When running the simulation in omnet++ 5.7 the execution stops suddenly and closes.
This is the code that is being run in omnet
auto simulation = getSimulation();
for (i = 1; i <= simulation->getLastComponentId(); i++) {
int x, y, id;
//scan the simulation module vector
mod = (cModule*)simulation->getModule(i);
if (strcmp(mod->getName(), "node") == 0) {
id = ((Node*)mod)->myId;
x = ((Node*)mod)->xpos;
y = ((Node*)mod)->ypos;
nodePtr[id] = ((Node*)mod);
if (id != this->myId) {
cGate* g;
char gName1[32], gName2[32];
// make new gate here
if (this->hasGate(gName1)) {
this->gate(gName1)->disconnect();
this->deleteGate(gName1);
}
this->addGate(gName1, cGate::OUTPUT, false);
// make new gate at other side
if (mod->hasGate(gName2)) {
mod->gate(gName2)->disconnect();
mod->deleteGate(gName2);
}
mod->addGate(gName2, omnetpp::cGate::INPUT, false);
//CHANNEL
cIdealChannel* ch = NULL;
this->gate(gName1)->connectTo(mod->gate(gName2), ch);
g = this->gate(gName1);
g->setDisplayString(g->getDisplayString());
}
}
}
I assume that the last line g->setDisplayString(g->getDisplayString()); is probably where the code breaks. The code repeats in the for loop with i<= simulation->getLastComponentId(). I'm new to Omnet++. Any suggestion to fix this would be helpful.
Thanks.
Several things in your code may be source of crashing:
getModule(i) may return nullptr, see OMNeT++ Simulation API, so you should check in the code whether result is not nullptr.
gName1 and gName2 are not set!
Other issues:
instead of (Node*)mod use dynamic_cast<Node*)>(mod) and check whether results is not nullptr.
instead of strcmp(mod->getName(), "node") == 0 I advice using mod->isName("node") - see OMNeT++ Simulation API
if you want to obtain a module whose name is "node", you do not need to manually check the name of every module - there is a useful method getModuleByPath() see OMNeT++ Simulation Manual
Related
its my first time here. My code is suppose to make two ultrasonic sensors function at the same time using an mbed. However, i cant seem to make both classes void us_right() and void us_left() in the code run concurrently. Help please :(
#include "mbed.h"
DigitalOut triggerRight(p9);
DigitalIn echoRight(p10);
DigitalOut triggerLeft(p13);
DigitalIn echoLeft(p14);
//DigitalOut myled(LED1); //monitor trigger
//DigitalOut myled2(LED2); //monitor echo
PwmOut steering(p21);
PwmOut velocity(p22);
int distanceRight = 0, distanceLeft = 0;
int correctionRight = 0, correctionLeft = 0;
Timer sonarRight, sonarLeft;
float vo=0;
// Velocity expects -1 (reverse) to +1 (forward)
void Velocity(float v) {
v=v+1;
if (v>=0 && v<=2) {
if (vo>=1 && v<1) { //
velocity.pulsewidth(0.0014); // this is required to
wait(0.1); //
velocity.pulsewidth(0.0015); // move into reverse
wait(0.1); //
} //
velocity.pulsewidth(v/2000+0.001);
vo=v;
}
}
// Steering expects -1 (left) to +1 (right)
void Steering(float s) {
s=s+1;
if (s>=0 && s<=2) {
steering.pulsewidth(s/2000+0.001);
}
}
void us_right() {
sonarRight.reset();
sonarRight.start();
while (echoRight==2) {};
sonarRight.stop();
correctionRight = sonarLeft.read_us();
triggerRight = 1;
sonarRight.reset();
wait_us(10.0);
triggerRight = 0;
while (echoRight==0) {};
// myled2=echoRight;
sonarRight.start();
while (echoRight==1) {};
sonarRight.stop();
distanceRight = ((sonarRight.read_us()-correctionRight)/58.0);
printf("Distance from Right is: %d cm \n\r",distanceRight);
}
void us_left() {
sonarLeft.reset();
sonarLeft.start();
while (echoLeft==2) {};
sonarLeft.stop();
correctionLeft = sonarLeft.read_us();
triggerLeft = 1;
sonarLeft.reset();
wait_us(10.0);
triggerLeft = 0;
while (echoLeft==0) {};
// myled2=echoLeft;
sonarLeft.start();
while (echoLeft==1) {};
sonarLeft.stop();
distanceLeft = (sonarLeft.read_us()-correctionLeft)/58.0;
printf("Distance from Left is: %d cm \n\r",distanceLeft);
}
int main() {
while(true) {
us_right();
us_left();
}
if (distanceLeft < 10 || distanceRight < 10) {
if (distanceLeft < distanceRight) {
for(int i=0; i>-100; i--) { // Go left
Steering(i/100.0);
wait(0.1);
}
}
if (distanceLeft > distanceRight) {
for(int i=0; i>100; i++) { // Go Right
Steering(i/100.0);
wait(0.1);
}
}
}
wait(0.2);
}
You need to use some mechanism to create new threads or processes. Your implementation is sequential, there is nothing you do that tells the code to run concurrently.
You should take a look at some threads libraries (pthreads for example, or if you have access to c++11, there are thread functionality there) or how to create new processes as well as some kind of message passing interface between these processes.
Create two threads, one for each ultrasonic sensor:
void read_left_sensor() {
while (1) {
// do the reading
wait(0.5f);
}
}
int main() {
Thread left_thread;
left_thread.start(&read_left_sensor);
Thread right_thread;
right_thread.start(&read_right_sensor);
while (1) {
// put your control code for the vehicle here
wait(0.1f);
}
}
You can use global variables to write to when reading the sensor, and read them in your main loop. The memory is shared.
Your first problem is that you have placed code outside of your infinite while(true) loop. This later code will never run. But maybe you know this.
int main() {
while(true) {
us_right();
us_left();
} // <- Loops back to the start of while()
// You Never pass this point!!!
if (distanceLeft < 10 || distanceRight < 10) {
// Do stuff etc.
}
wait(0.2);
}
But, I think you are expecting us_right() and us_left() to happen at exactly the same time. You cannot do that in a sequential environment.
Jan Jongboom is correct in suggesting you could use Threads. This allows the 'OS' to designate time for each piece of code to run. But it is still not truly parallel. Each function (classes are a different thing) will get a chance to run. One will run, and when it is finished (or during a wait) another function will get its chance to run.
As you are using an mbed, I'd suggest that your project is an MBED OS 5 project
(you select this when you start a new project). Otherwise you'll need to use an RTOS library. There is a blinky example using threads that should sum it up well. Here is more info.
Threading can be dangerous for someone without experience. So stick to a simple implementation to start with. Make sure you understand what/why/how you are doing it.
Aside: From a hardware perspective, running ultrasonic sensors in parallel is actually not ideal. They both broadcast the same frequency, and can hear each other. Triggering them at the same time, they interfere with each other.
Imagine two people shouting words in a closed room. If they take turns, it will be obvious what they are saying. If they both shout at the same time, it will be very hard!
So actually, not being able to run in parallel is probably a good thing.
My engine was recently converted to run with SDL2 for input, and video. However, I am having a hard time getting the resolution mode list building working correctly. I did study the Migration Guide for SDL2, as well as heavily research links -- I am not sure how to go about it, several failed attempts later.
So, for starters, I have a file, called i_video.cc, that handles SDL2 video code. 99% of the engine runs in OpenGL, so SDL is only there to initialize the window and set any variables.
So, here was the old way of grabbing resolution into our screen mode class. For reference, the screen mode class is defined in r_modes.cc.
With that said, here is the old SDL1-based code that builds the screen mode list, that I cannot, for the LIFE of me, get running under SDL2. This code starts at line 190 in i_video.cc. For reference, the old code:
// -DS- 2005/06/27 Detect SDL Resolutions
const SDL_VideoInfo *info = SDL_GetVideoInfo();
SDL_Rect **modes = SDL_ListModes(info->vfmt,
SDL_OPENGL | SDL_DOUBLEBUF | SDL_FULLSCREEN);
if (modes && modes != (SDL_Rect **)-1)
{
for (; *modes; modes++)
{
scrmode_c test_mode;
test_mode.width = (*modes)->w;
test_mode.height = (*modes)->h;
test_mode.depth = info->vfmt->BitsPerPixel; // HMMMM ???
test_mode.full = true;
if ((test_mode.width & 15) != 0)
continue;
if (test_mode.depth == 15 || test_mode.depth == 16 ||
test_mode.depth == 24 || test_mode.depth == 32)
{
R_AddResolution(&test_mode);
}
}
}
// -ACB- 2000/03/16 Test for possible windowed resolutions
for (int full = 0; full <= 1; full++)
{
for (int depth = 16; depth <= 32; depth = depth + 16)
{
for (int i = 0; possible_modes[i].w != -1; i++)
{
scrmode_c mode;
mode.width = possible_modes[i].w;
mode.height = possible_modes[i].h;
mode.depth = depth;
mode.full = full;
int got_depth = SDL_VideoModeOK(mode.width, mode.height,
mode.depth, SDL_OPENGL | SDL_DOUBLEBUF |
(mode.full ? SDL_FULLSCREEN : 0));
if (R_DepthIsEquivalent(got_depth, mode.depth))
{
R_AddResolution(&mode);
}
}
}
}
It is commented out, and you can see the SDL2 code above it that sets SDL_CreateWindow. The video is just fine in-game, but without resolution building, we cannot get screen-resolution changes without passing command-line arguments first before the program loads. I wish they left SOME kind of compatibility layer, because it seems SDL2 has a slight learning curve over the way I've always handled this under SDL1.
I know that ListModes and VideoInfo no longer exist, and I've tried replacing them with equivalent SDL2 functions, such as GetDisplayModes, but the code just doesn't work correctly. I am not sure how I'm supposed to do this, or if r_modes.cc just needs to be completely refactored, but all I need it to do is grab a list of video modes to populate my scrmode_c class (in r_modes.cc).
When I try to replace everything with SDL2, I get an invalid cast from SDL_Rect* to SDL_Rect**, so maybe I am just doing this all wrong. Several months I've spent trying to get it working, and it just doesn't want to. I don't care much about setting bits-per-pixel, as modern machines can just default to 24 now and we don't need any reason to set it to 16 or 8 anymore (nowadays, everyone has an OpenGL card that can go above 16-bit BPP) ;)
Any advice, help...anything at this point would be greatly appreciated =)
Thank you!
-Coraline
Use a combination of SDL_GetNumDisplayModes and SDL_GetDisplayMode, then push these back into a vector of SDL_DisplayMode.
std::vector<SDL_DisplayMode> mResolutions;
int display_count = SDL_GetNumVideoDisplays();
SDL_Log("Number of displays: %i", display_count);
for (int display_index = 0; display_index <= display_count; display_index++)
{
SDL_Log("Display %i:", display_index);
int modes_count = SDL_GetNumDisplayModes(display_index);
for (int mode_index = 0; mode_index <= modes_count; mode_index++)
{
SDL_DisplayMode mode = { SDL_PIXELFORMAT_UNKNOWN, 0, 0, 0, 0 };
if (SDL_GetDisplayMode(display_index, mode_index, &mode) == 0)
{
SDL_Log(" %i bpp\t%i x %i # %iHz",
SDL_BITSPERPIXEL(mode.format), mode.w, mode.h, mode.refresh_rate);
mResolutions.push_back(mode);
}
}
}
I have a program which allows the user to play Dominoes against 3 CPU players, with varying difficulty. Each CPU player can be either Beginner, Intermediate or Expert, and each difficulty has it's own class. If I initiate my 3 CPU players at the beginning of my 'Window' class (below), the program runs fine.
In Window.h
public:
Window(QWidget *parent = 0);
Intermediate *cpu1;
Beginner *cpu2;
Intermediate *cpu3;
In Window.cpp
Window::Window(QWidget *parent):QDialog(parent) {
cpu1 = new Intermediate;
cpu2 = new Beginner;
cpu3 = new Intermediate;
}
However I want the user to be able to select the CPU difficulties at the beginning of the game, so I now have a function within 'Window' that creates the objects. As soon as I call this function the game freezes and I get an error message pop up saying telling me the program has ended unexpectedly.
void Window:: startGame(){
cpu1 = new Intermediate;
cpu2 = new Beginner;
cpu3 = new Intermediate;
}
If anyone would be able to explain to me what is going on and what I can do to get around this that would be great.
Intermediate.cpp (Beginner.cpp is almost identical)
#include "intermediate.h"
Intermediate::Intermediate()
{
tilePlaced = false;
skipGo = false;
}
void Intermediate::findDoubles(int a[7][2]){
for(int i = 0; i < 7; i++){ // Creates new doubles list after each go.
doublesList[i] = 0;
}
for(int i = 0; i < 7; i++){ // Creates a list of doubles
if ((a[i][0] == a[i][1]) && (a[i][0] != 7)){
doublesList[a[i][0]] = 1;
}
}
}
bool Intermediate::addDomino(){} // Function that finds best domino to replace and returns bool
if(tilePlaced == false){
pass++;
text += "\nPassed turn";
return false;
}
else{
pass = 0;
text += QString("\nPlaced [%1 : %2]").arg(a).arg(b);
return true;
}
}
One way to start would be to narrow down which class is causing the fault. Does it work if they are all Beginner, or if they are all Intermediate? If so then the other one is causing the problem.
I have a problem caused by this code:
char KernelFS::mount(Partition* part) {
WaitForSingleObject(mutexFS,INFINITE);
int pos;
for(pos=0; pos<26; pos++)
if(mountedPartitions[pos] == 0)
break;
if(pos < 26) {
mountedPartitions[pos] = part;
bitVectors[pos] = new BitVector(part);
fileEvidention[pos] = new ListHandler();
openedFiles[pos] = 0;
forbidOpening[pos] = false;
ReleaseMutex(mutexFS);
return intToChar(pos);
}
else {
ReleaseMutex(mutexFS);
return '0';
}
}
and
char KernelFS::format(char part){
WaitForSingleObject(mutexFS,INFINITE);
forbidOpening[charToInt(part)] = true;
ReleaseMutex(mutexFS);
while(openedFiles[charToInt(part)]>0)
WaitForSingleObject(unmountSem,INFINITE);
WaitForSingleObject(mutexFS,INFINITE);
// write fresh bit vector to cluster 0 of partition
bitVectors[charToInt(part)]->formatBitVector();
openedFiles[charToInt(part)] = 0;
forbidOpening[charToInt(part)] = false;
delete fileEvidention; //!!***!!
fileEvidention[charToInt(part)] = new ListHandler();
// some other stuff, irrelevant
ReleaseMutex(mutexFS);
return 1;
}
There are 3 thread executing, 1 is blocked and two are running through this code;
they first call mount, then format (each has its own argument Partition object, p1 and p2).
The first time mount is called, it always goes through - then there is an assertion failure at random during one of the next calls of mount/format by any of the two running threads.
Usually, it fails during thread 1 - it calls mount(..) completes it, then calls format(...) and fails around:
delete fileEvidention[charToInt(pos)];
(in debug mode, when I reach this instruction, even if I try to go into with F11, there is an assertion failure)
In case it matters... this is the initialization:
char KernelFS::firstLetter = 'A'; // 'A' = 65
Partition* KernelFS::mountedPartitions[26] = {0}; // init. no partitions are mounted
BitVector* KernelFS::bitVectors[26] = {0}; // init. no partitions are mounted
bool KernelFS::forbidOpening[26] = {false};
long KernelFS::openedFiles[26] = {0};
ListHandler* KernelFS::fileEvidention[26] = {0};
HANDLE KernelFS::mutexFS = CreateMutex(0,0,0);
HANDLE KernelFS::unmountSem = CreateSemaphore(0,0,INFINITE,0);
I have never had this error before, I have no idea how to debug this nor what could cause it.
Thanks for the help, in advance.
EDIT:
when i remove the marked line of code (and ignore the memory leak) there is no assertion failure. What is this witchcraft ?
! :)
Solved. should be
delete fileEvidention[charToInt(part)];
......
I'm developing Qt/C++ application and I need simple function that retrive me User idle time in seconds on Mac OS X.
I found this code for detection User idle time.
#include <IOKit/IOKitLib.h>
/**
Returns the number of seconds the machine has been idle or -1 if an error occurs.
The code is compatible with Tiger/10.4 and later (but not iOS).
*/
int64_t SystemIdleTime(void) {
int64_t idlesecs = -1;
io_iterator_t iter = 0;
if (IOServiceGetMatchingServices(kIOMasterPortDefault, IOServiceMatching("IOHIDSystem"), &iter) == KERN_SUCCESS) {
io_registry_entry_t entry = IOIteratorNext(iter);
if (entry) {
CFMutableDictionaryRef dict = NULL;
if (IORegistryEntryCreateCFProperties(entry, &dict, kCFAllocatorDefault, 0) == KERN_SUCCESS) {
CFNumberRef obj = CFDictionaryGetValue(dict, CFSTR("HIDIdleTime"));
if (obj) {
int64_t nanoseconds = 0;
if (CFNumberGetValue(obj, kCFNumberSInt64Type, &nanoseconds)) {
idlesecs = (nanoseconds >> 30); // Divide by 10^9 to convert from nanoseconds to seconds.
}
}
CFRelease(dict);
}
IOObjectRelease(entry);
}
IOObjectRelease(iter);
}
return idlesecs;
}
How to convert this code to C++, to be used with my Qt/C++ project?
You just need to add IOKit.framework in the list of linked frameworks. Think of a framework as a bundle of shared libraries and associated resources. IOKit.framework is at
/System/Library/Frameworks/IOKit.framework
I don't know how to do that in a Qt project; the project should have a list of extra frameworks which you want to link against.
If it's a standard XCode project, there's a menu entry called add a framework to the project or something like that.