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SERVER.h
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SERVER.h
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/**
* Author: Anubhav Tomar
*
* Server Definition
**/
#ifndef SERVER_H
#define SERVER_H
#include<systemc.h>
#include<LIB.h>
// template < >
class _serverBlock : public sc_module {
public:
// Inputs
sc_in<bool> _clock;
sc_fifo_in<int> _robot1ToServer , _robot2ToServer , _robot3ToServer , _robot4ToServer;
// Outputs
sc_out<bool> _enableServerToRobot1 , _enableServerToRobot2 , _enableServerToRobot3 , _enableServerToRobot4;
sc_fifo_out<int> _serverToRobot1 , _serverToRobot2 , _serverToRobot3 , _serverToRobot4;
SC_HAS_PROCESS(_serverBlock);
_serverBlock(sc_module_name name) : sc_module(name) {
SC_THREAD(_serverProcess);
sensitive<<_clock.pos();
// SC_THREAD(_robotInitProcess);
sc_time t1(1 , SC_SEC);
sc_time t2(5 , SC_SEC);
sc_time t3(7 , SC_SEC);
sc_time t4(2 , SC_SEC);
};
private:
sc_time t1;
sc_time t2;
sc_time t3;
sc_time t4;
sc_event _robotInitEvent;
bool _isLowerPriority (int r1 , int r2) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _isLowerPriority--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
if(r1 > r2) {
_sendStopTo(r2); // r2 will stop at the crossing
return false;
}
return true;
}
bool _checkCrossingOf (int _id) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _checkCrossingOf--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
if(_robotPath[_id].size() <= 1) {
if(_robotPath[_id].size()) {
_robotPath[_id].erase(_robotPath[_id].begin());
}
cout<<"ROBOT REACHED DESTINATION";
return true;
}
int currentGrid = _robotPath[_id].front();
int nextGrid = _robotPath[_id][1];
for(int i = 1 ; i <= 4 ; i++) {
if(i != _id && _robotPath[i].size() && _robotPath[i][0] == nextGrid && _isLowerPriority(_id , i)) {
return true;
}
}
for(int i = 1 ; i <= 4 ; i++) {
if(i != _id && _robotStatus[i] == 0 && _robotPath[i].size() > 1 && _robotPath[i][1] == currentGrid) {
_robotPath[i].erase(_robotPath[i].begin());
_sendNextGridTo(i);
break;
}
}
return false;
}
void _enableRobot (int _id) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _enableRobot--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
_enableServerToRobot1.write(false);
_enableServerToRobot2.write(false);
_enableServerToRobot3.write(false);
_enableServerToRobot4.write(false);
// wait(10 , SC_NS);
switch(_id) {
case 1 :
_enableServerToRobot1.write(true);
break;
case 2 :
_enableServerToRobot2.write(true);
break;
case 3 :
_enableServerToRobot3.write(true);
break;
case 4 :
_enableServerToRobot4.write(true);
break;
default:
cout<<"WRONG ROBOT ID"<<endl;
break;
}
wait(10 , SC_NS);
_enableServerToRobot1.write(false);
_enableServerToRobot2.write(false);
_enableServerToRobot3.write(false);
_enableServerToRobot4.write(false);
}
void _sendStopTo (int _id) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _sendStopTo--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
switch(_id) {
case 1 :
_serverToRobot1.write(_id);
_serverToRobot1.write(1); // count
_serverToRobot1.write(1); // status signal
_serverToRobot1.write(0); // STOP
break;
case 2 :
_serverToRobot2.write(_id);
_serverToRobot2.write(1); // count
_serverToRobot2.write(1); // status signal
_serverToRobot2.write(0); // STOP
break;
case 3 :
_serverToRobot3.write(_id);
_serverToRobot3.write(1); // count
_serverToRobot3.write(1); // status signal
_serverToRobot3.write(0); // STOP
break;
case 4 :
_serverToRobot4.write(_id);
_serverToRobot4.write(1); // count
_serverToRobot4.write(1); // status signal
_serverToRobot4.write(0); // STOP
break;
default :
cout<<"WRONG ROBOT ID"<<endl;
break;
}
_enableRobot(_id);
_saveStatusOf(_id , 0);
}
void _sendNextGridTo (int _id) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _sendNextGridTo--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
cout<<"ID : "<<_id<<endl;
_robotPath[_id].erase(_robotPath[_id].begin());
switch(_id) {
case 1 :
_serverToRobot1.write(_id);
_serverToRobot1.write(2); // count
_serverToRobot1.write(1); // status signal
_serverToRobot1.write(1); // START
_serverToRobot1.write(0); // path signal
_serverToRobot1.write(_robotPath[_id].front());
break;
case 2 :
_serverToRobot2.write(_id);
_serverToRobot2.write(2); // count
_serverToRobot2.write(1); // status signal
_serverToRobot2.write(1); // START
_serverToRobot2.write(0); // path signal
_serverToRobot2.write(_robotPath[_id].front());
break;
case 3 :
_serverToRobot3.write(_id);
_serverToRobot3.write(2); // count
_serverToRobot3.write(1); // status signal
_serverToRobot3.write(1); // START
_serverToRobot3.write(0); // path signal
_serverToRobot3.write(_robotPath[_id].front());
break;
case 4 :
_serverToRobot4.write(_id);
_serverToRobot4.write(2); // count
_serverToRobot4.write(1); // status signal
_serverToRobot4.write(1); // START
_serverToRobot4.write(0); // path signal
_serverToRobot4.write(_robotPath[_id].front());
break;
default :
cout<<"WRONG ROBOT ID"<<endl;
break;
}
_enableRobot(_id);
_saveStatusOf(_id , 1);
}
void _saveStatusOf (int _id , int _status) {
_robotStatus[_id] = _status;
}
void _robotInitProcess () {
while(true) {
wait(_robotInitEvent);
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _robotInitProcess--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
_sendNextGridTo(1); // R1 start at 1sec
wait(_robotInitEvent);
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _robotInitProcess--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
_sendNextGridTo(4); // R4 starts at 2sec
wait(_robotInitEvent);
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _robotInitProcess--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
_sendNextGridTo(3); // R3 starts at 5sec
wait(_robotInitEvent);
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _robotInitProcess--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
_sendNextGridTo(2); // R2 starts at 7sec
wait(_robotInitEvent);
}
}
void _readRobotFifo (int _id) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _readRobotFifo--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
int _count , _type , _data;
switch(_id) {
case 1 :
_robot1ToServer.read(_count);
break;
case 2 :
_robot2ToServer.read(_count);
break;
case 3 :
_robot3ToServer.read(_count);
break;
case 4 :
_robot4ToServer.read(_count);
break;
default :
cout<<"WRONG ROBOT ID"<<endl;
break;
}
while(_count--) {
int _type , _data;
switch(_id) {
case 1 :
_robot1ToServer.read(_type);
_robot1ToServer.read(_data);
break;
case 2 :
_robot2ToServer.read(_type);
_robot2ToServer.read(_data);
break;
case 3 :
_robot3ToServer.read(_type);
_robot3ToServer.read(_data);
break;
case 4 :
_robot4ToServer.read(_type);
_robot4ToServer.read(_data);
break;
default :
cout<<"WRONG ROBOT ID"<<endl;
break;
}
switch(_data) {
case 0 : // STOP
_saveStatusOf(_id , 0);
break;
case 1 : // START
_saveStatusOf(_id , 1);
break;
case 2 : // CROSSING
if(_checkCrossingOf(_id)) {
_sendStopTo(_id);
} else {
_sendNextGridTo(_id);
}
break;
default:
cout<<"WRONG DATA INPUT ON SERVER"<<endl;
break;
}
}
}
void _serverProcess () {
while(true) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _serverProcess--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
if(sc_time_stamp().to_string().compare("1 s") == 0) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _robotInitProcess--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
_sendNextGridTo(1); // R1 start at 1sec
}
if(sc_time_stamp().to_string().compare("5 s") == 0) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _robotInitProcess--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
_sendNextGridTo(3); // R3 starts at 5sec
}
if(sc_time_stamp().to_string().compare("7 s") == 0) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _robotInitProcess--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
_sendNextGridTo(2); // R2 starts at 7sec
}
if(sc_time_stamp().to_string().compare("2 s") == 0) {
cout<<"/**===================================SERVER LOG===================================**/"<<endl;
cout<<"@ "<<sc_time_stamp()<<"------Start _robotInitProcess--------"<<endl;
cout<<"/**===================================SERVER LOG===================================**/"<<endl<<endl<<endl;
_sendNextGridTo(4); // R4 starts at 2sec
}
int _robotId;
if(_robot1ToServer.nb_read(_robotId)) {
_readRobotFifo(_robotId);
}
if(_robot2ToServer.nb_read(_robotId)) {
_readRobotFifo(_robotId);
}
if(_robot3ToServer.nb_read(_robotId)) {
_readRobotFifo(_robotId);
}
if(_robot4ToServer.nb_read(_robotId)) {
_readRobotFifo(_robotId);
}
wait();
}
}
};
#endif