Fflcun2::ParticlesPosition Fflcun2::run(int nSteps) {
for(int j = 0; j < nSteps; j++) {
runCalcU(blocks, threads, devMatrixes);
cudaThreadSynchronize();
if (cPar->ft == ConstParams::ROTATING) {
chPar->hExtX = cPar->hExtXInit * sin(2 * M_PI * cPar->rff * chPar->time);
chPar->hExtY = cPar->hExtYInit * cos(2 * M_PI * cPar->rff * chPar->time);
}
fillGloabalChangable(chPar);
cudaThreadSynchronize();
runOneStep(blocks, threads, devMatrixes);
cudaThreadSynchronize();
runApplyDeltas(blocks, threads, devMatrixes);
cudaThreadSynchronize();
chPar->time += chPar->dTimeCurrent;
}
/* cudaMemcpy(partPos.x, devMatrixes.x, sizeof(float) * cPar->nPart, cudaMemcpyDeviceToHost);
cudaMemcpy(partPos.y, devMatrixes.y, sizeof(float) * cPar->nPart, cudaMemcpyDeviceToHost);
cudaMemcpy(partPos.z, devMatrixes.z, sizeof(float) * cPar->nPart, cudaMemcpyDeviceToHost);
cudaMemcpy(partPos.theta, devMatrixes.theta, sizeof(float) * cPar->nPart, cudaMemcpyDeviceToHost);
cudaMemcpy(partPos.phy, devMatrixes.phy, sizeof(float) * cPar->nPart, cudaMemcpyDeviceToHost);
*/
cudaMemcpy(partPos.x, devMatrixes.x, sizeof(float) * cPar->nPart, cudaMemcpyDeviceToHost);
cudaMemcpy(partPos.y, devMatrixes.y, sizeof(float) * cPar->nPart, cudaMemcpyDeviceToHost);
cudaMemcpy(partPos.z, devMatrixes.z, sizeof(float) * cPar->nPart, cudaMemcpyDeviceToHost);
cudaMemcpy(partPos.theta, devMatrixes.theta, sizeof(float) * cPar->nPart, cudaMemcpyDeviceToHost);
cudaMemcpy(partPos.phy, devMatrixes.phy, sizeof(float) * cPar->nPart, cudaMemcpyDeviceToHost);
return partPos;
}
/**
* Begin the simulation.
*/
void startSimulation()
{
uint32_t currentStep = init();
tInit.toggleEnd();
if (output)
{
std::cout << "initialization time: " << tInit.printInterval() <<
" = " <<
(int) (tInit.getInterval() / 1000.) << " sec" << std::endl;
}
TimeIntervall tSimCalculation;
TimeIntervall tRound;
double roundAvg = 0.0;
/* dump initial step if simulation starts without restart */
if (currentStep == 0)
dumpOneStep(currentStep);
else
currentStep--; //we dump before calculation, thus we must go on step back if we do a restart
movingWindowCheck(currentStep); //if we restart at any step check if we must slide
/* dump 0% output */
dumpTimes(tSimCalculation, tRound, roundAvg, currentStep);
while (currentStep < runSteps)
{
tRound.toggleStart();
runOneStep(currentStep);
tRound.toggleEnd();
roundAvg += tRound.getInterval();
currentStep++;
/*output after a round*/
dumpTimes(tSimCalculation, tRound, roundAvg, currentStep);
movingWindowCheck(currentStep);
/*dump after simulated step*/
dumpOneStep(currentStep);
}
//simulatation end
Environment<>::get().Manager().waitForAllTasks();
tSimCalculation.toggleEnd();
if (output)
{
std::cout << "calculation simulation time: " <<
tSimCalculation.printInterval() << " = " <<
(int) (tSimCalculation.getInterval() / 1000.) << " sec" << std::endl;
}
}
// This member function decorates the situation updater as a normal function,
// thus hiding the possible separate thread behind to the main updater.
void ReSituationUpdater::computeCurrentStep()
{
// Nothing to do if actually threaded :
// the updater thread is already doing the job on his side.
if (_bThreaded)
return;
// Non-threaded mode.
GfProfStartProfile("reOneStep*");
tRmInfo* pCurrReInfo = ReSituation::self().data();
// Stable but slowed-down frame rate mode.
if (_fOutputTick > 0)
{
while ((pCurrReInfo->_reCurTime - _fLastOutputTime) < _fOutputTick)
runOneStep(_fSimuTick);
_fLastOutputTime = pCurrReInfo->_reCurTime;
}
// Real-time but variable frame rate mode.
else
{
const double t = GfTimeClock();
while (pCurrReInfo->_reRunning && ((t - pCurrReInfo->_reCurTime) > RCM_MAX_DT_SIMU))
runOneStep(_fSimuTick);
}
GfProfStopProfile("reOneStep*");
// Send car physics to network if needed
if (NetGetNetwork())
NetGetNetwork()->SendCarControlsPacket(pCurrReInfo->s);
}
/**
* Begin the simulation.
*/
void startSimulation()
{
init();
// translate checkpointPeriod string into checkpoint intervals
seqCheckpointPeriod = pluginSystem::toTimeSlice( checkpointPeriod );
for (uint32_t nthSoftRestart = 0; nthSoftRestart <= softRestarts; ++nthSoftRestart)
{
resetAll(0);
uint32_t currentStep = fillSimulation();
Environment<>::get().SimulationDescription().setCurrentStep( currentStep );
tInit.toggleEnd();
if (output)
{
std::cout << "initialization time: " << tInit.printInterval() <<
" = " <<
(int) (tInit.getInterval() / 1000.) << " sec" << std::endl;
}
TimeIntervall tSimCalculation;
TimeIntervall tRound;
double roundAvg = 0.0;
/* Since in the main loop movingWindow is called always before the dump, we also call it here for consistency.
* This becomes only important, if movingWindowCheck does more than merely checking for a slide.
* TO DO in a new feature: Turn this into a general hook for pre-checks (window slides are just one possible action).
*/
movingWindowCheck(currentStep);
/* dump initial step if simulation starts without restart */
if (!restartRequested)
{
dumpOneStep(currentStep);
}
/* dump 0% output */
dumpTimes(tSimCalculation, tRound, roundAvg, currentStep);
/** \todo currently we assume this is the only point in the simulation
* that is allowed to manipulate `currentStep`. Else, one needs to
* add and act on changed values via
* `SimulationDescription().getCurrentStep()` in this loop
*/
while (currentStep < Environment<>::get().SimulationDescription().getRunSteps())
{
tRound.toggleStart();
runOneStep(currentStep);
tRound.toggleEnd();
roundAvg += tRound.getInterval();
/* NEXT TIMESTEP STARTS HERE */
currentStep++;
Environment<>::get().SimulationDescription().setCurrentStep( currentStep );
/* output times after a round */
dumpTimes(tSimCalculation, tRound, roundAvg, currentStep);
movingWindowCheck(currentStep);
/* dump at the beginning of the simulated step */
dumpOneStep(currentStep);
}
// simulatation end
Environment<>::get().Manager().waitForAllTasks();
tSimCalculation.toggleEnd();
if (output)
{
std::cout << "calculation simulation time: " <<
tSimCalculation.printInterval() << " = " <<
(int) (tSimCalculation.getInterval() / 1000.) << " sec" << std::endl;
}
} // softRestarts loop
}
int ReSituationUpdater::threadLoop()
{
// Wait delay for each loop, from bRunning value (index 0 = false, 1 = true).
static const unsigned KWaitDelayMS[2] = { 1, (unsigned)(RCM_MAX_DT_SIMU * 1000 / 10) };
// Termination flag.
bool bEnd = false;
// Local state (false = paused, true = simulating).
bool bRunning = false;
// Current real time.
double realTime;
// Apply thread affinity to the current = situation updater thread if specified.
// Note: No need to reset the affinity, as the thread is just born.
if (_bThreadAffinity)
GfSetThreadAffinity(NSituationUpdaterCPUId);
tRmInfo* pCurrReInfo = ReSituation::self().data();
GfLogInfo("SituationUpdater thread is started.\n");
do
{
// Let's make current step the next one (update).
// 1) Lock the race engine data.
ReSituation::self().lock("ReSituationUpdater::threadLoop");
// 2) Check if time to terminate has come.
if (_bTerminate)
bEnd = true;
// 3) If not time to terminate, and running, do the update job.
else if (pCurrReInfo->_reRunning)
{
if (!bRunning)
{
bRunning = true;
GfLogInfo("SituationUpdater thread is running.\n");
}
realTime = GfTimeClock();
GfProfStartProfile("reOneStep*");
while (pCurrReInfo->_reRunning
&& ((realTime - pCurrReInfo->_reCurTime) > RCM_MAX_DT_SIMU))
{
// One simu + robots (if any) step
runOneStep(RCM_MAX_DT_SIMU);
}
GfProfStopProfile("reOneStep*");
// Send car physics to network if needed
if (NetGetNetwork())
NetGetNetwork()->SendCarControlsPacket(pCurrReInfo->s);
}
// 3) If not time to terminate, and not running, do nothing.
else
{
if (bRunning)
{
bRunning = false;
GfLogInfo("SituationUpdater thread is paused.\n");
}
}
// 4) Unlock the race engine data.
ReSituation::self().unlock("ReSituationUpdater::threadLoop");
// 5) Let the CPU take breath if possible (but after unlocking data !).
SDL_Delay(KWaitDelayMS[(int)bRunning]);
}
while (!bEnd);
GfLogInfo("SituationUpdater thread has been terminated.\n");
return 0;
}