Add interactive interval for client

packet-exchange/src/client.c

@@ -60,6 +60,11 @@ typedef struct main_param {
   int verbose;
   int enable_tracing;
   int enable_graph;
+
+  int interval_input;
+  int transition_time;
+  uint64_t target_interval;
+
 } main_param_t;
 
 // Static functions
@@ -113,10 +118,28 @@ 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 void *print_thread(void *p) {
+  (void)p;
+
+  for (;;) {
+    if (thread_params.max_cycles &&
+        nb_cycles >= ((unsigned int)thread_params.max_cycles))
+      break;
+
+    printf("Interval: %10" PRIu64 " Target: %10" PRIu64 "\n", thread_params.interval / 1000, main_params.target_interval);
+    printf("\033[%dA", 1);
+
+    usleep(100000);
+  }
+
+  pthread_exit(NULL);
+}
+
 /*
  * Real-time thread:
  *   - Sends packets at a regular intervall
@@ -128,6 +151,13 @@ static void *packet_sending_thread(void *p) {
   int ret;
   cpu_set_t mask;
 
+  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) {
     CPU_ZERO(&mask);
@@ -225,6 +255,65 @@ 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)) / (MOTOR_STEPS * i_t * i_c);
+        else
+          end_t = (main_params.transition_time * USEC_PER_SEC * USEC_PER_SEC * (i_t - i_c)) / (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;
   }
 
@@ -243,7 +332,7 @@ invalid_ts:
  *  - Handles the IO and creates the real time thread
  */
 int main(int argc, char *argv[]) {
-  pthread_t thread;
+  pthread_t thread, print_pthread;
   struct sched_param param;
   pthread_attr_t attr;
 
@@ -261,6 +350,7 @@ 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;
   enable_etf = 0;
@@ -336,11 +426,23 @@ 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.verbose) {
+    if (main_params.interval_input) {
+      uint64_t user_input;
+      scanf("%" PRIu64, &user_input);
+      if(user_input)
+        main_params.target_interval = user_input;
+    }
+    else if (main_params.verbose) {
       // RTT stats printing
       if (tsn_task == RTT_TASK) {
         // N_CYCLES, RTT min / avg / max
@@ -459,7 +561,7 @@ 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:");
+    int c = getopt(argc, argv, "a:bc:d:e:ghi:l:p:q:r:s:tvTS:U:");
 
     if (c == -1) break;
 
@@ -525,6 +627,10 @@ 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;
     }
   }
 

packet-exchange/src/common.h

@@ -19,7 +19,10 @@
 #include <linux/udp.h>
 #endif
 
+#define MOTOR_STEPS 20000
+
 #define NSEC_PER_SEC UINT64_C(1000000000)
+#define USEC_PER_SEC UINT64_C(1000000)
 #define SERVER_PORT "50000"
 #define SERVER_PORT_INT 50000
 

packet-exchange/src/server.c

@@ -186,9 +186,6 @@ static void *tsn_thread(void *p) {
   cpu_set_t mask;
   char tracemark_message[128];
   
-  uint64_t time_elapsed;
-  uint64_t next_interval;
-
   // Set thread CPU affinity
   if (thread_params.affinity_cpu) {
     CPU_ZERO(&mask);

software-pulse/src/software-pulse.c

@@ -307,9 +307,11 @@ int main(int argc, char *argv[]) {
   if (pthread_create(&thread, &attr, pulse_thread, NULL))
     error(EXIT_FAILURE, errno, "Couldn't create pulse thread");
 
-  // Create the print thread
-  if (pthread_create(&print_pthread, NULL, print_thread, NULL))
-    error(EXIT_FAILURE, errno, "Couldn't create print 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 (;;) {