int main()
{
int code=5,i=0;
double duration,duration1,pos_arr[3][2], tmp1=0, tmp2=0, tmp3=0;
struct timeval start,end,start1;
RCSwitch mySwitch = RCSwitch();
mySwitch.enableTransmit(PIN);
receiver receiver1(1),receiver2(2),receiver3(3);
receiver1.init();
receiver2.init();
receiver3.init();
ofstream data;
data.open ("data.txt");
printf("activating emitter\n");
mySwitch.send(code,24);
// delay(3);
while (true)
{
gettimeofday(&start1,NULL);
std::thread t1(&receiver::dst,&receiver1);
std::thread t2(&receiver::dst,&receiver2);
std::thread t3(&receiver::dst,&receiver3);
t1.join();
t2.join();
t3.join();
// std::cout<<receiver1.distance<<" "<<receiver2.distance<<" "<<receiver3.distance<<" "<<i<<std::endl;
pos_arr[0][0]=tmp1;
pos_arr[1][0]=tmp2;
pos_arr[2][0]=tmp3;
pos_arr[0][1]=receiver1.distance;
pos_arr[1][1]=receiver2.distance;
pos_arr[2][1]=receiver3.distance;
tmp1= pos_arr[0][1];
tmp2= pos_arr[1][1];
tmp3= pos_arr[2][1];
gettimeofday(&start,NULL);
kalman(pos_arr);
gettimeofday(&end,NULL);
duration1=(abs(end.tv_usec-start1.tv_usec)/1000.0);
duration=(abs(end.tv_usec-start.tv_usec)/1000.0);
//std::cout<<"receiver1"<<receiver1.distance <<"receiver2"<<receiver2.distance<< "receiver3"<<receiver3.distance << std::endl;
std::cout<<"time for Kalman / calculations "<<duration<< " " << duration1<< std::endl;
delay(50-duration1);
// gettimeofday(&end1,NULL);
// duration1=((dend1.tv_usec-start1.tv_usec)*1000+(end1.tv_sec-start1.tv_sec)/1000)+0.5;
// std::cout<<"time for Kalman "<<duration<<std::endl;
// delay(50-duration1/1000000);
i++;
}
data.close();
return 0;
}
int main()
{
int code=5,i=0;
timespec tsleep{0};
long long duration2=0,duration1=0;
RCSwitch mySwitch = RCSwitch();
mySwitch.enableTransmit(PIN);
receiver receiver1(1),receiver2(2),receiver3(3);
receiver1.init();
receiver2.init();
receiver3.init();
printf("activating emitter\n");
mySwitch.send(code,24);
std::ofstream data;
data.open ("data.txt");
// delay(3);
while (true)
{
auto begin = std::chrono::high_resolution_clock::now();
////////////////////////////////////////////////////////////////////////////////////
// mySwitch.send(code,24);
receiver1.dst();
// receiver2.dst();
// receiver3.dst();
data<<receiver1.distance<<" "<<receiver2.distance<<" "<<receiver3.distance<<std::endl;
////////////////////////////////////////////////////////////////////////////////
auto end = std::chrono::high_resolution_clock::now();
// data<<end.tv_usec<<"\n";
duration2 = std::chrono::duration_cast <std::chrono::nanoseconds>(end-begin).count();
tsleep.tv_nsec=50000000-duration2;
nanosleep(&tsleep,NULL);
// i++;
// if (i==20)
// {
// mySwitch.send(code,24);
// i=0;
// }
// auto end2 = std::chrono::high_resolution_clock::now();
// duration1 = std::chrono::duration_cast <std::chrono::nanoseconds>(end2-begin).count();
// data<<duration1<<"\n";
}
return 0;
}
int main() {
int rc;
int val;
/* Non-blocking receiver case. */
int ch1 = chmake(sizeof(int));
errno_assert(ch1 >= 0);
int hndl1 = go(sender1(ch1, 555));
errno_assert(hndl1 >= 0);
struct chclause cls1[] = {{CHRECV, ch1, &val, sizeof(val)}};
rc = choose(cls1, 1, -1);
choose_assert(0, 0);
assert(val == 555);
hclose(ch1);
rc = hclose(hndl1);
errno_assert(rc == 0);
/* Blocking receiver case. */
int ch2 = chmake(sizeof(int));
errno_assert(ch2 >= 0);
int hndl2 = go(sender2(ch2, 666));
errno_assert(hndl2 >= 0);
struct chclause cls2[] = {{CHRECV, ch2, &val, sizeof(val)}};
rc = choose(cls2, 1, -1);
choose_assert(0, 0);
assert(val == 666);
hclose(ch2);
rc = hclose(hndl2);
errno_assert(rc == 0);
/* Non-blocking sender case. */
int ch3 = chmake(sizeof(int));
errno_assert(ch3 >= 0);
int hndl3 = go(receiver1(ch3, 777));
errno_assert(hndl3 >= 0);
val = 777;
struct chclause cls3[] = {{CHSEND, ch3, &val, sizeof(val)}};
rc = choose(cls3, 1, -1);
choose_assert(0, 0);
hclose(ch3);
rc = hclose(hndl3);
errno_assert(rc == 0);
/* Blocking sender case. */
int ch4 = chmake(sizeof(int));
errno_assert(ch4 >= 0);
int hndl4 = go(receiver2(ch4, 888));
errno_assert(hndl4 >= 0);
val = 888;
struct chclause cls4[] = {{CHSEND, ch4, &val, sizeof(val)}};
rc = choose(cls4, 1, -1);
choose_assert(0, 0);
hclose(ch4);
rc = hclose(hndl4);
errno_assert(rc == 0);
/* Check with two channels. */
int hndl5[2];
int ch5 = chmake(sizeof(int));
errno_assert(ch5 >= 0);
int ch6 = chmake(sizeof(int));
errno_assert(ch6 >= 0);
hndl5[0] = go(sender1(ch6, 555));
errno_assert(hndl5 >= 0);
struct chclause cls5[] = {
{CHRECV, ch5, &val, sizeof(val)},
{CHRECV, ch6, &val, sizeof(val)}
};
rc = choose(cls5, 2, -1);
choose_assert(1, 0);
assert(val == 555);
hndl5[1] = go(sender2(ch5, 666));
errno_assert(hndl5 >= 0);
rc = choose(cls5, 2, -1);
choose_assert(0, 0);
assert(val == 666);
hclose(ch5);
hclose(ch6);
rc = hclose(hndl5[0]);
errno_assert(rc == 0);
rc = hclose(hndl5[1]);
errno_assert(rc == 0);
/* Test whether selection of in channels is random. */
int ch7 = chmake(sizeof(int));
errno_assert(ch7 >= 0);
int ch8 = chmake(sizeof(int));
errno_assert(ch8 >= 0);
int hndl6[2];
hndl6[0] = go(feeder(ch7, 111));
errno_assert(hndl6[0] >= 0);
hndl6[1] = go(feeder(ch8, 222));
errno_assert(hndl6[1] >= 0);
int i;
int first = 0;
int second = 0;
int third = 0;
for(i = 0; i != 100; ++i) {
struct chclause cls6[] = {
{CHRECV, ch7, &val, sizeof(val)},
{CHRECV, ch8, &val, sizeof(val)}
};
rc = choose(cls6, 2, -1);
errno_assert(rc == 0 || rc == 1);
if(rc == 0) {
assert(val == 111);
++first;
}
if(rc == 1) {
assert(val == 222);
++second;
}
int rc = yield();
errno_assert(rc == 0);
}
assert(first > 1 && second > 1);
hclose(hndl6[0]);
hclose(hndl6[1]);
hclose(ch7);
hclose(ch8);
/* Test 'otherwise' clause. */
int ch9 = chmake(sizeof(int));
errno_assert(ch9 >= 0);
struct chclause cls7[] = {{CHRECV, ch9, &val, sizeof(val)}};
rc = choose(cls7, 1, 0);
choose_assert(-1, ETIMEDOUT);
hclose(ch9);
rc = choose(NULL, 0, 0);
choose_assert(-1, ETIMEDOUT);
/* Test two simultaneous senders vs. choose statement. */
int ch10 = chmake(sizeof(int));
errno_assert(ch10 >= 0);
int hndl7[2];
hndl7[0] = go(sender1(ch10, 888));
errno_assert(hndl7[0] >= 0);
hndl7[1] = go(sender1(ch10, 999));
errno_assert(hndl7[1] >= 0);
val = 0;
struct chclause cls8[] = {{CHRECV, ch10, &val, sizeof(val)}};
rc = choose(cls8, 1, -1);
choose_assert(0, 0);
assert(val == 888);
val = 0;
rc = choose(cls8, 1, -1);
choose_assert(0, 0);
assert(val == 999);
hclose(ch10);
rc = hclose(hndl7[0]);
errno_assert(rc == 0);
rc = hclose(hndl7[1]);
errno_assert(rc == 0);
/* Test two simultaneous receivers vs. choose statement. */
int ch11 = chmake(sizeof(int));
errno_assert(ch11 >= 0);
int hndl8[2];
hndl8[0] = go(receiver1(ch11, 333));
errno_assert(hndl8[0] >= 0);
hndl8[1] = go(receiver1(ch11, 444));
errno_assert(hndl8[1] >= 0);
val = 333;
struct chclause cls9[] = {{CHSEND, ch11, &val, sizeof(val)}};
rc = choose(cls9, 1, -1);
choose_assert(0, 0);
val = 444;
rc = choose(cls9, 1, -1);
choose_assert(0, 0);
hclose(ch11);
rc = hclose(hndl8[0]);
errno_assert(rc == 0);
rc = hclose(hndl8[1]);
errno_assert(rc == 0);
/* Choose vs. choose. */
int ch12 = chmake(sizeof(int));
errno_assert(ch12 >= 0);
int hndl9 = go(choosesender(ch12, 111));
errno_assert(hndl9 >= 0);
struct chclause cls10[] = {{CHRECV, ch12, &val, sizeof(val)}};
rc = choose(cls10, 1, -1);
choose_assert(0, 0);
assert(val == 111);
hclose(ch12);
rc = hclose(hndl9);
errno_assert(rc == 0);
/* Test transferring a large object. */
int ch17 = chmake(sizeof(struct large));
errno_assert(ch17 >= 0);
int hndl10 = go(sender4(ch17));
errno_assert(hndl9 >= 0);
struct large lrg;
struct chclause cls14[] = {{CHRECV, ch17, &lrg, sizeof(lrg)}};
rc = choose(cls14, 1, -1);
choose_assert(0, 0);
hclose(ch17);
/* Test that 'in' on done-with channel fires. */
int ch18 = chmake(sizeof(int));
errno_assert(ch18 >= 0);
rc = hdone(ch18);
errno_assert(rc == 0);
struct chclause cls15[] = {{CHRECV, ch18, &val, sizeof(val)}};
rc = choose(cls15, 1, -1);
choose_assert(0, EPIPE);
hclose(ch18);
/* Test expiration of 'deadline' clause. */
int ch21 = chmake(sizeof(int));
errno_assert(ch21 >= 0);
int64_t start = now();
struct chclause cls17[] = {{CHRECV, ch21, &val, sizeof(val)}};
rc = choose(cls17, 1, start + 50);
choose_assert(-1, ETIMEDOUT);
int64_t diff = now() - start;
time_assert(diff, 50);
hclose(ch21);
/* Test unexpired 'deadline' clause. */
int ch22 = chmake(sizeof(int));
errno_assert(ch22 >= 0);
start = now();
int hndl11 = go(sender3(ch22, 4444, start + 50));
errno_assert(hndl11 >= 0);
struct chclause cls18[] = {{CHRECV, ch22, &val, sizeof(val)}};
rc = choose(cls17, 1, start + 1000);
choose_assert(0, 0);
assert(val == 4444);
diff = now() - start;
time_assert(diff, 50);
hclose(ch22);
rc = hclose(hndl11);
errno_assert(rc == 0);
/* Test that first channel in the array is prioritized. */
int ch23 = chmake(sizeof(int));
errno_assert(ch23 >= 0);
int ch24 = chmake(sizeof(int));
errno_assert(ch24 >= 0);
int hndl12 = go(sender1(ch23, 0));
errno_assert(hndl12 >= 0);
int hndl13 = go(sender1(ch24, 0));
errno_assert(hndl13 >= 0);
struct chclause cls19[] = {
{CHRECV, ch24, &val, sizeof(val)},
{CHRECV, ch23, &val, sizeof(val)}
};
rc = choose(cls19, 2, -1);
choose_assert(0, 0);
rc = chrecv(ch23, &val, sizeof(val), -1);
errno_assert(rc == 0);
rc = hclose(hndl13);
errno_assert(rc == 0);
rc = hclose(hndl12);
errno_assert(rc == 0);
rc = hclose(ch24);
errno_assert(rc == 0);
rc = hclose(ch23);
errno_assert(rc == 0);
/* Try adding the same channel to choose twice. Doing so is pointless,
but it shouldn't crash the application. */
int ch25 = chmake(sizeof(int));
errno_assert(ch25 >= 0);
struct chclause cls20[] = {
{CHRECV, ch25, &val, sizeof(val)},
{CHRECV, ch25, &val, sizeof(val)}
};
rc = choose(cls20, 2, now() + 50);
choose_assert(-1, ETIMEDOUT);
rc = hclose(ch25);
errno_assert(rc == 0);
return 0;
}
int
sc_main(int argc, char *argv[])
{
sc_signal<pkt> pkt_in0;
sc_signal<pkt> pkt_in1;
sc_signal<pkt> pkt_in2;
sc_signal<pkt> pkt_in3;
sc_signal<pkt> pkt_out0;
sc_signal<pkt> pkt_out1;
sc_signal<pkt> pkt_out2;
sc_signal<pkt> pkt_out3;
sc_signal<sc_int<4> > id0, id1, id2, id3;
sc_signal<bool> switch_cntrl;
sc_clock clock1("CLOCK1", 75, SC_NS, 0.5, 0.0, SC_NS);
sc_clock clock2("CLOCK2", 30, SC_NS, 0.5, 10.0, SC_NS);
// Module instiatiations follow
// Note that modules can be connected by hooking up ports
// to signals by name or by using a positional notation
sender sender0("SENDER0");
// hooking up signals to ports by name
sender0.pkt_out(pkt_in0);
sender0.source_id(id0);
sender0.CLK(clock1);
sender sender1("SENDER1");
// hooking up signals to ports by position
sender1(pkt_in1, id1, clock1);
sender sender2("SENDER2");
// hooking up signals to ports by name
sender2.pkt_out(pkt_in2);
sender2.source_id(id2);
sender2.CLK(clock1);
sender sender3("SENDER3");
// hooking up signals to ports by position
sender3( pkt_in3, id3, clock1 );
switch_clk switch_clk1("SWITCH_CLK");
// hooking up signals to ports by name
switch_clk1.switch_cntrl(switch_cntrl);
switch_clk1.CLK(clock2);
mcast_pkt_switch switch1("SWITCH");
// hooking up signals to ports by name
switch1.switch_cntrl(switch_cntrl);
switch1.in0(pkt_in0);
switch1.in1(pkt_in1);
switch1.in2(pkt_in2);
switch1.in3(pkt_in3);
switch1.out0(pkt_out0);
switch1.out1(pkt_out1);
switch1.out2(pkt_out2);
switch1.out3(pkt_out3);
receiver receiver0("RECEIVER0");
// hooking up signals to ports by name
receiver0.pkt_in(pkt_out0);
receiver0.sink_id(id0);
receiver receiver1("RECEIVER1");
// hooking up signals to ports by position
receiver1( pkt_out1, id1 );
receiver receiver2("RECEIVER2");
// hooking up signals to ports by name
receiver2.pkt_in(pkt_out2);
receiver2.sink_id(id2);
receiver receiver3("RECEIVER3");
// hooking up signals to ports by position
receiver3( pkt_out3, id3 );
sc_start(0, SC_NS);
#if !defined(__SUNPRO_CC)
id0.write(0);
id1.write(1);
id2.write(2);
id3.write(3);
#else
// you cannot do that with SC5.0
// since it doesn't support member templates
id0.write(sc_int<4>(0));
id0.write(sc_int<4>(1));
id0.write(sc_int<4>(2));
id0.write(sc_int<4>(3));
#endif
sc_start();
return 0;
}
