From be1b9d6031a3ab632dbfd0fb627a81aace2d24a0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Hugo=20H=C3=B6rnquist?= <hugho389@student.liu.se>
Date: Mon, 21 Nov 2022 16:50:25 +0100
Subject: [PATCH] Random task select.
---
robot_agent/src/scheduler.c | 108 ++++++++++++++++++++++++++++++------
1 file changed, 90 insertions(+), 18 deletions(-)
diff --git a/robot_agent/src/scheduler.c b/robot_agent/src/scheduler.c
index 266c9bc..8ad478e 100644
--- a/robot_agent/src/scheduler.c
+++ b/robot_agent/src/scheduler.c
@@ -14,12 +14,14 @@
#include <stdlib.h>
#include <sys/time.h>
#include <unistd.h>
+#include <locale.h>
+#include <limits.h>
+#include <sys/stat.h>
/* project libraries */
#include "scheduler.h"
#include "task.h"
#include "timelib.h"
-#include <locale.h>
/* -- Defines -- */
@@ -129,6 +131,51 @@ void scheduler_exec_task(scheduler_t *ces, int task_id)
}
}
+
+
+const char *const task_names[] = {
+ [s_TASK_NOP_ID] = "NOP",
+ [s_TASK_MISSION_ID] = "MISSION",
+ [s_TASK_NAVIGATE_ID] = "NAVIGATE",
+ [s_TASK_CONTROL_ID] = "CONTROL",
+ [s_TASK_REFINE_ID] = "REFINE",
+ [s_TASK_REPORT_ID] = "REPORT",
+ [s_TASK_COMMUNICATE_ID] = "COMMUNICATE",
+ [s_TASK_AVOID_ID] = "AVOID",
+};
+
+/* Select by commenting and uncommenting here */
+int const tasks[] = {
+ // s_TASK_NOP_ID,
+ s_TASK_MISSION_ID,
+ s_TASK_NAVIGATE_ID,
+ s_TASK_CONTROL_ID,
+ s_TASK_REFINE_ID,
+ s_TASK_REPORT_ID,
+ s_TASK_COMMUNICATE_ID,
+ // s_TASK_AVOID_ID,
+};
+size_t task_count = sizeof tasks / sizeof(int);
+
+#define DO(x) \
+ start = timelib_unix_timestamp(); \
+ for (int i = 0; i < 1; i++) { \
+ scheduler_exec_task(ces, (x)); \
+ } \
+ end = timelib_unix_timestamp(); \
+ printf(";%.9f\n", end - start, (end - start) / 1000.);
+
+
+FILE *logfiles[255] = { 0 };
+
+void close_files (void) {
+ for (int i = 0; i < task_count; i++) {
+ if (logfiles[i]) {
+ fclose(logfiles[i]);
+ }
+ }
+}
+
/**
* Run scheduler
* @param ces Pointer to scheduler structure
@@ -137,6 +184,20 @@ void scheduler_exec_task(scheduler_t *ces, int task_id)
void scheduler_run(scheduler_t *ces)
{
/* --- Local variables (define variables here) --- */
+ {
+ char *filename = malloc(PATH_MAX);
+ mkdir("/tmp/log", 0777);
+ for (int i = 0; i < task_count; i++) {
+ filename[0] = '\0';
+ strcat(filename, "/tmp/log/");
+ strcat(filename, task_names[tasks[i]]);
+ strcat(filename, ".csv");
+ logfiles[i] = fopen(filename, "w");
+ }
+ free(filename);
+ }
+
+ atexit(close_files);
/* --- Set minor cycle period --- */
ces->minor = 100;
@@ -146,24 +207,35 @@ void scheduler_run(scheduler_t *ces)
setlocale(LC_NUMERIC, "sv_SE.UTF-8");
double start, end;
-#define DO(x) \
- start = timelib_unix_timestamp(); \
- for (int i = 0; i < 100; i++) { \
- scheduler_exec_task(ces, (x)); \
- } \
- end = timelib_unix_timestamp(); \
- printf(";%.9f\n", end - start, (end - start) / 1000.);
-
#if 1
- for (int j = 0; j < 100; j++) {
- printf("Run %d\n", j);
- DO(s_TASK_MISSION_ID); // 0.0005ms
- DO(s_TASK_NAVIGATE_ID); // 0.1ms
- DO(s_TASK_CONTROL_ID); // 0.6ms
- DO(s_TASK_REFINE_ID); // 10ms
- DO(s_TASK_REPORT_ID); // 0.00005ms
- DO(s_TASK_COMMUNICATE_ID); // 1.7ms
- DO(s_TASK_AVOID_ID); // 32ms
+ // printf("Collection loops;Communication time (ms)\n");
+ for (int i = 0; i < task_count; i++) {
+ fprintf(logfiles[i], "Cycle;Task;Runcount;Victims;Time\n");
+ }
+ for (int j = 0;; j++) {
+
+ if (j % 10 == 0/* timer_something */) {
+ printf("Avoiding\n");
+ scheduler_exec_task(ces, s_TASK_AVOID_ID);
+ }
+
+ start = timelib_unix_timestamp();
+ int selected_task = random() % task_count;
+ int runcount = random() % 10;
+
+ for (int i = 0; i < runcount; i++) {
+ scheduler_exec_task(ces, tasks[selected_task]);
+ }
+
+ end = timelib_unix_timestamp();
+ fprintf(logfiles[selected_task], "%d;%s;%d;%d;%.9f\n",
+ j,
+ task_names[selected_task],
+ runcount,
+ g_task_mission_data.victim_count,
+ end - start);
+
+ usleep(1e6 * 1./100);
}
// sum = 45ms
--
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