~imp() { m_watch.stop(); double end_memory = static_cast<double>(memory::get_allocation_size())/static_cast<double>(1024*1024); m_out << "(" << m_msg << " :time " << std::fixed << std::setprecision(2) << m_watch.get_seconds() << " :before-memory " << std::fixed << std::setprecision(2) << m_start_memory << " :after-memory " << std::fixed << std::setprecision(2) << end_memory << ")" << std::endl; }
static double current_time() { static stopwatch sw; static bool started = false; if(!started){ sw.start(); started = true; } return sw.get_current_seconds(); }
~imp() { m_watch.stop(); double end_memory = static_cast<double>(memory::get_allocation_size())/static_cast<double>(1024*1024); verbose_stream() << "(" << m_id << " :num-exprs " << m_goal.num_exprs() << " :num-asts " << m_goal.m().get_num_asts() << " :time " << std::fixed << std::setprecision(2) << m_watch.get_seconds() << " :before-memory " << std::fixed << std::setprecision(2) << m_start_memory << " :after-memory " << std::fixed << std::setprecision(2) << end_memory << ")" << std::endl; }
static void display_statistics( std::ostream& out, datalog::context& ctx, datalog::rule_set& orig_rules, datalog::instruction_block& code, datalog::execution_context& ex_ctx, bool verbose ) { g_piece_timer.stop(); unsigned t_other = static_cast<int>(g_piece_timer.get_seconds()*1000); g_overall_time.stop(); code.process_all_costs(); { params_ref p; p.set_bool("output_profile", true); p.set_uint("profile_milliseconds_threshold", 100); ctx.updt_params(p); out << "--------------\n"; out << "original rules\n"; orig_rules.display(out); out << "---------------\n"; out << "generated rules\n"; ctx.display_rules(out); out << "--------------\n"; out << "instructions \n"; code.display(*ctx.get_rel_context(), out); out << "--------------\n"; out << "big relations \n"; ex_ctx.report_big_relations(1000, out); } out << "--------------\n"; out << "relation sizes\n"; ctx.get_rel_context()->get_rmanager().display_relation_sizes(out); if (verbose) { out << "--------------\n"; out << "rules\n"; ctx.display_rules(out); } out << "Time: " << static_cast<int>(g_overall_time.get_seconds()*1000) << "ms\n"; out << "Parsing: " << t_parsing << "ms, other: " << t_other << "ms\n"; }
void print(std::ostream &out, size_t level, double total, size_t width) const { using namespace std; print_line(out, name, watch.total(), 100 * watch.total() / total, width, level); if (watch.tics() > 1) { out << " (" << setw(6) << watch.tics() << "x; avg: " << setprecision(6) << scientific << (watch.average() * 1e6) << " usec.)"; } out << endl; if (!children.empty()) { double sec = watch.total() - children_time(); double perc = 100 * sec / total; if(perc > 1e-1) { print_line(out, "self", sec, perc, width, level + 1); out << endl; } } for(auto c = children.begin(); c != children.end(); c++) (*c)->print(out, level + shift_width, total, width); }
virtual double toc() { return watch.toc(); }
virtual void tic() { watch.tic(); }
imp(char const * id, goal const & g): m_id(id), m_goal(g), m_start_memory(static_cast<double>(memory::get_allocation_size())/static_cast<double>(1024*1024)) { m_watch.start(); }
void run() { uint8_t key[2]; uint8_t key_itr = 0; while(key_itr < 2) key[++key_itr] = 0; key_itr = 0; moveflags = 0; recordIter = 0; speed = 127; le.clear(); re.clear(); recordTime.stop(); recordTime.clear(); uint32_t nextPlay = 0; uint32_t nextPlayBase = 0; state = 0; encoder_play_l.stop(); encoder_play_r.stop(); startTime = 0; /*rs232.send("YuniRC program has started!\r\n" "Controls: W,A,S,D - movement, Space - read sensor values,"); rs232.wait(); rs232.send(" R - reset encoders, Q - On/Off engine correction, 1 2 3 - speed \r\n"); rs232.wait(); rs232.send("Engine correction is disabled.\r\n"); */ char ch; while(true) { if(state & STATE_ERASING) continue; // Move correction if((state & STATE_CORRECTION) && (moveflags == MOVE_FORWARD || moveflags == MOVE_BACKWARD)) MovementCorrection(); if((state & STATE_PLAY) && (lastAdress == 0 || EventHappened(&lastRec, &nextPlayBase, &nextPlay))) { encoder_play_l.stop(); encoder_play_r.stop(); read_mem(&lastRec, lastAdress); lastAdress += REC_SIZE; if((lastRec.key[0] == 0 && lastRec.key[1] == 0 && lastRec.getBigNum() == 0) || lastAdress > 512) { state &= ~(STATE_PLAY); rs232.send("Playback finished\r\n"); setMotorPower(0, 0); le_cor.stop(); re_cor.stop(); moveflags = MOVE_NONE; continue; } SetMovement(lastRec.key); nextPlay = 0; nextPlayBase = 0; if(lastRec.end_event == EVENT_TIME) { nextPlayBase = getTickCount(); nextPlay = (uint32_t(lastRec.getBigNum())*10000) * JUNIOR_WAIT_MUL / JUNIOR_WAIT_DIV; } //Uncomment to set messure delay /*else if(lastRec.end_event == EVENT_RANGE_MIDDLE_HIGHER || lastRec.end_event == EVENT_RANGE_MIDDLE_LOWER) { nextPlayBase = getTickCount(); nextPlay = (50000) * JUNIOR_WAIT_MUL / JUNIOR_WAIT_DIV; }*/ else if(lastRec.end_event == EVENT_DISTANCE || lastRec.end_event == EVENT_DISTANCE_LEFT || lastRec.end_event == EVENT_DISTANCE_RIGHT) { encoder_play_r.clear(); encoder_play_l.clear(); encoder_play_l.start(); encoder_play_r.start(); } ++recordIter; } //Read command if(!rs232.peek(ch)) continue; key[key_itr] = uint8_t(ch); ++key_itr; //key recieved if(key_itr >= 2) { key_itr = 0; // FIXME: ignore two or more keys at once if((state & STATE_RECORD) && char(lastRec.key[1]) == 'd' && char(key[1]) != 'u' && char(key[0]) != 'C') { while(key_itr < 2) key[++key_itr] = '0'; key_itr = 0; continue; } bool down_only = SetMovement(key); if(char(key[0]) == 'O' || char(key[0]) == 'P') continue; else if((state & STATE_RECORD) && char(key[0]) != 'C' && (!down_only || (down_only && char(key[1]) == 'd'))) // do not record down only keys { if(!recordTime.isRunning()) { recordTime.clear(); recordTime.start(); } if(recordIter > 0) { lastRec.end_event = EVENT_TIME; lastRec.setBigNum(recordTime.getTime()/10000); write_mem(&lastRec, lastAdress); lastAdress+=REC_SIZE; } if(recordIter < MEM_SIZE-1) { while(key_itr < 2) { lastRec.key[key_itr] = key[key_itr]; ++key_itr; } key_itr = 0; recordTime.clear(); ++recordIter; } else { key[0] = uint8_t('C'); key[1] = uint8_t('d'); rs232.send("Memory full\r\n"); continue; } } } // EEPROM Flash mode else if(ch == 0x1C) { while(key_itr < 2) key[++key_itr] = '0'; key_itr = 0; erase_eeprom(); rs232.sendCharacter(0x1D); for(lastAdress = 0; true; ) { if(!rs232.peek(ch)) continue; if(ch == 0x1E && lastAdress%5 == 0) break; write_byte(lastAdress, uint8_t(ch)); ++lastAdress; rs232.sendCharacter(0x1F); } lastAdress = 0; } // EEPROM read mode else if(ch == 0x16) { while(key_itr < 2) key[++key_itr] = '0'; key_itr = 0; rs232.sendCharacter(0x17); for(lastAdress = 0; lastAdress < 512; ++lastAdress) { rs232.wait(); rs232.sendCharacter(read_byte(lastAdress)); } rs232.sendCharacter(0x18); lastAdress = 0; } } }
bool SetMovement(uint8_t key[]) { // Set Movement Flags bool down = (key[1] == uint8_t('d')); bool down_only = false; // only down keys if(down) { switch(char(key[0])) { //speed (1 2 3 on keyboard Oo) case 'a': speed = 50; break; case 'b': speed = 100; break; case 'c': speed = 127; break; case 'R': // reset encoders re.clear(); le.clear(); break; case 'Q': // on/off correction rs232.send("Engine correction is "); if(state & STATE_CORRECTION) { state &= ~(STATE_CORRECTION); rs232.send("disabled \r\n"); } else { state |= STATE_CORRECTION; rs232.send("enabled \r\n"); } break; case 'C': rs232.wait(); setMotorPower(0, 0); le_cor.stop(); re_cor.stop(); moveflags = MOVE_NONE; if(!(state & STATE_RECORD)) { state |= STATE_RECORD; recordIter = 0; rs232.send("Erasing EEPROM..."); state |= STATE_ERASING; erase_eeprom(); state &= ~(STATE_ERASING); rs232.send("done\r\n"); lastAdress = 0; } else { lastRec.end_event = EVENT_TIME; lastRec.setBigNum(recordTime.getTime()/10000); write_mem(&lastRec, lastAdress); recordTime.stop(); recordTime.clear(); recordIter = 0; state &= ~(STATE_RECORD); } rs232.send("Trace recording is "); if(state & STATE_RECORD){ rs232.send("enabled \r\n");} else {rs232.send("disabled \r\n");} break; case 'P': le_cor.stop(); re_cor.stop(); moveflags = MOVE_NONE; setMotorPower(0, 0); if(!(state & STATE_PLAY)) { recordTime.stop(); recordTime.clear(); rs232.send("Playing..\r\n"); recordIter = 0; lastAdress = 0; state |= STATE_PLAY; state &= ~(STATE_RECORD); } else { rs232.send("Playback stopped\r\n"); state &= ~(STATE_PLAY); } break; case 'O': if(state & STATE_RECORD) break; rs232.send("Playback "); if(state & STATE_PLAY) { rs232.send("unpaused\r\n"); state &= ~(STATE_PLAY); } else { setMotorPower(0, 0); le_cor.stop(); re_cor.stop(); moveflags = MOVE_NONE; rs232.send("paused\r\n"); state |= STATE_PLAY; } break; } } // Movement switch(char(key[0])) { case 'W': if(!(moveflags & MOVE_BACKWARD)) { if(down) moveflags |= MOVE_FORWARD; else moveflags &= ~(MOVE_FORWARD); } break; case 'S': if(!(moveflags & MOVE_FORWARD)) { if(down) moveflags |= MOVE_BACKWARD; else moveflags &= ~(MOVE_BACKWARD); } break; case 'A': if(!(moveflags & MOVE_RIGHT)) { if(down) moveflags |= MOVE_LEFT; else moveflags &= ~(MOVE_LEFT); } break; case 'D': if(!(moveflags & MOVE_LEFT)) { if(down) moveflags |= MOVE_RIGHT; else moveflags &= ~(MOVE_RIGHT); } break; default: down_only = true; break; } // Sensors if(char(key[0]) == ' ' && down) // Space { rs232.wait(); rs232.send("\r\nSensors: "); rs232.dumpNumber(getSensorValue(6)); rs232.sendNumber(getSensorValue(7)); // proud /*rs232.send("\r\nSensors: \r\n"); rs232.send(" "); rs232.sendNumber(getSensorValue(5)); rs232.send(" "); rs232.sendNumber(getSensorValue(1)); rs232.wait(); rs232.send("\r\n"); rs232.sendNumber(getSensorValue(2)); rs232.send(" "); rs232.sendNumber(getSensorValue(3)); rs232.wait(); */ rs232.send("\r\nEncoders: \r\n L: "); rs232.sendNumber(le.get()); rs232.send(" R: "); rs232.sendNumber(re.get()); rs232.send("\r\nRange \r\nL: "); rs232.wait(); rs232.sendNumber(ReadRange(FINDER_LEFT)); rs232.send("cm M: "); rs232.sendNumber(ReadRange(FINDER_MIDDLE)); rs232.send("cm R: "); rs232.sendNumber(ReadRange(FINDER_RIGHT)); rs232.send("cm\r\n"); } //Set motors if(moveflags & MOVE_FORWARD) { if(moveflags & MOVE_LEFT) setMotorPower(speed-TURN_VALUE, speed); else if(moveflags & MOVE_RIGHT) setMotorPower(speed, speed-TURN_VALUE); else { le_cor.start(); re_cor.start(); le_cor.clear(); re_cor.clear(); setMotorPower(speed, speed); state &= ~(STATE_CORRECTION2); } startTime = getTickCount(); } else if(moveflags & MOVE_BACKWARD) { if(moveflags & MOVE_LEFT) setMotorPower(-(speed-TURN_VALUE), -speed); else if(moveflags & MOVE_RIGHT) setMotorPower(-speed, -(speed-TURN_VALUE)); else { state &= ~(STATE_CORRECTION2); le_cor.start(); re_cor.start(); le_cor.clear(); re_cor.clear(); setMotorPower(-speed, -speed); } startTime = getTickCount(); } else if(moveflags & MOVE_LEFT) { setMotorPower(-speed, speed); startTime = getTickCount(); } else if(moveflags & MOVE_RIGHT) { setMotorPower(speed, -speed); startTime = getTickCount(); } else { startTime = getTickCount(); setMotorPower(0, 0); le_cor.stop(); re_cor.stop(); state &= ~(STATE_CORRECTION2); } return down_only; }
imp(char const * msg, std::ostream & out): m_msg(msg), m_out(out), m_start_memory(static_cast<double>(memory::get_allocation_size())/static_cast<double>(1024*1024)) { m_watch.start(); }
imp(char const * id, assertion_set & s): m_id(id), m_set(s), m_start_memory(static_cast<double>(memory::get_allocation_size())/static_cast<double>(1024*1024)) { m_watch.start(); }