int main(void) {
unsigned int i = 0;
unsigned int j = 0;
char msgbuf[STRINGBUFLEN];
int numthreads = NUM_THREADS;
int tc = 0;
int tj = 0;
pthread_t thread_id[MAX_THREADS];
Ports th_data[MAX_THREADS];
pthread_mutex_init(&msg_mutex, NULL);
for(i=0; i<MAX_THREADS; ++i) {
init_thread_state(&th_data[i], i);
}
snprintf(msgbuf, STRINGBUFLEN, "Number of processors: %d", get_numprocs());
log_msg(msgbuf);
snprintf(th_data[SENSOR_LISTENER].host_listen_port, PORT_STRING_LEN , "%d", FC_LISTEN_PORT_IMU_A);
snprintf(th_data[SENSOR_LISTENER].client_addr , INET6_ADDRSTRLEN, "%s", IMU_A_IP_ADDR_STRING);
snprintf(th_data[SENSOR_LISTENER].client_port , PORT_STRING_LEN , "%d", IMU_A_LISTEN_PORT);
// snprintf(th_data[RNET_LISTENER].host_listen_port, PORT_STRING_LEN , "%d", FC_LISTEN_PORT_RNET_A);
// snprintf(th_data[RNET_LISTENER].client_addr , INET6_ADDRSTRLEN, "%s", RNET_A_IP_ADDR_STRING);
// snprintf(th_data[RNET_LISTENER].client_port , PORT_STRING_LEN , "%d", RNET_A_LISTEN_PORT);
printf("start threads\n");
for(i=0; i<numthreads; ++i) {
tc = pthread_create( &thread_id[i], NULL, &datap_io_thread, (void*) &th_data[i] );
if (tc){
printf("== Error=> pthread_create() fail with code: %d\n", tc);
exit(EXIT_FAILURE);
}
}
// Things happen...then join threads as they return.
for(j=0; j<numthreads; ++j) {
tj = pthread_join(thread_id[j], NULL);
if (tj){
printf("== Error=> pthread_join() fail with code: %d\n", tj);
exit(EXIT_FAILURE);
}
}
pthread_mutex_destroy(&msg_mutex);
pthread_exit(NULL);
return 0;
}
struct thread_pool *thread_pool_create(int count, struct packet_module *packet_module,
bool attach_debugger, bool dissector_graph)
{
int i;
struct thread_pool *pool;
assert(count > 0);
engine_prepare(count);
pool = malloc(sizeof(struct thread_pool));
if (!pool) {
error("memory error");
return NULL;
}
memset(pool, 0, sizeof(struct thread_pool));
pool->threads = malloc(sizeof(struct thread_state*)*count);
if (!pool) {
error("memory error");
thread_pool_cleanup(pool);
return NULL;
}
memset(pool->threads, 0, sizeof(struct thread_state*)*count);
pool->count = count;
pool->single = count == 1;
pool->stop = false;
if (!barrier_init(&pool->thread_sync, count+1)) {
thread_pool_cleanup(pool);
return NULL;
}
if (!barrier_init(&pool->thread_start_sync, 2)) {
thread_pool_cleanup(pool);
return NULL;
}
if (attach_debugger) {
thread_pool_attachdebugger(pool);
}
for (i=0; i<count; ++i) {
pool->threads[i] = init_thread_state(packet_module, i, dissector_graph);
if (!pool->threads[i]) {
error("thread initialization error");
thread_pool_cleanup(pool);
return NULL;
}
pool->threads[i]->pool = pool;
if (pool->single) {
if (!init_thread_lua_state(pool->threads[i])) {
error("thread initialization error");
thread_pool_cleanup(pool);
return NULL;
}
}
else {
if (!thread_create(&pool->threads[i]->thread, thread_main_loop, pool->threads[i])) {
thread_pool_cleanup(pool);
return NULL;
}
pool->threads[i]->state = STATE_RUNNING;
if (!barrier_wait(&pool->thread_start_sync)) {
thread_pool_cleanup(pool);
return NULL;
}
if (pool->threads[i]->state == STATE_ERROR) {
error("thread initialization error");
thread_pool_cleanup(pool);
return NULL;
}
}
}
return pool;
}
int main(void) {
unsigned int i = 0;
unsigned int j = 0;
char msgbuf[STRINGBUFLEN];
int numthreads = NUM_THREADS;
int tc = 0;
int tj = 0;
pthread_t thread_id[MAX_THREADS];
Ports th_data[MAX_THREADS];
Usertalk th_talk;
pthread_mutex_init(&msg_mutex, NULL);
pthread_mutex_init(&exit_request_mutex, NULL);
pthread_mutex_init(&log_enable_mutex, NULL);
if(!host_ip_setup()) {
die_nice("host ip setup");
}
/* USER IO THREAD */
th_talk.thread_id = 33;
snprintf(th_talk.host_listen_port, PORT_STRING_LEN , "%d", FC_LISTEN_PORT_IMU_A);
snprintf(th_talk.client_a_addr , INET6_ADDRSTRLEN, "%s", IMU_A_IP_ADDR_STRING);
snprintf(th_talk.client_a_port , PORT_STRING_LEN , "%d", IMU_A_LISTEN_PORT);
snprintf(th_talk.client_b_addr , INET6_ADDRSTRLEN, "%s", ROLL_CTL_IP_ADDR_STRING);
snprintf(th_talk.client_b_port , PORT_STRING_LEN , "%d", ROLL_CTL_LISTEN_PORT);
tc = pthread_create( &thread_id[i], NULL, &user_io_thread, &th_talk );
if (tc){
printf("== Error=> pthread_create() fail with code: %d\n", tc);
exit(EXIT_FAILURE);
}
for(i=0; i<MAX_THREADS; ++i) {
init_thread_state(&th_data[i], i);
}
snprintf(msgbuf, STRINGBUFLEN, "Number of processors: %d", get_numprocs());
log_msg(msgbuf);
snprintf(th_data[ADIS_LISTENER].host_listen_port, PORT_STRING_LEN , "%d", FC_LISTEN_PORT_IMU_A);
snprintf(th_data[ADIS_LISTENER].client_addr , INET6_ADDRSTRLEN, "%s", IMU_A_IP_ADDR_STRING);
snprintf(th_data[ADIS_LISTENER].client_port , PORT_STRING_LEN , "%d", IMU_A_TX_PORT_ADIS);
snprintf(th_data[MPL_LISTENER].host_listen_port, PORT_STRING_LEN , "%d", FC_LISTEN_PORT_IMU_A);
snprintf(th_data[MPL_LISTENER].client_addr , INET6_ADDRSTRLEN, "%s", IMU_A_IP_ADDR_STRING);
snprintf(th_data[MPL_LISTENER].client_port , PORT_STRING_LEN , "%d", IMU_A_TX_PORT_MPL);
snprintf(th_data[MPU_LISTENER].host_listen_port, PORT_STRING_LEN , "%d", FC_LISTEN_PORT_IMU_A);
snprintf(th_data[MPU_LISTENER].client_addr , INET6_ADDRSTRLEN, "%s", IMU_A_IP_ADDR_STRING);
snprintf(th_data[MPU_LISTENER].client_port , PORT_STRING_LEN , "%d", IMU_A_TX_PORT_MPU);
for(i=0; i<numthreads; ++i) {
tc = pthread_create( &thread_id[i], NULL, &datap_io_thread, (void*) &th_data[i] );
if (tc){
printf("== Error=> pthread_create() fail with code: %d\n", tc);
exit(EXIT_FAILURE);
}
}
// Things happen...then join threads as they return.
for(j=0; j<numthreads; ++j) {
tj = pthread_join(thread_id[j], NULL);
if (tj){
printf("== Error=> pthread_join() fail with code: %d\n", tj);
exit(EXIT_FAILURE);
}
}
pthread_mutex_destroy(&msg_mutex);
pthread_mutex_destroy(&exit_request_mutex);
close(hostsocket_fd);
pthread_exit(NULL);
return 0;
}
