Remove motor control related features in packet-exchange

src/packet-exchange/src/client.c

@@ -61,10 +61,6 @@ typedef struct main_param {
   int enable_tracing;
   int enable_graph;
 
-  int interval_input;
-  int transition_time;
-  uint64_t target_interval;
-
 } main_param_t;
 
 // Static functions
@@ -107,8 +103,6 @@ static struct timespec measures_start;
 static struct timespec measures_end;
 static char send_data[MAX_BUFFER_SIZE];
 
-static int reverse_motors = 0;
-
 static void help(char *argv[]) {
   printf(
       "Usage: %s [-a CPU -p PRIO -i USEC -r USEC -l N] [-d BUF_LEN | -c "
@@ -130,37 +124,10 @@ static void help(char *argv[]) {
       "       -v                 Verbose\n"
       "       -T                 Enable tracing until deadline is missed\n"
       "       -S                 Enable tracing until threshold is reached\n"
-      "       -U                 Interactive interval change\n"
       "\n",
     argv[0]);
 }
 
-static double i_to_rps(int i) {
-  return ((double)USEC_PER_SEC) / (MOTOR_STEPS * i);
-}
-static int rps_to_i(double rps) {
-  return USEC_PER_SEC / (MOTOR_STEPS * rps);
-}
-
-static void *print_thread(void *p) {
-  (void)p;
-
-  for (;;) {
-    if (thread_params.max_cycles &&
-        nb_cycles >= ((unsigned int)thread_params.max_cycles))
-      break;
-
-    printf("RPS: %5F RPS Target: %5F s/100 RPS %5d\n", i_to_rps(thread_params.interval / 1000),
-                                                       i_to_rps(main_params.target_interval),
-                                                       main_params.transition_time);
-    printf("\033[%dA", 1);
-
-    usleep(100000);
-  }
-
-  pthread_exit(NULL);
-}
-
 /*
  * Real-time thread:
  *   - Sends packets at a regular intervall
@@ -175,9 +142,6 @@ static void *packet_sending_thread(void *p) {
   uint64_t next_increment = 0;
   uint64_t end_t = 0;
   uint64_t cur_t = 0;
-  uint64_t i_t = 0;
-  uint64_t i_s = thread_params.interval / 1000;
-  uint64_t i_c = thread_params.interval / 1000;
 
   // Set thread CPU affinity
   if (thread_params.affinity_cpu != -1) {
@@ -254,12 +218,6 @@ static void *packet_sending_thread(void *p) {
     if (thread_params.enable_send_ts) {
       tx_data = next.tv_sec * NSEC_PER_SEC + next.tv_nsec;
       tx_data += thread_params.send_ts_delay;
-
-      if(reverse_motors) {
-        reverse_motors = 0;
-        tx_data = 17;
-      }
-
     }
 
     // Update statistics
@@ -284,65 +242,6 @@ static void *packet_sending_thread(void *p) {
       }
     }
 
-    if(main_params.interval_input && (thread_params.interval != (main_params.target_interval * 1000))) {
-
-      i_c = thread_params.interval / 1000;
-
-      // If target interval changed
-      if(i_t != main_params.target_interval) {
-
-        i_t = main_params.target_interval;
-        i_s = i_c;
-        cur_t = 0;
-        next_increment = 0;
-
-        if(i_t < i_s)
-          end_t = (main_params.transition_time * USEC_PER_SEC * USEC_PER_SEC * (i_c - i_t)) / (100 * MOTOR_STEPS * i_t * i_c);
-        else
-          end_t = (main_params.transition_time * USEC_PER_SEC * USEC_PER_SEC * (i_t - i_c)) / (100 * MOTOR_STEPS * i_t * i_c);
-
-      }
-
-      if(next_increment) {
-        if(cur_t > next_increment) {
-          i_c += i_t < i_s ? -1 : 1;
-          next_increment = 0;
-        }
-      } else {
-        uint64_t next_i = i_t < i_s ? i_c - 1 : i_c + 1;
-        // Compute time at which we will need to increment / decrement the interval
-
-        if(i_t < i_s)
-          next_increment = (end_t * i_t * (i_s - next_i)) / ((i_s - i_t) * next_i);
-        else
-          next_increment = (end_t * i_t * (next_i - i_s)) / ((i_t - i_s) * next_i);
-
-        // If next increment time is before next interval
-        if(next_increment < cur_t + i_c) {
-          if(i_t < i_s) {
-            i_c = (i_t * i_s * end_t) / ((i_s - i_t) * (cur_t + i_c) + end_t * i_t);
-            i_c = i_c < i_t ? i_t : i_c;
-          }
-          else {
-            i_c = (i_t * i_s * end_t) / (end_t * i_t - (i_t - i_s) * (cur_t + i_c));
-            i_c = i_c > i_t ? i_t : i_c;
-          }
-          next_increment = 0;
-        }
-      }
-
-      cur_t += i_c;
-      if(i_c < 50) {
-        fprintf(stderr, "Interval too small, exiting..\n");
-        exit(EXIT_FAILURE);
-      }
-      if(i_c > USEC_PER_SEC) {
-        fprintf(stderr, "Interval too big, exiting..\n");
-        exit(EXIT_FAILURE);
-      }
-      thread_params.interval = i_c * 1000;
-    }
-
     previous = current;
   }
 
@@ -355,28 +254,6 @@ invalid_ts:
   exit(EXIT_FAILURE);
 }
 
-static void motor_input(void) {
-
-  char user_input[255];
-  int v;
-  scanf("%s", user_input);
-  switch(user_input[0]) {
-    case 'a':
-      v = atoi(user_input + 1);
-      if(v)
-        main_params.transition_time = v;
-      break;
-    case 'r':
-      reverse_motors = 1;
-      break;
-    default:
-      v = rps_to_i(strtod(user_input, NULL));
-      if(v)
-        main_params.target_interval = v;
-      break;
-  }
-}
-
 /*
  * Main thread:
  *  - Has non-real time priority
@@ -401,7 +278,6 @@ int main(int argc, char *argv[]) {
   main_params.verbose = 0;
   main_params.enable_tracing = 0;
   main_params.enable_graph = 0;
-  main_params.interval_input = 0;
   egress_params.packet_priority = 3;
   egress_params.tx_buffer_len = 1024;
   egress_params2.packet_priority = 3;
@@ -421,8 +297,6 @@ int main(int argc, char *argv[]) {
   // Process bash options
   process_options(argc, argv);
 
-  main_params.target_interval = thread_params.interval / 1000;
-
   set_latency_target();
 
   egress_params.use_etf = enable_etf;
@@ -490,22 +364,11 @@ int main(int argc, char *argv[]) {
   if (pthread_create(&thread, &attr, packet_sending_thread, NULL))
     error(EXIT_FAILURE, errno, "Couldn't create packet sending thread");
 
-  if(main_params.interval_input) {
-    // Create the print thread
-    if (pthread_create(&print_pthread, NULL, print_thread, NULL))
-      error(EXIT_FAILURE, errno, "Couldn't create print thread");
-  }
-
   // Verbose loop
   for (;;) {
     usleep(main_params.refresh_rate);
 
-    if (main_params.interval_input) {
-
-      motor_input();
-
-    }
-    else if (main_params.verbose) {
+    if (main_params.verbose) {
       // RTT stats printing
       if (tsn_task == RTT_TASK) {
         // N_CYCLES, RTT min / avg / max
@@ -626,7 +489,7 @@ static void sighand(int sig_num) {
 */
 static void process_options(int argc, char *argv[]) {
   for (;;) {
-    int c = getopt(argc, argv, "a:bc:d:e:ghi:l:p:q:r:s:tvTS:U:");
+    int c = getopt(argc, argv, "a:bc:d:e:ghi:l:p:q:r:s:tvTS:");
 
     if (c == -1) break;
 
@@ -692,10 +555,6 @@ static void process_options(int argc, char *argv[]) {
         thread_params.enable_threshold_tracing = 1;
         thread_params.threshold = atoi(optarg);
         break;
-      case 'U':
-        main_params.interval_input = 1;
-        main_params.transition_time = atoi(optarg);
-        break;
     }
   }