int main()
{
boost::mpi::environment env;
boost::mpi::communicator world;
if( world.rank() == 0 )
{
master_loop(world);
}
else
{
slave_loop(world);
}
}
/* Thread sending gtp commands to one slave machine, and
* reading replies. If a slave machine dies, this thread waits
* for a connection from another slave.
* The large buffers are allocated only once we get a first
* connection, to avoid wasting memory if max_slaves is too large.
* We do not invalidate the received buffers if a slave disconnects;
* they are still useful for other slaves. */
static void *
slave_thread(void *arg)
{
struct slave_state sstate = default_sstate;
sstate.thread_id = (long)arg;
assert(sstate.slave_sock >= 0);
char reply_buf[CMDS_SIZE];
bool resend = false;
for (;;) {
/* Wait for a connection from any slave. */
struct in_addr client;
int conn = open_server_connection(sstate.slave_sock, &client);
FILE *f = fdopen(conn, "r+");
if (DEBUGL(2)) {
snprintf(reply_buf, sizeof(reply_buf),
"new slave, id %d\n", sstate.thread_id);
logline(&client, "= ", reply_buf);
}
if (!is_pachi_slave(f, &client)) continue;
if (!resend) slave_state_alloc(&sstate);
sstate.client = client;
pthread_mutex_lock(&slave_lock);
active_slaves++;
slave_loop(f, reply_buf, &sstate, resend);
assert(active_slaves > 0);
active_slaves--;
// Unblock main thread if it was waiting for this slave.
pthread_cond_signal(&reply_cond);
pthread_mutex_unlock(&slave_lock);
resend = true;
if (DEBUGL(2))
logline(&client, "= ", "lost slave\n");
fclose(f);
}
}
int main(void)
{
static unsigned int tmp = 0;
SET_OUTPUT(LED_R);
SET_OUTPUT(LED_G);
SET_OUTPUT(LED_B);
RESET_LED(LED_R);
RESET_LED(LED_G);
RESET_LED(LED_B);
#ifdef DCDCCTRL
SET_OUTPUT(DCDCCTRL);
RESET(DCDCCTRL);
#endif
battery_state = 0;
slave_init();
//uart_init();
timer_init();
mcan_init();
spi_init();
spi_adc_init();
relai_init();
adc_init();
sei();
if( (GPIOR0 & (1<<WDRF)) == (1<<WDRF) )
{
status("WDTRST ");
}
else if( (GPIOR0 & (1<<BORF)) == (1<<BORF) )
{
status("BORRST ");
}
else if( (GPIOR0 & (1<<EXTRF)) == (1<<EXTRF) )
{
status("START EX");
}
else if( (GPIOR0 & (1<<PORF)) == (1<<PORF) )
{
status("START PO");
}
else if( (GPIOR0 & (1<<JTRF)) == (1<<JTRF) )
{
status("START JT");
}
else
{
status("START ");
}
WDTCR = (1<<WDCE) | (1<<WDE);
WDTCR = (1<<WDE) | (1<<WDP2) | (1<<WDP1) | (1<<WDP0);
SET_LED(LED_G);
while (1)
{
__asm__ __volatile__ ("wdr");
if( battery_state & STATE_INTERMEDIATE )
{
intermediate_loop();
}
else if( battery_state & STATE_TRACTIVE )
{
tractive_loop();
}
else if( battery_state & STATE_CHARGING )
{
charge_loop();
}
else if( battery_state & STATE_BALANCING )
{
balancing_loop();
}
else
{
// standby mode
if( (tmp = mcan_check()) && !(battery_state & STATE_ERROR) )
{
switch(tmp)
{
case CAN_TRACTIVE_ENABLE: // CAN_TRACTIVE_ENABLE == 0x2F0
{
if( relai_volt < VCC_RELAI_MIN || vcc_volt < VCC_MIN )
{
status("NO VCC");
break;
}
// enable hv
intermediate_init();
dspace_heartbeat = 0;
battery_state |= STATE_TRACTIVE;
}
break;
case CAN_CHARGE_ENABLE: // CAN_CHARGE_ENABLE == 0x2FA
{
if( relai_volt < VCC_RELAI_MIN || vcc_volt < VCC_MIN )
{
status("NO VCC");
break;
}
// start charging
intermediate_init();
battery_state |= STATE_CHARGING;
}
break;
case CAN_BALANCING_ENABLE:
{
balancing_start();
battery_state |= STATE_BALANCING;
}
break;
}
}
}
slave_loop();
mcan_send_loop();
adc_loop();
}
return 0;
}