void TRI_ReleaseConnectionStatistics (TRI_connection_statistics_t* statistics) {
if (statistics == nullptr) {
return;
}
{
MUTEX_LOCKER(ConnectionDataLock);
if (statistics->_http) {
if (statistics->_connStart != 0.0) {
if (statistics->_connEnd == 0.0) {
TRI_HttpConnectionsStatistics.incCounter();
}
else {
TRI_HttpConnectionsStatistics.decCounter();
double totalTime = statistics->_connEnd - statistics->_connStart;
TRI_ConnectionTimeDistributionStatistics->addFigure(totalTime);
}
}
}
}
// clear statistics
statistics->reset();
// put statistics item back onto the freelist
#ifdef TRI_ENABLE_MAINTAINER_MODE
bool ok = ConnectionFreeList.push(statistics);
TRI_ASSERT(ok);
#else
ConnectionFreeList.push(statistics);
#endif
}
void consumer(void)
{
int value;
while (!done) {
while (queue.pop(value))
++consumer_count;
}
while (queue.pop(value))
++consumer_count;
}
static void ProcessRequestStatistics (TRI_request_statistics_t* statistics) {
{
MUTEX_LOCKER(RequestDataLock);
TRI_TotalRequestsStatistics.incCounter();
if (statistics->_async) {
TRI_AsyncRequestsStatistics.incCounter();
}
TRI_MethodRequestsStatistics[(int) statistics->_requestType].incCounter();
// check that the request was completely received and transmitted
if (statistics->_readStart != 0.0 && statistics->_writeEnd != 0.0) {
double totalTime = statistics->_writeEnd - statistics->_readStart;
TRI_TotalTimeDistributionStatistics->addFigure(totalTime);
double requestTime = statistics->_requestEnd - statistics->_requestStart;
TRI_RequestTimeDistributionStatistics->addFigure(requestTime);
double queueTime = 0.0;
if (statistics->_queueStart != 0.0 && statistics->_queueEnd != 0.0) {
queueTime = statistics->_queueEnd - statistics->_queueStart;
TRI_QueueTimeDistributionStatistics->addFigure(queueTime);
}
double ioTime = totalTime - requestTime - queueTime;
if (ioTime >= 0.0) {
TRI_IoTimeDistributionStatistics->addFigure(ioTime);
}
TRI_BytesSentDistributionStatistics->addFigure(statistics->_sentBytes);
TRI_BytesReceivedDistributionStatistics->addFigure(statistics->_receivedBytes);
}
}
// clear statistics
statistics->reset();
// put statistics item back onto the freelist
#ifdef TRI_ENABLE_MAINTAINER_MODE
bool ok = RequestFreeList.push(statistics);
TRI_ASSERT(ok);
#else
RequestFreeList.push(statistics);
#endif
}
/*
* The worker_thread blocks in this loop.
* As a member function, it must be binded with this ptr.
*/
void worker_thread() {
for (;;) {
boost::mutex::scoped_lock lock(this->tp_mutex);
cv.wait(lock);
if (work_queue.empty())
continue;
work_t w;
if (work_queue.pop(w))
w->run();
else
thread_run_error();
}
}
bool ElmoDriver::MotorOn()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
message.DATA[0] = 'M';
message.DATA[1] = 'O';
//for(int i=2; i<8; i++)
// message.DATA[i] = (i == 4 ? 1 : 0);
message.DATA[2] = 0;
message.DATA[3] = 0;
message.DATA[4] = 1;
message.DATA[5] = 0;
message.DATA[6] = 0;
message.DATA[7] = 0;
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::iPA(float degree)
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
int temp = (int) (2000.0*degree/180.0*gear_m);
//cout << "angle = " << temp << endl;
BYTE value[4];
memcpy(value, &temp, sizeof(int));
message.DATA[0] = 'O';
message.DATA[1] = 'V';
message.DATA[2] = 0x13;
message.DATA[3] = 0;
for(int i=0; i<4; i++)
message.DATA[4+i] = value[i];
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::SetIPMode()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
message.DATA[0] = 'O';
message.DATA[1] = 'F';
message.DATA[2] = 0x07;
for(int i=3; i<8; i++)
message.DATA[i] = (i == 4 ? 0x07 : 0);
/*
CAN_Write_Queue.push(message);
message.DATA[0] = 'O';
message.DATA[1] = 'V';
message.DATA[2] = 0x17;
for(int i=3; i<8; i++)
message.DATA[i] = (i == 4 ? 0x0A : 0);
*/
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::GetCurrent()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 4;
message.DATA[0] = 'I';
message.DATA[1] = 'Q';
message.DATA[2] = 0;
message.DATA[3] = 0;
return CAN_Write_Queue.push(message);
/*
int temppos = 0x00;
if (data1[0]=='I' && data1[1]=='Q')
{
temppos |= (data1[7] << 24);
temppos |= (data1[6] << 16);
temppos |= (data1[5] << 8);
temppos |= (data1[4]);
val= *(float *)&temppos;
return 1;
}
val=temppos;
return 0;
*/
}
bool ElmoDriver::DC(float dcc, bool set)
{
static TPCANMsg message;
message.ID = 6*128+id;
if (set == true)
{
message.LEN = 8;
int temp = (int) (dcc*gear_m);
BYTE value[4];
memcpy(value, &temp, sizeof(int));
for(int i=0; i<4; i++)
message.DATA[4+i] = value[i];
}
else
{
message.LEN = 4;
}
message.DATA[0] = 'D';
message.DATA[1] = 'C';
message.DATA[2] = 0;
message.DATA[3] = 0;
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::PA(int count)
{
// float deg = (float) degree;
// return PA(deg);
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
int temp = count;
//cout << "angle = " << temp << endl;
BYTE value[4];
memcpy(value, &temp, sizeof(int));
message.DATA[0] = 'P';
message.DATA[1] = 'A';
message.DATA[2] = 0;
message.DATA[3] = 0;
for(int i=0; i<4; i++)
message.DATA[4+i] = value[i];
return CAN_Write_Queue.push(message);
}
int main(int argc, char* argv[])
{
using namespace std;
cout << "boost::lockfree::queue is ";
if (!queue.is_lock_free())
cout << "not ";
cout << "lockfree" << endl;
boost::chrono::steady_clock::time_point start = boost::chrono::steady_clock::now();
boost::thread_group producer_threads, consumer_threads;
for (int i = 0; i != producer_thread_count; ++i)
producer_threads.create_thread(producer);
for (int i = 0; i != consumer_thread_count; ++i)
consumer_threads.create_thread(consumer);
producer_threads.join_all();
done = true;
consumer_threads.join_all();
boost::chrono::duration<double> sec = boost::chrono::steady_clock::now() - start;
cout << "f() took " << sec.count() << " seconds\n";
cout << "produced " << producer_count << " objects." << endl;
cout << "consumed " << consumer_count << " objects." << endl;
}
/* Push a work, it will run automatically. */
bool push_work(work_t w) {
if (w->c && work_queue.push(w)) {
cv.notify_one();
return true;
}
return false;
}
// Must NOT be called without first calling wait()
T get_withoutWaiting(){
T ret = 0;
R_ASSERT(queue.pop(ret));
return ret;
}
bool ElmoDriver::TCEqualMinusOne()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
float temp = -0.5;
BYTE current[4];
memcpy(current, &temp, sizeof(float));
message.DATA[0] = 'T';
message.DATA[1] = 'C';
message.DATA[2] = 0x0;
message.DATA[3] = 128;
//for(int i=0; i<3; i++)
// message.DATA[4+i] = current[i];
message.DATA[4] = current[0];
message.DATA[5] = current[1];
message.DATA[6] = current[2];
message.DATA[7] = current[3];
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::TCEqualZero()
{
static TPCANMsg message;
message.ID = 6*128+id;
message.LEN = 8;
float temp = 0.0;
BYTE current[4];
memcpy(current, &temp, sizeof(float));
message.DATA[0] = 'T';
message.DATA[1] = 'C';
message.DATA[2] = 0x0;
message.DATA[3] = 128;
for(int i=0; i<3; i++)
message.DATA[4+i] = current[i];
return CAN_Write_Queue.push(message);
}
void clear()
{
void * p;
while ( stack_.unsynchronized_pop(p) )
{
znn_free(p);
}
}
// returns false if queue was full
bool tryPut(T t){
if (queue.bounded_push(t)) {
ready.signal();
return true;
}
return false;
}
void producer(void)
{
for (int i = 0; i != iterations; ++i) {
int value = ++producer_count;
while (!queue.push(value))
;
}
}
void consumer(void)
{
int value;
//当没有生产完毕，则边消费边生产
while(!done)
{
while(queue.pop(value))
{
cout<<"-"<<endl;
++c_count;
}
}
//如果生产完毕则消费
while(queue.pop(value))
{
++c_count;
}
}
TRI_connection_statistics_t* TRI_AcquireConnectionStatistics () {
TRI_connection_statistics_t* statistics = nullptr;
if (TRI_ENABLE_STATISTICS && ConnectionFreeList.pop(statistics)) {
return statistics;
}
return nullptr;
}
TRI_request_statistics_t* TRI_AcquireRequestStatistics () {
TRI_request_statistics_t* statistics = nullptr;
if (TRI_ENABLE_STATISTICS && RequestFreeList.pop(statistics)) {
return statistics;
}
return nullptr;
}
static void StatisticsQueueWorker (void* data) {
while (! Shutdown && TRI_ENABLE_STATISTICS) {
size_t count = ProcessAllRequestStatistics();
if (count == 0) {
usleep(100 * 1000);
}
else if (count < 10) {
usleep(10 * 1000);
}
else if (count < 100) {
usleep(1 * 1000);
}
}
delete TRI_ConnectionTimeDistributionStatistics;
delete TRI_TotalTimeDistributionStatistics;
delete TRI_RequestTimeDistributionStatistics;
delete TRI_QueueTimeDistributionStatistics;
delete TRI_IoTimeDistributionStatistics;
delete TRI_BytesSentDistributionStatistics;
delete TRI_BytesReceivedDistributionStatistics;
{
TRI_request_statistics_t* entry = nullptr;
while (RequestFreeList.pop(entry)) {
delete entry;
}
}
{
TRI_request_statistics_t* entry = nullptr;
while (RequestFinishedList.pop(entry)) {
delete entry;
}
}
{
TRI_connection_statistics_t* entry = nullptr;
while (ConnectionFreeList.pop(entry)) {
delete entry;
}
}
}
void producer(void)
{
for(int i=0; i < iterations; ++i)
{
//原子计数---多线程不存在计数不上的情况
int value = ++p_count;
cout<<"+"<<endl; //观察生产类型： 纯生产还是同时有消费者的情况
while(!queue.push(value));
}
}
bool FT_Sensor::RequestData()
{
static TPCANMsg message;
message.ID = id;
message.LEN = 1;
message.DATA[0] = 0x02;
if (!handle)
return CAN_ERRMASK_ILLHANDLE;
return CAN_Write_Queue.push(message);
}
void deallocate(void)
{
for (;;) {
dummy * node;
if (allocated_nodes.pop(node)) {
bool success = working_set.erase(node);
assert(success);
fl.template destruct<true>(node);
}
if (running.load() == false)
break;
}
dummy * node;
while (allocated_nodes.pop(node)) {
bool success = working_set.erase(node);
assert(success);
fl.template destruct<true>(node);
}
}
static size_t ProcessAllRequestStatistics () {
TRI_request_statistics_t* statistics = nullptr;
size_t count = 0;
while (RequestFinishedList.pop(statistics)) {
if (statistics != nullptr) {
ProcessRequestStatistics(statistics);
++count;
}
}
return count;
}
void allocate(void)
{
for (long i = 0; i != operations_per_thread; ++i) {
for (;;) {
dummy * node = fl.template construct<true, bounded>();
if (node) {
bool success = working_set.insert(node);
assert(success);
allocated_nodes.push(node);
break;
}
}
}
}
bool ElmoDriver::ResetComm()
{
static TPCANMsg message;
message.ID = 0;
message.LEN = 2;
message.DATA[0] = 130;
message.DATA[1] = id;
return CAN_Write_Queue.push(message);
}
bool ElmoDriver::GotoOpMode()
{
static TPCANMsg message;
message.ID = 0;
message.LEN = 2;
message.DATA[0] = 1;
message.DATA[1] = 0;
return CAN_Write_Queue.push(message);
}
void TRI_ReleaseRequestStatistics (TRI_request_statistics_t* statistics) {
if (statistics == nullptr) {
return;
}
if (! statistics->_ignore) {
#ifdef TRI_ENABLE_MAINTAINER_MODE
bool ok = RequestFinishedList.push(statistics);
TRI_ASSERT(ok);
#else
RequestFinishedList.push(statistics);
#endif
}
else {
statistics->reset();
#ifdef TRI_ENABLE_MAINTAINER_MODE
bool ok = RequestFreeList.push(statistics);
TRI_ASSERT(ok);
#else
RequestFreeList.push(statistics);
#endif
}
}