func StartReadListening(readPort int, writePort int, defaultWriters []string, mapOperation SplitterMap) {
// Create buffer to hold data
queue := lane.NewQueue()
MonitorServer(queue)
// Start listening for writer destinations
go StartWriteListening(queue, defaultWriters, writePort)
socket, err := net.Listen("tcp", ":"+strconv.Itoa(readPort))
if err != nil {
logrus.Error(err)
}
// This will block the main thread
for {
// Begin trying to accept connections
logrus.Debug("Awaiting Connection...")
//Block and wait for listeners
conn, err := socket.Accept()
if err != nil {
logrus.Error(err)
} else {
logrus.Debug("Accepted Connection...")
go HandleReadConnection(conn, queue, writePort, mapOperation)
}
}
}
func NewServerInit(Transformer encrypt.Transformer) *WorkServer {
Queue := lane.NewQueue()
WorkerMembers := make(map[int]*Worker)
Workers := &WorkersStruct{WorkerMembers, Transformer, 0}
HandlerFuncs := make(map[string]func(*Event, map[string]interface{}))
HandlerParams := make(map[string]interface{})
WorkServerInst := &WorkServer{Queue, HandlerFuncs, HandlerParams, Workers}
return WorkServerInst
}
//Reusable pool constructor.
func NewReusableIdPool() *ReusableIdPool {
pool := &ReusableIdPool{
lastId: 0,
freeIds: lane.NewQueue(),
}
return pool
}
func (c *Conn) CreateStream() *SpdyClientStream {
quicClientStream := c.quicClient.CreateReliableQuicStream()
stream := &SpdyClientStream{
conn: c,
quicClientStream: quicClientStream,
pendingReads: lane.NewQueue(),
}
quicClientStream.userStream = stream
return stream
}
func BroadcastWithdraw(watchmetadata *Watchmedata, destinations []utilities.OPData) *lane.Queue {
var wg sync.WaitGroup
wg.Add(len(destinations))
var queue *lane.Queue = lane.NewQueue()
for i := 0; i < len(destinations); i++ {
go callPeer(watchmetadata, &destinations[i], queue, "withdraw", &wg)
}
wg.Wait()
return queue
}
func MustNewServer(Secret string) *WorkServer {
if len(Secret) != 32 {
panic("Secret must be 32 characters")
}
Queue := lane.NewQueue()
WorkerMembers := make(map[int]*Worker)
Workers := &WorkersStruct{WorkerMembers, Secret, 0}
HandlerFuncs := make(map[string]func(*Event, map[string]interface{}))
HandlerParams := make(map[string]interface{})
WorkServerInst := &WorkServer{Queue, HandlerFuncs, HandlerParams, Workers}
return WorkServerInst
}
/*
Dial returns a new MockConnection and adds it to the set of Conns.
*/
func (t *MockConnectionFetcher) Dial(addr string) (*BTConn, error) {
conn := &MockConnection{
ReadQueue: lane.NewQueue(),
SendMessageChan: make(chan structure.Message, 1),
RestOfMessageChan: make(chan bool, 1),
ReceiveBytesChan: make(chan []byte, 1),
}
btc := NewBTConn(conn, addr)
t.Conns[addr] = btc
return btc, nil
}
func (i *Irrational) Init(license xchg.LicenseID) {
i.log.Info("Licensed", "license", license)
i.log = log15.New("license", license)
i.id = license
//i.tc = make(chan Tick)
i.cl = make(chan bool)
i.tq = lane.NewQueue()
i.lp = make(map[xchg.Symbol]float32)
i.ls = make(map[xchg.Symbol]uint64)
i.tra = make(map[xchg.AuctionID]xchg.TradeStatus)
i.trb = make(map[xchg.BidID]xchg.TradeStatus)
i.act = i.mkt.Bank().Open()
i.log.Info("Bank account opened", "token", i.act)
go i.Loop()
}
func NewBasicTBQueue() TimeBoundedQueue {
q := &BasicTBQueue{
dequeueChan: make(chan TimeBoundedQueueItem),
fixedDurationQueue: lane.NewQueue(),
}
// TODO: gracefully shutdown this routine
go func() {
for {
x := q.fixedDurationQueue.Dequeue()
item, ok := x.(TimeBoundedQueueItem)
if ok {
if item.MinDuration() != item.MaxDuration() {
panic(fmt.Errorf("minDuration != maxDuration: %#v", item))
}
<-time.After(item.MaxDuration())
q.dequeueChan <- item.(TimeBoundedQueueItem)
}
}
}()
return q
}
func NewJobQueue(name string) *JobQueue {
return &JobQueue{
lane.NewQueue(),
}
}
func main() {
f, err := os.OpenFile("/var/log/firmware", os.O_CREATE|os.O_RDWR|os.O_TRUNC, 0666)
if err != nil {
panic(err)
}
defer f.Close()
log.SetOutput(f)
cutoutReason := "not calibrated"
flag.Parse()
log.SetFlags(log.Ldate | log.Ltime | log.Lmicroseconds)
log.Printf("Godrone started")
var firmware *godrone.Firmware
if *dummy {
firmware, _ = godrone.NewCustomFirmware(&mockNavboard{}, &mockMotorboard{})
} else {
var err error
firmware, err = godrone.NewFirmware()
if err != nil {
log.Fatalf("%s", err)
}
defer firmware.Close()
}
// This is the channel to send requests to the main control loop.
// It is the only way to send and receive info the the
// godrone.Firmware object (which is non-concurrent).
//reqCh := make(chan Request)
motorCh := make(chan *godrone.MotorPWM)
// Autonomy/guard goroutines.
//go monitorAngles(reqCh)
//go lander(reqCh)
// The websocket input goroutine.
//go serveHttp(reqCh)
calibrate := func() {
for {
// @TODO The LEDs don't seem to turn off when this is called again after
// a calibration errors, instead they just blink. Not sure why.
firmware.Motorboard.WriteLeds(godrone.Leds(godrone.LedOff))
log.Printf("Calibrating sensors")
err := firmware.Calibrate()
if err != nil {
firmware.Motorboard.WriteLeds(godrone.Leds(godrone.LedRed))
time.Sleep(time.Second)
} else {
log.Printf("Finished calibration")
firmware.Motorboard.WriteLeds(godrone.Leds(godrone.LedGreen))
cutoutReason = ""
break
}
}
}
calibrate()
println("Success.")
log.Print("Up, up and away!")
var q *lane.Queue = lane.NewQueue()
q.Enqueue([4]float64{0.0, 0.0, 0.0, 0.0})
go handleExternal(motorCh, firmware)
for {
select {
case packet := <-motorCh:
if packet.Speed < godrone.MAX_MOTOR {
q.Enqueue([4]float64{
packet.Speed, packet.Speed, packet.Speed, packet.Speed})
q.Dequeue()
//log.Println(q.Head())
}
default:
}
time.Sleep(time.Millisecond * 10)
v := q.Head()
switch v := v.(type) {
case [4]float64:
if err := firmware.Motorboard.WriteSpeeds(v); err != nil {
log.Printf("Failed to write speeds: %s", err)
}
default:
log.Println("ERROR")
}
}
//go rotate(queue, motorCh)
// This is the main control loop.
/*
flying := false
for {
select {
case req := <-reqCh:
var res Response
res.Cutout = cutoutReason
res.Actual = firmware.Actual
res.Desired = firmware.Desired
res.Time = time.Now()
if req.SetDesired != nil {
// Log changes to desired
if Verbose() && firmware.Desired != *req.SetDesired {
log.Print("New desired attitude:", firmware.Desired)
}
firmware.Desired = *req.SetDesired
}
if req.Cutout != "" {
cutoutReason = req.Cutout
log.Print("Cutout: ", cutoutReason)
firmware.Desired.Altitude = 0
}
if req.Calibrate {
calibrate()
}
req.response <- res
if reallyVerbose() {
log.Print("Request: ", req, "Response: ", res)
}
default:
}
var err error
if firmware.Desired.Altitude > 0 {
err = firmware.Control()
flying = true
} else {
// Something subtle to note here: When the motors are running,
// but then desired altitude goes to zero (for instance due to
// the emergency command in the UI) we end up here.
//
// We never actually send a motors=0 command. Instead we count on
// the failsafe behavior of the motorboard, which puts the motors to
// zero if it does not receive a new motor command soon enough.
err = firmware.Observe()
if flying {
log.Print("Motor cutoff.")
flying = false
}
}
if err != nil {
log.Printf("%s", err)
}
}
*/
}
"github.com/oleiade/lane"
)
type Controller struct {
a Analyzer
c Collector
}
var myAnalyzer = newAnalyzer()
var usersInPrimaryQueue = &map[int64]bool{}
var usersInSecondaryQueue = &map[int64]bool{}
var usersInTertiaryQueue = &map[int64]bool{}
var usersInRelationsQueue = &map[int64]bool{}
var globalPrimaryUserFetchQueue = lane.NewQueue()
var globalSecondaryUserFetchQueue = lane.NewQueue()
var globalTertiaryUserFetchQueue = lane.NewQueue()
var globalAppFavouritesFetchQueue = lane.NewQueue()
var globalAppTweetFetchQueue = lane.NewQueue()
var globalUserTweetFetchQueue = lane.NewQueue()
var globalUserFavouritesFetchQueue = lane.NewQueue()
var globalRelationsFetchQueue = lane.NewQueue()
func main() {
fmt.Println("\n\tWelcome.")
fmt.Println("-=-=-=- CLAY v1.2.1 =-=-=-=")
fmt.Println("Let's begin.")