172 lines
4.4 KiB
C
172 lines
4.4 KiB
C
/*
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* This file is part of the distribution https://git.mosad.xyz/localhorst/ParallelTrafficRouter_FreeRTOS
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* Copyright (c) 2019 Hendrik Schutter.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, version 3.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "FreeRTOS.h"
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#include "task.h"
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#include "semphr.h"
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#include "demo.h"
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#define SIMULATE_COST
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SemaphoreHandle_t xMutexData;
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void vApplicationMallocFailedHook( void );
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void vApplicationIdleHook( void );
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void vApplicationTickHook( void );
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void search(void* arguments);
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void show(void* arguments);
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int main()
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{
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printf("starting routing ...\n");
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xMutexData = xSemaphoreCreateMutex();
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THREAD_DATA_t* data;
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data = (THREAD_DATA_t*) pvPortMalloc(sizeof(THREAD_DATA_t));
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data->node = getStartNode();
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data->cost = 0;
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data->depth = 0;
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data->predecessors[0] = data->node->id;
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data->bestpath = (BESTPATH_t*) pvPortMalloc(sizeof(BESTPATH_t));
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data->bestpath->lowestCost = -1;
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data->bestpath->depth = 0;
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xTaskCreate(search, "startTask", configMINIMAL_STACK_SIZE, (void*) data, 1, 0);
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xTaskCreate(show, "showTask", configMINIMAL_STACK_SIZE, (void*) data, 0, 0);
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vTaskStartScheduler();
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return 0;
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}
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void search(void* arguments)
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{
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THREAD_DATA_t *data = (THREAD_DATA_t*) arguments;
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printf("Node: %i reached\n", data->node->id);
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#ifdef SIMULATE_COST
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vTaskDelay(((data->cost)*20)/ portTICK_PERIOD_MS); //receive data for route
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#endif
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if(data->node->id == 8) //end node reached
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{
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printf("Route found! Cost: %i\n", data->cost);
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xSemaphoreTake( xMutexData, ( TickType_t ) 1 );
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if((data->bestpath->lowestCost == -1) || (data->bestpath->lowestCost > data->cost))
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//first route found or better route found
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{
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data->bestpath->lowestCost = data->cost;
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data->bestpath->depth = data->depth;
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for(int j = 0; j < data->depth; j++)
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{
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data->bestpath->predecessorsBestPath[j] = data->predecessors[j];
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}
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data->bestpath->predecessorsBestPath[(data->bestpath->depth)] = data->node->id;
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}
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xSemaphoreGive( xMutexData );
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}
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else
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{
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//create new tasks
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for(int i = 0; i < data->node->nodescount; i++)
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{
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THREAD_DATA_t* nextdata;
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nextdata = (THREAD_DATA_t*) pvPortMalloc(sizeof(THREAD_DATA_t));
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//nextdata = (THREAD_DATA_t*) pvPortMalloc(1000000000);
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nextdata->node = (data->node->nodesnext[i]);
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nextdata->bestpath = data->bestpath;
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nextdata->cost = data->node->nodescost[i] + data->cost; //sum up cost
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nextdata->depth = data->depth + 1;
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for(int j = 0; j < data->depth; j++) {
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nextdata->predecessors[j] = data->predecessors[j];
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}
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nextdata->predecessors[((nextdata->depth) - 1)] = data->node->id;
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xTaskCreate(search, "searchTask", configMINIMAL_STACK_SIZE, (void*) nextdata, 2, 0);
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}
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}
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printf("Node: %i exit\n", data->node->id);
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vTaskDelete( NULL );
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}
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void show(void* arguments)
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{
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THREAD_DATA_t *data = (THREAD_DATA_t*) arguments;
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for(;;)
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{
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xSemaphoreTake( xMutexData, ( TickType_t ) 1 );
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if(data->bestpath->lowestCost > -1)
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{
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printf("\nBest route: %i", data->bestpath->predecessorsBestPath[0]);
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for(int i = 1; i <= data->bestpath->depth; i++) {
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printf(" --> %i", data->bestpath->predecessorsBestPath[i]);
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}
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printf("\nWith cost of: %i\n", data->bestpath->lowestCost);
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}
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xSemaphoreGive( xMutexData );
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vTaskDelay(1000 / portTICK_PERIOD_MS); //wait 1sec
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}
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vTaskDelete( NULL );
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}
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void vApplicationMallocFailedHook( void )
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{
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printf("Malloc failed\n");
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}
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void vApplicationIdleHook( void )
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{
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//printf("No tasks to do\n");
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}
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void vApplicationTickHook( void )
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{
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//printf("TickHook\n");
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}
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