.ppstats[pp].ppMispredicts = mispredicts;
ppinfo.ppstats[pp].ppInstructions = instructions;
}
break;
default:
ASSERTX(false);
break;
}
}
STATUS runPreset()
{
UINT64 endTick = 0;
UINT64 eStartTick = 0;
if(GV::isStopAll)
{
DISPLAY_FAULT("系统已清除状态,停止接收启动指令,启动失败!");
file.writeLogFile("系统已清除状态,停止接收启动指令!");
return ERROR;
}
for(UINT nodeNum = 0;nodeNum < AXIS_NUM;nodeNum++){
if(!GV::isPowerOutput[nodeNum] || !GV::isZeroPosSet[nodeNum] || (GV::opMode[nodeNum] != 0x1) || GV::isBoltOn[nodeNum] || GV::isLimit[nodeNum]){
printf("%d %d %d %x\n",GV::isPowerOutput[nodeNum],GV::isZeroPosSet[nodeNum],GV::isBoltOn[nodeNum],GV::opMode[nodeNum]);
DISPLAY_FAULT("启动失败,请检查驱动器是否上电,转台是否处在插销和限位状态!");
return ERROR;}}
CAN_PACKET sendPack,recvPack;
stringstream ss;
memset(&sendPack,0,CP_SIZE);
memset(&recvPack,0,CP_SIZE);
UCHAR buf[WCTLMSG_SIZE];
memset(buf, 0, WCTLMSG_SIZE);
memcpy(buf, &GV::ctrlParamMsg, WCTLMSG_SIZE);
int validBit = 0;
for(validBit = 0;validBit < 5;validBit++){
if(buf[2 + validBit] ^ 0xff){
break;}}
if(buf[2 + validBit] == 0xa0){
control.findZeroPos();
return OK;}
else{
ss << buf[2 + validBit] - 0xa0;
for(int seg = 0; seg < file.jsonDoc[ss.str().c_str()]["seg"].GetInt(); seg++)
{
if(OK != semTake(GV::isCANOccupy,SEM_TIME_OUT*SYS_FREQ))
{
DISPLAY_FAULT("启动操作:获取CAN总线资源失败!");
file.writeLogFile("启动操作:获取CAN锁信号量超时!");
return ERROR;
}
can.writeCopleyCMD(sendPack,
DRIVER_CMD_POS_SET,
file.jsonDoc[ss.str().c_str()]["angle"][seg].GetDouble(),
validBit + 1);
if(ERROR == can.uCMDSend(sendPack,recvPack,USING_CAN_CHANNEL)){
semGive(GV::isCANOccupy);
return ERROR;}
can.writeCopleyCMD(sendPack,
DRIVER_CMD_VEL_SET,
fabs(file.jsonDoc[ss.str().c_str()]["angle"][seg].GetDouble() / file.jsonDoc[ss.str().c_str()]["time"][seg].GetDouble()) * 1.2,
validBit + 1);
if(ERROR == can.uCMDSend(sendPack,recvPack,USING_CAN_CHANNEL)){
semGive(GV::isCANOccupy);
return ERROR;}
can.writeCopleyCMD(sendPack,
DRIVER_CMD_ACC_SET,
MAX_ACC[validBit],
validBit + 1);
if(ERROR == can.uCMDSend(sendPack,recvPack,USING_CAN_CHANNEL)){
semGive(GV::isCANOccupy);
return ERROR;}
can.writeCopleyCMD(sendPack,
DRIVER_CMD_DEACC_SET,
MAX_ACC[validBit],
validBit + 1);
if(ERROR == can.uCMDSend(sendPack,recvPack,USING_CAN_CHANNEL)){
semGive(GV::isCANOccupy);
return ERROR;}
can.writeCopleyCMD(sendPack,
DRIVER_CLEAR_MOVE,
0,
validBit + 1);
if(ERROR == can.uCMDSend(sendPack,recvPack,USING_CAN_CHANNEL)){
semGive(GV::isCANOccupy);
return ERROR;}
can.writeCopleyCMD(sendPack,
DRIVER_REL_START,
0,
validBit + 1);
if(ERROR == can.uCMDSend(sendPack,recvPack,USING_CAN_CHANNEL)){
semGive(GV::isCANOccupy);
return ERROR;}
semGive(GV::isCANOccupy);
endTick = tick64Get();
taskDelay(static_cast<int>((file.jsonDoc[ss.str().c_str()]["time"][seg].GetDouble()
* SYS_FREQ)) - (seg == 0 ? 0 : (endTick - eStartTick)));
eStartTick = tick64Get();
}}
return OK;
}
