static void
g_thread_set_priority_posix_impl (gpointer thread, GThreadPriority priority)
{
#ifdef HAVE_PRIORITIES
# ifdef G_THREADS_IMPL_POSIX
struct sched_param sched;
int policy;
posix_check_for_error (pthread_getschedparam (*(pthread_t*)thread,
&policy, &sched));
sched.sched_priority = g_thread_map_priority (priority);
posix_check_for_error (pthread_setschedparam (*(pthread_t*)thread,
policy, &sched));
# else /* G_THREADS_IMPL_DCE */
posix_check_for_error (pthread_setprio (*(pthread_t*)thread,
g_thread_map_priority (priority)));
# endif
#endif /* HAVE_PRIORITIES */
}
int
thread_set_priority (thread_t *self, int prio)
{
int old_prio = self->thr_priority;
if (prio < 0 && prio >= MAX_PRIORITY)
return old_prio;
#if defined (PRI_RR_MIN) && !defined(__osf__)
switch (prio)
{
case LOW_PRIORITY:
prio = PRI_RR_MIN;
break;
case NORMAL_PRIORITY:
prio = (PRI_RR_MIN + PRI_RR_MAX) / 2;
break;
case HIGH_PRIORITY:
prio = PRI_RR_MAX;
break;
default:
return old_prio;
}
/*
* Cannot set priority on main thread, because it does not have a handle
*/
if (self != _main_thread &&
pthread_setprio (*(pthread_t *) self->thr_handle, prio))
{
prio = old_prio;
}
#endif
self->thr_priority = prio;
return old_prio;
}
int main(int argc, char *argv[]) {
char *line, word[12], cmdChar, *ip;
int n;
pthread_t driverTid;
#if _POSIX_VERSION >= 199506
struct sched_param param;
#else /* _POSIX_VERSION >= 199506 */
pthread_attr_t attr;
#endif /* _POSIX_VERSION >= 199506 */
if(processPresent("excl_Track")) {
printf("Another Track type process is running\n");
exit(1);
}
setpriority(PRIO_PROCESS, (0), (TRACKUSERPRIO));
readline_initialize_everything();
read_history(HIST_FILE);
tsshm = OpenShm(TSSHMNAME, TSSHMSZ);
tsshm->azCmd = OFF_CMD;
tsshm->elCmd = OFF_CMD;
tsshm->az = tsshm->encAz;
tsshm->el = tsshm->encEl;
tsshm->azVel = 0;
tsshm->elVel = 0;
tsshm->msecCmd = tsshm->msec;
/* Start the driver thread */
#if _POSIX_VERSION >= 199506
if(pthread_create(&driverTid, NULL, driver, (void *)0) < 0) {
perror("Failed to create driver");
exit(1);
}
param.sched_priority = TRACKPRIO;
pthread_setschedparam(driverTid, SCHED_DEFAULT, ¶m);
#else /* _POSIX_VERSION >= 199506 */
pthread_attr_create(&attr);
if(pthread_create(&driverTid, attr, driver, (void *)0) < 0) {
perror("Failed to create driver");
exit(1);
}
pthread_setprio(driverTid, TRACKPRIO);
#endif /* _POSIX_VERSION >= 199506 */
/* This main loop communicates with the user */
for(;;) {
line = readline("trk: ");
if(*line) { /* Readline removes the '\n' */
add_history(line);
/* At this point the main part of the program should run. */
cmdChar = *line;
/* Skip the remainder of the first word */
for(ip = 1 + line; ! isspace(*ip); ip++) ;
switch(cmdChar) {
case 'p':
n = 1;
printf("Fault = %d az cmd %d, state %d "
"el cmd %d, state %d\n", tsshm->fault,
tsshm->azCmd, tsshm->azState,
tsshm->elCmd, tsshm->elState);
printf("az %9.4f, azVel %9.4f curAz %9.4f, encAz %9.4f\n",
tsshm->az/MSEC_PER_DEG, tsshm->azVel/MSEC_PER_DEG,
(double)tsshm->cmdAz/MSEC_PER_DEG,
(double)tsshm->encAz/MSEC_PER_DEG);
printf("el %9.4f, elVel %9.4f curEl %9.4f, encEl %9.4f\n",
tsshm->el/MSEC_PER_DEG, tsshm->elVel/MSEC_PER_DEG,
(double)tsshm->cmdEl/MSEC_PER_DEG,
(double)tsshm->encEl/MSEC_PER_DEG);
printf("day %d, msec %d, msecCmd %d "
"msecAccept %d\n", tsshm->day,
tsshm->msec, tsshm->msecCmd, tsshm->msecAccept);
printf("MSEC_PER_DEG = %9.4f\n", (double)n*MSEC_PER_DEG);
printf("m3Cmd = %d = %s m3State = %d = %s\n", tsshm->m3Cmd,
(tsshm->m3Cmd == CLOSE_M3_CMD)? "Closed":
(tsshm->m3Cmd == OPEN_M3_CMD)? "open":"Unknown",
tsshm->m3State,
(tsshm->m3State == CLOSED_ST)? "Closed":
(tsshm->m3State == OPEN_ST)? "open":"Unknown");
printf("lastMsec = %d, servoKnownDead = %d\n", lastMsec,
servoKnownDead);
break;
case 'a':
if(line[1] == 'a') {
n = sscanf(ip, "%lf %lf", &newP, &newV);
switch(n) {
case 1:
newV = 0;
case 2: /* This is supposed to fall through */
if(line[2] == 's') {
newP = tsshm->az/MSEC_PER_DEG + newP/3600;
newV = tsshm->azVel/MSEC_PER_DEG + newV/3600;
} else {
newP = tsshm->az/MSEC_PER_DEG + newP;
newV = tsshm->azVel/MSEC_PER_DEG + newV;
}
newAz = 1; /* Signal driver new az pos, vel. */
break;
default:
printf("??\n");
break;
}
break;
} else if(line[1] == 'h') {
if(sscanf(ip, "%s", word)) {
if(strcmp("on", word) == 0) {
tsshm->sendEncToPalm = AZ_TO_PALM;
} else if(strcmp("off", word) == 0) {
tsshm->sendEncToPalm = NOTHING_TO_PALM;
} else {
printf("??\n");
}
}
break;
}
n = sscanf(ip, "%lf %lf", &newP, &newV);
switch(n) {
case 1:
newV = 0;
case 2: /* This is supposed to fall through */
newAz = 1; /* Signal driver new az pos, vel. */
break;
case 0:
if(sscanf(ip, "%s", word)) {
if(strcmp("on", word) == 0) {
tsshm->msecCmd = tsshm->msec;
usleep(10000);
tsshm->azCmd = ON_CMD;
} else if(strcmp("off", word) == 0) {
tsshm->azCmd = OFF_CMD;
} else {
printf("??\n");
}
}
break;
default:
printf("??\n");
break;
}
break;
case 'e':
if(line[1] == 'a') {
n = sscanf(ip, "%lf %lf", &newP, &newV);
switch(n) {
case 1:
newV = 0;
case 2: /* This is supposed to fall through */
if(line[2] == 's') {
newP = tsshm->el/MSEC_PER_DEG + newP/3600;
newV = tsshm->elVel/MSEC_PER_DEG + newV/3600;
} else {
newP = tsshm->el/MSEC_PER_DEG + newP;
newV = tsshm->elVel/MSEC_PER_DEG + newV;
}
newEl = 1; /* Signal driver new az pos, vel. */
break;
default:
printf("??\n");
break;
}
break;
} else if(line[1] == 'h') {
if(sscanf(ip, "%s", word)) {
if(strcmp("on", word) == 0) {
tsshm->sendEncToPalm = EL_TO_PALM;
} else if(strcmp("off", word) == 0) {
tsshm->sendEncToPalm = NOTHING_TO_PALM;
} else {
printf("??\n");
}
}
break;
}
n = sscanf(ip, "%lf %lf", &newP, &newV);
switch(n) {
case 1:
newV = 0;
case 2: /* This is supposed to fall through */
newEl = 1; /* Signal driver */
break;
case 0:
if(sscanf(ip, "%s", word)) {
if(strcmp("on", word) == 0) {
tsshm->msecCmd = tsshm->msec;
usleep(10000);
tsshm->elCmd = ON_CMD;
} else if(strcmp("off", word) == 0) {
tsshm->msecCmd = tsshm->msec;
tsshm->elCmd = OFF_CMD;
} else {
printf("??\n");
}
}
break;
default:
printf("??\n");
break;
}
break;
case 'm':
if(sscanf(ip, "%s", word)) {
if(strcmp("open", word) == 0)
tsshm->m3Cmd = OPEN_M3_CMD;
else if(strcmp("closed", word) == 0)
tsshm->m3Cmd = CLOSE_M3_CMD;
else {
printf("??\n");
}
}
break;
case 'q':
tsshm->azCmd = OFF_CMD;
tsshm->elCmd = OFF_CMD;
write_history(HIST_FILE);
return(0);
default:
printf("??\n");
break;
}
/* end of the main loop */
}
free(line);
}
fprintf(stderr, "!!! Control should not get here !!!\n");
/* shm_unlink(TSSHMNAME); */
return(0);
}
/****************************************************************//**
Creates a new thread of execution. The execution starts from
the function given. The start function takes a void* parameter
and returns an ulint.
@return handle to the thread */
UNIV_INTERN
os_thread_t
os_thread_create(
/*=============*/
#ifndef __WIN__
os_posix_f_t start_f,
#else
ulint (*start_f)(void*), /*!< in: pointer to function
from which to start */
#endif
void* arg, /*!< in: argument to start
function */
os_thread_id_t* thread_id) /*!< out: id of the created
thread, or NULL */
{
#ifdef __WIN__
os_thread_t thread;
DWORD win_thread_id;
os_mutex_enter(os_sync_mutex);
os_thread_count++;
os_mutex_exit(os_sync_mutex);
thread = CreateThread(NULL, /* no security attributes */
0, /* default size stack */
(LPTHREAD_START_ROUTINE)start_f,
arg,
0, /* thread runs immediately */
&win_thread_id);
if (srv_set_thread_priorities) {
/* Set created thread priority the same as a normal query,
we try to prevent starvation of threads by assigning same
priority QUERY_PRIOR to all */
ut_a(SetThreadPriority(thread, srv_query_thread_priority));
}
if (thread_id) {
*thread_id = win_thread_id;
}
return(thread);
#else
int ret;
os_thread_t pthread;
pthread_attr_t attr;
#ifndef UNIV_HPUX10
pthread_attr_init(&attr);
#endif
#ifdef UNIV_AIX
/* We must make sure a thread stack is at least 32 kB, otherwise
InnoDB might crash; we do not know if the default stack size on
AIX is always big enough. An empirical test on AIX-4.3 suggested
the size was 96 kB, though. */
ret = pthread_attr_setstacksize(&attr,
(size_t)(PTHREAD_STACK_MIN
+ 32 * 1024));
if (ret) {
srv_panic(ret,
"InnoDB: Error: pthread_attr_setstacksize"
" returned %d\n", ret);
}
#endif
#ifdef __NETWARE__
ret = pthread_attr_setstacksize(&attr,
(size_t) NW_THD_STACKSIZE);
if (ret) {
srv_panic(ret,
"InnoDB: Error: pthread_attr_setstacksize"
" returned %d\n", ret);
}
#endif
os_mutex_enter(os_sync_mutex);
os_thread_count++;
os_mutex_exit(os_sync_mutex);
#ifdef UNIV_HPUX10
ret = pthread_create(&pthread, pthread_attr_default, start_f, arg);
#else
ret = pthread_create(&pthread, &attr, start_f, arg);
#endif
if (ret) {
srv_panic(ret,
"InnoDB: Error: pthread_create returned %d\n", ret);
}
#ifndef UNIV_HPUX10
pthread_attr_destroy(&attr);
#endif
if (srv_set_thread_priorities) {
#ifdef HAVE_PTHREAD_SETPRIO
pthread_setprio(pthread, srv_query_thread_priority);
#endif
}
if (thread_id) {
*thread_id = pthread;
}
return(pthread);
#endif
}
