From cd34adc2a0832b6eec942ea19633deb00dd00e12 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Mon, 11 Oct 2021 16:54:55 +0200
Subject: [PATCH] Continue to test things
---
include/qrw/MpcWrapper.hpp | 4 +--
src/Controller.cpp | 6 ++--
src/MpcWrapper.cpp | 64 ++++++++++++++++++++------------------
3 files changed, 39 insertions(+), 35 deletions(-)
diff --git a/include/qrw/MpcWrapper.hpp b/include/qrw/MpcWrapper.hpp
index b043b632..7f925f92 100644
--- a/include/qrw/MpcWrapper.hpp
+++ b/include/qrw/MpcWrapper.hpp
@@ -66,14 +66,14 @@ class MpcWrapper {
void run_MPC_asynchronous(int k, MatrixN const& xref, MatrixN const& fsteps);
void create_MPC_asynchronous();
- //static int check_memory();
+ // int check_memory();
private:
Params* params_;
MPC mpc_;
- // shared_memory_object shm (boost::interprocess::create_only, "MySharedMemory", boost::interprocess::read_write);
+ // shared_memory_object shm (boost::interprocess::create_only, "SharedMemory", boost::interprocess::read_write);
// mapped_region region;
bi::managed_shared_memory segment;
diff --git a/src/Controller.cpp b/src/Controller.cpp
index a1b1fcf6..924f37bb 100644
--- a/src/Controller.cpp
+++ b/src/Controller.cpp
@@ -21,13 +21,13 @@ Controller::Controller()
xgoals(Vector12::Zero())
{
namespace bi = boost::interprocess;
- bi::shared_memory_object::remove("MySharedMemory");
+ bi::shared_memory_object::remove("SharedMemory");
/*//Remove shared memory on construction and destruction
struct shm_remove
{
- shm_remove() { bi::shared_memory_object::remove("MySharedMemory"); }
- ~shm_remove(){ bi::shared_memory_object::remove("MySharedMemory"); }
+ shm_remove() { bi::shared_memory_object::remove("SharedMemory"); }
+ ~shm_remove(){ bi::shared_memory_object::remove("SharedMemory"); }
} remover;*/
}
diff --git a/src/MpcWrapper.cpp b/src/MpcWrapper.cpp
index b558e39d..8a4e03a8 100644
--- a/src/MpcWrapper.cpp
+++ b/src/MpcWrapper.cpp
@@ -1,19 +1,19 @@
#include "qrw/MpcWrapper.hpp"
-// bi::managed_shared_memory MpcWrapper::segment = bi::managed_shared_memory(bi::open_or_create, "MySharedMemory", 5000);
+// bi::managed_shared_memory MpcWrapper::segment = bi::managed_shared_memory(bi::open_or_create, "SharedMemory", 5000);
MpcWrapper::MpcWrapper()
: test(0),
last_available_result(Eigen::Matrix<double, 24, 2>::Zero()),
gait_past(Matrix14::Zero()),
gait_next(Matrix14::Zero()),
- segment(bi::open_or_create, "MySharedMemory", 1000) {}
+ segment(bi::open_or_create, "SharedMemory", 1000) {}
-/*int check_memory(bi::managed_shared_memory &segment)
+int check_memory()
{
- /
+ /*
//Open already created shared memory object.
- shared_memory_object shm_parallel(open_only, "MySharedMemory", read_only);
+ shared_memory_object shm_parallel(open_only, "SharedMemory", read_only);
//Map the whole shared memory in this process
mapped_region region_parallel(shm_parallel, read_only);
@@ -28,29 +28,30 @@ MpcWrapper::MpcWrapper()
printf("NO ERROR DETECTED\n");
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
- return 0;/
+ return 0;
+ */
printf("PASS\n");
- std::pair<int*, std::size_t> test0 = segment.find<int>("shared_k");
- std::pair<MatrixN*, std::size_t> test1 = segment.find<MatrixN>("shared_xref");
- std::pair<MatrixN*, std::size_t> test2 = segment->find<MatrixN>("shared_fsteps");
- while (true)
- {
- std::cout << "shared_k: " << std::endl << *(test0.first) << std::endl;
- std::cout << "shared_xref: " << std::endl << *(test1.first) << std::endl;
- std::cout << "shared_fsteps: " << std::endl << *(test2.first) << std::endl;
- /int* test0 = segment.find_or_construct<int>("shared_k");
+
+ bi::managed_shared_memory segment_parallel(bi::open_only, "SharedMemory");
+ std::pair<int*, std::size_t> test0 = segment_parallel.find<int>("shared_k");
+ //std::pair<MatrixN*, std::size_t> test1 = segment_parallel.find<MatrixN>("shared_xref");
+ //std::pair<MatrixN*, std::size_t> test2 = segment_parallel.find<MatrixN>("shared_fsteps");
+ //while (true)
+ //{
+ // std::this_thread::sleep_for(std::chrono::milliseconds(500));
+ // std::cout << "shared_k: " << std::endl << *(test0.first) << std::endl;
+ //std::cout << "shared_xref: " << std::endl << *(test1.first) << std::endl;
+ //std::cout << "shared_fsteps: " << std::endl << *(test2.first) << std::endl;
+ /*int* test0 = segment.find_or_construct<int>("shared_k");
MatrixN* test1 = segment.find_or_construct<MatrixN>("shared_xref");
MatrixN* test2 = segment.find_or_construct<MatrixN>("shared_fsteps");
std::cout << "shared_k: " << std::endl << test0 << std::endl;
std::cout << "shared_xref: " << std::endl << test1 << std::endl;
- std::cout << "shared_fsteps: " << std::endl << test2 << std::endl;/
-
- std::this_thread::sleep_for(std::chrono::milliseconds(500));
- }
+ std::cout << "shared_fsteps: " << std::endl << test2 << std::endl;*/
+ //}
return 0;
-
-}*/
+}
void MpcWrapper::initialize(Params& params) {
@@ -62,20 +63,20 @@ void MpcWrapper::initialize(Params& params) {
last_available_result.col(0).tail(12) = (Vector3(0.0, 0.0, 8.0)).replicate<4, 1>();
// Initialization of the shared memory
- // shared_k = segment.construct<int>("shared_k") ();
- // shared_xref = segment.construct<MatrixN>("shared_xref") (12, params.gait.rows() + 1);
- // shared_fsteps = segment.construct<MatrixN>("shared_fsteps") (params.gait.rows(), 12);
+ shared_k = segment.construct<int>("shared_k") (42);
+ /*shared_xref = segment.construct<MatrixN>("shared_xref") (12, params.gait.rows() + 1);
+ shared_fsteps = segment.construct<MatrixN>("shared_fsteps") (params.gait.rows(), 12);*/
// Initialization of shared memory
// Remove shared memory on construction and destruction
/*struct shm_remove
{
- shm_remove() { shared_memory_object::remove("MySharedMemory"); }
- ~shm_remove(){ shared_memory_object::remove("MySharedMemory"); }
+ shm_remove() { shared_memory_object::remove("SharedMemory"); }
+ ~shm_remove(){ shared_memory_object::remove("SharedMemory"); }
} remover;*/
// Create a shared memory object.
- /*bi::shared_memory_object shm (bi::create_only, "MySharedMemory", bi::read_write);
+ /*bi::shared_memory_object shm (bi::create_only, "SharedMemory", bi::read_write);
// Set size
shm.truncate(500);
@@ -86,9 +87,12 @@ void MpcWrapper::initialize(Params& params) {
// Write all the memory to 1
std::memset(region.get_address(), 1, region.get_size());*/
- // std::thread checking_thread(check_memory, segment); // spawn new thread that calls check_memory()
+ std::thread checking_thread(check_memory); // spawn new thread that calls check_memory()
// checking_thread.join();
+ //std::pair<int*, std::size_t> test0 = segment.find<int>("shared_k");
+ // std::cout << "shared_k: " << std::endl << *(test0.first) << std::endl;
+
}
void MpcWrapper::solve(int k, MatrixN const& xref, MatrixN const& fsteps,
@@ -96,11 +100,11 @@ void MpcWrapper::solve(int k, MatrixN const& xref, MatrixN const& fsteps,
std::cout << "Pass mpcWrapper" << std::endl;
- std::cout << "SIZES" << std::endl;
+ /*std::cout << "SIZES" << std::endl;
std::cout << sizeof((int)5) << std::endl;
std::cout << sizeof(MatrixN::Zero(12, params_->gait.rows() + 1)) << std::endl;
std::cout << sizeof(MatrixN::Zero(params_->gait.rows(), 12)) << std::endl;
- std::cout << params_->gait << std::endl;
+ std::cout << params_->gait << std::endl;*/
// std::thread checking_thread(check_memory); // spawn new thread that calls check_memory()
// checking_thread.join();
--
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