void button_task(void)
{
task_open();
// init the Interrupt
P3IES = 0xF8;
P3OUT = 0xF8;
P3REN = 0xF8;
P3IFG = 0;
P3IE = 0xF8;
while(1)
{
event_wait(buttonEvent); // wait till button pressed
buttonHoldDuration = 0;
while(buttonMask != 0xF8)
{
// count the number of ticks that have elapsed.
task_wait(10);
buttonHoldDuration++;
buttonMask = (P3IN & 0xF8);
}
//buttonMask = 0;
}
task_close();
}
void home_task(void)
{
task_open();
current_menu_item = 1;
current_tid = 0;
while(1)
{
if( current_tid == 0)
{
clearBuff();
setxy(2,4);
xprint("%s\n0x%04X",mainMenu[current_menu_item].name,mainMenu[current_menu_item].task );
lcd_xmit();
}
event_wait( buttonEvent );
char button_state = button_get_pressed();
if(current_tid == 0)
{
if(( button_state & BUTTON_DOWN )&&( current_menu_item > 0 ))
{
current_menu_item--;
// antmation?
}
else if(( button_state & BUTTON_UP )&&( current_menu_item < N_MENU -1 ))
{
current_menu_item++;
}
else if(( button_state & BUTTON_SELECT )) // no task running
{
// call up a new task
task_create( mainMenu[current_menu_item].task, 10, 0, 0, 0 ); // should be a lower priority than this task
// store tid
current_tid = 1;//task_id_get( mainMenu[current_menu_item].task );
}
}
else
{
if(( button_state & BUTTON_MENU ))
{
task_kill( mainMenu[current_menu_item].task );
current_tid = 0;
}
}
task_wait(10);
//P2OUT ^= BIT3;
}
task_close();
}
int task_check_all(struct task **tasks)
{
/* return 1 if we handled a task */
int ret = 0;
struct task *t;
restart:
for(t = *tasks; t; t = t->next)
switch(t->state){
case TASK_COMPLETE:
task_rm(tasks, t);
ret = 1;
goto restart;
case TASK_RUNNING:
/* asyncronously check for completion */
if(task_wait(tasks, t, 1)){
ret = 1;
goto restart;
}
break;
case TASK_BEGIN:
break;
}
return ret;
}
// task desc: sit and wait for buzzer request..
// when req recv. timeout and stop buzzer
void buzzer_task(void)
{
task_open();
// some initial init
P2SEL0 |= BUZZER; //assign TB2.0 to BUZZER
P2DIR |= BUZZER;
while(1){
// sit and wait
event_wait(buzzerEvent);
// configure timer B2
TB2CCR0 = 650;
TB2CTL = TASSEL_2 + MC_3 + TACLR;
TB2CCTL0 = OUTMOD_4;
// timeout?
task_wait(20);
// clean up, disabling timer will save power
// ensure NPN is off to reduce current through buzzer.
TB2CCTL0 = 0; // this will clear OUT, setting BUZZER LOW
TB2CTL = 0; // disable timer
}
// never ends
task_close();
}
/*******************************************************************************
Name : STDVMi_EventTerm()
Description : Terminates STDVM event notification task
Parameters : BOOL ForceTerminate
Return Value :
*******************************************************************************/
ST_ErrorCode_t STDVMi_EventTerm(ST_DeviceName_t DVMDeviceName,
ST_DeviceName_t PRMDeviceName,
ST_DeviceName_t MP3PBDeviceName,
BOOL ForceTerminate)
{
ST_ErrorCode_t ErrorCode;
STDVMi_Event_t *Event_p;
ErrorCode = STDVMi_UnRegisterAndUnSubscribeEvents(DVMDeviceName, PRMDeviceName, MP3PBDeviceName);
if(ErrorCode != ST_NO_ERROR)
{
STTBX_Report((STTBX_REPORT_LEVEL_ERROR, "STDVMi_UnRegisterAndUnSubscribeEvents()=%08X\n", ErrorCode));
return ErrorCode;
}
Event_p = (STDVMi_Event_t *)message_claim(STDVMi_EventTaskMQ_p);
STDVMi_EventTaskState = TASK_STOPPED;
message_send(STDVMi_EventTaskMQ_p, Event_p);
task_wait(&STDVMi_EventTask_p, 1, TIMEOUT_INFINITY);
if(task_delete(STDVMi_EventTask_p) != 0 )
{
STTBX_Report((STTBX_REPORT_LEVEL_ERROR, "task_delete failed\n"));
return ST_ERROR_BAD_PARAMETER;
}
message_delete_queue(STDVMi_EventTaskMQ_p);
return ST_NO_ERROR;
}
int main(int argc, char *argv[])
{
if (argc < 3) {
usage();
return -1;
}
int i;
for (i = 1; i < argc; i++) {
if (str_cmp(argv[i], "-i") == 0) {
i++;
if (i >= argc) {
usage();
return -2;
}
reopen(&stdin, 0, argv[i], O_RDONLY, "r");
} else if (str_cmp(argv[i], "-o") == 0) {
i++;
if (i >= argc) {
usage();
return -3;
}
reopen(&stdout, 1, argv[i], O_WRONLY | O_CREAT, "w");
} else if (str_cmp(argv[i], "-e") == 0) {
i++;
if (i >= argc) {
usage();
return -4;
}
reopen(&stderr, 2, argv[i], O_WRONLY | O_CREAT, "w");
} else if (str_cmp(argv[i], "--") == 0) {
i++;
break;
}
}
if (i >= argc) {
usage();
return -5;
}
/*
* FIXME: fdopen() should actually detect that we are opening a console
* and it should set line-buffering mode automatically.
*/
setvbuf(stdout, NULL, _IOLBF, BUFSIZ);
task_id_t id = spawn(argc - i, argv + i);
if (id != 0) {
task_exit_t texit;
int retval;
task_wait(id, &texit, &retval);
return retval;
}
return -6;
}
/*check replica basic info*/
EC_BOOL test_case_84_check_replica(const char *home, const UINT32 cdfs_md_id, const UINT32 replica_num, const void *tcid_vec, UINT32 *counter)
{
void *cdfsnpp_mod_mgr;
void *task_mgr;
UINT32 index;
CSTRING *path[CDFS_TEST_READ_MAX_FILES];
EC_BOOL ret[CDFS_TEST_READ_MAX_FILES];
EC_BOOL continue_flag;
for(index = 0; index < CDFS_TEST_READ_MAX_FILES; index ++)
{
path[ index ] = NULL_PTR;
ret[ index ] = EC_FALSE;
}
cdfsnpp_mod_mgr = cdfs_get_npp_mod_mgr(cdfs_md_id);
dbg_log(SEC_0137_DEMO, 5)(LOGSTDOUT, "test_case_84_check_replica: cdfsnpp mod mgr is\n");
mod_mgr_print(LOGSTDOUT, cdfsnpp_mod_mgr);
task_mgr = task_new(cdfsnpp_mod_mgr, TASK_PRIO_NORMAL, TASK_NEED_RSP_FLAG, TASK_NEED_ALL_RSP);
for(index = 0; index < CDFS_TEST_READ_MAX_FILES; index ++, (*counter) ++)
{
path[ index ] = cstring_new(NULL_PTR, 0);
cstring_format(path[ index ], "%s/%ld.dat", home, (*counter));
ret[ index ] = EC_FALSE;
task_inc(task_mgr, &(ret[ index ]), FI_cdfs_check_replicas, ERR_MODULE_ID, path[ index ], replica_num, tcid_vec);
}
task_wait(task_mgr, TASK_DEFAULT_LIVE, TASK_NEED_RESCHEDULE_FLAG, NULL_PTR);
continue_flag = EC_TRUE;
for(index = 0; index < CDFS_TEST_READ_MAX_FILES; index ++)
{
if(EC_TRUE == ret[ index ])
{
dbg_log(SEC_0137_DEMO, 5)(LOGSTDOUT, "[SUCC] path: %s\n", (char *)cstring_get_str(path[ index ]));
}
else
{
continue_flag = EC_FALSE;
dbg_log(SEC_0137_DEMO, 0)(LOGCONSOLE, "[FAIL] path: %s\n", (char *)cstring_get_str(path[ index ]));
}
if(NULL_PTR != path[ index ])
{
cstring_free(path[ index ]);
path[ index ] = NULL_PTR;
}
}
return (continue_flag);
}
static int cmd_runl(const char *path, ...)
{
va_list ap;
const char *arg;
int cnt = 0;
va_start(ap, path);
do {
arg = va_arg(ap, const char *);
cnt++;
} while (arg != NULL);
va_end(ap);
va_start(ap, path);
task_id_t id;
task_wait_t wait;
int rc = task_spawn(&id, &wait, path, cnt, ap);
va_end(ap);
if (rc != EOK) {
log_msg(LOG_DEFAULT, LVL_ERROR, "Error spawning %s (%s)",
path, str_error(rc));
return rc;
}
if (!id) {
log_msg(LOG_DEFAULT, LVL_ERROR, "Error spawning %s "
"(invalid task ID)", path);
return EINVAL;
}
task_exit_t texit;
int retval;
rc = task_wait(&wait, &texit, &retval);
if (rc != EOK) {
log_msg(LOG_DEFAULT, LVL_ERROR, "Error waiting for %s (%s)",
path, str_error(rc));
return rc;
}
if (texit != TASK_EXIT_NORMAL) {
log_msg(LOG_DEFAULT, LVL_ERROR, "Command %s unexpectedly "
"terminated", path);
return EINVAL;
}
if (retval != 0) {
log_msg(LOG_DEFAULT, LVL_ERROR, "Command %s returned non-zero "
"exit code %d)", path, retval);
}
return retval;
}
void th_test()
{
mycounting_t *my1;
mycounting_t *my2;
mycounting_t *p;
d_print("test");
/* make instance my1 */
my1= (mycounting_t *)malloc(sizeof(mycounting_t));
strcpy(my1->name,"home");
my1->counting=10;
my1->running=1;
my1->task = task_create (counting,(void *)my1,TASK_STACK_SIZE,TASK_PRIORITY,my1->name,0);
/* make nstance my2 */
my2=(mycounting_t *)malloc(sizeof(mycounting_t));
strcpy(my2->name,"office");
my2->counting=100;
my2->running=1;
my2->task=task_create (counting,(void *)my2,TASK_STACK_SIZE,TASK_PRIORITY,my2->name,0);
SDL_Delay(1000*3);
my1->running=0;
task_wait(my1->task, 1, TIMEOUT_INFINITY);
task_delete(my1->task);
SDL_Delay(1000*2);
my2->running=0;
task_wait(my2->task, 1, TIMEOUT_INFINITY);
task_delete(my2->task);
}
EMBX_ERROR EMBX_OS_ThreadDelete(EMBX_THREAD thread)
{
EMBX_Info(EMBX_INFO_OS, (">>>>EMBX_OS_ThreadDelete\n"));
if(thread == EMBX_INVALID_THREAD) {
EMBX_Info(EMBX_INFO_OS, ("<<<<EMBX_OS_ThreadDelete = EMBX_SUCCESS (invalid task)\n"));
return EMBX_SUCCESS;
}
if(task_wait(&thread, 1, TIMEOUT_INFINITY) != 0)
{
EMBX_DebugMessage(("EMBX_OS_ThreadDelete: task_wait failed.\n"));
return EMBX_SYSTEM_INTERRUPT;
}
task_delete(thread);
EMBX_Info(EMBX_INFO_OS, ("<<<<EMBX_OS_ThreadDelete = EMBX_SUCCESS\n"));
return EMBX_SUCCESS;
}
/** Fibril for spawning the task running after user connects.
*
* @param arg Corresponding @c telnet_user_t structure.
*/
static int spawn_task_fibril(void *arg)
{
telnet_user_t *user = arg;
int rc;
char term[LOC_NAME_MAXLEN];
snprintf(term, LOC_NAME_MAXLEN, "%s/%s", "/loc", user->service_name);
task_id_t task;
rc = task_spawnl(&task, APP_GETTERM, APP_GETTERM, "-w", term, APP_SHELL, NULL);
if (rc != EOK) {
telnet_user_error(user, "Spawning `%s -w %s %s' failed: %s.",
APP_GETTERM, term, APP_SHELL, str_error(rc));
fibril_mutex_lock(&user->guard);
user->task_finished = true;
user->srvs.aborted = true;
fibril_condvar_signal(&user->refcount_cv);
fibril_mutex_unlock(&user->guard);
return EOK;
}
fibril_mutex_lock(&user->guard);
user->task_id = task;
fibril_mutex_unlock(&user->guard);
task_exit_t task_exit;
int task_retval;
task_wait(task, &task_exit, &task_retval);
telnet_user_log(user, "%s terminated %s, exit code %d.", APP_GETTERM,
task_exit == TASK_EXIT_NORMAL ? "normally" : "unexpectedly",
task_retval);
/* Announce destruction. */
fibril_mutex_lock(&user->guard);
user->task_finished = true;
user->srvs.aborted = true;
fibril_condvar_signal(&user->refcount_cv);
fibril_mutex_unlock(&user->guard);
return EOK;
}
/*******************************************************************************
Name : STDVMi_ServiceTaskTerm()
Description : Terminates STDVM event notification task
Parameters : BOOL ForceTerminate
Return Value :
*******************************************************************************/
ST_ErrorCode_t STDVMi_ServiceTaskTerm(void)
{
STDVMi_Handle_t **Msg2Send;
Msg2Send = (STDVMi_Handle_t **)message_claim(STDVMi_ServiceTaskMQ_p);
STDVMi_ServiceTaskState = TASK_STOPPED;
message_send(STDVMi_ServiceTaskMQ_p, Msg2Send);
task_wait(&STDVMi_ServiceTask_p, 1, TIMEOUT_INFINITY);
if(task_delete(STDVMi_ServiceTask_p) != 0 )
{
STTBX_Report((STTBX_REPORT_LEVEL_ERROR, "task_delete failed\n"));
return ST_ERROR_BAD_PARAMETER;
}
message_delete_queue(STDVMi_ServiceTaskMQ_p);
return ST_NO_ERROR;
}
/*check replica files*/
EC_BOOL test_case_85_cdfs_check_file_content(const char *home, const UINT32 cdfs_md_id, const UINT32 max_test_data_files, UINT32 *counter)
{
void *cdfsnpp_mod_mgr;
void *task_mgr;
UINT32 index;
CSTRING *path[CDFS_TEST_READ_MAX_FILES];
CSTRING *file_content_cstr[CDFS_TEST_READ_MAX_FILES];
EC_BOOL ret[CDFS_TEST_READ_MAX_FILES];
EC_BOOL continue_flag;
for(index = 0; index < CDFS_TEST_READ_MAX_FILES; index ++)
{
path[ index ] = NULL_PTR;
file_content_cstr[ index ] = NULL_PTR;
ret[ index ] = EC_FALSE;
}
cdfsnpp_mod_mgr = cdfs_get_npp_mod_mgr(cdfs_md_id);
dbg_log(SEC_0137_DEMO, 5)(LOGSTDOUT, "test_case_85_cdfs_check_file_content: cdfsnpp mod mgr is\n");
mod_mgr_print(LOGSTDOUT, cdfsnpp_mod_mgr);
task_mgr = task_new(cdfsnpp_mod_mgr, TASK_PRIO_NORMAL, TASK_NEED_RSP_FLAG, TASK_NEED_ALL_RSP);
for(index = 0; index < CDFS_TEST_READ_MAX_FILES; index ++, (*counter) ++)
{
CBYTES *cbytes_des;
cbytes_des = fetch_g_cbytes(cdfs_md_id, max_test_data_files, ((*counter) % max_test_data_files));
path[ index ] = cstring_new(NULL_PTR, 0);
cstring_format(path[ index ], "%s/%ld.dat", home, (*counter));
file_content_cstr[ index ] = cstring_new(NULL_PTR, 0);
cstring_append_chars(file_content_cstr[ index ], 16, cbytes_buf(cbytes_des));
ret[ index ] = EC_FALSE;
task_inc(task_mgr, &(ret[ index ]),
FI_cdfs_check_replica_files_content, ERR_MODULE_ID, path[ index ], cbytes_len(cbytes_des), file_content_cstr[ index ]);
}
task_wait(task_mgr, TASK_DEFAULT_LIVE, TASK_NEED_RESCHEDULE_FLAG, NULL_PTR);
continue_flag = EC_TRUE;
for(index = 0; index < CDFS_TEST_READ_MAX_FILES; index ++)
{
if(EC_TRUE == ret[ index ])
{
dbg_log(SEC_0137_DEMO, 5)(LOGSTDOUT, "[SUCC] path: %s\n", (char *)cstring_get_str(path[ index ]));
}
else
{
continue_flag = EC_FALSE;
dbg_log(SEC_0137_DEMO, 0)(LOGCONSOLE, "[FAIL] path: %s\n", (char *)cstring_get_str(path[ index ]));
}
if(NULL_PTR != path[ index ])
{
cstring_free(path[ index ]);
path[ index ] = NULL_PTR;
}
if(NULL_PTR != path[ index ])
{
cstring_free(path[ index ]);
path[ index ] = NULL_PTR;
}
if(NULL_PTR != file_content_cstr[ index ])
{
cstring_free(file_content_cstr[ index ]);
file_content_cstr[ index ] = NULL_PTR;
}
}
return (continue_flag);
}
int main(int argc, char *argv[])
{
argv++;
argc--;
if (argc < 4) {
usage();
return 1;
}
char *term = *argv;
argv++;
argc--;
char *locfs = *argv;
argv++;
argc--;
bool print_msg = false;
bool wait = false;
while ((argc > 0) && (str_cmp(*argv, "--") != 0)) {
if (str_cmp(*argv, "--msg") == 0) {
print_msg = true;
} else if (str_cmp(*argv, "--wait") == 0) {
wait = true;
} else {
usage();
return 2;
}
argv++;
argc--;
}
if (argc < 1) {
usage();
return 3;
}
/* Skip "--" */
argv++;
argc--;
char *cmd = *argv;
char **args = argv;
if (wait) {
/* Wait for the terminal service to be ready */
service_id_t service_id;
int rc = loc_service_get_id(term, &service_id, IPC_FLAG_BLOCKING);
if (rc != EOK) {
printf("%s: Error waiting on %s (%s)\n", APP_NAME, term,
str_error(rc));
return rc;
}
}
char term_node[LOC_NAME_MAXLEN];
snprintf(term_node, LOC_NAME_MAXLEN, "%s/%s", locfs, term);
reopen(&stdin, 0, term_node, O_RDONLY, "r");
reopen(&stdout, 1, term_node, O_WRONLY, "w");
reopen(&stderr, 2, term_node, O_WRONLY, "w");
if (stdin == NULL)
return 4;
if (stdout == NULL)
return 5;
if (stderr == NULL)
return 6;
/*
* FIXME: fdopen() should actually detect that we are opening a console
* and it should set line-buffering mode automatically.
*/
setvbuf(stdout, NULL, _IOLBF, BUFSIZ);
version_print(term);
if (print_msg)
welcome_msg_print();
task_id_t id;
task_wait_t twait;
int rc = task_spawnv(&id, &twait, cmd, (const char * const *) args);
if (rc != EOK) {
printf("%s: Error spawning %s (%s)\n", APP_NAME, cmd,
str_error(rc));
return rc;
}
task_exit_t texit;
int retval;
rc = task_wait(&twait, &texit, &retval);
if (rc != EOK) {
printf("%s: Error waiting for %s (%s)\n", APP_NAME, cmd,
str_error(rc));
return rc;
}
return 0;
}
void test_task(u08 cmd, u08 *param)
{
static u16 i;
float time_to_stop=0,distance_to_stop;
static t_scan_result scan_result;
DEFINE_CFG2(s16,accel, 99,1);
DEFINE_CFG2(s16,decel, 99,2);
DEFINE_CFG2(s16,speed, 99,3);
DEFINE_CFG2(s16,distance, 99,4);
DEFINE_CFG2(s16,angle, 99,5);
task_open_1();
//code between _1() and _2() will get executed every time the scheduler resumes this task
if(cmd==0)
{
NOP();
}
else
{
NOP();
return;
}
task_open_2();
//execution below this point will resume wherever it left off when a context switch happens
usb_printf("test_task()\n");
PREPARE_CFG2(accel);
PREPARE_CFG2(decel);
PREPARE_CFG2(speed);
PREPARE_CFG2(distance);
PREPARE_CFG2(angle);
test_task(1,(uint8 *)0x1234);
/*
for(;;)
{
dbg_printf("0123456789\n");
task_wait(100);
}
*/
/*
task_wait(200);
motor_command(2,0,0,0,0);
task_wait(200);
motor_command(7,0,0,100,100);
task_wait(500);
motor_command(6,2,2,0,0);
task_wait(500);
*/
while(1)
{
task_wait(100);
UPDATE_CFG2(accel);
UPDATE_CFG2(decel);
UPDATE_CFG2(speed);
UPDATE_CFG2(distance);
UPDATE_CFG2(angle);
if(s.behavior_state[TEST_LOGIC_FSM]==1)
{
/*
1) gradually ramp up (at specified rate) to target speed
2) when we are <= 30degrees from the target, start ramping down to speed 15
3) when we are <= 10degrees from the target, apply target speed 5 (w/ feed forward) & regulate to maintain 5
3) when we are at the target, hit the brakes - full stop w/out ramping down
*/
/*
odometry_set_checkpoint();
motor_command(6,1,1,(speed),-(speed));
while ( abs(odometry_get_rotation_since_checkpoint()) < 60 ) { task_wait(10); }
motor_command(6,1,1,15,-15);
while ( abs(odometry_get_rotation_since_checkpoint()) < 80 ) { task_wait(10); }
motor_command(7,1,1,5,-5);
while ( abs(odometry_get_rotation_since_checkpoint()) < 90 ) { task_wait(10); }
motor_command(7,1,1,0,0);
*/
/*
MOVE(50,100);
TURN_IN_PLACE( 50, 90);
MOVE(50,100);
TURN_IN_PLACE( 50, 90);
MOVE(50,100);
TURN_IN_PLACE( 50, 90);
MOVE(50,100);
TURN_IN_PLACE( 50, 90);
*/
#if 0
//set_digital_output(IO_D1,0);
set_digital_output(IO_D0,0);
task_wait(2000);
//set_digital_output(IO_D1,1);
set_digital_output(IO_D0,1);
#endif
#if 0
//dbg_printf("Starting scan....\n");
TURN_IN_PLACE_AND_SCAN( 40, 220 );
//dbg_printf("....done\n");
scan_result = find_peak_in_scan(scan_data,360,30);
dbg_printf("scan_result: %d,%d,%d,%d,%d,%d\n",
scan_result.flame_center_value, scan_result.rising_edge_position, scan_result.falling_edge_position,
scan_result.center_angle, scan_result.rising_edge_angle, scan_result.falling_edge_angle);
for(i=0;i<360;i++) {dbg_printf("scan_data[%03d]=%03d,%03d\n",i, scan_data[i].angle, scan_data[i].flame);task_wait(10);}
TURN_IN_PLACE( 40, -(220-scan_result.center_angle) );
#endif
TURN_IN_PLACE_AND_SCAN( 40, 90, 1);
scan_result = find_path_in_scan(scan_data, 100, 300, 0, 1);
dbg_printf("scan_result: %d,%d,%d,%d\n", scan_result.opening, scan_result.center_angle, scan_result.rising_edge_angle, scan_result.falling_edge_angle);
//for(i=0;i<100;i++) {dbg_printf("scan_data[%03d]=%03d,%03d\n",i, scan_data[i].angle, scan_data[i].ir_north);task_wait(10);}
TURN_IN_PLACE(40,-90);
/*
task_wait(2000);
TURN_IN_PLACE_AND_SCAN( 100, -90 );
scan_result = find_peak_in_scan(scan_data,360,3);
task_wait(2000);
TURN_IN_PLACE_AND_SCAN( 100, 180 );
scan_result = find_peak_in_scan(scan_data,360,3);
task_wait(2000);
TURN_IN_PLACE_AND_SCAN( 100, -180 );
scan_result = find_peak_in_scan(scan_data,360,3);
*/
s.behavior_state[TEST_LOGIC_FSM]=0;
}
if(s.behavior_state[TEST_LOGIC_FSM]==2)
{
TURN_IN_PLACE(speed,angle);
s.behavior_state[TEST_LOGIC_FSM]=0;
}
if(s.behavior_state[TEST_LOGIC_FSM]==3)
{
TURN_IN_PLACE(40, -90);
TURN_IN_PLACE_AND_SCAN(40, 180, 4);
scan_result = find_flame_in_scan(scan_data,360,30);
if(scan_result.flame_center_value > 150) //TODO: make the minimum flame value a parameter
{
static int i, i_min;
static u16 min=999;
static float d;
static u08 stop=0;
TURN_IN_PLACE( 40, -(180-scan_result.center_angle+2) );
/*
min=999;
for(i=scan_result.rising_edge_position-10; i<=scan_result.falling_edge_position+10; i++)
{
dbg_printf("scan_data[%3d]: ir_n=%3d, a=%d, f=%d\n",i,scan_data[i].ir_north, scan_data[i].angle, scan_data[i].flame);
task_wait(50);
if(scan_data[i].ir_north < min) { min=scan_data[i].ir_north; i_min=i; }
}
dbg_printf("distance to candle: %d @i=%d,a=%d\n",min,i_min,scan_data[i_min].angle);
if(min<100) min=100;
d = (float) (((min-100)*25)/10);
MOVE2(50,d,60,60);
*/
stop=0;
move_manneuver2(1,30,9999,(80),(90));
while(move_manneuver2(0,30,9999,(70),(70)))
{
OS_SCHEDULE;
if( (s.ir[IR_N] <= 60) ) stop |= 0x01;
if( (s.ir[IR_NE] <= 60)) stop |= 0x02;
if( (s.ir[IR_NW] <= 60)) stop |= 0x04;
if( (s.inputs.sonar[0] <= 100) ) stop |= 0x08;
if(stop != 0)
{
dbg_printf("too close to object/wall! reason: 0x%02x\n",stop);
HARD_STOP();
break;
}
}
}
s.behavior_state[TEST_LOGIC_FSM]=0;
}
if(s.behavior_state[TEST_LOGIC_FSM]==4)
{
PUMP_ON();
task_wait(1000);
PUMP_OFF();
s.behavior_state[TEST_LOGIC_FSM]=0;
}
if(s.behavior_state[TEST_LOGIC_FSM]==5)
{
dbg_printf("start = %d\n",is_digital_input_high(IO_B3));
task_wait(500);
}
/*
while(s.behavior_state[11]==1)
{
time_to_stop = (float)s.inputs.actual_speed[0] / (float)50;
distance_to_stop = ((float)s.inputs.actual_speed[0] * time_to_stop)/2.0;
distance_to_stop *= 50.0; //adjust for seconds
distance_to_stop *= 0.13466716824940938560464; //adjust for mm
if(s.inputs.x + distance_to_stop < distance)
{
motor_command(6,accel,decel,speed,speed);
}
else
{
motor_command(6,accel,decel,0,0);
s.behavior_state[TEST_LOGIC_FSM]=0;
}
task_wait(20);
}
*/
}
task_close();
}
/*******************************************************************************
Name : metrics_Stack_Test
Description : launch tasks to calculate the stack usage made by the driver
for an Init Term cycle and in its typical conditions of use
Parameters : None
Assumptions :
Limitations :
Returns : None
*******************************************************************************/
#if !defined(ST_OSLINUX) /* due to task status not yet implemented. To be done. */
static BOOL metrics_Stack_Test(STTST_Parse_t *pars_p, char *result_sym_p)
{
task_t *task_p;
task_status_t status;
int overhead_stackused;
char funcname[4][20]= {
"test_overhead",
"test_init",
"test_typical",
"NULL"
};
void (*func_table[])(void *) = {
test_overhead,
test_init,
test_typical,
NULL
};
void (*func)(void *);
int i;
UNUSED_PARAMETER(pars_p);
UNUSED_PARAMETER(result_sym_p);
overhead_stackused = 0;
printf("*************************************\n");
printf("* Stack usage calculation beginning *\n");
printf("*************************************\n");
for (i = 0; func_table[i] != NULL; i++)
{
func = func_table[i];
/* Start the task */
task_p = task_create(func, NULL, STACK_SIZE, MAX_USER_PRIORITY, "stack_test", task_flags_no_min_stack_size);
/* Wait for task to complete */
task_wait(&task_p, 1, TIMEOUT_INFINITY);
/* Dump stack usage */
task_status(task_p, &status, task_status_flags_stack_used);
/* Report Error */
if(Err)
printf("An error occured during the process !!!\n");
/* store overhead value */
if (i==0)
{
printf("*-----------------------------------*\n");
overhead_stackused = status.task_stack_used;
printf("%s \t func=0x%08lx stack = %d bytes used\n", &funcname[i][0], (long) func,
status.task_stack_used);
printf("*-----------------------------------*\n");
}
else
{
printf("%s \t func=0x%08lx stack = %d bytes used (%d - %d overhead)\n", &funcname[i][0], (long) func,
status.task_stack_used-overhead_stackused,status.task_stack_used,overhead_stackused);
}
/* Tidy up */
task_delete(task_p);
}
printf("*************************************\n");
printf("* Stack usage calculation end *\n");
printf("*************************************\n");
return(FALSE);
}
void test_case_cbgt_delete_group_p(const UINT32 cbgt_md_id, const char *table_name, const UINT32 row_tag)
{
UINT32 row_idx;
UINT32 colf_idx;
UINT32 colq_idx;
CBYTES table_name_bytes;
void *mod_mgr;
EC_BOOL continue_flag;
ASSERT(mod_mgr = mod_mgr_new(cbgt_md_id, LOAD_BALANCING_OBJ));
mod_mgr_incl(CMPI_LOCAL_TCID, CMPI_LOCAL_COMM, CMPI_LOCAL_RANK, cbgt_md_id, mod_mgr);
mod_mgr_print(LOGCONSOLE, mod_mgr);
cbytes_mount(&table_name_bytes, strlen(table_name), (UINT8 *)table_name);
continue_flag = EC_TRUE;
for(row_idx = 0; row_idx < CBGT_TEST_ROW_NUM && EC_TRUE == continue_flag; row_idx ++)
{
char *row;
CBYTES *row_bytes;
ASSERT(row = (char *)safe_malloc(CBGT_STR_MAX_LEN, 0));
snprintf(row, CBGT_STR_MAX_LEN, "row-%08ld-%08ld", row_tag, row_idx);
ASSERT(row_bytes = cbytes_new(0));
cbytes_mount(row_bytes , strlen(row) , (UINT8 *)row );
//cvector_push(bytes_vec, (void *)row_bytes);
for(colf_idx = 0; colf_idx < CBGT_TEST_COLF_NUM && EC_TRUE == continue_flag; colf_idx ++)
{
char *colf;
CBYTES *colf_bytes;
void *task_mgr;
void *bytes_vec;
EC_BOOL ret[CBGT_TEST_COLQ_NUM];
ASSERT(bytes_vec = cvector_new(0, MM_CBYTES, 0));
ASSERT(colf = (char *)safe_malloc(CBGT_STR_MAX_LEN, 0));
snprintf(colf, CBGT_STR_MAX_LEN, "colf-%ld", colf_idx);
ASSERT(colf_bytes = cbytes_new(0));
cbytes_mount(colf_bytes , strlen(colf) , (UINT8 *)colf );
task_mgr = task_new(mod_mgr, TASK_PRIO_NORMAL, TASK_NEED_RSP_FLAG, TASK_NEED_ALL_RSP);
for(colq_idx = 0; colq_idx < CBGT_TEST_COLQ_NUM && EC_TRUE == continue_flag; colq_idx ++)
{
char *colq;
CBYTES *colq_bytes;
ASSERT(colq = (char *)safe_malloc(CBGT_STR_MAX_LEN, 0));
snprintf(colq, CBGT_STR_MAX_LEN, "colq-%08ld-%08ld-%08ld", row_idx, colf_idx, colq_idx);
ASSERT(colq_bytes = cbytes_new(0));
cbytes_mount(colq_bytes , strlen(colq) , (UINT8 *)colq );
cvector_push(bytes_vec, (void *)colq_bytes);
ret[ colq_idx ] = EC_FALSE;
task_inc(task_mgr, &(ret[ colq_idx ]),
FI_cbgt_delete, ERR_MODULE_ID, &table_name_bytes, row_bytes, colf_bytes, colq_bytes);
}
task_wait(task_mgr, TASK_DEFAULT_LIVE, TASK_NEED_RESCHEDULE_FLAG, NULL_PTR);
for(colq_idx = 0; colq_idx < CBGT_TEST_COLQ_NUM; colq_idx ++)
{
if(EC_TRUE == ret[ colq_idx ])
{
sys_log(LOGSTDNULL, "[DEBUG] test_case_cbgt_delete_group_p: [SUCC] delete %s %s:%s:colq-%08ld-%08ld-%08ld\n",
table_name, row, colf,
row_idx, colf_idx, colq_idx);
}
else
{
//continue_flag = EC_FALSE;
sys_log(LOGCONSOLE, "[DEBUG] test_case_cbgt_delete_group_p: [FAIL] delete %s %s:%s:colq-%08ld-%08ld-%08ld\n",
table_name, row, colf,
row_idx, colf_idx, colq_idx);
}
}
cbytes_free(colf_bytes, 0);
cvector_clean_with_location(bytes_vec, (CVECTOR_DATA_LOCATION_CLEANER)cbytes_free, 0);
cvector_free(bytes_vec, 0);
}
cbytes_free(row_bytes, 0);
if(EC_TRUE == continue_flag)
{
sys_log(LOGCONSOLE, "[DEBUG] test_case_cbgt_delete_group_p: [SUCC] row tag %ld, row no. %ld\n", row_tag, row_idx);
}
else
{
sys_log(LOGCONSOLE, "[DEBUG] test_case_cbgt_delete_group_p: [FAIL] row tag %ld, row no. %ld\n", row_tag, row_idx);
}
}
sys_log(LOGCONSOLE, "[DEBUG] test_case_cbgt_delete_group_p: row tag %ld end\n", row_tag);
return;
}
bool task_finish(Task *task, void **result) {
bool success = task_wait(task, result);
task_detach(task);
return success;
}
/*check replica files*/
EC_BOOL test_case_85_crfs_check_file_content(const char *home, const UINT32 crfs_tcid, const UINT32 crfs_rank, const UINT32 crfs_modi, const UINT32 max_test_data_files, UINT32 *counter)
{
MOD_MGR *mod_mgr;
TASK_MGR *task_mgr;
UINT32 index;
CSTRING *path[CRFS_TEST_READ_MAX_FILES];
EC_BOOL ret[CRFS_TEST_READ_MAX_FILES];
EC_BOOL continue_flag;
for(index = 0; index < CRFS_TEST_READ_MAX_FILES; index ++)
{
path[ index ] = NULL_PTR;
ret[ index ] = EC_FALSE;
}
mod_mgr = mod_mgr_new(CMPI_ERROR_MODI, LOAD_BALANCING_LOOP);
mod_mgr_incl(crfs_tcid, CMPI_ANY_COMM, crfs_rank, crfs_modi, mod_mgr);
sys_log(LOGSTDOUT, "test_case_85_crfs_check_file_content: npp mod mgr is\n");
mod_mgr_print(LOGSTDOUT, crfs_get_npp_mod_mgr(crfs_modi));
sys_log(LOGSTDOUT, "test_case_85_crfs_check_file_content: dn mod mgr is\n");
mod_mgr_print(LOGSTDOUT, crfs_get_dn_mod_mgr(crfs_modi));
task_mgr = task_new(mod_mgr, TASK_PRIO_NORMAL, TASK_NEED_RSP_FLAG, TASK_NEED_ALL_RSP);
for(index = 0; index < CRFS_TEST_READ_MAX_FILES; index ++, (*counter) ++)
{
CBYTES *cbytes_des;
cbytes_des = __test_crfs_fetch_g_cbytes(max_test_data_files, ((*counter) % max_test_data_files));
path[ index ] = cstring_new(NULL_PTR, 0);
cstring_format(path[ index ], "%s/%ld.dat", home, (*counter));
ret[ index ] = EC_FALSE;
task_inc(task_mgr, &(ret[ index ]),
FI_crfs_check_file_is, ERR_MODULE_ID, path[ index ], cbytes_des);
}
task_wait(task_mgr, TASK_DEFAULT_LIVE, TASK_NEED_RESCHEDULE_FLAG, NULL_PTR);
continue_flag = EC_TRUE;
for(index = 0; index < CRFS_TEST_READ_MAX_FILES; index ++)
{
if(EC_TRUE == ret[ index ])
{
sys_log(LOGSTDOUT, "[SUCC] path: %s\n", (char *)cstring_get_str(path[ index ]));
}
else
{
continue_flag = EC_FALSE;
sys_log(LOGCONSOLE, "[FAIL] path: %s\n", (char *)cstring_get_str(path[ index ]));
}
if(NULL_PTR != path[ index ])
{
cstring_free(path[ index ]);
path[ index ] = NULL_PTR;
}
if(NULL_PTR != path[ index ])
{
cstring_free(path[ index ]);
path[ index ] = NULL_PTR;
}
}
mod_mgr_free(mod_mgr);
return (continue_flag);
}
EC_BOOL test_case_83_crfs_write(const char *home, const UINT32 crfs_tcid, const UINT32 crfs_rank, const UINT32 crfs_modi, const UINT32 max_test_data_files, UINT32 *counter)
{
void *mod_mgr;
void *task_mgr;
UINT32 index;
EC_BOOL continue_flag;
CSTRING *path[CRFS_TEST_WRITE_MAX_FILES];
EC_BOOL ret[CRFS_TEST_WRITE_MAX_FILES];
for(index = 0; index < CRFS_TEST_WRITE_MAX_FILES; index ++)
{
path[ index ] = NULL_PTR;
ret[ index ] = EC_FALSE;
}
mod_mgr = mod_mgr_new(CMPI_ERROR_MODI, LOAD_BALANCING_LOOP);
mod_mgr_incl(crfs_tcid, CMPI_ANY_COMM, crfs_rank, crfs_modi, mod_mgr);
#if 0
sys_log(LOGSTDOUT, "test_case_83_crfs_write: npp mod mgr is\n");
mod_mgr_print(LOGSTDOUT, crfs_get_npp_mod_mgr(crfs_modi));
sys_log(LOGSTDOUT, "test_case_83_crfs_write: dn mod mgr is\n");
mod_mgr_print(LOGSTDOUT, crfs_get_dn_mod_mgr(crfs_modi));
#endif
task_mgr = task_new(mod_mgr, TASK_PRIO_NORMAL, TASK_NEED_RSP_FLAG, TASK_NEED_ALL_RSP);
for(index = 0; index < CRFS_TEST_WRITE_MAX_FILES; index ++, (*counter) ++)
{
void *cbytes;
path[ index ] = cstring_new(NULL_PTR, 0);
cstring_format(path[ index ], "%s/%ld.dat", home, (*counter));
ret[ index ] = EC_FALSE;
cbytes = __test_crfs_fetch_g_cbytes(max_test_data_files, ((*counter) % max_test_data_files));
if(NULL_PTR == cbytes)
{
sys_log(LOGSTDOUT, "error:test_case_83_crfs_write: crfs buff is null where index = %ld, max_test_data_files = %ld\n", index, max_test_data_files);
cstring_free(path[ index ]);
path[ index ] = NULL_PTR;
break;
}
task_inc(task_mgr, &(ret[ index ]), FI_crfs_write, ERR_MODULE_ID, path[ index ], cbytes);
}
task_wait(task_mgr, TASK_DEFAULT_LIVE, TASK_NOT_NEED_RESCHEDULE_FLAG, NULL_PTR);
continue_flag = EC_TRUE;
for(index = 0; index < CRFS_TEST_WRITE_MAX_FILES; index ++)
{
if(EC_FALSE == ret[ index ] && NULL_PTR != path[ index ])
{
continue_flag = EC_FALSE;
sys_log(LOGCONSOLE, "test_case_83_crfs_write: [FAIL] %s\n", (char *)cstring_get_str(path[ index ]));
}
if(NULL_PTR != path[ index ])
{
cstring_free(path[ index ]);
path[ index ] = NULL_PTR;
}
}
mod_mgr_free(mod_mgr);
return (continue_flag);
}
EC_BOOL test_case_82_crfs_read(const char *home, const UINT32 crfs_tcid, const UINT32 crfs_rank, const UINT32 crfs_modi, const UINT32 max_test_data_files, UINT32 *counter)
{
void *mod_mgr;
void *task_mgr;
UINT32 index;
CSTRING *path[CRFS_TEST_READ_MAX_FILES];
CBYTES *cbytes[CRFS_TEST_READ_MAX_FILES];/*read from dn*/
CBYTES *cbytes_des[CRFS_TEST_READ_MAX_FILES];/*benchmark*/
EC_BOOL ret[CRFS_TEST_READ_MAX_FILES];
EC_BOOL continue_flag;
for(index = 0; index < CRFS_TEST_READ_MAX_FILES; index ++)
{
path[ index ] = NULL_PTR;
cbytes[ index ] = NULL_PTR;
cbytes_des[ index ] = NULL_PTR;
ret[ index ] = EC_FALSE;
}
mod_mgr = mod_mgr_new(CMPI_ERROR_MODI, LOAD_BALANCING_LOOP);
mod_mgr_incl(crfs_tcid, CMPI_ANY_COMM, crfs_rank, crfs_modi, mod_mgr);
#if 0
sys_log(LOGSTDOUT, "test_case_82_crfs_read: npp mod mgr is\n");
mod_mgr_print(LOGSTDOUT, crfs_get_npp_mod_mgr(crfs_modi));
sys_log(LOGSTDOUT, "test_case_82_crfs_read: dn mod mgr is\n");
mod_mgr_print(LOGSTDOUT, crfs_get_dn_mod_mgr(crfs_modi));
#endif
task_mgr = task_new(mod_mgr, TASK_PRIO_NORMAL, TASK_NEED_RSP_FLAG, TASK_NEED_ALL_RSP);
for(index = 0; index < CRFS_TEST_READ_MAX_FILES; index ++, (*counter) ++)
{
path[ index ] = cstring_new(NULL_PTR, 0);
cstring_format(path[ index ], "%s/%ld.dat", home, (*counter));
cbytes[ index ] = cbytes_new(0);
cbytes_des[ index ] = __test_crfs_fetch_g_cbytes(max_test_data_files, ((*counter) % max_test_data_files));
ret[ index ] = EC_FALSE;
task_inc(task_mgr, &(ret[ index ]), FI_crfs_read, ERR_MODULE_ID, path[ index ], cbytes[ index ]);
}
task_wait(task_mgr, TASK_DEFAULT_LIVE, TASK_NEED_RESCHEDULE_FLAG, NULL_PTR);
continue_flag = EC_TRUE;
for(index = 0; index < CRFS_TEST_READ_MAX_FILES; index ++)
{
if(NULL_PTR != cbytes[ index ])
{
if(EC_TRUE == cbytes_ncmp(cbytes[ index ], cbytes_des[ index ], 16))
{
sys_log(LOGSTDOUT, "[SUCC] path: %s, len = %ld ",
(char *)cstring_get_str(path[ index ]),
cbytes_len(cbytes[ index ]));
sys_print(LOGSTDOUT, "text = %.*s\n",
cbytes_len(cbytes[ index ]) > 16 ? 16 : cbytes_len(cbytes[ index ]), /*output up to 16 chars*/
(char *)cbytes_buf(cbytes[ index ]));
}
else
{
continue_flag = EC_FALSE;
sys_log(LOGCONSOLE, "[FAIL] path: %s, read len = %ld ",
(char *)cstring_get_str(path[ index ]),
cbytes_len(cbytes[ index ]));
sys_print(LOGCONSOLE, "text = %.*s <--> ",
cbytes_len(cbytes[ index ]) > 16 ? 16 : cbytes_len(cbytes[ index ]), /*output up to 16 chars*/
(char *)cbytes_buf(cbytes[ index ]));
sys_print(LOGCONSOLE, "expect len = %ld ",
cbytes_len(cbytes_des[ index ]));
sys_print(LOGCONSOLE, "text = %.*s\n",
cbytes_len(cbytes_des[ index ]) > 16 ? 16 : cbytes_len(cbytes_des[ index ]),
(char *)cbytes_buf(cbytes_des[ index ]));
}
}
if(NULL_PTR != path[ index ])
{
cstring_free(path[ index ]);
path[ index ] = NULL_PTR;
}
if(NULL_PTR != cbytes[ index ])
{
cbytes_free(cbytes[ index ], 0);
cbytes[ index ] = NULL_PTR;
}
if(NULL_PTR != cbytes_des[ index ])
{
cbytes_des[ index ] = NULL_PTR;
}
}
mod_mgr_free(mod_mgr);
return (continue_flag);
}