void* startPSO(void* tData){
int i, j;
TData* myData = (TData*)tData;
int id = myData->id;
int numAnts = myData->numAnts;
int function = myData->function;
int mode = myData->mode;
//init swarm
Ant* swarm[numAnts];
/***START create ants and wait for all ants to be created***/
//lock ant creation for other threads
pthread_mutex_lock(&mt);
for(i = 0; i < numAnts; i++){
swarm[i] = initAnt(function);
antsCreated++;
}
//init bestG
if(bestG==NULL){
bestG = (BestGlobal*)malloc(sizeof(BestGlobal));
bestG->coos = (Point*)malloc(sizeof(Point));
Ant* tmp = swarm[0];
bestG->value = calFun(myData->function,tmp);
bestG->coos->x = tmp->position->x;
bestG->coos->y = tmp->position->y;
}
//unllock ant creation for other threads
pthread_mutex_unlock(&mt);
//wait for all ants to be created
while(antsCreated<antsTotal){
pthread_cond_wait(&condition_var,&creation_mutex);
}
//all ants created -> wake all waiting threads
if(antsCreated>=antsTotal-1){
pthread_cond_broadcast(&condition_var);
}
pthread_mutex_unlock(&creation_mutex);
/*****END create ants and wait for all ants to be created*****/
//lock Global best access for other threads
pthread_mutex_lock(&mt2);
for(i = 0; i < numAnts; i++){
sem_wait(&findGlobalBestMutex); //enter and block access
findGlobalBest(swarm[i], mode); //critical
sem_post(&findGlobalBestMutex); //leave and realese access
}
threadsReady++;
pthread_mutex_unlock(&mt2);
//wait for all threads to find global
while(threadsReady<numThreads){
pthread_cond_wait(&ready,&vel_mutex);
}
//all threads are ready -> wake threads
if(threadsReady>= numThreads){
pthread_cond_broadcast(&ready);
}
pthread_mutex_unlock(&vel_mutex);
for(i = 0; i < MAXITERATIONS; i++){
for(j = 0; j < numAnts; j++){
calVelocity(&swarm[j]);
moveAnt(&(swarm[j]), function, mode);
}
for(j = 0; j < numAnts; j++){
findGlobalBest(swarm[j], mode);
}
}
}
int main(int argc, char** argv)
{
LoadConfigFile();
initHMD();
glfwSetErrorCallback(ErrorCallback);
if (!glfwInit())
{
exit(EXIT_FAILURE);
}
glfwWindowHint(GLFW_DEPTH_BITS, 16);
glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 4);
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);// : GLFW_OPENGL_COMPAT_PROFILE);
//glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
#ifdef _DEBUG
glfwWindowHint(GLFW_OPENGL_DEBUG_CONTEXT, GL_TRUE);
#endif
const std::string windowName = "RiftRay v" + std::string(pRiftRayVersion);
GLFWwindow* l_Window = glfwCreateWindow(g_mirrorWindowSz.x, g_mirrorWindowSz.y, windowName.c_str(), NULL, NULL);
if (!l_Window)
{
LOG_ERROR("Glfw failed to create a window. Exiting.");
glfwTerminate();
exit(EXIT_FAILURE);
}
glfwMakeContextCurrent(l_Window);
glfwSetKeyCallback(l_Window, keyboard);
glfwSetMouseButtonCallback(l_Window, mouseDown);
glfwSetCursorPosCallback(l_Window, mouseMove);
glfwSetScrollCallback(l_Window, mouseWheel);
glfwSetWindowSizeCallback(l_Window, resize);
glfwSetInputMode(l_Window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
g_pMirrorWindow = l_Window;
memset(m_keyStates, 0, GLFW_KEY_LAST*sizeof(int));
FindPreferredJoystick();
glewExperimental = GL_TRUE;
if (glewInit() != GLEW_OK)
{
LOG_INFO("glewInit() error.");
exit(EXIT_FAILURE);
}
#ifdef _DEBUG
// Debug callback initialization
// Must be done *after* glew initialization.
glDebugMessageCallback(myCallback, NULL);
glDebugMessageControl(GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, NULL, GL_TRUE);
glDebugMessageInsert(GL_DEBUG_SOURCE_APPLICATION, GL_DEBUG_TYPE_MARKER, 0,
GL_DEBUG_SEVERITY_NOTIFICATION, -1 , "Start debugging");
glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
#endif
#ifdef USE_ANTTWEAKBAR
TwInit(TW_OPENGL_CORE, NULL);
initAnt();
#endif
g_pScene = &g_gallery;// new ShaderGalleryScene();
if (g_pScene != NULL)
{
g_pScene->initGL();
}
g_gallery.SetHmdPositionPointer(&m_hmdRo);
g_gallery.SetHmdDirectionPointer(&m_hmdRd);
g_gallery.SetChassisPosPointer(&m_chassisPos);
g_gallery.SetChassisYawPointer(&m_chassisYaw);
g_gallery.SetHeadSizePointer(&m_headSize);
initVR();
StartShaderLoad();
glfwSwapInterval(0);
while (!glfwWindowShouldClose(l_Window))
{
glfwPollEvents();
joystick();
timestep();
#ifdef USE_ANTTWEAKBAR
TwRefreshBar(g_pMainTweakbar);
TwRefreshBar(g_pShaderTweakbar);
#endif
g_gallery.RenderPrePass();
displayHMD();
glfwSwapBuffers(l_Window);
}
exitVR();
g_pScene->exitGL();
glfwDestroyWindow(l_Window);
glfwTerminate();
exit(EXIT_SUCCESS);
}
