int main(void) {
srand(time(NULL));
createQueues();
setupThreads();
createThreads(cpuThread, cpuThreads, NUMBER_OF_CPU_THREADS);
createThreads(ioThread, ioThreads, NUMBER_OF_IO_THREADS);
createThreads(submissionThread, submissionThreads, NUMBER_OF_SUBMISSION_THREADS);
waitForThreads(cpuThreads);
waitForThreads(ioThreads);
waitForThreads(submissionThreads);
printf("All threads complete.\n");
return EXIT_SUCCESS;
}
void Board_start()
{
int experimentEndTime;
int updateFlag;
int quitFlag;
Board b;
BoardThreadParams threadParams[MAX_N_ROBOTS];
BoardDatabase *db;
#ifdef IS_WIN
CvSize szGlobal = {ENVIR_DIMS, ENVIR_DIMS};
CvSize szLocal = {LOC_MAP_DIMS, LOC_MAP_DIMS};
IplImage *globMapIplImage;
IplImage *localMapIplImage;
#endif
setupExperimentDir();
// Do this before setting up the database
SET_N_ROBOTS(1)
#ifdef SETUP_TEST_COALITION
SET_N_ROBOTS(2)
SET_N_ROBOTS_THREADS_FOR_TEST_COAL(1)
#endif
#ifdef IS_WIN
globMapIplImage = cvCreateImage (szGlobal, 8, 1);
localMapIplImage = cvCreateImage (szLocal, 8, 1);
b = initBoard (globMapIplImage, localMapIplImage);
#else
b = initBoard();
#endif
db = &b.db;
#ifdef SETUP_TEST_COALITION
Board_setupTestCoalRobots (&b.db);
#endif
#ifdef SHOW_IMGS
Visualisation_showSim (db);
Visualisation_showMap (db);
// printf ("Adjust windows and click to start\n"); cvWaitKey (0);
#endif
if (-1 == setupSockets (db, threadParams))
{
goto cleanupBoard;
}
experimentEndTime = clock() + 10000;
printf ("Experiment ends at %d.\n", experimentEndTime);
if (-1 == setupThreads (db, threadParams))
{
goto cleanupBoard;
}
printf ("All threads started. Entering blackboard server loop.\n");
quitFlag = 0;
while (!quitFlag)
{
enterBoardData();
checkTime (db, experimentEndTime, &updateFlag);
if (updateFlag)
{
Board_processData (&b, 1);
//! \todo Allocate coalitions
quitFlag = checkIfAllFinished (db);
}
leaveBoardData();
if (!updateFlag)
{
SLEEP_FOR_MS(10)
}
}
printf ("Finished loop. Closing sockets.\n");
closeSockets (db);
Board_finish (&b);
cleanupBoard:
clearBoard (&b);
#ifdef IS_WIN
cvReleaseImage (&globMapIplImage);
cvReleaseImage (&localMapIplImage);
cvCleanup();
#endif
}
ParallelAsciifier(boost::shared_ptr<const GlyphMatcherT> c, unsigned thr_cnt)
:matcher_(c)
{
setupThreads(thr_cnt);
}
