void PLEN2::Soul::m_preprocess()
{
#if DEBUG
PROFILING("Soul::m_preprocess()");
#endif
if (m_log_count >= (GETUP_WAIT_MSEC / SAMPLING_INTERVAL_MSEC))
{
Shared::acc_backup[X_AXIS] /= m_log_count;
Shared::acc_backup[Y_AXIS] /= m_log_count;
Shared::acc_backup[Z_AXIS] /= m_log_count;
if ( (abs(Shared::acc_backup[Y_AXIS]) > abs(Shared::acc_backup[X_AXIS]))
&& (abs(Shared::acc_backup[Y_AXIS]) > abs(Shared::acc_backup[Z_AXIS]))
&& (abs(Shared::acc_backup[Y_AXIS]) > GRAVITY_AXIS_THRESHOLD) )
{
System::debugSerial().println(F("status: lying"));
m_lying = true;
}
else
{
Shared::acc_backup[X_AXIS] = 0;
Shared::acc_backup[Y_AXIS] = 0;
Shared::acc_backup[Z_AXIS] = 0;
}
m_log_count = 0;
}
}
bool PLEN2::JointController::setAngleDiff(uint8_t joint_id, int16_t angle_diff)
{
#if DEBUG_HARD
PROFILING("JointController::setAngleDiff()");
#endif
if (joint_id >= JOINTS_SUM)
{
#if DEBUG_HARD
System::debugSerial().print(F(">>> bad argment! : joint_id = "));
System::debugSerial().println(static_cast<int>(joint_id));
#endif
return false;
}
int16_t angle = constrain(
angle_diff + m_SETTINGS[joint_id].HOME,
m_SETTINGS[joint_id].MIN, m_SETTINGS[joint_id].MAX
);
m_pwms[joint_id] = map(angle, ANGLE_MIN, ANGLE_MAX,
#if CLOCK_WISE
PWM_MIN, PWM_MAX
#else
PWM_MAX, PWM_MIN
#endif
);
return true;
}
void PLEN2::JointController::resetSettings()
{
#if DEBUG
PROFILING("JointController::resetSettings()");
#endif
EEPROM[INIT_FLAG_ADDRESS] = INIT_FLAG_VALUE;
eeprom_busy_wait();
for (uint8_t index = 0; index < sizeof(Shared::m_SETTINGS_INITIAL); index++)
{
EEPROM[SETTINGS_HEAD_ADDRESS + index] = pgm_read_byte(
reinterpret_cast<const uint8_t*>(Shared::m_SETTINGS_INITIAL) + index
);
eeprom_busy_wait();
}
for (uint8_t joint_id = 0; joint_id < JOINTS_SUM; joint_id++)
{
m_SETTINGS[joint_id].MIN = pgm_read_word(Shared::m_SETTINGS_INITIAL + joint_id * 3 + 0);
m_SETTINGS[joint_id].MAX = pgm_read_word(Shared::m_SETTINGS_INITIAL + joint_id * 3 + 1);
m_SETTINGS[joint_id].HOME = pgm_read_word(Shared::m_SETTINGS_INITIAL + joint_id * 3 + 2);
setAngle(joint_id, m_SETTINGS[joint_id].HOME);
}
}
void PLEN2::JointController::loadSettings()
{
#if DEBUG
PROFILING("JointController::loadSettings()");
#endif
uint8_t* filler = reinterpret_cast<uint8_t*>(m_SETTINGS);
if (EEPROM[INIT_FLAG_ADDRESS] != INIT_FLAG_VALUE)
{
EEPROM[INIT_FLAG_ADDRESS] = INIT_FLAG_VALUE;
eeprom_busy_wait();
for (uint8_t index = 0; index < sizeof(m_SETTINGS); index++)
{
EEPROM[SETTINGS_HEAD_ADDRESS + index] = filler[index];
eeprom_busy_wait();
}
}
else
{
for (uint8_t index = 0; index < sizeof(m_SETTINGS); index++)
{
filler[index] = EEPROM[SETTINGS_HEAD_ADDRESS + index];
}
}
for (uint8_t joint_id = 0; joint_id < JOINTS_SUM; joint_id++)
{
setAngle(joint_id, m_SETTINGS[joint_id].HOME);
}
/*
@brief Configure timer 1
@attention
It might be easy to understand compare-matched output is LOW,
but in that case, PWM is outputting at switching multiplexer's output,
so the signal gets an impulse noise.
*/
cli();
TCCR1A =
_BV(WGM11) | _BV(WGM10) | // Set mode to "10bit fast PWM".
_BV(COM1A1) | _BV(COM1A0) | // Set OC1A to HIGH when compare matched.
_BV(COM1B1) | _BV(COM1B0) | // Set OC1B to HIGH when compare matched.
_BV(COM1C1) | _BV(COM1C0); // Set OC1C to HIGH when compare matched.
TCCR1B =
_BV(WGM12) | // Set mode to "10bit fast PWM".
_BV(CS11) | _BV(CS10); // Set prescaler to 64.
TIFR1 = _BV(OCF1A) | _BV(OCF1B) | _BV(OCF1C) | _BV(TOV1); // Clearing interruption flag.
sei();
TIMSK1 = _BV(TOIE1); // Begin timer 1.
}
void PLEN2::Soul::userActionInputed()
{
#if DEBUG
PROFILING("Soul::userActionInputed()");
#endif
m_before_user_action_msec = millis();
}
void Octree::Traverse(Key _uModeNameKey, OctreeNodePtrVecRef _rvNodes, OctreeObjectPtrVecRef _rvObjects, OctreeNodePtr _pStartingNode)
{
PROFILING(__FUNCTION__);
OctreeTraverseFuncMap::iterator iPair = m_mTraverseModes.find(_uModeNameKey);
bool bResult = (m_mTraverseModes.end() != iPair);
if (false != bResult)
{
OctreeTraverseFuncRef rFunc = iPair->second;
_pStartingNode = (NULL == _pStartingNode) ? m_pRoot : _pStartingNode;
//_pStartingNode->Traverse(rFunc, _rvNodes, _rvObjects);
_pStartingNode->TraverseNoRecursion(rFunc, _rvNodes, _rvObjects);
}
}
void PLEN2::Soul::action()
{
#if DEBUG
PROFILING("Soul::action()");
#endif
if (m_lying)
{
if (Shared::acc_backup[Y_AXIS] < 0)
{
#if TARGET_PLEN20
m_motion_ctrl_ptr->play(SLOT_GETUP_FACE_DOWN);
#endif
#if TARGET_PLEN14
m_motion_ctrl_ptr->play(SLOT_GETUP_FACE_UP);
#endif
}
else
{
#if TARGET_PLEN20
m_motion_ctrl_ptr->play(SLOT_GETUP_FACE_UP);
#endif
#if TARGET_PLEN14
m_motion_ctrl_ptr->play(SLOT_GETUP_FACE_DOWN);
#endif
}
m_lying = false;
Shared::acc_backup[X_AXIS] = 0;
Shared::acc_backup[Y_AXIS] = 0;
Shared::acc_backup[Z_AXIS] = 0;
return;
}
if (millis() - m_before_user_action_msec > m_action_interval)
{
m_motion_ctrl_ptr->play( random(MOTIONS_SLOT_BEGIN, MOTIONS_SLOT_END) );
m_before_user_action_msec = millis();
m_action_interval = BASE_INTERVAL_MSEC + random(RANDOM_INTERVAL_MSEC);
}
}
bool PLEN2::JointController::setHomeAngle(uint8_t joint_id, int16_t angle)
{
#if DEBUG
PROFILING("JointController::setHomeAngle()");
#endif
if (joint_id >= JOINTS_SUM)
{
#if DEBUG
System::debugSerial().print(F(">>> bad argment! : joint_id = "));
System::debugSerial().println(static_cast<int>(joint_id));
#endif
return false;
}
if ( (angle < m_SETTINGS[joint_id].MIN)
|| (angle > m_SETTINGS[joint_id].MAX) )
{
#if DEBUG
System::debugSerial().print(F(">>> bad argment! : angle = "));
System::debugSerial().println(angle);
#endif
return false;
}
m_SETTINGS[joint_id].HOME = angle;
uint8_t* filler = reinterpret_cast<uint8_t*>(&(m_SETTINGS[joint_id].HOME));
uint16_t address_offset = reinterpret_cast<uint16_t>(filler) - reinterpret_cast<uint16_t>(m_SETTINGS);
#if DEBUG
System::debugSerial().print(F(">>> address_offset : "));
System::debugSerial().println(address_offset);
#endif
for (uint8_t index = 0; index < sizeof(m_SETTINGS[joint_id].HOME); index++)
{
EEPROM[SETTINGS_HEAD_ADDRESS + address_offset + index] = filler[index];
eeprom_busy_wait();
}
return true;
}
int8_t PLEN2::ExternalSD::writeSlot(uint32_t slot, const uint8_t data[], uint8_t write_size)
{
uint32_t block;
uint16_t offset;
#if DEBUG
PROFILING("ExternalSD::writeSlot()");
#endif
if ( (slot >= SLOT_END)
|| (write_size > SLOT_SIZE)
)
{
#if DEBUG
System::debugSerial().print(F(">>> bad argument! : slot = "));
System::debugSerial().print(slot);
System::debugSerial().print(F(", or write_size = "));
System::debugSerial().println(write_size);
#endif
return -1;
}
block = 32 + (slot * CHUNK_SIZE) / 512;
offset = (slot * CHUNK_SIZE) % 512;
#if DEBUG
System::debugSerial().print(F("writeSlot slot = "));
System::debugSerial().print(slot);
System::debugSerial().print(F(", block = "));
System::debugSerial().print(block);
System::debugSerial().print(F(", offset = "));
System::debugSerial().println(offset);
#endif
if (cacheRawBlock(block, CACHE_FOR_WRITE)) {
memcpy(&mCacheBuf[offset], data, write_size);
cacheFlush();
return 0;
}
return -1;
}
int8_t PLEN2::ExternalSD::readSlot(uint32_t slot, uint8_t data[], uint8_t read_size)
{
uint32_t block;
uint16_t offset;
#if DEBUG
PROFILING("ExternalSD::readSlot()");
#endif
if ( (slot >= SLOT_END)
|| (read_size > SLOT_SIZE)
)
{
#if DEBUG
System::debugSerial().print(F(">>> bad argument! : slot = "));
System::debugSerial().print(slot);
System::debugSerial().print(F(", or read_size = "));
System::debugSerial().println(read_size);
#endif
return -1;
}
block = 32 + (slot * CHUNK_SIZE) / 512;
offset = (slot * CHUNK_SIZE) % 512;
#if DEBUG
System::debugSerial().print(F("readSlot slot = "));
System::debugSerial().print(slot);
System::debugSerial().print(F(", block = "));
System::debugSerial().print(block);
System::debugSerial().print(F(", offset = "));
System::debugSerial().println(offset);
#endif
if (cacheRawBlock(block, CACHE_FOR_READ)) {
memcpy(data, &mCacheBuf[offset], read_size);
return read_size;
}
return -1;
}
const int16_t& PLEN2::JointController::getHomeAngle(uint8_t joint_id)
{
#if DEBUG
PROFILING("JointController::getHomeAngle()");
#endif
if (joint_id >= JOINTS_SUM)
{
#if DEBUG
System::debugSerial().print(F(">>> bad argment! : joint_id = "));
System::debugSerial().println(static_cast<int>(joint_id));
#endif
return Shared::ERROR_LVALUE;
}
return m_SETTINGS[joint_id].HOME;
}
void PLEN2::JointController::dump()
{
#if DEBUG
PROFILING("JointController::dump()");
#endif
System::outputSerial().println(F("["));
for (uint8_t joint_id = 0; joint_id < JOINTS_SUM; joint_id++)
{
System::outputSerial().println(F("\t{"));
System::outputSerial().print(F("\t\t\"@device\": "));
System::outputSerial().print(static_cast<int>(joint_id));
System::outputSerial().println(F(","));
System::outputSerial().print(F("\t\t\"max\": "));
System::outputSerial().print(m_SETTINGS[joint_id].MAX);
System::outputSerial().println(F(","));
System::outputSerial().print(F("\t\t\"min\": "));
System::outputSerial().print(m_SETTINGS[joint_id].MIN);
System::outputSerial().println(F(","));
System::outputSerial().print(F("\t\t\"home\": "));
System::outputSerial().println(m_SETTINGS[joint_id].HOME);
System::outputSerial().print(F("\t}"));
if (joint_id != (JOINTS_SUM - 1))
{
System::outputSerial().println(F(","));
}
else
{
System::outputSerial().println();
}
}
System::outputSerial().println(F("]"));
}
void PLEN2::Soul::log()
{
#if DEBUG
PROFILING("Soul::log()");
#endif
if ( m_motion_ctrl_ptr->playing()
|| (millis() < m_next_sampling_msec) )
{
return;
}
/*!
@note
If something data arrived in the serial buffer already,
return the method to keep the integrity of the data.
*/
if ( System::BLESerial().available()
|| System::USBSerial().available() )
{
return;
}
m_sensor_ptr->sampling();
Shared::acc_backup[X_AXIS] += m_sensor_ptr->getAccX();
Shared::acc_backup[Y_AXIS] += m_sensor_ptr->getAccY();
Shared::acc_backup[Z_AXIS] += m_sensor_ptr->getAccZ();
m_next_sampling_msec += SAMPLING_INTERVAL_MSEC;
m_log_count++;
m_preprocess();
}
/****** qmaster/threads/sge_scheduler_main() **********************************
* NAME
* sge_scheduler_main() -- main function of the scheduler thread
*
* SYNOPSIS
* void * sge_scheduler_main(void *arg)
*
* FUNCTION
* Main function of the scheduler thread,
*
* INPUTS
* void *arg - pointer to the thread function (type cl_thread_settings_t*)
*
* RESULT
* void * - always NULL
*
* NOTES
* MT-NOTE: sge_scheduler_main() is MT safe
*
* MT-NOTE: this is a thread function. Do NOT use this function
* MT-NOTE: in any other way!
*
* SEE ALSO
* qmaster/threads/sge_scheduler_initialize()
* qmaster/threads/sge_scheduler_cleanup_thread()
* qmaster/threads/sge_scheduler_terminate()
* qmaster/threads/sge_scheduler_main()
*******************************************************************************/
void *
sge_scheduler_main(void *arg)
{
time_t next_prof_output = 0;
monitoring_t monitor;
sge_gdi_ctx_class_t *ctx = NULL;
sge_evc_class_t *evc = NULL;
lList *alp = NULL;
sge_where_what_t where_what;
cl_thread_settings_t *thread_config = (cl_thread_settings_t*)arg;
bool do_shutdown = false;
bool do_endlessly = true;
bool local_ret = true;
DENTER(TOP_LAYER, "sge_scheduler_main");
memset(&where_what, 0, sizeof(where_what));
/*
* startup
*/
if (local_ret) {
/* initialize commlib thread */
cl_thread_func_startup(thread_config);
/* initialize monitoring */
sge_monitor_init(&monitor, thread_config->thread_name, SCH_EXT, SCT_WARNING, SCT_ERROR);
sge_qmaster_thread_init(&ctx, SCHEDD, SCHEDD_THREAD, true);
/* register at profiling module */
set_thread_name(pthread_self(), "Scheduler Thread");
conf_update_thread_profiling("Scheduler Thread");
DPRINTF((SFN" started\n", thread_config->thread_name));
/* initialize schedd_runnlog logging */
schedd_set_schedd_log_file(ctx);
}
/* set profiling parameters */
prof_set_level_name(SGE_PROF_EVENTMASTER, NULL, NULL);
prof_set_level_name(SGE_PROF_SPOOLING, NULL, NULL);
prof_set_level_name(SGE_PROF_CUSTOM0, "scheduler", NULL);
prof_set_level_name(SGE_PROF_CUSTOM1, "pending ticket calculation", NULL);
prof_set_level_name(SGE_PROF_CUSTOM3, "job sorting", NULL);
prof_set_level_name(SGE_PROF_CUSTOM4, "job dispatching", NULL);
prof_set_level_name(SGE_PROF_CUSTOM5, "send orders", NULL);
prof_set_level_name(SGE_PROF_CUSTOM6, "scheduler event loop", NULL);
prof_set_level_name(SGE_PROF_CUSTOM7, "copy lists", NULL);
prof_set_level_name(SGE_PROF_SCHEDLIB4, NULL, NULL);
/* set-up needed for 'schedule' file */
serf_init(schedd_serf_record_func, schedd_serf_newline);
schedd_set_serf_log_file(ctx);
/*
* prepare event client/mirror mechanism
*/
if (local_ret) {
local_ret = sge_gdi2_evc_setup(&evc, ctx, EV_ID_SCHEDD, &alp, "scheduler");
DPRINTF(("prepared event client/mirror mechanism\n"));
}
/*
* register as event mirror
*/
if (local_ret) {
sge_mirror_initialize(evc, EV_ID_SCHEDD, "scheduler",
false, &event_update_func, &sge_mod_event_client,
&sge_add_event_client, &sge_remove_event_client,
&sge_handle_event_ack);
evc->ec_register(evc, false, NULL, &monitor);
evc->ec_set_busy_handling(evc, EV_BUSY_UNTIL_RELEASED);
DPRINTF(("registered at event mirror\n"));
}
/*
* subscribe necessary data
*/
if (local_ret) {
ensure_valid_what_and_where(&where_what);
subscribe_scheduler(evc, &where_what);
DPRINTF(("subscribed necessary data from event master\n"));
}
/*
* schedulers main loop
*/
if (local_ret) {
while (do_endlessly) {
bool handled_events = false;
lList *event_list = NULL;
int execute = 0;
double prof_copy = 0.0;
double prof_total = 0.0;
double prof_init = 0.0;
double prof_free = 0.0;
double prof_run = 0.0;
lList *orders = NULL;
if (sconf_get_profiling()) {
prof_start(SGE_PROF_OTHER, NULL);
prof_start(SGE_PROF_PACKING, NULL);
prof_start(SGE_PROF_EVENTCLIENT, NULL);
prof_start(SGE_PROF_MIRROR, NULL);
prof_start(SGE_PROF_GDI, NULL);
prof_start(SGE_PROF_HT_RESIZE, NULL);
prof_start(SGE_PROF_CUSTOM0, NULL);
prof_start(SGE_PROF_CUSTOM1, NULL);
prof_start(SGE_PROF_CUSTOM3, NULL);
prof_start(SGE_PROF_CUSTOM4, NULL);
prof_start(SGE_PROF_CUSTOM5, NULL);
prof_start(SGE_PROF_CUSTOM6, NULL);
prof_start(SGE_PROF_CUSTOM7, NULL);
prof_start(SGE_PROF_SCHEDLIB4, NULL);
} else {
prof_stop(SGE_PROF_OTHER, NULL);
prof_stop(SGE_PROF_PACKING, NULL);
prof_stop(SGE_PROF_EVENTCLIENT, NULL);
prof_stop(SGE_PROF_MIRROR, NULL);
prof_stop(SGE_PROF_GDI, NULL);
prof_stop(SGE_PROF_HT_RESIZE, NULL);
prof_stop(SGE_PROF_CUSTOM0, NULL);
prof_stop(SGE_PROF_CUSTOM1, NULL);
prof_stop(SGE_PROF_CUSTOM3, NULL);
prof_stop(SGE_PROF_CUSTOM4, NULL);
prof_stop(SGE_PROF_CUSTOM5, NULL);
prof_stop(SGE_PROF_CUSTOM6, NULL);
prof_stop(SGE_PROF_CUSTOM7, NULL);
prof_stop(SGE_PROF_SCHEDLIB4, NULL);
}
/*
* Wait for new events
*/
MONITOR_IDLE_TIME(sge_scheduler_wait_for_event(evc, &event_list), (&monitor), mconf_get_monitor_time(),
mconf_is_monitor_message());
/* If we lost connection we have to register again */
if (evc->ec_need_new_registration(evc)) {
lFreeList(&event_list);
if (evc->ec_register(evc, false, NULL, &monitor) == true) {
DPRINTF(("re-registered at event master!\n"));
}
}
if (event_list != NULL) {
/* check for shutdown */
do_shutdown = (lGetElemUlong(event_list, ET_type, sgeE_SHUTDOWN) != NULL) ? true : false;
/* update mirror and free data */
if (do_shutdown == false && sge_mirror_process_event_list(evc, event_list) == SGE_EM_OK) {
handled_events = true;
DPRINTF(("events handled\n"));
} else {
DPRINTF(("events contain shutdown event - ignoring events\n"));
}
lFreeList(&event_list);
}
/* if we actually got events, start the scheduling run and further event processing */
if (handled_events == true) {
lList *answer_list = NULL;
scheduler_all_data_t copy;
lList *master_cqueue_list = *(object_type_get_master_list(SGE_TYPE_CQUEUE));
lList *master_job_list = *object_type_get_master_list(SGE_TYPE_JOB);
lList *master_userset_list = *object_type_get_master_list(SGE_TYPE_USERSET);
lList *master_project_list = *object_type_get_master_list(SGE_TYPE_PROJECT);
lList *master_exechost_list= *object_type_get_master_list(SGE_TYPE_EXECHOST);
lList *master_rqs_list= *object_type_get_master_list(SGE_TYPE_RQS);
lList *master_centry_list = *object_type_get_master_list(SGE_TYPE_CENTRY);
lList *master_ckpt_list = *object_type_get_master_list(SGE_TYPE_CKPT);
lList *master_user_list = *object_type_get_master_list(SGE_TYPE_USER);
lList *master_ar_list = *object_type_get_master_list(SGE_TYPE_AR);
lList *master_pe_list = *object_type_get_master_list(SGE_TYPE_PE);
lList *master_hgrp_list = *object_type_get_master_list(SGE_TYPE_HGROUP);
lList *master_sharetree_list = *object_type_get_master_list(SGE_TYPE_SHARETREE);
/* delay scheduling for test purposes, see issue GE-3306 */
if (SGE_TEST_DELAY_SCHEDULING > 0) {
sleep(SGE_TEST_DELAY_SCHEDULING);
}
PROF_START_MEASUREMENT(SGE_PROF_CUSTOM6);
PROF_START_MEASUREMENT(SGE_PROF_CUSTOM7);
if (__CONDITION(INFOPRINT)) {
dstring ds;
char buffer[128];
sge_dstring_init(&ds, buffer, sizeof(buffer));
DPRINTF(("================[SCHEDULING-EPOCH %s]==================\n",
sge_at_time(0, &ds)));
sge_dstring_free(&ds);
}
/*
* If there were new events then
* copy/filter data necessary for the scheduler run
* and run the scheduler method
*/
memset(©, 0, sizeof(copy));
copy.dept_list = lSelect("", master_userset_list, where_what.where_dept, where_what.what_acldept);
copy.acl_list = lSelect("", master_userset_list, where_what.where_acl, where_what.what_acldept);
DPRINTF(("RAW CQ:%d, J:%d, H:%d, C:%d, A:%d, D:%d, P:%d, CKPT:%d,"
" US:%d, PR:%d, RQS:%d, AR:%d, S:nd:%d/lf:%d\n",
lGetNumberOfElem(master_cqueue_list),
lGetNumberOfElem(master_job_list),
lGetNumberOfElem(master_exechost_list),
lGetNumberOfElem(master_centry_list),
lGetNumberOfElem(copy.acl_list),
lGetNumberOfElem(copy.dept_list),
lGetNumberOfElem(master_project_list),
lGetNumberOfElem(master_ckpt_list),
lGetNumberOfElem(master_user_list),
lGetNumberOfElem(master_project_list),
lGetNumberOfElem(master_rqs_list),
lGetNumberOfElem(master_ar_list),
lGetNumberOfNodes(NULL, master_sharetree_list, STN_children),
lGetNumberOfLeafs(NULL, master_sharetree_list, STN_children)
));
sge_rebuild_job_category(master_job_list, master_userset_list,
master_project_list, master_rqs_list);
PROF_STOP_MEASUREMENT(SGE_PROF_CUSTOM7);
prof_init = prof_get_measurement_wallclock(SGE_PROF_CUSTOM7, true, NULL);
PROF_START_MEASUREMENT(SGE_PROF_CUSTOM7);
sge_before_dispatch(evc);
/* prepare data for the scheduler itself */
copy.host_list = lCopyList("", master_exechost_list);
/*
* Within the scheduler we do only need QIs
*/
{
lListElem *cqueue = NULL;
lEnumeration *what_queue3 = NULL;
for_each(cqueue, master_cqueue_list) {
lList *qinstance_list = lGetList(cqueue, CQ_qinstances);
lList *t;
if (!qinstance_list) {
continue;
}
/* all_queue_list contains all queue instances with state and full queue name only */
if (!what_queue3) {
what_queue3 = lWhat("%T(%I%I)", lGetListDescr(qinstance_list), QU_full_name, QU_state);
}
t = lSelect("t", qinstance_list, NULL, what_queue3);
if (t) {
if (copy.all_queue_list == NULL) {
copy.all_queue_list = lCreateList("all", lGetListDescr(t));
}
lAppendList(copy.all_queue_list, t);
lFreeList (&t);
}
t = lSelect("t", qinstance_list, where_what.where_queue, where_what.what_queue2);
if (t) {
if (copy.queue_list == NULL) {
copy.queue_list = lCreateList("enabled", lGetListDescr(t));
}
lAppendList(copy.queue_list, t);
lFreeList (&t);
}
t = lSelect("t", qinstance_list, where_what.where_queue2, where_what.what_queue2);
if (t) {
if (copy.dis_queue_list == NULL) {
copy.dis_queue_list = lCreateList("disabled", lGetListDescr(t));
}
lAppendList(copy.dis_queue_list, t);
lFreeList (&t);
}
}
if (what_queue3) {
lFreeWhat(&what_queue3);
}
}
if (sconf_is_job_category_filtering()) {
copy.job_list = sge_category_job_copy(copy.queue_list, &orders, evc->monitor_next_run);
} else {
copy.job_list = lCopyList("", master_job_list);
}
/* no need to copy these lists, they are read only used */
copy.centry_list = master_centry_list;
copy.ckpt_list = master_ckpt_list;
copy.hgrp_list = master_hgrp_list;
/* these lists need to be copied because they are modified during scheduling run */
copy.share_tree = lCopyList("", master_sharetree_list);
copy.pe_list = lCopyList("", master_pe_list);
copy.user_list = lCopyList("", master_user_list);
copy.project_list = lCopyList("", master_project_list);
copy.rqs_list = lCopyList("", master_rqs_list);
copy.ar_list = lCopyList("", master_ar_list);
/* report number of reduced and raw (in brackets) lists */
DPRINTF(("Q:%d, AQ:%d J:%d(%d), H:%d(%d), C:%d, A:%d, D:%d, P:%d, CKPT:%d,"
" US:%d, PR:%d, RQS:%d, AR:%d, S:nd:%d/lf:%d \n",
lGetNumberOfElem(copy.queue_list),
lGetNumberOfElem(copy.all_queue_list),
lGetNumberOfElem(copy.job_list),
lGetNumberOfElem(master_job_list),
lGetNumberOfElem(copy.host_list),
lGetNumberOfElem(master_exechost_list),
lGetNumberOfElem(copy.centry_list),
lGetNumberOfElem(copy.acl_list),
lGetNumberOfElem(copy.dept_list),
lGetNumberOfElem(copy.pe_list),
lGetNumberOfElem(copy.ckpt_list),
lGetNumberOfElem(copy.user_list),
lGetNumberOfElem(copy.project_list),
lGetNumberOfElem(copy.rqs_list),
lGetNumberOfElem(copy.ar_list),
lGetNumberOfNodes(NULL, copy.share_tree, STN_children),
lGetNumberOfLeafs(NULL, copy.share_tree, STN_children)
));
if (getenv("SGE_ND")) {
printf("Q:%d, AQ:%d J:%d(%d), H:%d(%d), C:%d, A:%d, D:%d, "
"P:%d, CKPT:%d, US:%d, PR:%d, RQS:%d, AR:%d, S:nd:%d/lf:%d \n",
lGetNumberOfElem(copy.queue_list),
lGetNumberOfElem(copy.all_queue_list),
lGetNumberOfElem(copy.job_list),
lGetNumberOfElem(master_job_list),
lGetNumberOfElem(copy.host_list),
lGetNumberOfElem(master_exechost_list),
lGetNumberOfElem(copy.centry_list),
lGetNumberOfElem(copy.acl_list),
lGetNumberOfElem(copy.dept_list),
lGetNumberOfElem(copy.pe_list),
lGetNumberOfElem(copy.ckpt_list),
lGetNumberOfElem(copy.user_list),
lGetNumberOfElem(copy.project_list),
lGetNumberOfElem(copy.rqs_list),
lGetNumberOfElem(copy.ar_list),
lGetNumberOfNodes(NULL, copy.share_tree, STN_children),
lGetNumberOfLeafs(NULL, copy.share_tree, STN_children)
);
} else {
schedd_log("-------------START-SCHEDULER-RUN-------------", NULL, evc->monitor_next_run);
}
PROF_STOP_MEASUREMENT(SGE_PROF_CUSTOM7);
prof_copy = prof_get_measurement_wallclock(SGE_PROF_CUSTOM7, true, NULL);
PROF_START_MEASUREMENT(SGE_PROF_CUSTOM7);
scheduler_method(evc, &answer_list, ©, &orders);
answer_list_output(&answer_list);
PROF_STOP_MEASUREMENT(SGE_PROF_CUSTOM7);
prof_run = prof_get_measurement_wallclock(SGE_PROF_CUSTOM7, true, NULL);
PROF_START_MEASUREMENT(SGE_PROF_CUSTOM7);
/* .. which gets deleted after using */
lFreeList(&(copy.host_list));
lFreeList(&(copy.queue_list));
lFreeList(&(copy.dis_queue_list));
lFreeList(&(copy.all_queue_list));
lFreeList(&(copy.job_list));
lFreeList(&(copy.acl_list));
lFreeList(&(copy.dept_list));
lFreeList(&(copy.pe_list));
lFreeList(&(copy.share_tree));
lFreeList(&(copy.user_list));
lFreeList(&(copy.project_list));
lFreeList(&(copy.rqs_list));
lFreeList(&(copy.ar_list));
PROF_STOP_MEASUREMENT(SGE_PROF_CUSTOM7);
prof_free = prof_get_measurement_wallclock(SGE_PROF_CUSTOM7, true, NULL);
/*
* need to sync with event master thread
* if schedd configuration changed then settings in evm can be adjusted
*/
if (sconf_is_new_config()) {
/* set scheduler interval / event delivery interval */
u_long32 interval = sconf_get_schedule_interval();
if (evc->ec_get_edtime(evc) != interval) {
evc->ec_set_edtime(evc, interval);
}
/* set job / ja_task event flushing */
set_job_flushing(evc);
/* no need to ec_commit here - we do it when resetting the busy state */
/* now we handled the new schedd config - no need to do it twice */
sconf_reset_new_config();
}
/* block till master handled all GDI orders */
sge_schedd_block_until_orders_processed(evc->get_gdi_ctx(evc), NULL);
schedd_order_destroy();
/*
* Stop profiling for "schedd run total" and the subcategories
*/
PROF_STOP_MEASUREMENT(SGE_PROF_CUSTOM6);
prof_total = prof_get_measurement_wallclock(SGE_PROF_CUSTOM6, true, NULL);
if (prof_is_active(SGE_PROF_CUSTOM6)) {
PROFILING((SGE_EVENT, "PROF: schedd run took: %.3f s (init: %.3f s, copy: %.3f s, "
"run:%.3f, free: %.3f s, jobs: %d, categories: %d/%d)",
prof_total, prof_init, prof_copy, prof_run, prof_free,
lGetNumberOfElem(*object_type_get_master_list(SGE_TYPE_JOB)), sge_category_count(),
sge_cs_category_count() ));
}
if (getenv("SGE_ND") != NULL) {
printf("--------------STOP-SCHEDULER-RUN-------------\n");
} else {
schedd_log("--------------STOP-SCHEDULER-RUN-------------", NULL, evc->monitor_next_run);
}
thread_output_profiling("scheduler thread profiling summary:\n", &next_prof_output);
sge_monitor_output(&monitor);
}
/* reset the busy state */
evc->ec_set_busy(evc, 0);
evc->ec_commit(evc, NULL);
/* stop logging into schedd_runlog (enabled via -tsm) */
evc->monitor_next_run = false;
/*
* pthread cancelation point
*
* sge_scheduler_cleanup_thread() is the last function which should
* be called so it is pushed first
*/
pthread_cleanup_push(sge_scheduler_cleanup_thread, (void *) &ctx);
pthread_cleanup_push((void (*)(void *))sge_scheduler_cleanup_monitor,
(void *)&monitor);
pthread_cleanup_push((void (*)(void *))sge_scheduler_cleanup_event_client,
(void *)evc);
cl_thread_func_testcancel(thread_config);
pthread_cleanup_pop(execute);
pthread_cleanup_pop(execute);
pthread_cleanup_pop(execute);
DPRINTF(("passed cancelation point\n"));
}
