int main( void )
{
led_init();
timer_init();
uart_init();
servo_init();
ppm_init();
adc_init();
input_init();
sei();
puts( "$Id: mainloop.c,v 2.14 2003/03/25 17:44:05 tramm Exp $\r\n" );
while( 1 )
{
input_task();
user_task();
if( ppm_valid )
{
ppm_output();
ppm_valid = 0;
}
/* Every 32768 microseconds */
if( timer_periodic() == 0 )
continue;
adc_output();
}
}
int main()
{
global_time = 0;
initialize_battery();
initialize_task_list();
initialize_tasks();
while (true) {
schedule();
global_time++;
// printf ("%d\t", global_time);
input_task();
// if (input_task() < 0) {
// printf ("No additional tasks at time %d!\n", global_time);
// }
if (global_time > 1500)
break;
}
printf ("\n-------------------------------\n");
printf ("HDRT : %d miss %d ratio %f\n", hdrt, hdrtmt, (double)hdrtmt/hdrt);
printf ("SFRT : %d miss %d ratio %f\n", sfrt, sfrtmt, (double)sfrtmt/sfrt);
printf ("NOML : %d miss %d ratio %f\n", nml, nmlmt, (double)nmlmt/nml);
return 0;
}
void initialize_tasks()
{
input_task();
return;
}
int
ACE_TMAIN (int argc, ACE_TCHAR *argv[])
{
int result = parse_args (argc, argv);
if (result != 0)
{
return result;
}
ACE_High_Res_Timer::calibrate ();
// Create the message queue
Message_Queue input_message_queue;
Message_Queue output_message_queue;
// Create the datablocks. IF we use the default Message Blocks Ctor,
// it is going to do an extra allocation for the data block
ACE_NEW_RETURN (data_block,
ACE_Locked_Data_Block<ACE_Lock_Adapter<ACE_SYNCH_MUTEX> >,
-1);
// Increment the reference count so that we can share the
// datablock. This is donw twice the number of messages for the
// input and output queues.
size_t i = 0;
for (i = 0; i < 2*number_of_messages; ++i)
{
data_block->duplicate ();
}
// Create the Synchronisers
Synchronisers synch;
// Workers.
Worker_Task **workers = 0;
ACE_NEW_RETURN (workers,
Worker_Task *[number_of_workers],
-1);
// Input Task
Input_Task input_task (&input_message_queue,
synch);
// Output Task
Output_Task output_task (&output_message_queue,
synch);
int priority =
ACE_Sched_Params::priority_max (ACE_SCHED_FIFO);
long flags = THR_SCHED_FIFO | THR_SCOPE_PROCESS;
// Create and activate the worker threads
for (i = 0; i < number_of_workers; ++i)
{
ACE_NEW_RETURN (workers[i],
Worker_Task (&input_message_queue, synch),
-1);
workers[i]->next (&output_task);
// Activate the workers.
result = workers[i]->activate (flags,
1,
1,
priority);
if (result != 0)
{
flags = THR_BOUND;
priority = ACE_Sched_Params::priority_min (ACE_SCHED_OTHER,
ACE_SCOPE_THREAD);
result = workers[i]->activate (flags,
1,
1,
priority);
if (result != 0)
{
return result;
}
}
}
// Activate the input and output threads
result = input_task.activate (flags,
1,
1,
priority);
if (result != 0)
return result;
// Activate the workers.
result = output_task.activate (flags,
1,
1,
priority);
if (result != 0)
return result;
// Wait for all threads to terminate.
result = ACE_Thread_Manager::instance ()->wait ();
ACE_hrtime_t elapsed_time = 0;
test_timer.elapsed_time (elapsed_time);
# if !defined (ACE_WIN32)
double elapsed_time_per_invocation =
(double) elapsed_time / number_of_messages;
ACE_DEBUG ((LM_DEBUG,
"(%P|%t) Throughput is [%f] \n",
elapsed_time_per_invocation));
ACE_DEBUG ((LM_DEBUG,
"(%P|%t) Throughput is [%f] \n",
1000000000/ elapsed_time_per_invocation));
#endif /*ACE_WIN32 */
for (i = 0; i < number_of_workers; ++i)
{
ACE_DEBUG ((LM_DEBUG,
"Message process for thread [%d] is [%d] \n",
i, workers[i]->processed ()));
delete workers[i];
}
delete[] workers;
return result;
}
