int main(int argc, char *argv[])
{
if (argc < 3)
{
printf("usage: %s <maxnodes> <us>\n", argv[0]);
return 2;
}
maxnode = atoi(argv[1]);
us = atoi(argv[2]);
start_lock();
while(1)
sys$hiber();
return SS$_NORMAL;
}
int main(int argc, char *argv[])
{
if (argc < 3)
{
printf("usage: %s <maxnodes> <us>\n", argv[0]);
return 2;
}
maxnode = atoi(argv[1]);
us = atoi(argv[2]);
dlm_pthread_init();
start_lock();
while(1)
sleep(100000);
return 0;
}
void PeopleEventRegister<T>::startProcess()
{
boost::mutex::scoped_lock start_lock(mutex_);
if (!isStarted_)
{
if(!serviceId)
{
//std::string serviceName = std::string("ROS-Driver-") + typeid(T).name();
std::string serviceName = std::string("ROS-Driver-") + keys_[0];
serviceId = session_->registerService(serviceName, this->shared_from_this());
for(std::vector<std::string>::const_iterator it = keys_.begin(); it != keys_.end(); ++it) {
std::cerr << *it << std::endl;
p_memory_.call<void>("subscribeToEvent",it->c_str(), serviceName, "peopleCallback");
}
std::cout << serviceName << " : Start" << std::endl;
}
isStarted_ = true;
}
}
void AudioEventRegister::startProcess()
{
boost::mutex::scoped_lock start_lock(subscription_mutex_);
if (!isStarted_)
{
if(!serviceId)
{
serviceId = session_->registerService("ROS-Driver-Audio", shared_from_this());
p_audio_.call<void>(
"setClientPreferences",
"ROS-Driver-Audio",
48000,
0,
0
);
p_audio_.call<void>("subscribe","ROS-Driver-Audio");
std::cout << "Audio Extractor: Start" << std::endl;
}
isStarted_ = true;
}
}
void DrawerCommandQueue::Finish()
{
auto queue = Instance();
if (queue->commands.empty())
return;
// Give worker threads something to do:
std::unique_lock<std::mutex> start_lock(queue->start_mutex);
queue->active_commands.swap(queue->commands);
queue->run_id++;
start_lock.unlock();
queue->StartThreads();
queue->start_condition.notify_all();
// Do one thread ourselves:
DrawerThread thread;
thread.core = 0;
thread.num_cores = (int)(queue->threads.size() + 1);
struct TryCatchData
{
DrawerCommandQueue *queue;
DrawerThread *thread;
size_t command_index;
} data;
data.queue = queue;
data.thread = &thread;
data.command_index = 0;
VectoredTryCatch(&data,
[](void *data)
{
TryCatchData *d = (TryCatchData*)data;
for (int pass = 0; pass < d->queue->num_passes; pass++)
{
d->thread->pass_start_y = pass * d->queue->rows_in_pass;
d->thread->pass_end_y = (pass + 1) * d->queue->rows_in_pass;
if (pass + 1 == d->queue->num_passes)
d->thread->pass_end_y = MAX(d->thread->pass_end_y, MAXHEIGHT);
size_t size = d->queue->active_commands.size();
for (d->command_index = 0; d->command_index < size; d->command_index++)
{
auto &command = d->queue->active_commands[d->command_index];
command->Execute(d->thread);
}
}
},
[](void *data, const char *reason, bool fatal)
{
TryCatchData *d = (TryCatchData*)data;
ReportDrawerError(d->queue->active_commands[d->command_index], true, reason, fatal);
});
// Wait for everyone to finish:
std::unique_lock<std::mutex> end_lock(queue->end_mutex);
queue->end_condition.wait(end_lock, [&]() { return queue->finished_threads == queue->threads.size(); });
if (!queue->thread_error.IsEmpty())
{
static bool first = true;
if (queue->thread_error_fatal)
I_FatalError("%s", queue->thread_error.GetChars());
else if (first)
Printf("%s\n", queue->thread_error.GetChars());
first = false;
}
// Clean up batch:
for (auto &command : queue->active_commands)
command->~DrawerCommand();
queue->active_commands.clear();
queue->memorypool_pos = 0;
queue->finished_threads = 0;
}
void DrawerCommandQueue::StartThreads()
{
if (!threads.empty())
return;
int num_threads = std::thread::hardware_concurrency();
if (num_threads == 0)
num_threads = 4;
threads.resize(num_threads - 1);
for (int i = 0; i < num_threads - 1; i++)
{
DrawerCommandQueue *queue = this;
DrawerThread *thread = &threads[i];
thread->core = i + 1;
thread->num_cores = num_threads;
thread->thread = std::thread([=]()
{
int run_id = 0;
while (true)
{
// Wait until we are signalled to run:
std::unique_lock<std::mutex> start_lock(queue->start_mutex);
queue->start_condition.wait(start_lock, [&]() { return queue->run_id != run_id || queue->shutdown_flag; });
if (queue->shutdown_flag)
break;
run_id = queue->run_id;
start_lock.unlock();
// Do the work:
struct TryCatchData
{
DrawerCommandQueue *queue;
DrawerThread *thread;
size_t command_index;
} data;
data.queue = queue;
data.thread = thread;
data.command_index = 0;
VectoredTryCatch(&data,
[](void *data)
{
TryCatchData *d = (TryCatchData*)data;
for (int pass = 0; pass < d->queue->num_passes; pass++)
{
d->thread->pass_start_y = pass * d->queue->rows_in_pass;
d->thread->pass_end_y = (pass + 1) * d->queue->rows_in_pass;
if (pass + 1 == d->queue->num_passes)
d->thread->pass_end_y = MAX(d->thread->pass_end_y, MAXHEIGHT);
size_t size = d->queue->active_commands.size();
for (d->command_index = 0; d->command_index < size; d->command_index++)
{
auto &command = d->queue->active_commands[d->command_index];
command->Execute(d->thread);
}
}
},
[](void *data, const char *reason, bool fatal)
{
TryCatchData *d = (TryCatchData*)data;
ReportDrawerError(d->queue->active_commands[d->command_index], true, reason, fatal);
});
// Notify main thread that we finished:
std::unique_lock<std::mutex> end_lock(queue->end_mutex);
queue->finished_threads++;
end_lock.unlock();
queue->end_condition.notify_all();
}
});
}
}
