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changeset 395:8c5fa57128cb

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chain on SPE
author game@localhost.localdomain
date Thu, 17 Sep 2009 16:55:18 +0900
parents e08d0aa94367
children d1f1e27d0a12
files TaskManager/Test/test_render/Func.h TaskManager/Test/test_render/SceneGraph.h TaskManager/Test/test_render/chain.cpp TaskManager/Test/test_render/spe/ChainCal.cpp TaskManager/Test/test_render/spe/ChainCal.h TaskManager/Test/test_render/spe/ChainInit.cpp TaskManager/Test/test_render/spe/ChainInit.h TaskManager/Test/test_render/spe/spe-main.cpp TaskManager/include/types.h TaskManager/kernel/schedule/SchedTask.cc TaskManager/kernel/schedule/SchedTask.h TaskManager/kernel/schedule/Scheduler.cc example/MemList/main.cc example/get_segment/spe/Hello.cc
diffstat 14 files changed, 249 insertions(+), 73 deletions(-) [+]
line wrap: on
line diff
--- a/TaskManager/Test/test_render/Func.h	Wed Sep 16 22:33:40 2009 +0900
+++ b/TaskManager/Test/test_render/Func.h	Thu Sep 17 16:55:18 2009 +0900
@@ -21,5 +21,11 @@
      TASK_SET_TEXTURE,
      TASK_DUMMY,
 
+     CHAINCAL_TASK,
+     CHAININIT_TASK,
+     RUN_FINISH,
+
      SHOW_TIME,
 };
+
+#define DATA_ID 0
--- a/TaskManager/Test/test_render/SceneGraph.h	Wed Sep 16 22:33:40 2009 +0900
+++ b/TaskManager/Test/test_render/SceneGraph.h	Thu Sep 17 16:55:18 2009 +0900
@@ -24,6 +24,8 @@
     float stack_angle[3];
     int id;
 
+    void* propertyptr;
+
     // xml ファイルから生成した時のオブジェクトリスト
     SceneGraphPtr next;
     SceneGraphPtr prev;
--- a/TaskManager/Test/test_render/chain.cpp	Wed Sep 16 22:33:40 2009 +0900
+++ b/TaskManager/Test/test_render/chain.cpp	Thu Sep 17 16:55:18 2009 +0900
@@ -1,27 +1,34 @@
 #include <iostream>
 #include <math.h>
 #include "SceneGraphRoot.h"
+#include "SceneGraph.h"
 #include "SGList.h"
+#include "TaskManager.h"
+#include "Func.h"
 
 #define FALSE 0
 #define TRUE !FALSE
 #define CHAIN_LEN 50
 
-static double m = 100.0;
-static double k = 7000.0;
-static double g = 9.8;
-static double dt = 0.003;
 static double chain_width = 10;
-static double safe = 0.995;
 
 typedef struct {
     double x, y, next_x, next_y;
     double vx, vy, next_vx, next_vy;
+    double angle[3];
     int can_move;
+    SceneGraphPtr parent;
+    int id;
+    //int parent;
 } CHAIN_VARS;
 
+/* SceneGraph の property */
+CHAIN_VARS* property;
+
 CHAIN_VARS cv[CHAIN_LEN];
 
+void createSceneGraphFromProperty(CHAIN_VARS* p) ;
+
 void
 init_chain_vars(CHAIN_VARS *cv) {
     cv->x = 0, cv->y = 0, cv->next_x = 0, cv->next_y = 0;
@@ -30,10 +37,13 @@
 }
 
 void
-set_vector(CHAIN_VARS *cv, SceneGraphPtr sg) {
-    sg->xyz[0] = (float)cv->next_x;
-    sg->xyz[1] = (float)cv->next_y;
+set_vector(CHAIN_VARS *p, SceneGraphPtr sg) {
+    sg->xyz[0] = p->next_x;
+    sg->xyz[1] = p->next_y;
     sg->xyz[2] = 0.0f;
+    sg->angle[0] = p->angle[0];
+    sg->angle[1] = p->angle[1];
+    sg->angle[2] = p->angle[2];
 }
 
 
@@ -43,20 +53,20 @@
     Pad *pad = sgroot->getController();
 
     if (pad->circle.isHold()) {
-        cv[CHAIN_LEN-1].can_move = FALSE;
+        property[CHAIN_LEN-1].can_move = FALSE;
         if (pad->left.isHold()) {
-            cv[CHAIN_LEN-1].x += -5.0;
+            property[CHAIN_LEN-1].x += -5.0;
         } else if (pad->right.isHold()) {
-            cv[CHAIN_LEN-1].x += 5.0;
+            property[CHAIN_LEN-1].x += 5.0;
         }
 
         if (pad->up.isHold()) {
-            cv[CHAIN_LEN-1].y += -5.0;
+            property[CHAIN_LEN-1].y += -5.0;
         } else if (pad->down.isHold()) {
-            cv[CHAIN_LEN-1].y += 5.0;
+            property[CHAIN_LEN-1].y += 5.0;
         }
     } else {
-        cv[CHAIN_LEN-1].can_move = TRUE;
+        property[CHAIN_LEN-1].can_move = TRUE;
     }
 }
 
@@ -64,56 +74,17 @@
 chain_move(SceneGraphPtr sg, int w, int h)
 {
     int id = sg->id;
+    CHAIN_VARS* p = (CHAIN_VARS*)sg->propertyptr;
     if(id == 0) {
-        for(int cnt = 0; cnt < 600; cnt++) {
-            for(int i = 0; i < CHAIN_LEN; i++) {
-                if(cv[i].can_move) {
-                    double dx = cv[i-1].x - cv[i].x;
-                    double dy = cv[i-1].y - cv[i].y;
-                    double l = sqrt(dx * dx + dy * dy);
-                    double a = k * (l - chain_width) / m;
-                    double ax = a * dx / l;
-                    double ay = a * dy / l;
-                    if(i < CHAIN_LEN - 1) {
-                        dx = cv[i+1].x - cv[i].x;
-                        dy = cv[i+1].y - cv[i].y;
-                        l = sqrt(dx * dx + dy * dy);
-                        a = k * (l - chain_width) / m;
-                        ax += a * dx / l;
-                        ay += a * dy / l;
-                    }
-                    ay += g;
-                    cv[i].vx *= safe;
-                    cv[i].vy *= safe;
-                    cv[i].next_vx = cv[i].vx + ax * dt;
-                    cv[i].next_vy = cv[i].vy + ay * dt;
-                    cv[i].next_x = cv[i].x + cv[i].vx * dt;
-                    cv[i].next_y = cv[i].y + cv[i].vy * dt;
-                } else {
-                    cv[i].next_x = cv[i].x;
-                    cv[i].next_y = cv[i].y;
-                }
-            }
-            for(int i = 0; i < CHAIN_LEN; i++) {
-                cv[i].vx = cv[i].next_vx;
-                cv[i].vy = cv[i].next_vy;
-                cv[i].x = cv[i].next_x;
-                cv[i].y = cv[i].next_y;
-            }
-        }
-        //    cout << id << ", " << sg->xyz[1] << endl;
+	HTaskPtr chain_cal;
+	chain_cal = manager->create_task(CHAINCAL_TASK);
+	chain_cal->add_inData(&property[CHAIN_LEN-1], sizeof(CHAIN_VARS));
+	chain_cal->add_param(id);
+	chain_cal->add_outData(property, sizeof(CHAIN_VARS)*CHAIN_LEN);
+	chain_cal->spawn();
+	createSceneGraphFromProperty(p);
     }
-    set_vector(&cv[id], sg);
-    int p, n;
-    p = n = id;
-    if(p != 0) {
-        p--;
-    }
-    if(n != CHAIN_LEN - 1) {
-        n++;
-    }
-    sg->angle[2-(id%2)*2]
-        = 90 + atan((cv[p].next_y - cv[n].next_y) / (cv[p].next_x - cv[n].next_x)) * 180 / M_PI;
+    
 }
 
 void
@@ -122,34 +93,62 @@
 
 }
 
+void 
+createSceneGraphFromProperty(CHAIN_VARS* p) 
+{
+    SceneGraphPtr chain_copy;
+    chain_copy = sgroot->createSceneGraph(CHAIN);
+    chain_copy->propertyptr = (void*)p;
+    set_vector(p, chain_copy);
+    p->parent->addChild(chain_copy);
+}
+
 void
 chain_init(int w, int h)
 {
     SceneGraphPtr root_chain, chain;
     CHAIN_VARS rcv;
 
+    HTaskPtr chain_init;
+    
     sgroot->createFromXMLfile("xml_file/chain.xml");
 
+    /* SPE に送る property の配列の領域確保 */
+    property = (CHAIN_VARS*)manager->allocate(sizeof(CHAIN_VARS)*CHAIN_LEN);
+
     root_chain = sgroot->createSceneGraph(CHAIN);
     root_chain->set_move_collision(chain_move_ope, chain_collision);
     init_chain_vars(&rcv);
     rcv.next_x = w / 2;
     rcv.next_y = 0.0;
+    rcv.angle[0] = 0;
+    rcv.angle[1] = 0;
+    rcv.angle[2] = 0;
+
     set_vector(&rcv, root_chain);
 
     for(int i = 0; i < CHAIN_LEN; i++) {
         chain = sgroot->createSceneGraph(CHAIN);
-        chain->id = i;
-        init_chain_vars(&cv[i]);
-        cv[i].x = 0;
-        cv[i].y = chain_width * i;
-        set_vector(&cv[i], chain);
-        chain->angle[1] = -90 * (i % 2);
+        property[i].id = i;
+        init_chain_vars(&property[i]);
+        property[i].x = 0;
+        property[i].y = chain_width * i;
+        set_vector(&property[i], chain);
+        property->angle[1] = -90 * (i % 2);
         chain->set_move_collision(chain_move, chain_collision);
 
         root_chain->addChild(chain);
+	property[i].parent = root_chain;
     }
     cv[0].can_move = FALSE;
 
+    // property を SPU の共有領域へコピーする
+    chain_init = manager->create_task(CHAININIT_TASK);
+    chain_init->add_inData(property, sizeof(CHAIN_VARS)*CHAIN_LEN);
+    chain_init->add_param(CHAIN_LEN);
+    chain_init->set_cpu(SPE_0);
+
+
     sgroot->setSceneData(root_chain);
 }
+
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskManager/Test/test_render/spe/ChainCal.cpp	Thu Sep 17 16:55:18 2009 +0900
@@ -0,0 +1,93 @@
+#include <stdio.h>
+#include <string.h>
+#include "ChainCal.h"
+#include "Func.h"
+#include "types.h"
+#include <math.h>
+
+
+/* これは必須 */
+SchedDefineTask(ChainCal);
+
+#define CHAIN_LEN 50
+
+static double m = 100.0;
+static double k = 7000.0;
+static double g = 9.8;
+static double dt = 0.003;
+static double chain_width = 10;
+static double safe = 0.995;
+
+typedef struct {
+    double x, y, next_x, next_y;
+    double vx, vy, next_vx, next_vy;
+    double angle[3];
+    int can_move;
+    uint32 parent;
+    int id;
+    //int parent;
+} CHAIN_VARS;
+
+int
+ChainCal::run(void *rbuf, void *wbuf)
+{
+    CHAIN_VARS* property = (CHAIN_VARS*)global_get(DATA_ID);
+    //&property[CHAIN_LEN-1] = (CHAIN_VARS*)get_input(rbuf, 0);
+    CHAIN_VARS* pro = (CHAIN_VARS*)get_input(rbuf, 0);
+    int id = get_param(0);
+    memcpy(&property[CHAIN_LEN-1], pro, sizeof(CHAIN_VARS));
+    
+    CHAIN_VARS* o_property = (CHAIN_VARS*)get_output(wbuf, 0);
+    
+    for(int cnt = 0; cnt < 600; cnt++) {
+	for(int i = 0; i < CHAIN_LEN; i++) {
+	    if(property[i].can_move) {
+		double dx = property[i-1].x - property[i].x;
+		double dy = property[i-1].y - property[i].y;
+		double l = sqrt(dx * dx + dy * dy);
+		double a = k * (l - chain_width) / m;
+		double ax = a * dx / l;
+		double ay = a * dy / l;
+		if(i < CHAIN_LEN - 1) {
+		    dx = property[i+1].x - property[i].x;
+		    dy = property[i+1].y - property[i].y;
+		    l = sqrt(dx * dx + dy * dy);
+		    a = k * (l - chain_width) / m;
+		    ax += a * dx / l;
+		    ay += a * dy / l;
+		}
+		ay += g;
+		property[i].vx *= safe;
+		property[i].vy *= safe;
+		property[i].next_vx = property[i].vx + ax * dt;
+		property[i].next_vy = property[i].vy + ay * dt;
+		property[i].next_x = property[i].x + property[i].vx * dt;
+		property[i].next_y = property[i].y + property[i].vy * dt;
+	    } else {
+		property[i].next_x = property[i].x;
+		property[i].next_y = property[i].y;
+	    }
+	}
+	for(int i = 0; i < CHAIN_LEN; i++) {
+	    property[i].vx = property[i].next_vx;
+	    property[i].vy = property[i].next_vy;
+	    property[i].x = property[i].next_x;
+	    property[i].y = property[i].next_y;
+	}
+    }
+
+    int p, n;
+    p = n = id;
+    if(p != 0) {
+        p--;
+    }
+    if(n != CHAIN_LEN - 1) {
+        n++;
+    }
+    property->angle[2-(id%2)*2]
+        = 90 + atan((property[p].next_y - property[n].next_y) / (property[p].next_x - property[n].next_x)) * 180 / M_PI;
+
+    o_property = property;
+
+    return 0;
+}
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskManager/Test/test_render/spe/ChainCal.h	Thu Sep 17 16:55:18 2009 +0900
@@ -0,0 +1,16 @@
+#ifndef INCLUDED_TASK_CHAIN_CAL
+#define INCLUDED_TASK_CHAIN_CAL
+
+#ifndef INCLUDED_SCHED_TASK
+#  include "SchedTask.h"
+#endif
+
+class ChainCal : public SchedTask {
+public:
+    SchedConstructor(ChainCal);
+    
+    //int run(SchedTask *smanager, void *r, void *w);
+    int run(void *r, void *w);
+};
+
+#endif
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskManager/Test/test_render/spe/ChainInit.cpp	Thu Sep 17 16:55:18 2009 +0900
@@ -0,0 +1,33 @@
+#include <stdio.h>
+#include <string.h>
+#include "ChainInit.h"
+#include "Func.h"
+
+/* これは必須 */
+SchedDefineTask(ChainInit);
+
+/*
+  spe の global 領域に MemList を生成する
+ */
+
+typedef struct {
+    double x, y, next_x, next_y;
+    double vx, vy, next_vx, next_vy;
+    int can_move;
+    uint32 parent;
+} CHAIN_VARS;
+
+CHAIN_VARS* property;
+
+int
+ChainInit::run(void *rbuf, void *wbuf)
+{
+    CHAIN_VARS* idata = (CHAIN_VARS*)get_input(rbuf, 0);
+    uint32 chain_len = get_param(0);
+
+    // property は spe 上で allocate している(global)
+    property = (CHAIN_VARS*)global_alloc(DATA_ID, sizeof(CHAIN_VARS)*chain_len);
+    memcpy(property, idata, sizeof(CHAIN_VARS)*chain_len);
+
+    return 0;
+}
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskManager/Test/test_render/spe/ChainInit.h	Thu Sep 17 16:55:18 2009 +0900
@@ -0,0 +1,16 @@
+#ifndef INCLUDED_TASK_CHAIN_INIT
+#define INCLUDED_TASK_CHAIN_INIT
+
+#ifndef INCLUDED_SCHED_TASK
+#  include "SchedTask.h"
+#endif
+
+
+class ChainInit : public SchedTask {
+public:
+    SchedConstructor(ChainInit);
+    
+    int run(void *r, void *w);
+};
+
+#endif
--- a/TaskManager/Test/test_render/spe/spe-main.cpp	Wed Sep 16 22:33:40 2009 +0900
+++ b/TaskManager/Test/test_render/spe/spe-main.cpp	Thu Sep 17 16:55:18 2009 +0900
@@ -7,6 +7,9 @@
 SchedExternTask(DrawSpanRenew);
 SchedExternTask(DrawBack);
 
+SchedExternTask(ChainCal);
+SchedExternTask(ChainInit);
+
 SchedExternTask(CreateSpan);
 //SchedExternTask(CreatePolygon);
 
@@ -18,6 +21,9 @@
     SchedRegisterTask(TASK_INIT_TEXTURE, LoadTexture);
     SchedRegisterTask(TASK_SET_TEXTURE, SetTexture);
     SchedRegisterTask(TASK_DRAW_SPAN, DrawSpan);
+
+    SchedRegisterTask(CHAINCAL_TASK, ChainCal);
+    SchedRegisterTask(CHAININIT_TASK, ChainInit);
 #if 0
     SchedRegisterTask(TASK_DRAW_SPAN2, DrawSpanRenew);
 #endif
--- a/TaskManager/include/types.h	Wed Sep 16 22:33:40 2009 +0900
+++ b/TaskManager/include/types.h	Thu Sep 17 16:55:18 2009 +0900
@@ -6,6 +6,7 @@
 typedef uint16_t uint16;
 typedef uint32_t uint32;
 typedef uint64_t uint64;
+
 #ifdef SPU
 typedef uint64_t memaddr;
 #else
@@ -16,6 +17,9 @@
 #endif
 #endif
 
+
+
+
 #define SPE_ALIGNMENT 16
 #define SPE_ALIGNMENT_FULL 128
 #define SPE_ALIGN __attribute__((aligned(SPE_ALIGNMENT)))
--- a/TaskManager/kernel/schedule/SchedTask.cc	Wed Sep 16 22:33:40 2009 +0900
+++ b/TaskManager/kernel/schedule/SchedTask.cc	Thu Sep 17 16:55:18 2009 +0900
@@ -572,7 +572,6 @@
     __scheduler->show_dma_wait();
 }
 
-
 MemorySegment * SchedTask::get_segment(memaddr addr, MemList *m) {
     return __scheduler->get_segment(addr,m);
 }
--- a/TaskManager/kernel/schedule/SchedTask.h	Wed Sep 16 22:33:40 2009 +0900
+++ b/TaskManager/kernel/schedule/SchedTask.h	Thu Sep 17 16:55:18 2009 +0900
@@ -23,7 +23,7 @@
 
     // Task を実行するスケジューラ自身
     Scheduler *__scheduler;
-
+    
     // 現在スケジューラが実行している TaskList と、このタスクに対応する Task
     TaskListPtr __list;
     TaskPtr __task;
--- a/TaskManager/kernel/schedule/Scheduler.cc	Wed Sep 16 22:33:40 2009 +0900
+++ b/TaskManager/kernel/schedule/Scheduler.cc	Thu Sep 17 16:55:18 2009 +0900
@@ -362,6 +362,7 @@
         char* data = (char*)next+head_size;
         next->data = (void*)data;
         next->size = size;
+	next->address = (memaddr)next;
         mlist->addLast(next);
     }
 
@@ -375,7 +376,6 @@
   @param [addr] Main Memory のアドレス
   @param [m]    Mem List
   @return allocate した領域のポインタ
-
     memory directory にあるべきだが...
 
  */
--- a/example/MemList/main.cc	Wed Sep 16 22:33:40 2009 +0900
+++ b/example/MemList/main.cc	Thu Sep 17 16:55:18 2009 +0900
@@ -16,6 +16,7 @@
   -cpu    Number of SPE (default 1) \n                                \
   -count  Number of task is print \"Hello, World!!\"";
 
+
 void
 test1(MemList* active, MemList* freelist, uint32 size, uint32 count)
 {
@@ -32,6 +33,7 @@
     printf("test1\n");
 }
 
+
 int
 TMmain(int argc, char *argv[])
 {
--- a/example/get_segment/spe/Hello.cc	Wed Sep 16 22:33:40 2009 +0900
+++ b/example/get_segment/spe/Hello.cc	Thu Sep 17 16:55:18 2009 +0900
@@ -24,10 +24,10 @@
     }
 #endif
 
-    void *next = 0;
+    memaddr *next = 0;
 #if 1
     smanager->mainMem_wait();
-    next = (void *)smanager->mainMem_get(0);
+    next = (memaddr*)smanager->mainMem_get(0);
 
     smanager->dma_wait(PP_STORE);
     smanager->dma_store(ptr, (uint32)next,