MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
this->var = 0;
//Start a thread and execute doProcessing()
QThread* thread = new QThread();
workingThread* worker = new workingThread( &(this->var) );
worker->moveToThread(thread);
//connect(worker, SIGNAL(error(QString)), this, SLOT(errorString(QString)));
connect(thread, SIGNAL(started()), worker, SLOT(doProcessing()));
connect(worker, SIGNAL(finished()), this, SLOT(onThreadQuit()));
connect(worker, SIGNAL(finished()), worker, SLOT(deleteLater()));
connect(thread, SIGNAL(finished()), thread, SLOT(deleteLater()));
thread->start();
for(double d = 0;d < 10e6; d++);
qDebug("Main: set var = 1");
this->var = 1;
for(double d = 0;d < 10e6; d++);
this->var = 2;
qDebug("Main: set var = 2");
for(double d = 0;d < 10e6; d++);
this->var = 3;
qDebug("Main: set var = 3");
qDebug("Main finished ...");
}
void detection::GraspPointDetector::detect(const CloudPtr &input_object)
{
clock_t beginCallback = clock();
// If no cloud or no new images since last time, do nothing.
if (input_object->size() == 0) return;
world_obj_ = input_object->makeShared();
pub_cluster_.publish(world_obj_);
// Check if computation succeeded
if (doProcessing())
ROS_INFO("[%g ms] Detection Success", durationMillis(beginCallback));
else
ROS_ERROR("[%g ms] Detection Failed", durationMillis(beginCallback));
}
// A process dispatcher program
// @par: int number of arguments
// @par: pointer pointer process list file
// @ret: int
int main(int argc, char **argv) {
if (argc != 2) {
// Print directions if the file is not supplied and exit
printf("You must supply a file to the program:\n"
"$ hostd filename.txt\n");
exit(0);
}
initSystem();
char *filename = argv[1];
readFile(filename, dispatcher);
if (VERBOSE) printf("Done processing %s!\n", filename);
// Set CPU start time to 0
int time = 0;
// Flag when a real time process is added to the real time queue
int rtUpdated;
// The system is running
/*while (time < runtime) {*/
while (time < 20) {
printf("===============================================================================================================================\n");
printf("Time (Quantum): %d\n", time);
printf("===============================================================================================================================\n");
rtUpdated = updateDispatcher(time);
if (VERBOSEMEMMAP) {
printf("Current %d MByte memory map (each line is 64 Mbyte).\n", host.memSpaceMax);
int memUnit;
for(memUnit = 0; memUnit < MAX_MEMSPACE; memUnit++) {
if (host.memSpace[memUnit] != 0) {
printf("%d ", host.memSpace[memUnit]);
} else {
if (memUnit < MAX_RTMEMSPACE) {
printf(". ");
} else {
printf("_ ");
}
}
if ((memUnit + 1) % 64 == 0) {
printf("\n");
}
}
printf("\n");
}
if (VERBOSEQ) {
printf("REAL TIME QUEUE: ");
printQueue(realTimeQueue);
printf("PRIORITY 1 QUEUE: ");
printQueue(p1Queue);
printf("PRIORITY 2 QUEUE: ");
printQueue(p2Queue);
printf("PRIORITY 3 QUEUE: ");
printQueue(p3Queue);
//TODO
//print info about system resources and per process resources?
}
doProcessing(time, rtUpdated);
time++;
sleep(1);
printf("\n");
}
printf("===============================================================================================================================\n");
printf("Time (Quantum): %d, program terminating\n", time);
printf("===============================================================================================================================\n");
closeSystem();
return 0;
}
void socketServer(char** params)
{
int sockfd, newsockfd, portno, clilen;
char buffer[256];
struct sockaddr_in serv_addr, cli_addr;
int n, pid;
/* First call to socket() function */
sockfd = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd < 0)
{
perror("ERROR opening socket");
exit(1);
}
/* Initialize socket structure */
bzero((char *) &serv_addr, sizeof(serv_addr));
//portno = 5001;
portno = atoi(params[2]);
serv_addr.sin_family = AF_INET;
serv_addr.sin_addr.s_addr = INADDR_ANY;
serv_addr.sin_port = htons(portno);
/* Now bind the host address using bind() call.*/
if (bind(sockfd, (struct sockaddr *) &serv_addr, sizeof(serv_addr)) < 0)
{
perror("ERROR on binding");
exit(1);
}
/* Now start listening for the clients, here
* process will go in sleep mode and will wait
* for the incoming connection
*/
listen(sockfd,5);
clilen = sizeof(cli_addr);
while (1)
{
newsockfd = accept(sockfd, (struct sockaddr *) &cli_addr, &clilen);
if (newsockfd < 0)
{
perror("ERROR on accept");
exit(1);
}
/* Create child process */
pid = fork();
if (pid < 0)
{
perror("ERROR on fork");
exit(1);
}
if (pid == 0)
{
/* This is the client process */
close(sockfd);
doProcessing(newsockfd);
exit(0);
}
else
{
close(newsockfd);
}
} /* end of while */
}
int main()
{
Widget w(20);
doProcessing(w);
return 0;
}
