void putBox(AssemblyLine *assemblyLine, Box box) {
sleep(rand() % 2);
int sent = 0;
while (!sent) {
if (assemblyLine->truckEnded == 1 && assemblyLine->currentWeight == 0)
exit(0);
takeSemaphore(START_LINE_SEMAPHORE);
if (assemblyLine->maxWeight >= box.weight + assemblyLine->currentWeight &&
assemblyLine->currentBoxes + 1 <= assemblyLine->maxBoxes) {
if(tryToTakeSemaphore(TRUCK_SEMAPHORE) == 1){
gettimeofday(&box.loadTime, NULL);
assemblyLine->line[assemblyLine->currentBoxInLine++] = box;
assemblyLine->currentBoxInLine %= MAX_BOXES_IN_ASSEMBLY_LINE;
assemblyLine->currentWeight += box.weight;
assemblyLine->currentBoxes++;
sent = 1;
releaseSemaphore(END_LINE_SEMAPHORE);
} else {
printf("TRUCK WILL BE FULL\n");
}
}
releaseSemaphore(START_LINE_SEMAPHORE);
}
printf("PLACED BOX: PID:%d | WEIGHT:%d | TIME:%ld | LEFT WEIGHT ON ASSEMBLY LINE:%d | LEFT BOXES:%d\n",
box.workerID, box.weight, box.loadTime.tv_usec, assemblyLine->maxWeight - assemblyLine->currentWeight,
assemblyLine->maxBoxes - assemblyLine->currentBoxes);
if (assemblyLine->truckEnded == 1 && assemblyLine->currentWeight == 0)
exit(0);
}
/**
* Initialize the Ultrasonic Sensor.
* This is the common code that initializes the ultrasonic sensor given that there
* are two digital I/O channels allocated. If the system was running in automatic mode (round robin)
* when the new sensor is added, it is stopped, the sensor is added, then automatic mode is
* restored.
*/
void Ultrasonic::Initialize()
{
m_table = NULL;
bool originalMode = m_automaticEnabled;
if (m_semaphore == 0) m_semaphore = initializeSemaphore(SEMAPHORE_FULL);
SetAutomaticMode(false); // kill task when adding a new sensor
takeSemaphore(m_semaphore); // link this instance on the list
{
m_nextSensor = m_firstSensor;
m_firstSensor = this;
}
giveSemaphore(m_semaphore);
m_counter = new Counter(m_echoChannel); // set up counter for this sensor
m_counter->SetMaxPeriod(1.0);
m_counter->SetSemiPeriodMode(true);
m_counter->Reset();
m_enabled = true; // make it available for round robin scheduling
SetAutomaticMode(originalMode);
static int instances = 0;
instances++;
HALReport(HALUsageReporting::kResourceType_Ultrasonic, instances);
LiveWindow::GetInstance()->AddSensor("Ultrasonic", m_echoChannel->GetChannel(), this);
}
/**
* Free the resources for a timer event.
* All resources will be freed and the timer event will be removed from the
* queue if necessary.
*/
Notifier::~Notifier()
{
{
Synchronized sync(queueSemaphore);
DeleteFromQueue();
// Delete the static variables when the last one is going away
if (!(--refcount))
{
task->Stop();
delete task;
}
}
// Acquire the semaphore; this makes certain that the handler is
// not being executed by the interrupt manager.
takeSemaphore(m_handlerSemaphore);
// Delete while holding the semaphore so there can be no race.
deleteSemaphore(m_handlerSemaphore);
}
/**
* Free the resources for a timer event.
* All resources will be freed and the timer event will be removed from the
* queue if necessary.
*/
Notifier::~Notifier()
{
{
::std::unique_lock<ReentrantMutex> sync(queueSemaphore);
DeleteFromQueue();
// Delete the static variables when the last one is going away
if (!(--refcount))
{
int32_t status = 0;
cleanNotifier(m_notifier, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
// Acquire the semaphore; this makes certain that the handler is
// not being executed by the interrupt manager.
takeSemaphore(m_handlerSemaphore);
// Delete while holding the semaphore so there can be no race.
deleteSemaphore(m_handlerSemaphore);
}
/**
* Destructor for the ultrasonic sensor.
* Delete the instance of the ultrasonic sensor by freeing the allocated digital channels.
* If the system was in automatic mode (round robin), then it is stopped, then started again
* after this sensor is removed (provided this wasn't the last sensor).
*/
Ultrasonic::~Ultrasonic()
{
bool wasAutomaticMode = m_automaticEnabled;
SetAutomaticMode(false);
if (m_allocatedChannels)
{
delete m_pingChannel;
delete m_echoChannel;
}
wpi_assert(m_firstSensor != NULL);
takeSemaphore(m_semaphore);
{
if (this == m_firstSensor)
{
m_firstSensor = m_nextSensor;
if (m_firstSensor == NULL)
{
SetAutomaticMode(false);
}
}
else
{
wpi_assert(m_firstSensor->m_nextSensor != NULL);
for (Ultrasonic *s = m_firstSensor; s != NULL; s = s->m_nextSensor)
{
if (this == s->m_nextSensor)
{
s->m_nextSensor = s->m_nextSensor->m_nextSensor;
break;
}
}
}
}
giveSemaphore(m_semaphore);
if (m_firstSensor != NULL && wasAutomaticMode)
SetAutomaticMode(true);
}
/**
* ProcessQueue is called whenever there is a timer interrupt.
* We need to wake up and process the current top item in the timer queue as long
* as its scheduled time is after the current time. Then the item is removed or
* rescheduled (repetitive events) in the queue.
*/
void Notifier::ProcessQueue(uint32_t mask, void *params)
{
Notifier *current;
while (true) // keep processing past events until no more
{
{
Synchronized sync(queueSemaphore);
double currentTime = GetClock();
current = timerQueueHead;
if (current == NULL || current->m_expirationTime > currentTime)
{
break; // no more timer events to process
}
// need to process this entry
timerQueueHead = current->m_nextEvent;
if (current->m_periodic)
{
// if periodic, requeue the event
// compute when to put into queue
current->InsertInQueue(true);
}
else
{
// not periodic; removed from queue
current->m_queued = false;
}
// Take handler semaphore while holding queue semaphore to make sure
// the handler will execute to completion in case we are being deleted.
takeSemaphore(current->m_handlerSemaphore);
}
current->m_handler(current->m_param); // call the event handler
giveSemaphore(current->m_handlerSemaphore);
}
// reschedule the first item in the queue
Synchronized sync(queueSemaphore);
UpdateAlarm();
}
Synchronized::Synchronized(SEMAPHORE_ID semaphore)
{
m_mutex = NULL;
m_semaphore = semaphore;
takeSemaphore(m_semaphore);
}
