Add functionalities to save to save profiling data, change the way the name is generated

include/blc_command.h

@@ -28,22 +28,22 @@ Few functions helping for pseudo realtime applications.
 
 #include "blc_tools.h"
 
-
-#define BLC_COMMAND_LOOP_THREAD() for(blc_command_loop_init(-2); blc_command_loop_start();blc_command_loop_end())
-
 /**
- 0 for system as fast as possible, -1 for blocking on keyborad.
+ period in microseconds
+ 0 for system as fast as possible, -1 for blocking on keyborad, -2 blocking after first iteration.
  Warning the period can be till 10ms longer than, asked. Problem of usleep/nano sleep */
 #define BLC_COMMAND_LOOP(period) for(blc_command_loop_init(period); blc_command_loop_start();blc_command_loop_end())
 
-
-typedef enum {BLC_QUIT=0, BLC_RUN, BLC_PAUSE} type_blc_status;
+typedef enum {BLC_QUIT=0, BLC_RUN, BLC_PAUSE, BLC_STEPS} type_blc_status;
 typedef void (*type_blc_command_cb)(char const *argument, void *user_data);
 
 extern int blc_input_terminal, blc_output_terminal;
 extern type_blc_status blc_status;
-extern int blc_loop_iteration;
+extern uint64_t blc_loop_iteration;
+extern uint64_t blc_loop_iteration_limit;
 extern long blc_command_loop_period;
+extern FILE *blc_profile_file;
+
 
 START_EXTERN_C
 
@@ -58,6 +58,9 @@ void pause_cb();
 ///Add a command in the list of possible command lines from the user.
 void blc_command_add(const char *command_name, type_blc_command_cb callback, const char *prompt, const char *help, void *user_data);
 
+///Remove a previously added command
+void blc_command_remove(const char *command_name);
+
 ///Interpret the command passed in string.
 void blc_command_interpret_string(char const *input_string, size_t size);
 
@@ -98,7 +101,10 @@ void blc_loop_add_posting_semaphore(void *semaphore);
 /**The loop willt start only once the waiting_callback callback will be executed. 
  The waiting time does not count is the loop timing*/
 void blc_loop_add_waiting_callback( void(*waiting_callback)(void*), void *user_data);
-/// Loop period in ms. If loop period = BLC_LOOP_NON_STOP the system is as fast as possible, if it is BLC_LOOP_BLOCK , it is command with return on stdin. If itis BLC_LLOP_THREAD it starts a parrallel thread to interpret command. In this latter case do not use stdin yourself.
+/** Loop period in ms.
+- 0 the system is as fast as possible
+- -1 it blocks on keyboard
+- -2 it blocks on keyboard after a first iteration*/
 void blc_command_loop_init(long loop_period);
 int blc_command_loop_start();
 void blc_command_loop_end();

include/blc_program.h

@@ -29,20 +29,8 @@
 #include "blc_core.h"
 #include "blc_command.h"
 
-
 START_EXTERN_C
 
-///Add an argument to the list argv of arguments. Add eventually a value as well.
-void blc_add_arg( int *argc, char ***argv, char const *arg, char const *value);
-
-///Allocate and fill a command line with the array of argument. The array must be terminated by a NULL argument and must the returned command line me be freed after use.
-///It does not handle spaces in argument !!!
-char *blc_create_command_line_from_argv(char const *const *argv);
-
-///Allocate and fill an array of argument by spiting the command_line. The array is terminated by a NULL argument and it must be freed after used.
-///It does not handle spaces in argument !!!
-char * const*blc_create_argv_from_command_line(char const *command_line);
-
 ///Set the desciption of the program used for help. A copy of desciption is done (strdup).
 void blc_program_set_description(char const *description);
 

src/blc_command.cpp

@@ -102,6 +102,18 @@ void blc_command_add(const char *command_name, type_blc_command_cb callback, con
     APPEND_ITEM(&blc_commands, &blc_commands_nb, &tmp_command);
 }
 
+
+void blc_command_remove(const char *command_name){
+    int i;
+    
+    FOR_INV(i, blc_commands_nb){
+        if (strcmp(blc_commands[i].name, command_name) == 0) break;
+    }
+    if (i==-1) EXIT_ON_ERROR("You try to remove a command '%s' that does not exist", command_name);
+
+    REMOVE_ITEM(&blc_commands, &blc_commands_nb, i);
+}
+
 void blc_command_interpret_string(char const *input_string, size_t size){
     char const*parameter;
     char *parameter2;
@@ -110,7 +122,7 @@ void blc_command_interpret_string(char const *input_string, size_t size){
     const blc_command *command;
     size_t name_size, line_capability=0;
     
-    FOR_EACH_INV(command, blc_commands, blc_commands_nb){
+    FOR_EACH(command, blc_commands, blc_commands_nb){
         name_size = strlen(command->name);
         if (strncmp(command->name, input_string, name_size) == 0){
             parameter = input_string + name_size;
@@ -122,19 +134,26 @@ void blc_command_interpret_string(char const *input_string, size_t size){
                     parameter2_size = getline(&parameter2, &line_capability, stdin)-1;
                     parameter2[parameter2_size]=0;
                 }
-                if (command->callback) command->callback(parameter2, command->user_data); //In which callback is NULL ??
+                if (command->callback == NULL) EXIT_ON_ERROR("Command callback is NULL for command '%s'", command->name);
+                command->callback(parameter2, command->user_data);
                 FREE(parameter2);
                 line_capability=0;
-                break;
+                break; //Command has been found
             }
             else{
-                if ((command->prompt != NULL) && (command->prompt[0]!='|')) continue; // If we do not wait for parameter, the command must be exact.
-                else command->callback(parameter, command->user_data);
-                break;
+                //A parameter was expected
+                if (command->prompt)   {
+                    command->callback(parameter, command->user_data);
+                    break;
+                }
+                else continue; //Maybe it is a command with a longer name, we continue to check
+            /*    if ((command->prompt != NULL) && (command->prompt[0]!='|')) continue; // If we do not wait for parameter, the command must be exact.
+                else
+                return;*/
             }
         }
     }
-    if (command < blc_commands) fprintf(stderr, "%s: unknown command in: '%s'\n", blc_program_name,  input_string);
+    if (command == blc_commands+blc_commands_nb) fprintf(stderr, "%s: unknown command in: '%s'\n", blc_program_name,  input_string);
 }
 
 void blc_command_interpret_block(){
@@ -158,7 +177,6 @@ void blc_command_interpret_block(){
     else{
         line_size=line_size-1;
         line[line_size]=0; // Removing the last return char (\n)
-        
         blc_command_interpret_string(line, line_size);
     }
     FREE(line);

src/blc_loop.cpp

@@ -3,6 +3,8 @@
 #include "blc_realtime.h"
 #include <unistd.h> //sleep
 #include <errno.h> //errno
+#include <math.h> //pthread_mutex
+
 #include <time.h> //nanosleep
 #include <sys/time.h> //gettimeofday
 #include <pthread.h> //pthread_mutex
@@ -16,7 +18,8 @@ static long blc_current_duration;
 static int intermediate_iteration;
 
 long blc_command_loop_period=-2; //unitialised
-int blc_loop_iteration;
+uint64_t blc_loop_iteration_limit=UINT64_MAX;
+uint64_t blc_loop_iteration=0;
 
 static void(**waiting_callbacks)(void*)=NULL;
 static void **waiting_callabacks_user_data=NULL;
@@ -31,6 +34,11 @@ static int posting_semaphores_nb;
 static pthread_t loop_thread, loop_check_stuck_thread;
 static pthread_mutex_t mutex_lock_keyboard=PTHREAD_MUTEX_INITIALIZER;
 
+static int step_iteration;
+static struct timeval step_timer, profile_timer;
+
+static sem_t *blocking_semaphore=NULL;
+
 #include "blc_program.h"
 
 type_blc_status blc_status=BLC_RUN;
@@ -38,7 +46,7 @@ type_blc_status blc_status=BLC_RUN;
 void blc_fprint_stats(FILE *file)
 {
     if (intermediate_iteration){
-        fprintf(file, "%s: %d iterations, average duration: %.3fms [%.3f, %.3f], average frequency: %.3fHz period: %.3fms\n", blc_program_name, intermediate_iteration, blc_duration/(1000.f*intermediate_iteration), blc_duration_min/1000., blc_duration_max/1000., 1e6*intermediate_iteration/(double)blc_period, blc_period/(1000.*intermediate_iteration));
+        fprintf(file, "%-16.16s %4d iterations duration:%8.3fms[%8.3f, %8.3f] frequency:%8.3fHz period:%8.3fms\n", blc_program_name, intermediate_iteration, blc_duration/(1000.f*intermediate_iteration), blc_duration_min/1000., blc_duration_max/1000., 1e6*intermediate_iteration/(double)blc_period, blc_period/(1000.*intermediate_iteration));
         intermediate_iteration=0;
         blc_period=0;
         blc_duration=0;
@@ -84,37 +92,77 @@ void blc_loop_add_posting_semaphore(void *semaphore){
     if (blc_loop_try_add_posting_semaphore(semaphore)==0) EXIT_ON_ERROR("The semaphore you want to add is NULL");
 }
 
-void blc_command_send_to_stdout(char const *argument){
+//We send the argument to stdout if it is not a terminal
+static void blc_command_send_to_stdout(char const *argument){
+    if (blc_output_terminal==0){
     if (argument) SYSTEM_ERROR_CHECK(printf("%s", argument), -1, NULL);
     SYSTEM_ERROR_CHECK(printf("\n"), -1, NULL);
     SYSTEM_ERROR_CHECK(fflush(stdout), -1, NULL);
+    }
+}
+//We execute the argument and send it with prefix '&' to stdout if it is not a terminal
+static void blc_command_send_to_all(char const *argument){
+    blc_command_interpret_string(argument, strlen(argument));
+    if (blc_output_terminal==0){
+    if (argument) SYSTEM_ERROR_CHECK(printf("&%s", argument), -1, NULL);
+    SYSTEM_ERROR_CHECK(printf("\n"), -1, NULL);
+    SYSTEM_ERROR_CHECK(fflush(stdout), -1, NULL);
+    }
 }
 
 void blc_command_ask_quit(){
-    sem_t **sem;
+    if (blc_status==BLC_PAUSE) BLC_PTHREAD_CHECK(pthread_mutex_unlock(&mutex_lock_keyboard), NULL);
     
-    if (blc_status==BLC_PAUSE)         BLC_PTHREAD_CHECK(pthread_mutex_unlock(&mutex_lock_keyboard), NULL);
-    blc_status=BLC_QUIT;
+    if (blc_status!=BLC_STEPS) blc_status=BLC_QUIT;
     
-    FOR_EACH(sem, waiting_semaphores, waiting_semaphores_nb ){
-        while (sem_trywait(*sem)!=0){
-            if (errno==EAGAIN)  sem_post(*sem);
-            else EXIT_ON_SYSTEM_ERROR("unlocking semaphore");
+    if (blocking_semaphore){
+        if (sem_trywait(blocking_semaphore)==0){
+            sem_post(blocking_semaphore); // we succeed, it was not a problem, I free it.
+            blocking_semaphore=NULL;
         }
-        sem_post(*sem);
+        else if (errno==EAGAIN) sem_post(blocking_semaphore);
+        else EXIT_ON_SYSTEM_ERROR("unlocking semaphore for quitting");
+    }
+}
+
+static void step_forward_cb(const char* steps_nb_str, void*){
+    int  steps_nb, pos;
+    if (steps_nb_str){
+        if (sscanf(steps_nb_str, "%d%n", &steps_nb, &pos)!=1 || pos !=strlen(steps_nb_str) || steps_nb<1){
+            color_eprintf(BLC_YELLOW, "'%s' is not a valid step number\n", steps_nb_str);
+            return;
+        }
+        else {
+            blc_status=BLC_STEPS;
+            blc_loop_iteration_limit=blc_loop_iteration+steps_nb;
+            blc_us_time_diff(&step_timer);
+            BLC_PTHREAD_CHECK(pthread_mutex_unlock(&mutex_lock_keyboard), NULL);
+        }
+    }
+    else {
+        blc_status=BLC_STEPS;
+        blc_loop_iteration_limit=blc_loop_iteration+1;
+        blc_us_time_diff(&step_timer);
+        BLC_PTHREAD_CHECK(pthread_mutex_unlock(&mutex_lock_keyboard), NULL);
+
     }
+    step_iteration=blc_loop_iteration;
+    blc_command_remove(">");
 }
 
 void pause_cb()
 {
-    if (blc_status==BLC_RUN){
+    if (blc_status==BLC_RUN || blc_status==BLC_STEPS){
         blc_status=BLC_PAUSE;
-        fprintf(stderr, "=== %s: pause ===\n", blc_program_name);
-    }else {
+        blc_command_add(">", step_forward_cb, "|iterations", "continue for steps nb iterations", NULL);
+        fprintf(stderr, "=== %s: pause iteration %lld ===  '' to continue, '>[<nb>]' to step one or run nb iterations ===\n", blc_program_name, blc_loop_iteration);
+    }else if (blc_status==BLC_PAUSE){
+        blc_command_remove(">");
         blc_status=BLC_RUN;
+        fprintf(stderr, "=== %s: continue === \n", blc_program_name);
         BLC_PTHREAD_CHECK(pthread_mutex_unlock(&mutex_lock_keyboard), NULL);
-        fprintf(stderr, "=== %s: running ===\n", blc_program_name);
     }
+    else EXIT_ON_ERROR("Unknown status '%d'", blc_status);
 }
 
 static void *loop_check_stuck(void*){
@@ -129,6 +177,7 @@ static void *loop_check_stuck(void*){
         if(blc_status==BLC_RUN){ //in BLC_PAUSE it is normal to block
         	if (iteration==blc_loop_iteration) {
             	color_eprintf(BLC_YELLOW, "'%s' seems blocked on iteration '%d'. The loop has been stopped for more than %ds\n", blc_program_name, iteration, checking_time);
+                if (blc_profile_file) fflush(blc_profile_file); //It may help for debuggage
             	was_stucked=1;
         	}
         	else if (was_stucked) {
@@ -151,15 +200,16 @@ static void *command_thread_interpret_loop(void *){
     return NULL;
 }
 
-void blc_command_loop_init(long loop_period)
-{
-    
-    if (blc_command_loop_period!=-2) EXIT_ON_ERROR("You already launch a loop");
+void blc_command_loop_init(long loop_period){
+    if (blc_command_loop_period==-3) EXIT_ON_ERROR("You already are in a blc_command_loop");
     blc_loop_iteration=0;
     intermediate_iteration=0;
     blc_command_loop_period=loop_period;
     
-    BLC_PTHREAD_CHECK(pthread_mutex_lock(&mutex_lock_keyboard), NULL);
+    if (blc_command_loop_period==-2){
+        blc_command_loop_period=-1;
+    }
+    else BLC_PTHREAD_CHECK(pthread_mutex_lock(&mutex_lock_keyboard), NULL);
     
     if (blc_input_terminal){
          blc_command_display_help(); //We display help only for keyboard
@@ -169,32 +219,44 @@ void blc_command_loop_init(long loop_period)
     blc_command_add("h", (type_blc_command_cb)blc_command_display_help, NULL, "display this help", NULL);
     blc_command_add("q", (type_blc_command_cb)blc_command_ask_quit, NULL, "quit the application", NULL);
 
-    if (loop_period!=-1) { //we lock on keyboard. But if the program lock we still read keyboard
+    if (blc_command_loop_period!=-1) { //we lock on keyboard. But if the program lock we still read keyboard
         SYSTEM_ERROR_CHECK(pthread_create(&loop_check_stuck_thread, NULL, loop_check_stuck, NULL), -1, NULL);
         blc_command_add("s", (type_blc_command_cb)display_stats, NULL, "display time stats", NULL); //We did not do stat on keyboard
         fprintf(stderr, "=== %s: running ===\n", blc_program_name);
     }
-    blc_command_add("|", (type_blc_command_cb)blc_command_send_to_stdout, "|text", "send the text to stdout", NULL);
+    blc_command_add("|", (type_blc_command_cb)blc_command_send_to_stdout, "command", "send the command to stdout", NULL);
+    blc_command_add("&", (type_blc_command_cb)blc_command_send_to_all, "command", "intepret caommdn and send it to stdout", NULL);
 
     SYSTEM_ERROR_CHECK(pthread_create(&loop_thread, NULL, command_thread_interpret_loop, NULL), -1, NULL);
-
-    
 }
 
 int blc_command_loop_start(){
     
     int i;
+    
+    
+    if (blc_profile_file) gettimeofday(&profile_timer, NULL);
+
     //We wait before counting the duration time as the time for waiting does not matter
+    if (blc_loop_iteration==blc_loop_iteration_limit){
+        fprintf(stderr, "%s: %d iterations executed in %.3fms\n", blc_program_name, (int)blc_loop_iteration-step_iteration, blc_us_time_diff(&step_timer)/1000.f);
+        pause_cb();
+    }
     
     //We eventiualy wait for keyboard return key
     if ((blc_status==BLC_PAUSE) || (blc_command_loop_period==-1))  BLC_PTHREAD_CHECK(pthread_mutex_lock(&mutex_lock_keyboard), NULL);
-    else  if (blc_status==BLC_RUN){
+    else if (blc_status==BLC_RUN){
         //We wait for semaphore
-        FOR(i, waiting_semaphores_nb) SYSTEM_ERROR_CHECK(sem_wait(waiting_semaphores[i]), -1, NULL);
+        FOR(i, waiting_semaphores_nb) {
+            blocking_semaphore=waiting_semaphores[i];
+            SYSTEM_ERROR_CHECK(sem_wait(blocking_semaphore), -1, NULL);
+        }
+        blocking_semaphore=NULL;
+            
         //Waiting general user defined callbacks
         FOR(i, waiting_callbacks_nb) waiting_callbacks[i](waiting_callabacks_user_data[i]);
     }
-    else blc_command_loop_period=-2; //In case we start another loop after
+    else blc_command_loop_period=-3; //In case we start another loop after
     
     //We start counting the duration time
     if (intermediate_iteration==0) blc_us_time_diff(&timer);
@@ -207,11 +269,16 @@ void blc_command_loop_end(){
     div_t ratio;
     struct timespec time_left, tmp_rem;
     int diff, i;
+    uint64_t start_time;
 
+    if (blc_profile_file) start_time=timer.tv_sec*1000000+timer.tv_usec;
+    blc_current_duration=blc_us_time_diff(&timer);
+    if (blc_profile_file) fprintf(blc_profile_file, "%ld\t%lld\t%lu\t\n",profile_timer.tv_sec*1000000+profile_timer.tv_usec, start_time, blc_current_duration);
+ //   fflush(stderr);
+    
     //We post the semaphore usualy to say the data is ready to read
     FOR(i, posting_semaphores_nb) SYSTEM_ERROR_CHECK(sem_post(posting_semaphores[i]), -1, NULL);
-
-    blc_current_duration=blc_us_time_diff(&timer);
+    
     blc_duration+=blc_current_duration;
     
     if (blc_current_duration<blc_duration_min) blc_duration_min=blc_current_duration;

src/blc_program.cpp

@@ -89,44 +89,6 @@ static struct program_parameter *blc_program_parameters=NULL;
 static int blc_program_parameters_nb;
 
 START_EXTERN_C
-void blc_add_arg( int *argc, char ***argv, char const *arg, char const *value){
-    APPEND_ITEM(argv, argc, &arg);
-    if (value!=NULL) APPEND_ITEM(argv, argc, &value);
-}
-
-char *blc_create_command_line_from_argv(char const *const *argv){
-    int command_line_size, i;
-    char *command_line, *pos;
-    
-    command_line_size=0;
-    for(i=0; argv[i] != NULL; i++) command_line_size+=strlen(argv[i])+1; // + 1 for the space
-    
-    command_line=MANY_ALLOCATIONS(command_line_size+1, char);
-    pos=command_line;
-    for(i=0; argv[i] != NULL; i++)
-        pos+=sprintf(pos, "%s ", argv[i]);
-    return command_line;
-}
-
-char * const*blc_create_argv_from_command_line(char const *command_line)
-{
-    char * const*argv=NULL;
-    char *arg_pt;
-    char const *pos;
-    char tmp_arg[NAME_MAX+1];
-    int length, argc=0;
-    
-    pos=command_line;
-    while(sscanf(pos, SCAN_CONV(NAME_MAX, "s")"%n", tmp_arg, &length)==1)
-    {
-        arg_pt = strdup(tmp_arg);
-        APPEND_ITEM(&argv, &argc, &arg_pt);
-        pos+=length;
-    }
-    arg_pt=NULL;
-    APPEND_ITEM(&argv, &argc, &arg_pt);
-    return argv;
-}
 
 void blc_program_set_description(char const *description)
 {
@@ -162,6 +124,8 @@ void blc_program_add_multiple_parameters(char ***result_list, char const *name,
 void blc_program_add_option(char const **result, char letter, char const *long_option, char const *parameter, char const *help,  char const* default_value){
     type_program_option  tmp_program_option;
     
+   // if ((parameter) && (default_value)) EXIT_ON_ERROR("option '%s': you cannot required an parameter '%s' and having a default value '%s'", long_option, parameter, default_value);
+    
     tmp_program_option.type = STRING;
     tmp_program_option.string_pt =  result;
     (*tmp_program_option.string_pt)=NULL;
@@ -212,6 +176,7 @@ static void blc_program_option_interpret(int *argc, char **argv[])
     type_program_option *program_option;
     char pipe_name[PATH_MAX+1];
     
+    
     //We store enough room for all the optional letters + ':' + terminating null char
     optstring = MANY_ALLOCATIONS(blc_program_options_nb*2+1, char);
     
@@ -362,18 +327,13 @@ static void blc_program_interpret_parameters(int *argc, char **argv[]){
 }
 
 void blc_program_parse_args(int *argc, char ***argv){
-    if (blc_program_name==NULL)  blc_program_name = basename((*argv)[0]);
     blc_program_option_interpret(argc, argv);
     blc_program_interpret_parameters(argc, argv);
 }
 
 void blc_program_parse_args_and_print_title(int *argc, char ***argv){
-    
-    if (blc_program_name==NULL)  blc_program_name = basename((*argv)[0]);
-
     underline_fprintf('=', stderr, blc_program_name);
     blc_program_parse_args(argc, argv);
-    
 }
 
 /*Display format as python argparse*/

t_parse_args/test_result.log

-t_parse_args
-============
+
+
 Display help:
 
 usage: t_parse_args [-f] [-s string] string [string]
@@ -7,9 +7,7 @@ usage: t_parse_args [-f] [-s string] string [string]
 Program to show how to parse arguments.
 
 positional arguments:
-  string                  Required parameter 
-  string                  Show how to accept simple text as option
-
+  string                  Required parameter   string                  Show how to accept simple text as option
 optional arguments:
  -f, --flag              Show how to read a flag
  -s, --simple string     Simple text as option (default: Default text)