[167] | 1 | #include <stdio.h> |
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| 2 | #include <pthread.h> |
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| 3 | #include <mpi.h> |
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| 4 | #include "constants.h" |
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| 5 | #include "Master.h" |
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| 6 | #include "Environment.h" |
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| 7 | #include "BulletObject.h" |
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| 8 | #include "SimpleAgent.h" |
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| 9 | |
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| 10 | #ifndef USE_REMOTE_GUI |
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| 11 | #define USE_REMOTE_GUI 0 |
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| 12 | #endif |
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| 13 | |
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| 14 | #if USE_REMOTE_GUI |
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| 15 | #include "RemoteGui.h" |
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| 16 | #else |
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| 17 | #include "LocalGui.h" |
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| 18 | #endif |
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| 19 | |
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| 20 | typedef struct { |
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| 21 | int argc; |
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| 22 | char **argv; |
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| 23 | Environment *env; |
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| 24 | } threadParam; |
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| 25 | |
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| 26 | int rank, nprocs = MAX_PROCS; |
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| 27 | MPI_Status status; |
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| 28 | Master *master; |
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| 29 | |
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| 30 | pthread_t guiThread, masterThread; |
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| 31 | |
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| 32 | void cleanup() |
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| 33 | { |
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| 34 | while (!master) ; |
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| 35 | master->stop(); |
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| 36 | while (1) ; |
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| 37 | } |
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| 38 | |
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| 39 | void *guiThreadCode(void *args) |
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| 40 | { |
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| 41 | threadParam *param = (threadParam*) args; |
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| 42 | |
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| 43 | char **argv = param->argv; |
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| 44 | int argc = param->argc; |
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| 45 | Environment *env = param->env; |
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| 46 | |
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| 47 | #if USE_REMOTE_GUI |
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| 48 | if (argc != 2) { |
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| 49 | fprintf(stderr, "Usage: %s <port>\n", argv[0]); |
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| 50 | cleanup(); |
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| 51 | return NULL; |
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| 52 | } |
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| 53 | |
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| 54 | RemoteGui *rg = new RemoteGui(env); |
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| 55 | rg->init(atoi(param->argv[1])); |
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| 56 | rg->run(); |
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| 57 | |
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| 58 | cleanup(); |
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| 59 | |
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| 60 | #else |
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| 61 | atexit(cleanup); |
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| 62 | int ret = glutmain(argc, argv, env); |
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| 63 | |
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| 64 | if(ret < 0) { |
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| 65 | fprintf(stderr, "Error creating LocalGui\n"); |
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| 66 | cleanup(); |
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| 67 | return NULL; |
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| 68 | } |
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| 69 | #endif |
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| 70 | |
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| 71 | return NULL; |
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| 72 | } |
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| 73 | |
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| 74 | static void runMaster(int argc, char **argv) { |
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| 75 | /// Initialize the virtual world environment |
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| 76 | Environment *env = new Environment(); |
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| 77 | |
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| 78 | env->setupEnvironment(); |
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| 79 | env->createMagicCarpet(WIDTH, HEIGHT); |
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| 80 | |
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| 81 | /// Pack gui-thread parameters in structure |
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| 82 | threadParam param; |
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| 83 | param.argv = argv; |
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| 84 | param.argc = argc; |
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| 85 | param.env = env; |
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| 86 | |
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| 87 | /// Run pthread for gui object |
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| 88 | pthread_create(&guiThread, NULL, guiThreadCode, ¶m); |
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| 89 | |
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| 90 | master = new Master(env, nprocs); |
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| 91 | master->discoverAgents(); |
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| 92 | master->createProviders(); |
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| 93 | master->sendAll(); |
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| 94 | |
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| 95 | MPI_Barrier(MPI_COMM_WORLD); |
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| 96 | |
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| 97 | master->run(); |
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| 98 | } |
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| 99 | |
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| 100 | static void runSlave() |
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| 101 | { |
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| 102 | int size; |
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| 103 | vector<Sensor *> sensorList; |
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| 104 | vector<Actuator *> actuatorList; |
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| 105 | vector<CommChannel *> channelList; |
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| 106 | |
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| 107 | MPI_Comm_rank(MPI_COMM_WORLD, &rank); |
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| 108 | |
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| 109 | // send hello-message: mpi-thread rank |
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| 110 | MPI_Send(&rank, 1, MPI_INT, MASTER_ID, HELLO_MSG, MPI_COMM_WORLD); |
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| 111 | |
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| 112 | // wait to receive from master the number of channels to be created |
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| 113 | MPI_Recv(&size, 1, MPI_INT, 0, CHANNEL_MSG, MPI_COMM_WORLD, &status); |
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| 114 | |
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| 115 | // allocate buffer |
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| 116 | int intSize, floatSize; |
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| 117 | MPI_Pack_size(1, MPI_INT, MPI_COMM_WORLD, &intSize); |
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| 118 | MPI_Pack_size(1, MPI_FLOAT, MPI_COMM_WORLD, &floatSize); |
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| 119 | |
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| 120 | int bufSize = size * (4 * intSize + 3 * floatSize); |
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| 121 | char *buffer = (char*) malloc(bufSize); |
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| 122 | |
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| 123 | // wait to receive the list of channels parameters |
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| 124 | MPI_Recv(buffer, bufSize, MPI_PACKED, 0, CHANNEL_MSG, MPI_COMM_WORLD, &status); |
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| 125 | |
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| 126 | // debug info |
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| 127 | int n_sensors=0, n_actuators=0, n_channels=0; |
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| 128 | int i; |
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| 129 | int position = 0; |
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| 130 | |
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| 131 | //printf("RECV : %d - ", rank); |
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| 132 | for(i = 0; i < size; i++) |
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| 133 | { |
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| 134 | Sensor *x; |
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| 135 | Actuator *y; |
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| 136 | CommChannel *z; |
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| 137 | Channel *channel; |
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| 138 | channelData cparam; |
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| 139 | |
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| 140 | MPI_Unpack(buffer, bufSize, &position, &cparam.tag, 1, MPI_INT, MPI_COMM_WORLD); |
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| 141 | MPI_Unpack(buffer, bufSize, &position, &cparam.type, 1, MPI_INT, MPI_COMM_WORLD); |
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| 142 | MPI_Unpack(buffer, bufSize, &position, &cparam.orient, 1, MPI_INT, MPI_COMM_WORLD); |
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| 143 | MPI_Unpack(buffer, bufSize, &position, &cparam.dest, 1, MPI_INT, MPI_COMM_WORLD); |
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| 144 | MPI_Unpack(buffer, bufSize, &position, &cparam.minAngle, 1, MPI_FLOAT, MPI_COMM_WORLD); |
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| 145 | MPI_Unpack(buffer, bufSize, &position, &cparam.maxAngle, 1, MPI_FLOAT, MPI_COMM_WORLD); |
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| 146 | MPI_Unpack(buffer, bufSize, &position, &cparam.angle, 1, MPI_FLOAT, MPI_COMM_WORLD); |
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| 147 | |
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| 148 | //printf("%d ", cparam.tag); |
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| 149 | switch(cparam.type) { |
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| 150 | case SENSOR: |
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| 151 | channel = new MPIChannel(status.MPI_SOURCE, cparam.tag, MPI_COMM_WORLD); |
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| 152 | x = new Sensor(channel, &cparam); |
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| 153 | sensorList.push_back(x); |
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| 154 | n_sensors++; |
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| 155 | break; |
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| 156 | case ACTUATOR: |
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| 157 | channel = new MPIChannel(status.MPI_SOURCE, cparam.tag, MPI_COMM_WORLD); |
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| 158 | y = new Actuator(channel, &cparam); |
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| 159 | actuatorList.push_back(y); |
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| 160 | n_actuators++; |
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| 161 | break; |
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| 162 | case COMM_CHANNEL: |
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| 163 | channel = new MPIChannel(cparam.dest, cparam.tag, MPI_COMM_WORLD); |
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| 164 | z = new CommChannel(channel, cparam.orient); |
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| 165 | channelList.push_back(z); |
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| 166 | n_channels++; |
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| 167 | break; |
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| 168 | default: break; |
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| 169 | } |
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| 170 | } |
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| 171 | |
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| 172 | SimpleAgent *agent = new SimpleAgent(sensorList, actuatorList, channelList); |
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| 173 | |
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| 174 | int ret; |
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| 175 | MPI_Recv(&ret, 1, MPI_INT, 0, CHANNEL_MSG, MPI_COMM_WORLD, &status); |
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| 176 | printf("Agent %d [%d] is running with %d sensors, %d actuators and %d channels\n", rank, ret, n_sensors, n_actuators, n_channels); |
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| 177 | |
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| 178 | MPI_Barrier(MPI_COMM_WORLD); |
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| 179 | |
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| 180 | agent->run(); |
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| 181 | } |
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| 182 | |
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| 183 | |
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| 184 | int main(int argc, char **argv) |
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| 185 | { |
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| 186 | /// MPI initial stuff |
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| 187 | MPI_Init(&argc, &argv); |
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| 188 | MPI_Comm_size(MPI_COMM_WORLD, &nprocs); |
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| 189 | MPI_Comm_rank(MPI_COMM_WORLD, &rank); |
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| 190 | |
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| 191 | /// Distribute the tasks |
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| 192 | if(rank == MASTER_ID) { |
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| 193 | printf("Starting SimeoEngine....\n"); |
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| 194 | runMaster(argc, argv); |
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| 195 | } else { |
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| 196 | runSlave(); |
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| 197 | } |
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| 198 | |
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| 199 | MPI_Finalize(); |
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| 200 | |
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| 201 | return 0; |
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| 202 | } |
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| 203 | |
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| 204 | |
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