예제 #1
0
// Color image call back
void imgRcvd( const sensor_msgs::ImageConstPtr& msg )
{
    try
    {
        cv::Mat im = cv_bridge::toCvCopy(msg, "bgr8")->image;
        cv::Mat im_resized;
        cv::resize( im, im_resized, cv::Size(), 0.5, 0.5 );

        colorQueue.push(im_resized);
//        cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
//        cv::waitKey(30);
    }
    catch (cv_bridge::Exception& e)
    {
        ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
    }
}
void AggregationPerfTest::start(unsigned int numpackets)
{
	char packetdata[] = { 0x00, 0x12, 0x1E, 0x08, 0xE0, 0x1F, 0x00, 0x15, 0x2C, 0xDB, 0xE4, 0x00, 0x08, 0x00, 0x45, 0x00, 
						  0x00, 0x2C, 0xEF, 0x42, 0x40, 0x00, 0x3C, 0x06, 0xB3, 0x51, 0xC3, 0x25, 0x84, 0xBE, 0x5B, 0x20, 
						  0xF9, 0x33, 0x13, 0x8B, 0x07, 0x13, 0x63, 0xF2, 0xA0, 0x06, 0x2D, 0x07, 0x36, 0x2B, 0x50, 0x18, 
						  0x3B, 0x78, 0x67, 0xC9, 0x00, 0x00, 0x6F, 0x45, 0x7F, 0x40 };
	unsigned int packetdatalen = 58;

	// just push our sample packet a couple of times into the filter
	struct timeval curtime;
	BOOST_REQUIRE(gettimeofday(&curtime, 0) == 0);

	ConcurrentQueue<Packet*>* filterq = filter->getQueue();
	for (unsigned int i=0; i<numpackets; i++) {
		Packet* p = packetManager->getNewInstance();
		p->init((char*)packetdata, packetdatalen, curtime);
		filterq->push(p);
	}
}
예제 #3
0
TEST(ConcurrentQueue, ParallelPushPopAscIntegerAndCalculateTotalSum) {
    tlx::ThreadPool pool(8);

    ConcurrentQueue<size_t, std::allocator<size_t> > queue;
    std::atomic<size_t> count(0);
    std::atomic<size_t> total_sum(0);

    static constexpr size_t num_threads = 4;
    static constexpr size_t num_pushes = 10000;

    // have threads push items

    for (size_t i = 0; i != num_threads; ++i) {
        pool.enqueue([&queue]() {
                         for (size_t i = 0; i != num_pushes; ++i) {
                             queue.push(i);
                         }
                     });
    }

    // have threads try to pop items.

    for (size_t i = 0; i != num_threads; ++i) {
        pool.enqueue([&]() {
                         while (count != num_threads * num_pushes) {
                             size_t item;
                             while (queue.try_pop(item)) {
                                 total_sum += item;
                                 ++count;
                             }
                         }
                     });
    }

    pool.loop_until_empty();

    ASSERT_TRUE(queue.empty());
    ASSERT_EQ(count, num_threads * num_pushes);
    // check total sum, no item gets lost?
    ASSERT_EQ(total_sum, num_threads * num_pushes * (num_pushes - 1) / 2);
}
예제 #4
0
//depth image call back
void depthRcvd( const sensor_msgs::ImageConstPtr& msg )
{
    try
    {
        cv::Mat depth = cv_bridge::toCvCopy(msg, "")->image;
        //depth mask nan
        cv::Mat mask = cv::Mat(depth != depth);
        depth.setTo( 0, mask );

        cv::Mat depth_resized;
        cv::resize( depth, depth_resized, cv::Size(), 0.5, 0.5 );

        depthQueue.push(depth_resized);

//        cv::imshow("view-depth", cv_bridge::toCvShare(msg, "")->image);
//        cv::waitKey(30);
    }
    catch (cv_bridge::Exception& e)
    {
        ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
    }
}
예제 #5
0
// 模仿java.util.concurrent库并发容器及Mircosoft的并发容器而写的一个简单并发队列
// http://docs.oracle.com/javase/7/docs/api/java/util/concurrent/BlockingQueue.html
// http://docs.oracle.com/javase/7/docs/api/java/util/concurrent/LinkedBlockingQueue.html
// http://docs.oracle.com/javase/7/docs/api/java/util/concurrent/ConcurrentLinkedQueue.html
// http://docs.oracle.com/javase/7/docs/api/java/util/concurrent/PriorityBlockingQueue.html
int main()
{
    {
        FifoConcurrentQueue<int> cq;
        cq.push(3);
        cq.push(1);
        cq.push(2);

        int i;
        cq.pop(i);
        assert(i == 3);
        cq.pop(i);
        assert(i == 1);
        cq.pop(i);
        assert(i == 2);
    }

    {
        FiloConcurrentQueue<int> cq;
        cq.push(3);
        cq.push(1);
        cq.push(2);

        int i;
        cq.pop(i);
        assert(i == 2);
        cq.pop(i);
        assert(i == 1);
        cq.pop(i);
        assert(i == 3);
    }

    {
        PrioConcurrentQueue<int> cq;
        cq.push(3);
        cq.push(1);
        cq.push(2);

        int i;
        cq.pop(i);
        assert(i == 3);
        cq.pop(i);
        assert(i == 2);
        cq.pop(i);
        assert(i == 1);
    }
    {
        ConcurrentQueue<int, std::priority_queue<int, std::vector<int>, std::greater<int> >, ConcurrentQueueTraits::tagPRIO> cq;
        cq.push(3);
        cq.push(1);
        cq.push(2);

        int i;
        cq.pop(i);
        assert(i == 1);
        cq.pop(i);
        assert(i == 2);
        cq.pop(i);
        assert(i == 3);
    }

}
예제 #6
0
int main(int argc, char *argv[]) {
	// read config.ini file
	Config config;
	auto nthreads  = config.get<int>("nthreads");
	auto device    = config.get<const char *>("disk_guest");
	auto traceFile = config.get<const char *>("trace_file");
	auto logDir    = config.get<string>("log_dir");
	
	// parse arg, prioritize argv over config
	if (argc > 1) traceFile = argv[1]; 
	if (argc > 2) nthreads = atoi(argv[2]);
	if (strstr(device, "/dev/sda")) { // avoid accidentally writing to system part 
		fprintf(stderr, "Error trying to write to system partition %s\n", device);
		return 1;
	}
	// use default value if not supplied
	if (strcmp(device, "") == 0) device = DEFAULT_DEVICE;
	if (strcmp(traceFile, "") == 0) traceFile = DEFAULT_TRACE_FILE;
	if (strcmp(logDir.c_str(), "") == 0) logDir = DEFAULT_LOG_DIR;
	if (nthreads == 0) nthreads = DEFAULT_NTHREADS;
	
	srand(time(NULL)); 	// initialize seed

	// print configuration
	printf("trace     : %s\n", traceFile);
	printf("nthreads  : %d\n", nthreads);
	printf("device    : %s\n", device);
	printf("log       : %s\n", logDir.c_str());
	printf("precision : %fms\n", Timer::getResolution());

	printf("Opening device %s\n", device);
	int fd = open(device, O_DIRECT | O_RDWR | O_SYNC); 
	if (fd < 0) {
		fprintf(stderr, "Error opening device '%s'\n", device);
		return 1;
	}

	printf("Allocating buffer\n");
	void *buf; 
	if (posix_memalign(&buf, MEM_ALIGN, LARGEST_REQUEST_SIZE * BYTE_PER_BLOCK)) {
		fprintf(stderr, "Error allocating buffer\n");
		return 1;
	}
	//memset(buf, rand() % 256, LARGEST_REQUEST_SIZE * BYTE_PER_BLOCK);

	printf("Opening trace file\n");
	TraceReader trace(traceFile); // open trace file
	ConcurrentQueue<TraceEvent> queue; // queue of trace events
	bool readDone = false; // whether or not we're done reading trace file
	
	printf("Start reading trace\n");
	thread fileThread([&] { // thread to read trace file 
		TraceEvent event;
		while (trace.read(event)) {
			event.time = event.time * 1000; // to microseconds
			event.size = event.bcount * BYTE_PER_BLOCK;
			queue.push(event);
		}
		readDone = true; 
		queue.notifyAll(); // notify worker we're done  
	});	
	queue.waitUntilFull(); // wait until at least queue's full

	printf("Start replaying trace\n");
	vector<thread> workers(nthreads); // generate worker threads
	atomic<int> lateCount(0), threadId(0); // late I/O count and threadId
	for (auto& t : workers) t = thread([&] { // launch workers 
		int myId = ++threadId; // id for this thread
		int myLateCount = 0; // local lateCount for this thread 
		Logger logger(logDir + traceFile + to_string(myId));
		
		Timer timer; // mark the beginning of worker thread	
		while (!readDone or !queue.empty()) { 
			TraceEvent event;
			if (not queue.pop(event)) continue; // retry 
			long currentTime = timer.elapsedTime(), nextIoTime = event.time;
			if (currentTime <= nextIoTime) { // we're early/on-time
				//printf(". next=%ld current=%ld \n", nextIoTime, currentTime);
				Timer::delay(nextIoTime - currentTime); // delay until ~specified time
			} else { // we're late
				//printf("x next=%ld current=%ld delta=%ld\n", 
				// nextIoTime, currentTime, currentTime-nextIoTime);
				++myLateCount;
			}
			
			performIo(fd, buf, event, logger);
		}
		lateCount += myLateCount; // update global lateCount
	});

	fileThread.join(); // wait for all threads to finish
	for (auto& t : workers) t.join(); 

	printf("Late count: %d\n", lateCount.load());
	Logger logger(logDir + traceFile + to_string(0));
	logger.printf("%d\n", lateCount.load());
	printf("Done\n");
	return 0;
}