| 8 |
8 |
#include "../hci_comm/hci_comm.h"
|
| 9 |
9 |
#include "../init/scenariolist.h"
|
| 10 |
10 |
#include "../init/devicelist.h"
|
| 11 |
|
//#include "../logics/device_threads.h"
|
|
11 |
#include "../logics/device_threads.h"
|
| 12 |
12 |
//#include "../logics/scenario_threads.h"
|
| 13 |
13 |
#include <stdio.h>
|
| 14 |
14 |
#include <pthread.h>
|
| ... | ... | |
| 18 |
18 |
// Inter-thread shared variables
|
| 19 |
19 |
// TODO: These variables could be configuration variables
|
| 20 |
20 |
// (eg: static boolean loggingEnabled)
|
| 21 |
|
static device *hDevice; //device list
|
| 22 |
|
static scenario *hScenario; //scenario list
|
| 23 |
|
|
|
21 |
static device *hDevice; //device list
|
|
22 |
static scenario *hScenario; //scenario list
|
|
23 |
static thread_id_holder *hThrIDhold_dev;//holds IDs of running threads (devices)
|
|
24 |
static thread_id_holder *hThrIDhold_scn;//holds IDs of running threads (scenarios)
|
| 24 |
25 |
//extern scenario *test; //device list
|
| 25 |
26 |
|
| 26 |
27 |
// Crtitical section mutual exclusion security
|
| 27 |
28 |
pthread_mutex_t mtx = PTHREAD_MUTEX_INITIALIZER;
|
|
29 |
pthread_t decisionMakingThread;
|
|
30 |
pthread_t hciConnectionThread;
|
| 28 |
31 |
|
| 29 |
32 |
// Global variable to check, if HCI made any changes that need
|
| 30 |
33 |
// to be updated by the logic.
|
| ... | ... | |
| 48 |
51 |
void *hciConnectionThread_routine(void *dummy);
|
| 49 |
52 |
void *randomValThread_routine(void *dummy);
|
| 50 |
53 |
void *scenarioThread_routine(void *dummy);
|
|
54 |
int reinitialiseLogic(); // on HCI request
|
| 51 |
55 |
|
| 52 |
56 |
// Application entry point
|
| 53 |
57 |
int main(int argc, char *argv[]) {
|
| ... | ... | |
| 61 |
65 |
|
| 62 |
66 |
/* regular work */
|
| 63 |
67 |
//*
|
| 64 |
|
pthread_t hciConnectionThread;
|
| 65 |
|
pthread_t decisionMakingThread;
|
| 66 |
|
|
| 67 |
|
pthread_t *decisionMakingThread2;
|
| 68 |
|
|
| 69 |
68 |
pthread_create(&hciConnectionThread, NULL,hciConnectionThread_routine, NULL);
|
| 70 |
69 |
pthread_create(&decisionMakingThread,NULL,decisionMakingThread_routine,NULL);
|
| 71 |
70 |
|
| 72 |
71 |
pthread_join(hciConnectionThread,NULL);
|
| 73 |
|
pthread_join(decisionMakingThread,NULL);
|
|
72 |
//pthread_join(decisionMakingThread,NULL);
|
| 74 |
73 |
/**/
|
| 75 |
74 |
exit(0);
|
| 76 |
75 |
}
|
| ... | ... | |
| 81 |
80 |
printf("-- decisionMakingThread_routine started --\n");
|
| 82 |
81 |
|
| 83 |
82 |
/**dummy threads for input devices (sensors)**/
|
| 84 |
|
// TODO check for possible BUG involving declaring pthread_t as pointer!
|
| 85 |
|
pthread_t *deviceThread, *deviceThreadHead;
|
| 86 |
|
deviceThreadHead = NULL;
|
|
83 |
hThrIDhold_dev = NULL;
|
|
84 |
thread_id_holder *t_holder, *t_holder_old; //just for list of IDs creation, for both scenarios and devices
|
|
85 |
t_holder_old = NULL;
|
| 87 |
86 |
|
| 88 |
87 |
int i;
|
| 89 |
88 |
for(i=0; i<getNumberOfDevices(); i++)
|
| 90 |
89 |
{
|
| 91 |
|
deviceThread = (pthread_t *)malloc(sizeof(pthread_t));
|
| 92 |
|
pthread_create(&deviceThread,NULL,randomValThread_routine,NULL);
|
|
90 |
t_holder = (thread_id_holder *)malloc(sizeof(thread_id_holder));
|
|
91 |
pthread_create(&t_holder->pthr_idx,NULL,randomValThread_routine,NULL);
|
| 93 |
92 |
|
| 94 |
|
if(deviceThreadHead==NULL)
|
| 95 |
|
deviceThreadHead=deviceThread;
|
|
93 |
t_holder->nxt=NULL;
|
|
94 |
if(t_holder_old!=NULL)
|
|
95 |
t_holder_old->nxt=t_holder;
|
|
96 |
t_holder_old=t_holder;
|
|
97 |
|
|
98 |
if(hThrIDhold_dev==NULL)
|
|
99 |
hThrIDhold_dev=t_holder_old;
|
| 96 |
100 |
}
|
| 97 |
101 |
|
| 98 |
102 |
/**start scenario threads**/
|
| 99 |
|
pthread_t *scenarioThread, *scenarioThreadHead;
|
| 100 |
|
scenarioThreadHead = NULL;
|
|
103 |
t_holder_old = NULL;
|
|
104 |
hThrIDhold_scn=NULL;
|
| 101 |
105 |
|
| 102 |
106 |
for(i=0; i<getNumberOfScenarios(); i++)
|
| 103 |
107 |
{
|
| 104 |
|
scenarioThread = (pthread_t *)malloc(sizeof(pthread_t));
|
| 105 |
|
pthread_create(&scenarioThread,NULL,scenarioThread_routine,NULL);
|
|
108 |
t_holder = (thread_id_holder *)malloc(sizeof(thread_id_holder));
|
|
109 |
pthread_create(&t_holder->pthr_idx,NULL,scenarioThread_routine,NULL);
|
| 106 |
110 |
|
| 107 |
|
if(scenarioThreadHead==NULL)
|
| 108 |
|
scenarioThreadHead=scenarioThread;
|
| 109 |
|
}
|
|
111 |
t_holder->nxt=NULL;
|
|
112 |
if(t_holder_old!=NULL)
|
|
113 |
t_holder_old->nxt=t_holder;
|
|
114 |
t_holder_old=t_holder;
|
| 110 |
115 |
|
| 111 |
|
/**wait for threads to finish**/
|
| 112 |
|
// TODO bad position of both for loops below, joining of theese threads should be handled in a different way
|
| 113 |
|
deviceThread = deviceThreadHead;
|
| 114 |
|
for(i=0; i<getNumberOfDevices(); i++)
|
| 115 |
|
{
|
| 116 |
|
pthread_join(deviceThread,NULL);
|
| 117 |
|
deviceThread++;
|
|
116 |
if(hThrIDhold_scn==NULL)
|
|
117 |
hThrIDhold_scn=t_holder_old;
|
| 118 |
118 |
}
|
| 119 |
119 |
|
| 120 |
|
scenarioThread = scenarioThreadHead;
|
| 121 |
|
for(i=0; i<getNumberOfScenarios(); i++)
|
| 122 |
|
{
|
| 123 |
|
pthread_join(scenarioThread,NULL);
|
| 124 |
|
scenarioThread++;
|
| 125 |
|
}
|
| 126 |
|
|
| 127 |
120 |
/*start some sort of control over scenarios? - hmm morda ne...bom jutri :)*/
|
| 128 |
|
|
|
121 |
printf("Exiting main thread\n");
|
| 129 |
122 |
pthread_exit(0);
|
| 130 |
123 |
}
|
| 131 |
124 |
|
| ... | ... | |
| 145 |
138 |
device *inDev;
|
| 146 |
139 |
int active = 0;
|
| 147 |
140 |
float scenarioBuffer;
|
|
141 |
//printf("My scen ID> %ld\n",pthread_self());
|
| 148 |
142 |
|
| 149 |
143 |
/*load scenario*/
|
| 150 |
144 |
scen = getAvailableScenario(hScenario);
|
| ... | ... | |
| 219 |
213 |
pthread_exit(0);
|
| 220 |
214 |
}
|
| 221 |
215 |
|
|
216 |
void freeDeviceList(device *dev)
|
|
217 |
{
|
|
218 |
if(dev->nxt!=NULL)
|
|
219 |
freeDeviceList(dev->nxt);
|
|
220 |
free(dev);
|
|
221 |
}
|
|
222 |
|
|
223 |
void freeScenarioList(scenario *scn)
|
|
224 |
{
|
|
225 |
if(scn->nxt!=NULL)
|
|
226 |
freeScenarioList(scn->nxt);
|
|
227 |
free(scn);
|
|
228 |
}
|
|
229 |
|
|
230 |
void freeThreadIDList(thread_id_holder *tih)
|
|
231 |
{
|
|
232 |
if(tih->nxt!=NULL)
|
|
233 |
freeThreadIDList(tih->nxt);
|
|
234 |
free(tih);
|
|
235 |
}
|
|
236 |
|
|
237 |
int reinitialiseLogic()
|
|
238 |
{
|
|
239 |
thread_id_holder *hold;
|
|
240 |
hold = hThrIDhold_dev;
|
|
241 |
//hThrIDhold_dev = NULL;
|
|
242 |
|
|
243 |
//kill device threads
|
|
244 |
printf("Attempting to cancel threads!\n");
|
|
245 |
while(hold)
|
|
246 |
{
|
|
247 |
printf("Cancelling dev thread %ld with return state %d\n", hold->pthr_idx,pthread_cancel(hold->pthr_idx));
|
|
248 |
//TODO free thread_id_holder list too!
|
|
249 |
hold=hold->nxt;
|
|
250 |
}
|
|
251 |
|
|
252 |
//kill scenario threads
|
|
253 |
hold = hThrIDhold_scn;
|
|
254 |
//hThrIDhold_scn = NULL;
|
|
255 |
while(hold)
|
|
256 |
{
|
|
257 |
printf("Cancelling scn thread %ld with return state %d\n", hold->pthr_idx,pthread_cancel(hold->pthr_idx));
|
|
258 |
//TODO free thread_id_holder list too!
|
|
259 |
hold=hold->nxt;
|
|
260 |
}
|
|
261 |
|
|
262 |
//free memory
|
|
263 |
printf("Freeing memory!\n");
|
|
264 |
freeDeviceList(hDevice);
|
|
265 |
freeScenarioList(hScenario);
|
|
266 |
freeThreadIDList(hThrIDhold_dev);
|
|
267 |
freeThreadIDList(hThrIDhold_scn);
|
|
268 |
|
|
269 |
//reinit devices
|
|
270 |
printf("Reinitializing devices!\n");
|
|
271 |
hDevice = setDeviceList();
|
|
272 |
|
|
273 |
//reinit scenarios
|
|
274 |
printf("Reinitializing scenarios!\n");
|
|
275 |
hScenario = setNewScenarioList(hDevice);
|
|
276 |
|
|
277 |
//restart main thread
|
|
278 |
printf("Restarting main thread!\n");
|
|
279 |
pthread_create(&decisionMakingThread,NULL,decisionMakingThread_routine,NULL);
|
|
280 |
|
|
281 |
return 1; //sucess, TODO add fail conditions
|
|
282 |
}
|