From 4b34c9a0a4c6fc5337cfc70ded1395924ca44f2b Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Tue, 17 Mar 2026 16:59:13 +0900 Subject: [PATCH 01/60] add: test_autoware Signed-off-by: nokosaaan --- applications/tests/test_autoware/Cargo.toml | 20 + .../test_autoware/ekf_localizer/Cargo.toml | 13 + .../test_autoware/ekf_localizer/README.md | 150 + .../test_autoware/ekf_localizer/src/lib.rs | 599 ++ .../test_autoware/gyro_odometer/Cargo.toml | 12 + .../test_autoware/gyro_odometer/src/lib.rs | 468 ++ .../test_autoware/imu_corrector/Cargo.toml | 11 + .../test_autoware/imu_corrector/src/lib.rs | 605 ++ .../tests/test_autoware/imu_driver/Cargo.toml | 9 + .../tests/test_autoware/imu_driver/src/lib.rs | 341 + applications/tests/test_autoware/imu_raw.csv | 5709 +++++++++++++++++ applications/tests/test_autoware/src/lib.rs | 1121 ++++ .../vehicle_velocity_converter/Cargo.toml | 11 + .../vehicle_velocity_converter/src/lib.rs | 300 + .../tests/test_autoware/velocity_status.csv | 5700 ++++++++++++++++ userland/Cargo.toml | 7 +- 16 files changed, 15075 insertions(+), 1 deletion(-) create mode 100644 applications/tests/test_autoware/Cargo.toml create mode 100644 applications/tests/test_autoware/ekf_localizer/Cargo.toml create mode 100644 applications/tests/test_autoware/ekf_localizer/README.md create mode 100644 applications/tests/test_autoware/ekf_localizer/src/lib.rs create mode 100644 applications/tests/test_autoware/gyro_odometer/Cargo.toml create mode 100644 applications/tests/test_autoware/gyro_odometer/src/lib.rs create mode 100644 applications/tests/test_autoware/imu_corrector/Cargo.toml create mode 100644 applications/tests/test_autoware/imu_corrector/src/lib.rs create mode 100644 applications/tests/test_autoware/imu_driver/Cargo.toml create mode 100644 applications/tests/test_autoware/imu_driver/src/lib.rs create mode 100644 applications/tests/test_autoware/imu_raw.csv create mode 100644 applications/tests/test_autoware/src/lib.rs create mode 100644 applications/tests/test_autoware/vehicle_velocity_converter/Cargo.toml create mode 100644 applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs create mode 100644 applications/tests/test_autoware/velocity_status.csv diff --git a/applications/tests/test_autoware/Cargo.toml b/applications/tests/test_autoware/Cargo.toml new file mode 100644 index 000000000..9ded42fb7 --- /dev/null +++ b/applications/tests/test_autoware/Cargo.toml @@ -0,0 +1,20 @@ +[package] +name = "test_autoware" +version = "0.1.0" +edition = "2021" + +[lib] +path = "src/lib.rs" +crate-type = ["rlib"] + +[dependencies] +log = "0.4" +libm = "0.2" +csv-core = "0.1" +awkernel_async_lib = { path = "../../../awkernel_async_lib", default-features = false } +awkernel_lib = { path = "../../../awkernel_lib", default-features = false } +imu_driver = { path = "./imu_driver", default-features = false } +imu_corrector = { path = "./imu_corrector", default-features = false } +vehicle_velocity_converter = { path = "./vehicle_velocity_converter", default-features = false } +gyro_odometer = { path = "./gyro_odometer", default-features = false} +ekf_localizer = { path = "./ekf_localizer", default-features = false} \ No newline at end of file diff --git a/applications/tests/test_autoware/ekf_localizer/Cargo.toml b/applications/tests/test_autoware/ekf_localizer/Cargo.toml new file mode 100644 index 000000000..b81a101b1 --- /dev/null +++ b/applications/tests/test_autoware/ekf_localizer/Cargo.toml @@ -0,0 +1,13 @@ +[package] +name = "ekf_localizer" +version = "0.1.0" +edition = "2021" + +[dependencies] +# no_std compatible dependencies +libm = "0.2" +nalgebra = { version = "0.32", default-features = false} +approx = "0.5" + +# Optional: for better math functions +micromath = "2.1" \ No newline at end of file diff --git a/applications/tests/test_autoware/ekf_localizer/README.md b/applications/tests/test_autoware/ekf_localizer/README.md new file mode 100644 index 000000000..f84837adc --- /dev/null +++ b/applications/tests/test_autoware/ekf_localizer/README.md @@ -0,0 +1,150 @@ +# EKF Localizer for awkernel + +This is a no_std Rust implementation of the EKF (Extended Kalman Filter) Localizer for awkernel, extracted from Autoware's EKF Localizer. + +## Features + +- **no_std compatible**: Can run in embedded environments without standard library +- **TF publishing support**: Provides transform data for ROS2 tf broadcasting +- **EKF state estimation**: Estimates vehicle pose (x, y, yaw) and velocity (vx, wz) +- **Yaw bias estimation**: Optional yaw bias estimation for improved accuracy +- **Simple 1D filters**: For z, roll, and pitch estimation + +## State Vector + +The EKF state vector contains 6 elements: +- `x`: X position [m] +- `y`: Y position [m] +- `yaw`: Yaw angle [rad] +- `yaw_bias`: Yaw bias [rad] +- `vx`: X velocity [m/s] +- `wz`: Z angular velocity [rad/s] + +## Usage + +### Basic Usage + +```rust +use ekf_localizer::{EKFModule, EKFParameters, Pose, Transform, Point3D, Quaternion}; + +// Create EKF parameters +let params = EKFParameters::default(); + +// Create EKF module +let mut ekf = EKFModule::new(params); + +// Initialize with initial pose +let initial_pose = Pose { + position: Point3D { x: 0.0, y: 0.0, z: 0.0 }, + orientation: Quaternion { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }, +}; + +let transform = Transform { + translation: Point3D { x: 0.0, y: 0.0, z: 0.0 }, + rotation: Quaternion { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }, +}; + +ekf.initialize(initial_pose, transform); + +// Prediction step +ekf.predict(0.01); // dt = 10ms + +// Get current pose for tf publishing +let pose = ekf.get_current_pose(false); +let transform = ekf.get_transform("base_link"); + +// Get covariance for uncertainty representation +let pose_covariance = ekf.get_current_pose_covariance(); +let twist_covariance = ekf.get_current_twist_covariance(); +``` + +### TF Publishing + +To publish transforms for ROS2 tf, use the `get_transform` method: + +```rust +// Get transform from map to base_link +let transform = ekf.get_transform("base_link"); + +// The transform contains: +// - translation: (x, y, z) position +// - rotation: quaternion orientation + +// Use this data to publish tf2_msgs/TransformStamped +``` + +### Integration with awkernel Reactor API + +The EKF module is designed to be used with awkernel's reactor API. You can create a separate file for pub/sub implementation: + +```rust +// In your reactor implementation file +use ekf_localizer::EKFModule; + +pub struct EKFLocalizerReactor { + ekf: EKFModule, + // Add other fields for pub/sub +} + +impl EKFLocalizerReactor { + pub fn new() -> Self { + let params = EKFParameters::default(); + let ekf = EKFModule::new(params); + + Self { + ekf, + // Initialize other fields + } + } + + pub fn timer_callback(&mut self) { + // Predict step + self.ekf.predict(0.01); + + // Get transform for publishing + let transform = self.ekf.get_transform("base_link"); + + // Publish transform using awkernel reactor API + // self.publish_tf(transform); + } +} +``` + +## Parameters + +Key parameters that can be tuned: + +- `enable_yaw_bias_estimation`: Enable/disable yaw bias estimation +- `extend_state_step`: Number of extended state steps for delay compensation +- `proc_stddev_vx_c`: Process noise standard deviation for velocity +- `proc_stddev_wz_c`: Process noise standard deviation for angular velocity +- `proc_stddev_yaw_c`: Process noise standard deviation for yaw +- `z_filter_proc_dev`: Process noise for z filter +- `roll_filter_proc_dev`: Process noise for roll filter +- `pitch_filter_proc_dev`: Process noise for pitch filter + +## Dependencies + +- `libm`: Mathematical functions for no_std +- `nalgebra`: Linear algebra operations +- `approx`: Approximate equality comparisons for tests + +## Building + +```bash +cd ~/azumi-lab/awkernel_1/ekf_localizer +cargo build --target thumbv7em-none-eabihf # For ARM Cortex-M4 +``` + +## Testing + +```bash +cargo test +``` + +## Notes + +- This implementation focuses on the core EKF calculation and tf generation +- Pub/sub functionality should be implemented separately using awkernel's reactor API +- The original Autoware implementation includes additional features like measurement updates, diagnostics, etc. +- This version is simplified for embedded use but maintains the essential EKF functionality \ No newline at end of file diff --git a/applications/tests/test_autoware/ekf_localizer/src/lib.rs b/applications/tests/test_autoware/ekf_localizer/src/lib.rs new file mode 100644 index 000000000..585ccb28b --- /dev/null +++ b/applications/tests/test_autoware/ekf_localizer/src/lib.rs @@ -0,0 +1,599 @@ +#![no_std] +#![allow(non_snake_case)] + +extern crate alloc; + +use core::f64::consts::PI; +use alloc::{vec, vec::Vec}; +use nalgebra::{Matrix6, Vector6, Vector3}; +use libm::{sin, cos, atan2, asin}; + +/// State indices for EKF +#[derive(Debug, Clone, Copy, PartialEq)] +pub enum StateIndex { + X = 0, + Y = 1, + Yaw = 2, + YawBias = 3, + Vx = 4, + Wz = 5, +} + +/// EKF State vector (6x1) +/// [x, y, yaw, yaw_bias, vx, wz] +pub type StateVector = Vector6; + +/// EKF Covariance matrix (6x6) +pub type StateCovariance = Matrix6; + +/// 3D Point structure +#[derive(Debug, Clone, Copy)] +pub struct Point3D { + pub x: f64, + pub y: f64, + pub z: f64, +} + +/// Quaternion structure +#[derive(Debug, Clone, Copy)] +pub struct Quaternion { + pub x: f64, + pub y: f64, + pub z: f64, + pub w: f64, +} + +/// Pose structure +#[derive(Debug, Clone, Copy)] +pub struct Pose { + pub position: Point3D, + pub orientation: Quaternion, +} + +/// Twist structure +#[derive(Debug, Clone, Copy)] +pub struct Twist { + pub linear: Vector3, + pub angular: Vector3, +} + +/// PoseWithCovariance structure +#[derive(Debug, Clone, Copy)] +pub struct PoseWithCovariance { + pub pose: Pose, + pub covariance: [f64; 36], +} + +/// EKF Parameters +#[derive(Debug, Clone)] +pub struct EKFParameters { + pub enable_yaw_bias_estimation: bool, + pub extend_state_step: usize, + pub proc_stddev_vx_c: f64, + pub proc_stddev_wz_c: f64, + pub proc_stddev_yaw_c: f64, + pub z_filter_proc_dev: f64, + pub roll_filter_proc_dev: f64, + pub pitch_filter_proc_dev: f64, +} + +impl Default for EKFParameters { + fn default() -> Self { + Self { + enable_yaw_bias_estimation: true, + extend_state_step: 50, + proc_stddev_vx_c: 2.0, + proc_stddev_wz_c: 1.0, + proc_stddev_yaw_c: 0.005, + z_filter_proc_dev: 1.0, + roll_filter_proc_dev: 0.1, + pitch_filter_proc_dev: 0.1, + } + } +} + +/// Simple 1D Filter for z, roll, pitch +#[derive(Debug, Clone)] +pub struct Simple1DFilter { + initialized: bool, + x: f64, + var: f64, + proc_var_x_c: f64, +} + +impl Simple1DFilter { + pub fn new() -> Self { + Self { + initialized: false, + x: 0.0, + var: 1e9, + proc_var_x_c: 0.0, + } + } + + pub fn init(&mut self, init_obs: f64, obs_var: f64) { + self.x = init_obs; + self.var = obs_var; + self.initialized = true; + } + + pub fn update(&mut self, obs: f64, obs_var: f64, dt: f64) { + if !self.initialized { + self.init(obs, obs_var); + return; + } + + // Prediction step + let proc_var_x_d = self.proc_var_x_c * dt * dt; + self.var = self.var + proc_var_x_d; + + // Update step + let kalman_gain = self.var / (self.var + obs_var); + self.x = self.x + kalman_gain * (obs - self.x); + self.var = (1.0 - kalman_gain) * self.var; + } + + pub fn set_proc_var(&mut self, proc_var: f64) { + self.proc_var_x_c = proc_var; + } + + pub fn get_x(&self) -> f64 { + self.x + } + + pub fn get_var(&self) -> f64 { + self.var + } +} + +/// Main EKF Module +#[derive(Debug, Clone)] +pub struct EKFModule { + params: EKFParameters, + dim_x: usize, + state: StateVector, + covariance: StateCovariance, + z_filter: Simple1DFilter, + roll_filter: Simple1DFilter, + pitch_filter: Simple1DFilter, + accumulated_delay_times: Vec, + last_angular_velocity: Vector3, + /// MRM (Minimal Risk Maneuver) mode flag + /// When true, only prediction is performed (no measurement updates) + is_mrm_mode: bool, +} + +impl EKFModule { + pub fn new(params: EKFParameters) -> Self { + let dim_x = 6; + let mut state = StateVector::zeros(); + let mut covariance = StateCovariance::identity() * 1e15; + + // Initialize covariance with reasonable values + covariance[(StateIndex::Yaw as usize, StateIndex::Yaw as usize)] = 50.0; + if params.enable_yaw_bias_estimation { + covariance[(StateIndex::YawBias as usize, StateIndex::YawBias as usize)] = 50.0; + } + covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = 1000.0; + covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = 50.0; + + let mut z_filter = Simple1DFilter::new(); + let mut roll_filter = Simple1DFilter::new(); + let mut pitch_filter = Simple1DFilter::new(); + + z_filter.set_proc_var(params.z_filter_proc_dev * params.z_filter_proc_dev); + roll_filter.set_proc_var(params.roll_filter_proc_dev * params.roll_filter_proc_dev); + pitch_filter.set_proc_var(params.pitch_filter_proc_dev * params.pitch_filter_proc_dev); + + let accumulated_delay_times = vec![1e15; params.extend_state_step]; + + Self { + params, + dim_x, + state, + covariance, + z_filter, + roll_filter, + pitch_filter, + accumulated_delay_times, + last_angular_velocity: Vector3::zeros(), + is_mrm_mode: false, + } + } + + /// Initialize EKF with initial pose + pub fn initialize(&mut self, initial_pose: Pose) { + // Set initial state directly from pose + self.state[StateIndex::X as usize] = initial_pose.position.x; + self.state[StateIndex::Y as usize] = initial_pose.position.y; + self.state[StateIndex::Yaw as usize] = self.quaternion_to_yaw(initial_pose.orientation); + self.state[StateIndex::YawBias as usize] = 0.0; + self.state[StateIndex::Vx as usize] = 0.0; + self.state[StateIndex::Wz as usize] = 0.0; + + // Initialize covariance (simplified) + self.covariance = StateCovariance::identity() * 0.01; + if self.params.enable_yaw_bias_estimation { + self.covariance[(StateIndex::YawBias as usize, StateIndex::YawBias as usize)] = 0.0001; + } + + // Initialize filters + self.z_filter.init(initial_pose.position.z, 0.01); + self.roll_filter.init(0.0, 0.01); + self.pitch_filter.init(0.0, 0.01); + } + + /// Predict next state using nonlinear state transition (core prediction logic) + /// x_{k+1} = x_k + vx * cos(yaw + bias) * dt, y_{k+1} = y_k + vx * sin(yaw + bias) * dt, etc. + fn predict_next_state(&self, dt: f64) -> StateVector { + let mut x_next = self.state.clone(); + let x = self.state[StateIndex::X as usize]; + let y = self.state[StateIndex::Y as usize]; + let yaw = self.state[StateIndex::Yaw as usize]; + let yaw_bias = self.state[StateIndex::YawBias as usize]; + let vx = self.state[StateIndex::Vx as usize]; + let wz = self.state[StateIndex::Wz as usize]; + + // Nonlinear state transition + x_next[StateIndex::X as usize] = x + vx * cos(yaw + yaw_bias) * dt; + x_next[StateIndex::Y as usize] = y + vx * sin(yaw + yaw_bias) * dt; + // Normalize yaw to [-π, π] range (Autoware compatible) + let yaw_next = yaw + wz * dt; + x_next[StateIndex::Yaw as usize] = atan2(sin(yaw_next), cos(yaw_next)); + x_next[StateIndex::YawBias as usize] = yaw_bias; // yaw bias doesn't change + x_next[StateIndex::Vx as usize] = vx; // velocity doesn't change in predict + x_next[StateIndex::Wz as usize] = wz; // angular velocity doesn't change in predict + + x_next + } + + /// Create state transition (Jacobian) matrix F + /// F = d(f)/d(x) where f is the nonlinear state transition function + fn create_state_transition_matrix(&self, dt: f64) -> Matrix6 { + let mut F = Matrix6::identity(); + let yaw = self.state[StateIndex::Yaw as usize]; + let yaw_bias = self.state[StateIndex::YawBias as usize]; + let vx = self.state[StateIndex::Vx as usize]; + + // Jacobian of position with respect to yaw and velocity + F[(StateIndex::X as usize, StateIndex::Yaw as usize)] = -vx * sin(yaw + yaw_bias) * dt; + F[(StateIndex::X as usize, StateIndex::YawBias as usize)] = -vx * sin(yaw + yaw_bias) * dt; + F[(StateIndex::X as usize, StateIndex::Vx as usize)] = cos(yaw + yaw_bias) * dt; + + F[(StateIndex::Y as usize, StateIndex::Yaw as usize)] = vx * cos(yaw + yaw_bias) * dt; + F[(StateIndex::Y as usize, StateIndex::YawBias as usize)] = vx * cos(yaw + yaw_bias) * dt; + F[(StateIndex::Y as usize, StateIndex::Vx as usize)] = sin(yaw + yaw_bias) * dt; + + F[(StateIndex::Yaw as usize, StateIndex::Wz as usize)] = dt; + + F + } + + /// Calculate process noise covariance Q + /// Q represents the uncertainty in the motion model + fn process_noise_covariance(&self, dt: f64) -> Matrix6 { + let mut Q = Matrix6::zeros(); + + // Process noise for each state variable + Q[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = + self.params.proc_stddev_vx_c * self.params.proc_stddev_vx_c * dt * dt; + Q[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = + self.params.proc_stddev_wz_c * self.params.proc_stddev_wz_c * dt * dt; + Q[(StateIndex::Yaw as usize, StateIndex::Yaw as usize)] = + self.params.proc_stddev_yaw_c * self.params.proc_stddev_yaw_c * dt * dt; + + // No process noise for position and yaw bias + Q[(StateIndex::X as usize, StateIndex::X as usize)] = 0.0; + Q[(StateIndex::Y as usize, StateIndex::Y as usize)] = 0.0; + Q[(StateIndex::YawBias as usize, StateIndex::YawBias as usize)] = 0.0; + + Q + } + + /// Predict step of EKF (uses predict_next_state, create_state_transition_matrix, and process_noise_covariance) + pub fn predict(&mut self, dt: f64) { + // 1. Predict next state using nonlinear motion model + self.state = self.predict_next_state(dt); + + // 2. Create state transition (Jacobian) matrix + let F = self.create_state_transition_matrix(dt); + + // 3. Calculate process noise covariance + let Q = self.process_noise_covariance(dt); + + // 4. Predict covariance: P = F * P * F^T + Q + self.covariance = F * self.covariance * F.transpose() + Q; + + // 5. Update accumulated delay times + self.accumulate_delay_time(dt); + } + + /// Predict with delay support (Autoware compatible) + /// This version maintains the delay history for measurement updates + pub fn predict_with_delay(&mut self, dt: f64) { + self.predict(dt); + } + + /// Predict-only step (for MRM mode when measurement updates are not available) + /// Only performs prediction without any measurement updates + pub fn predict_only(&mut self, dt: f64) { + self.predict(dt); + } + + /// Get current pose for tf publishing + pub fn get_current_pose(&self, get_biased_yaw: bool) -> Pose { + let z = self.z_filter.get_x(); + let roll = self.roll_filter.get_x(); + let pitch = self.pitch_filter.get_x(); + + let x = self.state[StateIndex::X as usize]; + let y = self.state[StateIndex::Y as usize]; + let biased_yaw = self.state[StateIndex::Yaw as usize]; + let yaw_bias = self.state[StateIndex::YawBias as usize]; + + let yaw = if get_biased_yaw { + biased_yaw + } else { + biased_yaw + yaw_bias + }; + + Pose { + position: Point3D { x, y, z }, + orientation: self.rpy_to_quaternion(roll, pitch, yaw), + } + } + + /// Get current twist + pub fn get_current_twist(&self) -> Twist { + let vx = self.state[StateIndex::Vx as usize]; + let wz = self.state[StateIndex::Wz as usize]; + + Twist { + linear: Vector3::new(vx, 0.0, 0.0), + angular: Vector3::new(0.0, 0.0, wz), + } + } + + /// Get yaw bias + pub fn get_yaw_bias(&self) -> f64 { + self.state[StateIndex::YawBias as usize] + } + + /// Get current pose with covariance for publishing + pub fn get_current_pose_with_covariance(&self) -> PoseWithCovariance { + // Get current pose + let pose = self.get_current_pose(false); + + // Get covariance matrix + let pose_covariance = self.get_current_pose_covariance(); + + // Create and return PoseWithCovariance + PoseWithCovariance { + pose, + covariance: pose_covariance, + } + } + + /// Get pose covariance (simplified 6x6 to 36-element array) + pub fn get_current_pose_covariance(&self) -> [f64; 36] { + let mut cov = [0.0; 36]; + + // Copy 6x6 covariance matrix to 36-element array + for i in 0..6 { + for j in 0..6 { + cov[i * 6 + j] = self.covariance[(i, j)]; + } + } + + // Add z, roll, pitch variances + cov[14] = self.z_filter.get_var(); // Z_Z + cov[21] = self.roll_filter.get_var(); // ROLL_ROLL + cov[28] = self.pitch_filter.get_var(); // PITCH_PITCH + + cov + } + + /// Get twist covariance + pub fn get_current_twist_covariance(&self) -> [f64; 36] { + let mut cov = [0.0; 36]; + + // Simplified: only vx and wz have significant covariance + cov[0] = self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)]; // VX_VX + cov[35] = self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)]; // WZ_WZ + + cov + } + + /// Update velocity measurement (measurement update for Vx and Wz) + /// This is NOT executed during MRM mode (dead reckoning only) + pub fn update_velocity(&mut self, vx_measurement: f64, wz_measurement: f64) { + // Skip measurement update during MRM mode + if self.is_mrm_mode { + return; + } + + // Simple measurement update using Kalman gain + // This assumes direct observation of velocity states + + // Measurement variance (assumed) + let vx_obs_var = 1.0; + let wz_obs_var = 0.1; + + // Update Vx + let vx_var = self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)]; + let vx_gain = vx_var / (vx_var + vx_obs_var); + self.state[StateIndex::Vx as usize] = + self.state[StateIndex::Vx as usize] + + vx_gain * (vx_measurement - self.state[StateIndex::Vx as usize]); + self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = + (1.0 - vx_gain) * vx_var; + + // Update Wz + let wz_var = self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)]; + let wz_gain = wz_var / (wz_var + wz_obs_var); + self.state[StateIndex::Wz as usize] = + self.state[StateIndex::Wz as usize] + + wz_gain * (wz_measurement - self.state[StateIndex::Wz as usize]); + self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = + (1.0 - wz_gain) * wz_var; + } + + /// Set MRM (Minimal Risk Maneuver) mode + /// When MRM mode is active, only prediction is performed (no measurement updates) + pub fn set_mrm_mode(&mut self, is_mrm: bool) { + self.is_mrm_mode = is_mrm; + } + + /// Get current MRM mode status + pub fn is_mrm(&self) -> bool { + self.is_mrm_mode + } + + /// Accumulate delay time + pub fn accumulate_delay_time(&mut self, dt: f64) { + let len = self.accumulated_delay_times.len(); + if len == 0 { + return; + } + + let last_time = self.accumulated_delay_times[len - 1]; + let new_time = last_time + dt; + + // Shift and add new time + for i in 0..len - 1 { + self.accumulated_delay_times[i] = self.accumulated_delay_times[i + 1]; + } + self.accumulated_delay_times[len - 1] = new_time; + } + + /// Find closest delay time index + pub fn find_closest_delay_time_index(&self, target_value: f64) -> usize { + let len = self.accumulated_delay_times.len(); + if len == 0 { + return 0; + } + + if target_value > self.accumulated_delay_times[len - 1] { + return len; + } + + // Simple linear search for closest value + let mut closest_index = 0; + let mut min_diff = f64::MAX; + + for i in 0..len { + let time = self.accumulated_delay_times[i]; + let diff = (target_value - time).abs(); + if diff < min_diff { + min_diff = diff; + closest_index = i; + } + } + + closest_index + } + + // Utility functions for quaternion and euler angle conversions + fn quaternion_to_yaw(&self, q: Quaternion) -> f64 { + atan2(2.0 * (q.w * q.z + q.x * q.y), 1.0 - 2.0 * (q.y * q.y + q.z * q.z)) + } + + fn rpy_to_quaternion(&self, roll: f64, pitch: f64, yaw: f64) -> Quaternion { + let cy = cos(yaw * 0.5); + let sy = sin(yaw * 0.5); + let cp = cos(pitch * 0.5); + let sp = sin(pitch * 0.5); + let cr = cos(roll * 0.5); + let sr = sin(roll * 0.5); + + Quaternion { + w: cr * cp * cy + sr * sp * sy, + x: sr * cp * cy - cr * sp * sy, + y: cr * sp * cy + sr * cp * sy, + z: cr * cp * sy - sr * sp * cy, + } + } + + fn quaternion_to_rpy(&self, q: Quaternion) -> (f64, f64, f64) { + // Roll (x-axis rotation) + let sinr_cosp = 2.0 * (q.w * q.x + q.y * q.z); + let cosr_cosp = 1.0 - 2.0 * (q.x * q.x + q.y * q.y); + let roll = atan2(sinr_cosp, cosr_cosp); + + // Pitch (y-axis rotation) + let sinp = 2.0 * (q.w * q.y - q.z * q.x); + let pitch = if sinp.abs() >= 1.0 { + PI / 2.0 * sinp.signum() + } else { + asin(sinp) + }; + + // Yaw (z-axis rotation) + let siny_cosp = 2.0 * (q.w * q.z + q.x * q.y); + let cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z); + let yaw = atan2(siny_cosp, cosy_cosp); + + (roll, pitch, yaw) + } +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn test_ekf_initialization() { + let params = EKFParameters::default(); + let mut ekf = EKFModule::new(params); + + let initial_pose = Pose { + position: Point3D { x: 1.0, y: 2.0, z: 0.0 }, + orientation: Quaternion { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }, + }; + + ekf.initialize(initial_pose); + + let pose = ekf.get_current_pose(false); + assert!((pose.position.x - 1.0).abs() < 1e-6); + assert!((pose.position.y - 2.0).abs() < 1e-6); + } + + #[test] + fn test_quaternion_conversions() { + let params = EKFParameters::default(); + let ekf = EKFModule::new(params); + + let roll = 0.1; + let pitch = 0.2; + let yaw = 0.3; + + let q = ekf.rpy_to_quaternion(roll, pitch, yaw); + let (r, p, y) = ekf.quaternion_to_rpy(q); + + assert!((roll - r).abs() < 1e-6); + assert!((pitch - p).abs() < 1e-6); + assert!((yaw - y).abs() < 1e-6); + } + + #[test] + fn test_pose_with_covariance_generation() { + let params = EKFParameters::default(); + let mut ekf = EKFModule::new(params); + + let initial_pose = Pose { + position: Point3D { x: 1.0, y: 2.0, z: 0.0 }, + orientation: Quaternion { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }, + }; + + ekf.initialize(initial_pose); + + let pose_with_cov = ekf.get_current_pose_with_covariance(); + + // Check pose + assert!((pose_with_cov.pose.position.x - 1.0).abs() < 1e-6); + assert!((pose_with_cov.pose.position.y - 2.0).abs() < 1e-6); + + // Check covariance array + assert_eq!(pose_with_cov.covariance.len(), 36); + } +} \ No newline at end of file diff --git a/applications/tests/test_autoware/gyro_odometer/Cargo.toml b/applications/tests/test_autoware/gyro_odometer/Cargo.toml new file mode 100644 index 000000000..b7890f557 --- /dev/null +++ b/applications/tests/test_autoware/gyro_odometer/Cargo.toml @@ -0,0 +1,12 @@ +[package] +name = "gyro_odometer" +version = "0.1.0" +edition = "2021" + +[dependencies] +log = "0.4" +awkernel_async_lib = { path = "../../../../awkernel_async_lib", default-features = false } +awkernel_lib = { path = "../../../../awkernel_lib", default-features = false } +imu_driver = { path = "../imu_driver", default-features = false } +imu_corrector = { path = "../imu_corrector", default-features = false } +vehicle_velocity_converter = { path = "../vehicle_velocity_converter", default-features = false} \ No newline at end of file diff --git a/applications/tests/test_autoware/gyro_odometer/src/lib.rs b/applications/tests/test_autoware/gyro_odometer/src/lib.rs new file mode 100644 index 000000000..8851bda3c --- /dev/null +++ b/applications/tests/test_autoware/gyro_odometer/src/lib.rs @@ -0,0 +1,468 @@ +#![no_std] +extern crate alloc; + +use alloc::{borrow::Cow, collections::VecDeque, string::String, vec::Vec}; +use core::time::Duration; +// Global instance and lazy initialization support +use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; +use core::ptr::null_mut; + +// Re-export common types for consistency with other libraries +pub use imu_driver::{Header, Vector3, Quaternion, ImuMsg}; +pub use vehicle_velocity_converter::{Odometry, TwistWithCovarianceStamped, TwistWithCovariance, Twist}; +pub use imu_corrector::{ImuWithCovariance, Transform, transform_covariance}; + + +static GYRO_ODOMETER_INSTANCE: AtomicPtr = AtomicPtr::new(null_mut()); + +// Constants for covariance indices (matching C++ implementation) +const COV_IDX_X_X: usize = 0; +const COV_IDX_Y_Y: usize = 4; +const COV_IDX_Z_Z: usize = 8; + +// XYZRPY covariance indices (matching C++ implementation) +const COV_IDX_XYZRPY_X_X: usize = 0; +const COV_IDX_XYZRPY_Y_Y: usize = 7; +const COV_IDX_XYZRPY_Z_Z: usize = 14; +const COV_IDX_XYZRPY_ROLL_ROLL: usize = 21; +const COV_IDX_XYZRPY_PITCH_PITCH: usize = 28; +const COV_IDX_XYZRPY_YAW_YAW: usize = 35; + +// GyroOdometerCore implementation +pub struct GyroOdometerCore { + // Parameters + pub output_frame: String, + pub message_timeout_sec: f64, + + // State + pub vehicle_twist_arrived: bool, + pub imu_arrived: bool, + pub vehicle_twist_queue: VecDeque, + pub gyro_queue: VecDeque, + + // Configuration + pub config: GyroOdometerConfig, +} + +impl GyroOdometerCore { + pub fn new(config: GyroOdometerConfig) -> Result { + let queue_size = config.queue_size; + let output_frame = config.output_frame.clone(); + let message_timeout_sec = config.message_timeout_sec; + + Ok(Self { + output_frame, + message_timeout_sec, + vehicle_twist_arrived: false, + imu_arrived: false, + vehicle_twist_queue: VecDeque::with_capacity(queue_size), + gyro_queue: VecDeque::with_capacity(queue_size), + config, + }) + } + + + + /// Main processing function (matching C++ concat_gyro_and_odometer) + /// + /// # Arguments + /// * `current_time` - Current system time in nanoseconds (matching C++ this->now()) + pub fn concat_gyro_and_odometer(&mut self, current_time: u64) -> Result> { + // Check if first messages have arrived (matching C++ implementation) + if !self.vehicle_twist_arrived { + self.vehicle_twist_queue.clear(); + self.gyro_queue.clear(); + return Ok(None); + } + if !self.imu_arrived { + self.vehicle_twist_queue.clear(); + self.gyro_queue.clear(); + return Ok(None); + } + + // Check timeout (matching C++ implementation) + // C++: vehicle_twist_dt = std::abs((this->now() - latest_vehicle_twist_ros_time_).seconds()) + if !self.vehicle_twist_queue.is_empty() && !self.gyro_queue.is_empty() { + let latest_vehicle_twist_stamp = self.vehicle_twist_queue.back().unwrap().header.timestamp; + let latest_imu_stamp = self.gyro_queue.back().unwrap().header.timestamp; + + // Check vehicle twist timeout (matching C++ vehicle_twist_dt > message_timeout_sec_) + if Self::check_timeout(current_time, latest_vehicle_twist_stamp, self.message_timeout_sec) { + self.vehicle_twist_queue.clear(); + self.gyro_queue.clear(); + return Err(GyroOdometerError::TimeoutError( + String::from("Vehicle twist message timeout") + )); + } + + // Check IMU timeout (matching C++ imu_dt > message_timeout_sec_) + if Self::check_timeout(current_time, latest_imu_stamp, self.message_timeout_sec) { + self.vehicle_twist_queue.clear(); + self.gyro_queue.clear(); + return Err(GyroOdometerError::TimeoutError( + String::from("IMU message timeout") + )); + } + } + + // Check queue size (matching C++ implementation) + if self.vehicle_twist_queue.is_empty() || self.gyro_queue.is_empty() { + return Ok(None); + } + + // Get transformation (matching C++ implementation) + let tf = self.get_transform( + &self.gyro_queue.front().unwrap().header.frame_id, + &self.output_frame, + )?; + + // Transform gyro frame (matching C++ implementation) + for gyro in &mut self.gyro_queue { + let transformed_angular_velocity = tf.apply_to_vector(gyro.angular_velocity.clone()); + // Note: In C++ implementation, frame_id is updated to output_frame + // but for now we keep the original frame_id to avoid lifetime issues + gyro.angular_velocity = transformed_angular_velocity; + // Covariance is already calculated and transformed by imu_corrector + } + + // Calculate mean and covariance (matching C++ implementation exactly) + let mut vx_mean = 0.0; + let mut gyro_mean = Vector3::new(0.0, 0.0, 0.0); + let mut vx_covariance_original = 0.0; + let mut gyro_covariance_original = Vector3::new(0.0, 0.0, 0.0); + + // Calculate vehicle twist mean and covariance + for vehicle_twist in &self.vehicle_twist_queue { + vx_mean += vehicle_twist.twist.twist.linear.x; + vx_covariance_original += vehicle_twist.twist.covariance[0 * 6 + 0]; + } + vx_mean /= self.vehicle_twist_queue.len() as f64; + vx_covariance_original /= self.vehicle_twist_queue.len() as f64; + + // Calculate gyro mean and covariance (using pre-calculated covariance from imu_corrector) + for gyro in &self.gyro_queue { + gyro_mean.x += gyro.angular_velocity.x; + gyro_mean.y += gyro.angular_velocity.y; + gyro_mean.z += gyro.angular_velocity.z; + // Use pre-calculated covariance from imu_corrector (already transformed) + gyro_covariance_original.x += gyro.angular_velocity_covariance[COV_IDX_X_X]; + gyro_covariance_original.y += gyro.angular_velocity_covariance[COV_IDX_Y_Y]; + gyro_covariance_original.z += gyro.angular_velocity_covariance[COV_IDX_Z_Z]; + } + gyro_mean.x /= self.gyro_queue.len() as f64; + gyro_mean.y /= self.gyro_queue.len() as f64; + gyro_mean.z /= self.gyro_queue.len() as f64; + gyro_covariance_original.x /= self.gyro_queue.len() as f64; + gyro_covariance_original.y /= self.gyro_queue.len() as f64; + gyro_covariance_original.z /= self.gyro_queue.len() as f64; + + // Create result (matching C++ implementation) + let latest_vehicle_twist_stamp = self.vehicle_twist_queue.back().unwrap().header.timestamp; + let latest_imu_stamp = self.gyro_queue.back().unwrap().header.timestamp; + + let result_timestamp = if latest_vehicle_twist_stamp < latest_imu_stamp { + latest_imu_stamp + } else { + latest_vehicle_twist_stamp + }; + + let mut result = TwistWithCovarianceStamped { + header: Header { + frame_id: self.gyro_queue.front().unwrap().header.frame_id, + timestamp: result_timestamp, + }, + twist: TwistWithCovariance { + twist: Twist { + linear: Vector3::new(vx_mean, 0.0, 0.0), + angular: gyro_mean, + }, + covariance: [0.0; 36], + }, + }; + + // Set covariance (matching C++ implementation exactly) + result.twist.covariance[COV_IDX_XYZRPY_X_X] = + vx_covariance_original / self.vehicle_twist_queue.len() as f64; + result.twist.covariance[COV_IDX_XYZRPY_Y_Y] = 100000.0; + result.twist.covariance[COV_IDX_XYZRPY_Z_Z] = 100000.0; + result.twist.covariance[COV_IDX_XYZRPY_ROLL_ROLL] = + gyro_covariance_original.x / self.gyro_queue.len() as f64; + result.twist.covariance[COV_IDX_XYZRPY_PITCH_PITCH] = + gyro_covariance_original.y / self.gyro_queue.len() as f64; + result.twist.covariance[COV_IDX_XYZRPY_YAW_YAW] = + gyro_covariance_original.z / self.gyro_queue.len() as f64; + + // Clear queues (matching C++ implementation) + self.vehicle_twist_queue.clear(); + self.gyro_queue.clear(); + + Ok(Some(result)) + } + + /// Check timeout (matching C++ implementation) + // Timeout checking function (matching C++ implementation) + pub fn check_timeout(current_timestamp: u64, last_timestamp: u64, timeout_sec: f64) -> bool { + let dt = (current_timestamp as f64 - last_timestamp as f64) / 1_000_000_000.0; // Convert to seconds + dt.abs() > timeout_sec + } + + /// Get transform (to be implemented by the caller) + /// Returns identity transform by default. Override this behavior by providing transform externally. + pub fn get_transform(&self, from_frame: &str, to_frame: &str) -> Result { + // This should be implemented by the caller (e.g., transform listener) + // For now, return identity transform + if from_frame == to_frame || from_frame == "" || to_frame == "" { + Ok(Transform::identity()) + } else { + // In a real implementation, this would query the transform tree + // For awkernel, we assume all frames are aligned (identity transform) + Ok(Transform::identity()) + } + } + + /// Process result and apply vehicle stop logic + pub fn process_result(&self, twist_with_cov_raw: TwistWithCovarianceStamped) -> TwistWithCovarianceStamped { + // 車両が停止している場合の処理 (matching C++ implementation exactly) + if twist_with_cov_raw.twist.twist.angular.z.abs() < 0.01 + && twist_with_cov_raw.twist.twist.linear.x.abs() < 0.01 + { + let mut twist = twist_with_cov_raw; + twist.twist.twist.angular.x = 0.0; + twist.twist.twist.angular.y = 0.0; + twist.twist.twist.angular.z = 0.0; + twist + } else { + twist_with_cov_raw + } + } + + /// Convert vehicle velocity data to twist format + pub fn convert_vehicle_velocity_to_twist(&self, odometry: &Odometry, timestamp: u64) -> TwistWithCovarianceStamped { + TwistWithCovarianceStamped { + header: Header { + frame_id: "base_link", + timestamp, + }, + twist: TwistWithCovariance { + twist: Twist { + linear: Vector3::new(odometry.velocity, 0.0, 0.0), + angular: Vector3::new(0.0, 0.0, 0.0), + }, + covariance: [0.0; 36], + }, + } + } + + /// Add vehicle twist to queue (matching test_autoware usage pattern) + pub fn add_vehicle_twist(&mut self, twist: TwistWithCovarianceStamped) { + self.vehicle_twist_arrived = true; + self.vehicle_twist_queue.push_back(twist); + } + + /// Add IMU data to queue (matching test_autoware usage pattern) + pub fn add_imu(&mut self, imu: ImuWithCovariance) { + self.imu_arrived = true; + self.gyro_queue.push_back(imu); + } + + /// Process queues and get result (matching test_autoware process_queues_and_get_result) + pub fn process_and_get_result(&mut self, current_time: u64) -> Option { + match self.concat_gyro_and_odometer(current_time) { + Ok(result) => result, + Err(_) => None, + } + } + + /// Get queue sizes + pub fn get_queue_sizes(&self) -> (usize, usize) { + (self.vehicle_twist_queue.len(), self.gyro_queue.len()) + } + + /// Clear both queues + pub fn clear_queues(&mut self) { + self.vehicle_twist_queue.clear(); + self.gyro_queue.clear(); + } + + /// Reset arrival flags + pub fn reset_arrival_flags(&mut self) { + self.vehicle_twist_arrived = false; + self.imu_arrived = false; + } +} + +#[derive(Debug)] +pub enum GyroOdometerError { + TransformError(String), + TimeoutError(String), + QueueError(String), + ParameterError(String), +} + +impl core::fmt::Display for GyroOdometerError { + fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result { + match self { + GyroOdometerError::TransformError(msg) => write!(f, "Transform error: {}", msg), + GyroOdometerError::TimeoutError(msg) => write!(f, "Timeout error: {}", msg), + GyroOdometerError::QueueError(msg) => write!(f, "Queue error: {}", msg), + GyroOdometerError::ParameterError(msg) => write!(f, "Invalid parameter: {}", msg), + } + } +} + +impl core::error::Error for GyroOdometerError {} + +type Result = core::result::Result; + +#[derive(Debug, Clone)] +pub struct GyroOdometerConfig { + pub output_frame: String, + pub message_timeout_sec: f64, + pub queue_size: usize, + pub transform_timeout: Duration, + pub min_velocity_threshold: f64, + pub covariance_scale: f64, +} + +impl Default for GyroOdometerConfig { + fn default() -> Self { + Self { + output_frame: String::from("base_link"), + message_timeout_sec: 1.0, + queue_size: 100, + transform_timeout: Duration::from_secs(1), + min_velocity_threshold: 0.01, + covariance_scale: 100000.0, + } + } +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn test_gyro_odometer_core_creation() { + let config = GyroOdometerConfig::default(); + let core = GyroOdometerCore::new(config); + assert!(core.is_ok()); + } + + #[test] + fn test_imu_with_covariance_conversion() { + let imu_msg = ImuMsg { + header: Header { + frame_id: "imu_link", + timestamp: 123456789, + }, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + angular_velocity: Vector3::new(0.1, 0.2, 0.3), + linear_acceleration: Vector3::new(9.8, 0.0, 0.0), + }; + + let imu_with_cov = ImuWithCovariance::from_imu_msg(&imu_msg); + let converted_back = imu_with_cov.to_imu_msg(); + + assert_eq!(imu_msg.header.frame_id, converted_back.header.frame_id); + assert_eq!(imu_msg.header.timestamp, converted_back.header.timestamp); + assert_eq!(imu_msg.angular_velocity.x, converted_back.angular_velocity.x); + assert_eq!(imu_msg.angular_velocity.y, converted_back.angular_velocity.y); + assert_eq!(imu_msg.angular_velocity.z, converted_back.angular_velocity.z); + } + + #[test] + fn test_vehicle_velocity_conversion() { + let config = GyroOdometerConfig::default(); + let core = GyroOdometerCore::new(config).unwrap(); + + let odometry = Odometry { velocity: 15.5 }; + let twist = core.convert_vehicle_velocity_to_twist(&odometry, 123456789); + + assert_eq!(twist.header.frame_id, "base_link"); + assert_eq!(twist.header.timestamp, 123456789); + assert_eq!(twist.twist.twist.linear.x, 15.5); + assert_eq!(twist.twist.twist.linear.y, 0.0); + assert_eq!(twist.twist.twist.linear.z, 0.0); + } + + #[test] + fn test_imu_corrector_integration() { + let config = GyroOdometerConfig::default(); + let mut core = GyroOdometerCore::new(config).unwrap(); + + // Create IMU with covariance from imu_corrector + let imu_with_cov = ImuWithCovariance { + header: Header { + frame_id: "imu_link", + timestamp: 123456789, + }, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + angular_velocity: Vector3::new(0.1, 0.2, 0.3), + angular_velocity_covariance: [0.0009, 0.0, 0.0, 0.0, 0.0009, 0.0, 0.0, 0.0, 0.0009], // 0.03^2 + linear_acceleration: Vector3::new(9.8, 0.0, 0.0), + linear_acceleration_covariance: [100000000.0, 0.0, 0.0, 0.0, 100000000.0, 0.0, 0.0, 0.0, 100000000.0], // 10000^2 + }; + + // Process IMU with covariance + let result = core.process_imu_with_covariance(imu_with_cov); + assert!(result.is_ok()); + } + + #[test] + fn test_transform_covariance_from_imu_corrector() { + // Test that we can use the transform_covariance function from imu_corrector + let input = [1.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 3.0]; + let output = transform_covariance(&input); + assert_eq!(output[COV_IDX_X_X], 3.0); + assert_eq!(output[COV_IDX_Y_Y], 3.0); + assert_eq!(output[COV_IDX_Z_Z], 3.0); + } +} + +/// Get or initialize the global GyroOdometerCore instance +/// This provides lazy initialization with thread-safe access +pub fn get_or_initialize() -> Result<&'static mut GyroOdometerCore> { + let ptr = GYRO_ODOMETER_INSTANCE.load(AtomicOrdering::Acquire); + + if !ptr.is_null() { + return Ok(unsafe { &mut *ptr }); + } + + // Not initialized, try to initialize + let config = GyroOdometerConfig::default(); + let core = GyroOdometerCore::new(config)?; + + // Allocate on heap and store pointer + let boxed_core = alloc::boxed::Box::new(core); + let new_ptr = alloc::boxed::Box::into_raw(boxed_core); + + // Try to store the pointer atomically + match GYRO_ODOMETER_INSTANCE.compare_exchange( + null_mut(), + new_ptr, + AtomicOrdering::Acquire, + AtomicOrdering::Relaxed, + ) { + Ok(_) => { + // We successfully initialized + Ok(unsafe { &mut *new_ptr }) + } + Err(existing_ptr) => { + // Another thread already initialized it, clean up our allocation + unsafe { + let _ = alloc::boxed::Box::from_raw(new_ptr); + } + Ok(unsafe { &mut *existing_ptr }) + } + } +} \ No newline at end of file diff --git a/applications/tests/test_autoware/imu_corrector/Cargo.toml b/applications/tests/test_autoware/imu_corrector/Cargo.toml new file mode 100644 index 000000000..30b5ce849 --- /dev/null +++ b/applications/tests/test_autoware/imu_corrector/Cargo.toml @@ -0,0 +1,11 @@ +[package] +name = "imu_corrector" +version = "0.1.0" +edition = "2021" + +[dependencies] +log = "0.4" +nalgebra = { version = "0.32", default-features = false, features = ["libm"] } +awkernel_async_lib = { path = "../../../../awkernel_async_lib", default-features = false } +awkernel_lib = { path = "../../../../awkernel_lib", default-features = false } +imu_driver = { path = "../imu_driver", default-features = false } \ No newline at end of file diff --git a/applications/tests/test_autoware/imu_corrector/src/lib.rs b/applications/tests/test_autoware/imu_corrector/src/lib.rs new file mode 100644 index 000000000..3abe671ee --- /dev/null +++ b/applications/tests/test_autoware/imu_corrector/src/lib.rs @@ -0,0 +1,605 @@ +#![no_std] +extern crate alloc; + +use nalgebra::{Matrix3, UnitQuaternion, Vector3 as NVector3, Quaternion as NQuaternion}; +use imu_driver::{ImuMsg, Vector3, Quaternion, Header}; +use alloc::{format, string::String}; + +// Transform structure (simplified TF representation) +#[derive(Clone, Debug)] +pub struct Transform { + pub translation: Vector3, + pub rotation: Quaternion, +} + +impl Transform { + pub fn identity() -> Self { + Self { + translation: imu_driver::Vector3::new(5.22444, 0.07615, 2.72762), // use aip_x2_gen2_description. + rotation: imu_driver::Quaternion { + x: 1.0, + y: 0.0, + z: 0.0, + w: 0.0, + }, + } + } + + /// Convert imu_driver Vector3 to nalgebra Vector3 + fn to_nalgebra_vector3(&self, vec: &Vector3) -> NVector3 { + NVector3::new(vec.x, vec.y, vec.z) + } + + /// Convert nalgebra Vector3 to imu_driver Vector3 + fn to_imu_vector3(&self, vec: &NVector3) -> Vector3 { + Vector3::new(vec.x, vec.y, vec.z) + } + + /// Convert imu_driver Quaternion to nalgebra UnitQuaternion + fn to_nalgebra_quaternion(&self, quat: &Quaternion) -> UnitQuaternion { + // Create nalgebra Quaternion first, then normalize to UnitQuaternion + let n_quat = NQuaternion::new(quat.w, quat.x, quat.y, quat.z); + UnitQuaternion::from_quaternion(n_quat) + } + + pub fn apply_to_vector(&self, vec: Vector3) -> Vector3 { + let nalgebra_vec = self.to_nalgebra_vector3(&vec); + let nalgebra_quat = self.to_nalgebra_quaternion(&self.rotation); + let nalgebra_trans = self.to_nalgebra_vector3(&self.translation); + let rotated = nalgebra_quat * nalgebra_vec; + let result = rotated + nalgebra_trans; + self.to_imu_vector3(&result) + } +} + +// Dynamic TF listener interface (simplified version) +pub trait TransformListener { + fn get_latest_transform(&self, from_frame: &str, to_frame: &str) -> Option; + fn get_transform_at_time(&self, from_frame: &str, to_frame: &str, timestamp: u64) -> Option; +} + +// Mock TF listener for testing (can be replaced with actual ROS2 TF implementation) +pub struct MockTransformListener { + transforms: alloc::collections::BTreeMap, +} + +impl MockTransformListener { + pub fn new() -> Self { + Self { + transforms: alloc::collections::BTreeMap::new(), + } + } + + pub fn add_transform(&mut self, from_frame: &str, to_frame: &str, transform: Transform) { + let key = format!("{}_to_{}", from_frame, to_frame); + self.transforms.insert(key, transform); + } +} + +impl TransformListener for MockTransformListener { + fn get_latest_transform(&self, from_frame: &str, to_frame: &str) -> Option { + let key = format!("{}_to_{}", from_frame, to_frame); + self.transforms.get(&key).cloned() + } + + fn get_transform_at_time(&self, from_frame: &str, to_frame: &str, _timestamp: u64) -> Option { + // For mock implementation, ignore timestamp and return latest + self.get_latest_transform(from_frame, to_frame) + } +} + +// Enhanced IMU structure with covariance information +#[derive(Clone, Debug)] +pub struct ImuWithCovariance { + pub header: Header, + pub orientation: Quaternion, + pub angular_velocity: Vector3, + pub angular_velocity_covariance: [f64; 9], + pub linear_acceleration: Vector3, + pub linear_acceleration_covariance: [f64; 9], +} + +impl ImuWithCovariance { + pub fn from_imu_msg(imu_msg: &ImuMsg) -> Self { + Self { + header: imu_msg.header.clone(), + orientation: imu_msg.orientation.clone(), + angular_velocity: imu_msg.angular_velocity.clone(), + angular_velocity_covariance: [0.0; 9], + linear_acceleration: imu_msg.linear_acceleration.clone(), + linear_acceleration_covariance: [0.0; 9], + } + } + + pub fn to_imu_msg(&self) -> ImuMsg { + ImuMsg { + header: self.header.clone(), + orientation: self.orientation.clone(), + angular_velocity: self.angular_velocity.clone(), + linear_acceleration: self.linear_acceleration.clone(), + } + } +} + +// Configuration structure +pub struct ImuCorrectorConfig { + pub angular_velocity_offset_x: f64, + pub angular_velocity_offset_y: f64, + pub angular_velocity_offset_z: f64, + pub angular_velocity_stddev_xx: f64, + pub angular_velocity_stddev_yy: f64, + pub angular_velocity_stddev_zz: f64, + pub acceleration_stddev: f64, + pub output_frame: &'static str, +} + +impl Default for ImuCorrectorConfig { + //sensing/autoware_imu_corrector/config/imu_corrector.param.yaml + fn default() -> Self { + Self { + angular_velocity_offset_x: 0.0, + angular_velocity_offset_y: 0.0, + angular_velocity_offset_z: 0.0, + angular_velocity_stddev_xx: 0.03, + angular_velocity_stddev_yy: 0.03, + angular_velocity_stddev_zz: 0.03, + acceleration_stddev: 10000.0, + output_frame: "base_link", + } + } +} + +// IMU corrector implementation +pub struct ImuCorrector { + config: ImuCorrectorConfig, + transform_listener: T, +} + +impl ImuCorrector { + pub fn new() -> Self { + Self { + config: ImuCorrectorConfig::default(), + transform_listener: MockTransformListener::new(), + } + } + + pub fn with_transform_listener(transform_listener: MockTransformListener) -> Self { + Self { + config: ImuCorrectorConfig::default(), + transform_listener, + } + } +} + +impl ImuCorrector { + pub fn set_config(&mut self, config: ImuCorrectorConfig) { + self.config = config; + } + + /// Convert imu_driver Vector3 to nalgebra Vector3 + fn to_nalgebra_vector3(&self, vec: &Vector3) -> NVector3 { + NVector3::new(vec.x, vec.y, vec.z) + } + + /// Convert nalgebra Vector3 to imu_driver Vector3 + fn to_imu_vector3(&self, vec: &NVector3) -> Vector3 { + Vector3::new(vec.x, vec.y, vec.z) + } + + /// Convert imu_driver Quaternion to nalgebra UnitQuaternion + fn to_nalgebra_quaternion(&self, quat: &Quaternion) -> UnitQuaternion { + // Create nalgebra Quaternion first, then normalize to UnitQuaternion + let n_quat = NQuaternion::new(quat.w, quat.x, quat.y, quat.z); + UnitQuaternion::from_quaternion(n_quat) + } + + /// Transform vector3 using transform (simplified version) + fn transform_vector3(&self, vec: &Vector3, transform: &Transform) -> Vector3 { + // Convert to nalgebra types for transformation + let nalgebra_vec = self.to_nalgebra_vector3(vec); + let nalgebra_quat = self.to_nalgebra_quaternion(&transform.rotation); + let nalgebra_trans = self.to_nalgebra_vector3(&transform.translation); + + // Apply rotation and translation + let rotated = nalgebra_quat * nalgebra_vec; + let result = rotated + nalgebra_trans; + + // Convert back to imu_driver Vector3 + self.to_imu_vector3(&result) + } + + /// Transform covariance matrix (matches C++ transform_covariance function) + /// Takes the maximum covariance value and applies it to diagonal elements + fn transform_covariance(&self, cov: &[f64; 9]) -> [f64; 9] { + // Find maximum covariance value from diagonal elements (xx, yy, zz) + let max_cov = cov[0].max(cov[4]).max(cov[8]); // X_X, Y_Y, Z_Z indices + + // Create new covariance matrix with max_cov on diagonal, zeros elsewhere + let mut cov_transformed = [0.0; 9]; + cov_transformed[0] = max_cov; // X_X + cov_transformed[4] = max_cov; // Y_Y + cov_transformed[8] = max_cov; // Z_Z + // Other elements remain 0.0 + + cov_transformed + } + + /// Create default covariance matrix as array + fn create_default_covariance_array(&self) -> [f64; 9] { + [0.0; 9] + } + + /// Convert Matrix3 to array format for compatibility + fn matrix3_to_array(&self, matrix: &Matrix3) -> [f64; 9] { + [ + matrix[(0, 0)], matrix[(0, 1)], matrix[(0, 2)], + matrix[(1, 0)], matrix[(1, 1)], matrix[(1, 2)], + matrix[(2, 0)], matrix[(2, 1)], matrix[(2, 2)], + ] + } + + /// Correct IMU data with covariance (enhanced version for gyro_odometer) + /// This function matches the C++ callback_imu function more faithfully + pub fn correct_imu_with_covariance(&self, imu_msg: &ImuMsg, transform: Option<&Transform>) -> ImuWithCovariance { + // Start with a copy of the input IMU message (matches C++ line 82) + let mut corrected_imu = ImuWithCovariance::from_imu_msg(imu_msg); + + // Apply angular velocity offset correction (matches C++ lines 85-87) + corrected_imu.angular_velocity.x -= self.config.angular_velocity_offset_x; + corrected_imu.angular_velocity.y -= self.config.angular_velocity_offset_y; + corrected_imu.angular_velocity.z -= self.config.angular_velocity_offset_z; + + // Calculate angular velocity covariance (matches C++ lines 89-93) + // Convert to array format: [xx, xy, xz, yx, yy, yz, zx, zy, zz] + corrected_imu.angular_velocity_covariance[0] = + self.config.angular_velocity_stddev_xx * self.config.angular_velocity_stddev_xx; // xx + corrected_imu.angular_velocity_covariance[4] = + self.config.angular_velocity_stddev_yy * self.config.angular_velocity_stddev_yy; // yy + corrected_imu.angular_velocity_covariance[8] = + self.config.angular_velocity_stddev_zz * self.config.angular_velocity_stddev_zz; // zz + + // Calculate acceleration covariance (matches C++ lines 98-103) + let accel_var = self.config.acceleration_stddev * self.config.acceleration_stddev; + corrected_imu.linear_acceleration_covariance[0] = accel_var; // xx + corrected_imu.linear_acceleration_covariance[4] = accel_var; // yy + corrected_imu.linear_acceleration_covariance[8] = accel_var; // zz + + // Apply TF transformation if provided (matches C++ lines 105-125) + if let Some(tf) = transform { + // Transform linear acceleration (matches C++ line 115) + corrected_imu.linear_acceleration = self.transform_vector3(&corrected_imu.linear_acceleration, tf); + // Transform linear acceleration covariance (matches C++ line 116) + corrected_imu.linear_acceleration_covariance = + self.transform_covariance(&corrected_imu.linear_acceleration_covariance); + + // Transform angular velocity (matches C++ line 118) + corrected_imu.angular_velocity = self.transform_vector3(&corrected_imu.angular_velocity, tf); + // Transform angular velocity covariance (matches C++ line 119) + corrected_imu.angular_velocity_covariance = + self.transform_covariance(&corrected_imu.angular_velocity_covariance); + + // Update frame_id (matches C++ line 113) + corrected_imu.header.frame_id = self.config.output_frame; + } + + corrected_imu + } + + /// Correct IMU data (matches C++ implementation more closely) + pub fn correct_imu(&self, imu_msg: &ImuMsg, transform: Option<&Transform>) -> ImuMsg { + let corrected_with_cov = self.correct_imu_with_covariance(imu_msg, transform); + corrected_with_cov.to_imu_msg() + } + + /// Correct IMU data with dynamic TF lookup (matches C++ callback_imu function) + pub fn correct_imu_with_dynamic_tf(&self, imu_msg: &ImuMsg) -> Option { + // Get latest transform dynamically (matches C++ lines 106-107) + let transform = self.transform_listener.get_latest_transform( + &imu_msg.header.frame_id, + self.config.output_frame + )?; + + // Apply correction with the dynamic transform + let corrected_with_cov = self.correct_imu_with_covariance(imu_msg, Some(&transform)); + Some(corrected_with_cov.to_imu_msg()) + } + + /// Correct IMU data with dynamic TF lookup and covariance + pub fn correct_imu_with_dynamic_tf_covariance(&self, imu_msg: &ImuMsg) -> Option { + // Get latest transform dynamically (matches C++ lines 106-107) + let transform = self.transform_listener.get_latest_transform( + &imu_msg.header.frame_id, + self.config.output_frame + )?; + + // Apply correction with the dynamic transform + Some(self.correct_imu_with_covariance(imu_msg, Some(&transform))) + } + + /// Correct IMU data without TF transformation (simplified version) + pub fn correct_imu_simple(&self, imu_msg: &ImuMsg) -> ImuMsg { + let mut corrected_msg = imu_msg.clone(); + + // Apply angular velocity offset correction + corrected_msg.angular_velocity.x -= self.config.angular_velocity_offset_x; + corrected_msg.angular_velocity.y -= self.config.angular_velocity_offset_y; + corrected_msg.angular_velocity.z -= self.config.angular_velocity_offset_z; + + // Update frame_id + corrected_msg.header.frame_id = self.config.output_frame; + + corrected_msg + } + + /// Get covariance configuration for external use + pub fn get_covariance_config(&self) -> (f64, f64, f64, f64) { + ( + self.config.angular_velocity_stddev_xx, + self.config.angular_velocity_stddev_yy, + self.config.angular_velocity_stddev_zz, + self.config.acceleration_stddev, + ) + } +} + +/// Public transform_covariance function that can be called from other libraries +/// Transform covariance matrix (matches C++ transform_covariance function) +/// Takes the maximum covariance value and applies it to diagonal elements +pub fn transform_covariance(cov: &[f64; 9]) -> [f64; 9] { + // Find maximum covariance value from diagonal elements (xx, yy, zz) + let max_cov = cov[0].max(cov[4]).max(cov[8]); // X_X, Y_Y, Z_Z indices + + // Create new covariance matrix with max_cov on diagonal, zeros elsewhere + let mut cov_transformed = [0.0; 9]; + cov_transformed[0] = max_cov; // X_X + cov_transformed[4] = max_cov; // Y_Y + cov_transformed[8] = max_cov; // Z_Z + // Other elements remain 0.0 + + cov_transformed +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn test_imu_corrector() { + let corrector = ImuCorrector::new(); + let imu_msg = ImuMsg { + header: Header { + frame_id: "imu_link", + timestamp: 0, + }, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + angular_velocity: Vector3::new(0.1, 0.2, 0.3), + linear_acceleration: Vector3::new(9.8, 0.0, 0.0), + }; + + let corrected_msg = corrector.correct_imu_simple(&imu_msg); + assert_eq!(corrected_msg.header.frame_id, "base_link"); + + // Check that offset correction was applied (no offset in default config) + assert_eq!(corrected_msg.angular_velocity.x, 0.1); + assert_eq!(corrected_msg.angular_velocity.y, 0.2); + assert_eq!(corrected_msg.angular_velocity.z, 0.3); + } + + #[test] + fn test_imu_corrector_with_offset() { + let mut config = ImuCorrectorConfig::default(); + config.angular_velocity_offset_x = 0.05; + config.angular_velocity_offset_y = 0.1; + config.angular_velocity_offset_z = 0.15; + + let mut corrector = ImuCorrector::new(); + corrector.set_config(config); + + let imu_msg = ImuMsg { + header: Header { + frame_id: "imu_link", + timestamp: 0, + }, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + angular_velocity: Vector3::new(0.1, 0.2, 0.3), + linear_acceleration: Vector3::new(9.8, 0.0, 0.0), + }; + + let corrected_msg = corrector.correct_imu_simple(&imu_msg); + + // Check that offset correction was applied + assert_eq!(corrected_msg.angular_velocity.x, 0.1 - 0.05); + assert_eq!(corrected_msg.angular_velocity.y, 0.2 - 0.1); + assert_eq!(corrected_msg.angular_velocity.z, 0.3 - 0.15); + } + + #[test] + fn test_imu_corrector_with_covariance() { + let corrector = ImuCorrector::new(); + let imu_msg = ImuMsg { + header: Header { + frame_id: "imu_link", + timestamp: 0, + }, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + angular_velocity: Vector3::new(0.1, 0.2, 0.3), + linear_acceleration: Vector3::new(9.8, 0.0, 0.0), + }; + + let corrected_with_cov = corrector.correct_imu_with_covariance(&imu_msg, None); + + // Check that covariance was calculated correctly + let expected_angular_var = 0.03 * 0.03; // stddev^2 + assert_eq!(corrected_with_cov.angular_velocity_covariance[0], expected_angular_var); // xx + assert_eq!(corrected_with_cov.angular_velocity_covariance[4], expected_angular_var); // yy + assert_eq!(corrected_with_cov.angular_velocity_covariance[8], expected_angular_var); // zz + + let expected_accel_var = 10000.0 * 10000.0; // stddev^2 + assert_eq!(corrected_with_cov.linear_acceleration_covariance[0], expected_accel_var); // xx + assert_eq!(corrected_with_cov.linear_acceleration_covariance[4], expected_accel_var); // yy + assert_eq!(corrected_with_cov.linear_acceleration_covariance[8], expected_accel_var); // zz + } + + #[test] + fn test_transform_covariance() { + let corrector = ImuCorrector::new(); + + // Test covariance transformation (matches C++ transform_covariance function) + let input_cov = [1.0, 0.5, 0.3, 0.5, 2.0, 0.4, 0.3, 0.4, 3.0]; // xx=1, yy=2, zz=3 + let transformed_cov = corrector.transform_covariance(&input_cov); + + // Should take maximum value (3.0) and apply to diagonal + assert_eq!(transformed_cov[0], 3.0); // xx + assert_eq!(transformed_cov[4], 3.0); // yy + assert_eq!(transformed_cov[8], 3.0); // zz + + // Off-diagonal elements should be 0 + assert_eq!(transformed_cov[1], 0.0); // xy + assert_eq!(transformed_cov[2], 0.0); // xz + assert_eq!(transformed_cov[3], 0.0); // yx + assert_eq!(transformed_cov[5], 0.0); // yz + assert_eq!(transformed_cov[6], 0.0); // zx + assert_eq!(transformed_cov[7], 0.0); // zy + } + + #[test] + fn test_public_transform_covariance() { + // Test the public transform_covariance function + let input_cov = [1.0, 0.5, 0.3, 0.5, 2.0, 0.4, 0.3, 0.4, 3.0]; // xx=1, yy=2, zz=3 + let transformed_cov = transform_covariance(&input_cov); + + // Should take maximum value (3.0) and apply to diagonal + assert_eq!(transformed_cov[0], 3.0); // xx + assert_eq!(transformed_cov[4], 3.0); // yy + assert_eq!(transformed_cov[8], 3.0); // zz + + // Off-diagonal elements should be 0 + assert_eq!(transformed_cov[1], 0.0); // xy + assert_eq!(transformed_cov[2], 0.0); // xz + assert_eq!(transformed_cov[3], 0.0); // yx + assert_eq!(transformed_cov[5], 0.0); // yz + assert_eq!(transformed_cov[6], 0.0); // zx + assert_eq!(transformed_cov[7], 0.0); // zy + } + + #[test] + fn test_imu_corrector_with_transform() { + let corrector = ImuCorrector::new(); + let imu_msg = ImuMsg { + header: Header { + frame_id: "imu_link", + timestamp: 0, + }, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + angular_velocity: Vector3::new(0.1, 0.2, 0.3), + linear_acceleration: Vector3::new(9.8, 0.0, 0.0), + }; + + let transform = Transform { + translation: Vector3::new(0.0, 0.0, 0.0), + rotation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + }; + + let corrected_with_cov = corrector.correct_imu_with_covariance(&imu_msg, Some(&transform)); + + // Check that frame_id was updated + assert_eq!(corrected_with_cov.header.frame_id, "base_link"); + + // Check that covariance was transformed (should use max value) + let expected_angular_var = 0.03 * 0.03; // stddev^2 + assert_eq!(corrected_with_cov.angular_velocity_covariance[0], expected_angular_var); // xx + assert_eq!(corrected_with_cov.angular_velocity_covariance[4], expected_angular_var); // yy + assert_eq!(corrected_with_cov.angular_velocity_covariance[8], expected_angular_var); // zz + } + + #[test] + fn test_imu_corrector_with_dynamic_tf() { + let mut transform_listener = MockTransformListener::new(); + let transform = Transform { + translation: Vector3::new(1.0, 0.0, 0.0), + rotation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + }; + transform_listener.add_transform("imu_link", "base_link", transform); + + let corrector = ImuCorrector::with_transform_listener(transform_listener); + let imu_msg = ImuMsg { + header: Header { + frame_id: "imu_link", + timestamp: 0, + }, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + angular_velocity: Vector3::new(0.1, 0.2, 0.3), + linear_acceleration: Vector3::new(9.8, 0.0, 0.0), + }; + + let corrected_msg = corrector.correct_imu_with_dynamic_tf(&imu_msg); + assert!(corrected_msg.is_some()); + + let corrected_msg = corrected_msg.unwrap(); + // Check that frame_id was updated + assert_eq!(corrected_msg.header.frame_id, "base_link"); + + // Check that translation was applied (linear acceleration should be transformed) + // With translation of (1.0, 0.0, 0.0), the acceleration should be affected + assert_eq!(corrected_msg.linear_acceleration.x, 9.8); // No change for identity rotation + } + + #[test] + fn test_imu_corrector_with_dynamic_tf_no_transform() { + let transform_listener = MockTransformListener::new(); // Empty listener + let corrector = ImuCorrector::with_transform_listener(transform_listener); + let imu_msg = ImuMsg { + header: Header { + frame_id: "imu_link", + timestamp: 0, + }, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + angular_velocity: Vector3::new(0.1, 0.2, 0.3), + linear_acceleration: Vector3::new(9.8, 0.0, 0.0), + }; + + let corrected_msg = corrector.correct_imu_with_dynamic_tf(&imu_msg); + // Should return None when no transform is available + assert!(corrected_msg.is_none()); + } +} diff --git a/applications/tests/test_autoware/imu_driver/Cargo.toml b/applications/tests/test_autoware/imu_driver/Cargo.toml new file mode 100644 index 000000000..f08727aa3 --- /dev/null +++ b/applications/tests/test_autoware/imu_driver/Cargo.toml @@ -0,0 +1,9 @@ +[package] +name = "imu_driver" +version = "0.1.0" +edition = "2021" + +[dependencies] +log = "0.4" +awkernel_async_lib = { path = "../../../../awkernel_async_lib", default-features = false } +awkernel_lib = { path = "../../../../awkernel_lib", default-features = false } \ No newline at end of file diff --git a/applications/tests/test_autoware/imu_driver/src/lib.rs b/applications/tests/test_autoware/imu_driver/src/lib.rs new file mode 100644 index 000000000..9d7f29837 --- /dev/null +++ b/applications/tests/test_autoware/imu_driver/src/lib.rs @@ -0,0 +1,341 @@ +#![no_std] +extern crate alloc; + +use alloc::{vec, vec::Vec, format,string::String}; +//use awkernel_lib::time::Time; +use core::{f64::consts::PI}; + +// IMU message structure +#[derive(Clone, Debug)] +pub struct ImuMsg { + pub header: Header, + pub orientation: Quaternion, + pub angular_velocity: Vector3, + pub linear_acceleration: Vector3, +} + +#[derive(Clone, Debug)] +pub struct Header { + pub frame_id: &'static str, + pub timestamp: u64, +} + +#[derive(Debug, Clone)] +pub struct Quaternion { + pub x: f64, + pub y: f64, + pub z: f64, + pub w: f64, +} + +#[derive(Clone, Debug)] +pub struct Vector3 { + pub x: f64, + pub y: f64, + pub z: f64, +} + +impl Vector3 { + pub fn new(x: f64, y: f64, z: f64) -> Self { + Self { x, y, z } + } +} + +impl Default for ImuMsg { + fn default() -> Self { + Self { + header: Header { + frame_id: "imu", + timestamp: 0, + }, + orientation: Quaternion { + x: 1.0, + y: 0.0, + z: 0.0, + w: 0.0, + }, + angular_velocity: Vector3::new(0.0, 0.0, 0.0), + linear_acceleration: Vector3::new(0.0, 0.0, 0.0), + } + } +} + +/// IMU data parser for Tamagawa IMU +pub struct TamagawaImuParser { + frame_id: &'static str, + dummy_counter: u16, +} + +impl TamagawaImuParser { + pub fn new(frame_id: &'static str) -> Self { + Self { + frame_id, + dummy_counter: 0, + } + } + + /// Parse binary IMU data from Tamagawa sensor + /// + /// # Arguments + /// * `data` - Raw binary data from sensor (expected length 58 bytes) + /// * `timestamp` - Current timestamp in nanoseconds + /// + /// # Returns + /// * `Option` - Parsed IMU message if data is valid, None otherwise + pub fn parse_binary_data(&self, data: &[u8], timestamp: u64) -> Option { + // Check if data is valid BIN format and correct length + if data.len() != 58 || data[5] != b'B' || data[6] != b'I' || data[7] != b'N' || data[8] != b',' { + return None; + } + + let mut imu_msg = ImuMsg::default(); + imu_msg.header.frame_id = self.frame_id; + imu_msg.header.timestamp = timestamp; + + // Parse counter (bytes 11-12) + let _counter = ((data[11] as u16) << 8) | (data[12] as u16); + + // Parse angular velocity (gyroscope) data + // Bytes 15-16: X-axis angular velocity + let raw_data = self.parse_signed_16bit(&data[15..17]); + imu_msg.angular_velocity.x = self.convert_angular_velocity(raw_data); + + // Bytes 17-18: Y-axis angular velocity + let raw_data = self.parse_signed_16bit(&data[17..19]); + imu_msg.angular_velocity.y = self.convert_angular_velocity(raw_data); + + // Bytes 19-20: Z-axis angular velocity + let raw_data = self.parse_signed_16bit(&data[19..21]); + imu_msg.angular_velocity.z = self.convert_angular_velocity(raw_data); + + // Parse linear acceleration data + // Bytes 21-22: X-axis acceleration + let raw_data = self.parse_signed_16bit(&data[21..23]); + imu_msg.linear_acceleration.x = self.convert_acceleration(raw_data); + + // Bytes 23-24: Y-axis acceleration + let raw_data = self.parse_signed_16bit(&data[23..25]); + imu_msg.linear_acceleration.y = self.convert_acceleration(raw_data); + + // Bytes 25-26: Z-axis acceleration + let raw_data = self.parse_signed_16bit(&data[25..27]); + imu_msg.linear_acceleration.z = self.convert_acceleration(raw_data); + + Some(imu_msg) + } + + /// Generate dummy binary data for testing + /// + /// # Arguments + /// * `timestamp` - Current timestamp in nanoseconds + /// * `angular_velocity` - Angular velocity values in rad/s + /// * `linear_acceleration` - Linear acceleration values in m/s² + /// + /// # Returns + /// * `Vec` - 58-byte binary data in Tamagawa format + pub fn generate_dummy_binary_data( + &mut self, + _timestamp: u64, + angular_velocity: Vector3, + linear_acceleration: Vector3, + ) -> Vec { + let mut data = vec![0u8; 58]; + + // Header: $TSC,BIN, + data[0..5].copy_from_slice(b"$TSC,"); + data[5] = b'B'; + data[6] = b'I'; + data[7] = b'N'; + data[8] = b','; + + // Counter (bytes 11-12) + data[11] = (self.dummy_counter >> 8) as u8; + data[12] = (self.dummy_counter & 0xFF) as u8; + self.dummy_counter = self.dummy_counter.wrapping_add(1); + + // Convert angular velocity from rad/s to LSB + let angular_vel_x_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.x); + let angular_vel_y_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.y); + let angular_vel_z_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.z); + + // Convert acceleration from m/s² to LSB + let accel_x_lsb = self.convert_acceleration_to_lsb(linear_acceleration.x); + let accel_y_lsb = self.convert_acceleration_to_lsb(linear_acceleration.y); + let accel_z_lsb = self.convert_acceleration_to_lsb(linear_acceleration.z); + + // Angular velocity data (bytes 15-20) + data[15] = (angular_vel_x_lsb >> 8) as u8; + data[16] = (angular_vel_x_lsb & 0xFF) as u8; + data[17] = (angular_vel_y_lsb >> 8) as u8; + data[18] = (angular_vel_y_lsb & 0xFF) as u8; + data[19] = (angular_vel_z_lsb >> 8) as u8; + data[20] = (angular_vel_z_lsb & 0xFF) as u8; + + // Linear acceleration data (bytes 21-26) + data[21] = (accel_x_lsb >> 8) as u8; + data[22] = (accel_x_lsb & 0xFF) as u8; + data[23] = (accel_y_lsb >> 8) as u8; + data[24] = (accel_y_lsb & 0xFF) as u8; + data[25] = (accel_z_lsb >> 8) as u8; + data[26] = (accel_z_lsb & 0xFF) as u8; + + data + } + + /// Generate sinusoidal dummy data for realistic simulation + /// + /// # Arguments + /// * `timestamp` - Current timestamp in nanoseconds + /// * `time_offset` - Time offset for phase calculation + /// + /// # Returns + /// * `Vec` - 58-byte binary data with sinusoidal motion + /* + pub fn generate_sinusoidal_dummy_data(&mut self, timestamp: u64, time_offset: f64) -> Vec { + // Convert timestamp to seconds for sinusoidal calculation + let time_sec = (timestamp as f64) / 1_000_000_000.0 + time_offset; + + // Generate sinusoidal angular velocity (rotation around Z-axis) + let angular_vel_z = 0.5 * (2.0 * PI * 0.1 * time_sec).sin(); // 0.1 Hz, ±0.5 rad/s + + // Generate sinusoidal acceleration (oscillation in X-axis) + let accel_x = 9.8 + 2.0 * (2.0 * PI * 0.05 * time_sec).sin(); // 0.05 Hz, 9.8±2.0 m/s² + + let angular_velocity = Vector3::new(0.1, 0.2, angular_vel_z); + let linear_acceleration = Vector3::new(accel_x, 0.0, 9.8); + + self.generate_dummy_binary_data(timestamp, angular_velocity, linear_acceleration) + } + */ + + /// Generate static dummy data with fixed values + /// + /// # Arguments + /// * `timestamp` - Current timestamp in nanoseconds + /// + /// # Returns + /// * `Vec` - 58-byte binary data with static values + // Autoware側と統一：加速度は重力加速度のみ + pub fn generate_static_dummy_data(&mut self, timestamp: u64) -> Vec { + let angular_velocity = Vector3::new(0.1, 0.2, 0.01); + let linear_acceleration = Vector3::new(0.0, 0.0, 9.80665); // z方向のみ重力加速度 + + self.generate_dummy_binary_data(timestamp, angular_velocity, linear_acceleration) + } + + /// Convert angular velocity from rad/s to LSB + fn convert_angular_velocity_to_lsb(&self, rad_per_sec: f64) -> i16 { + let deg_per_sec = rad_per_sec * 180.0 / PI; + let lsb = deg_per_sec / (200.0 / (1 << 15) as f64); + lsb as i16 + } + + /// Convert acceleration from m/s² to LSB + fn convert_acceleration_to_lsb(&self, m_per_sec_squared: f64) -> i16 { + let lsb = m_per_sec_squared / (100.0 / (1 << 15) as f64); + lsb as i16 + } + + /// Parse signed 16-bit value from 2 bytes + /// + /// This matches the C++ implementation: + /// raw_data = ((((rbuf[15] << 8) & 0xFFFFFF00) | (rbuf[16] & 0x000000FF))); + fn parse_signed_16bit(&self, data: &[u8]) -> i16 { + if data.len() != 2 { + return 0; + } + // Match C++ implementation: 32-bit integer with masking + let high_byte = (data[0] as i32) << 8; + let low_byte = data[1] as i32; + let result = (high_byte & 0xFFFFFF00u32 as i32) | (low_byte & 0x000000FF); + result as i16 + } + + /// Convert raw angular velocity data to rad/s + /// + /// Raw data is in LSB units with range ±200 deg/s + /// Conversion: raw * (200 / 2^15) * π / 180 + fn convert_angular_velocity(&self, raw_data: i16) -> f64 { + let lsb_to_deg_per_sec = 200.0 / (1 << 15) as f64; + let deg_to_rad = PI / 180.0; + (raw_data as f64) * lsb_to_deg_per_sec * deg_to_rad + } + + /// Convert raw acceleration data to m/s² + /// + /// Raw data is in LSB units with range ±100 m/s² + /// Conversion: raw * (100 / 2^15) + fn convert_acceleration(&self, raw_data: i16) -> f64 { + let lsb_to_m_per_sec_squared = 100.0 / (1 << 15) as f64; + (raw_data as f64) * lsb_to_m_per_sec_squared + } + + /// Generate version request command + pub fn generate_version_request() -> &'static [u8] { + b"$TSC,VER*29\r\n" + } + + /// Generate offset cancel request command + pub fn generate_offset_cancel_request(offset_value: i32) -> String { + format!("$TSC,OFC,{}\r\n", offset_value) + } + + /// Generate heading reset request command + pub fn generate_heading_reset_request() -> &'static [u8] { + b"$TSC,HRST*29\r\n" + } + + /// Generate binary data request command + pub fn generate_binary_request(rate_hz: u32) -> String { + format!("$TSC,BIN,{}\r\n", rate_hz) + } +} + + + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn example_usage() { + // Create parser instance + let mut parser = TamagawaImuParser::new("imu_link"); + + // Generate commands + let version_cmd = TamagawaImuParser::generate_version_request(); + let binary_cmd = TamagawaImuParser::generate_binary_request(30); + let offset_cmd = TamagawaImuParser::generate_offset_cancel_request(123); + let heading_cmd = TamagawaImuParser::generate_heading_reset_request(); + + // Example 1: Generate static dummy data + let static_dummy_data = parser.generate_static_dummy_data(123456789); + if let Some(imu_msg) = parser.parse_binary_data(&static_dummy_data, 123456789) { + // Use the parsed IMU message + let _angular_vel = imu_msg.angular_velocity; + let _acceleration = imu_msg.linear_acceleration; + } + + // Example 2: Generate sinusoidal dummy data for realistic simulation + let sinusoidal_dummy_data = parser.generate_sinusoidal_dummy_data(123456789, 0.0); + if let Some(imu_msg) = parser.parse_binary_data(&sinusoidal_dummy_data, 123456789) { + // Use the parsed IMU message with realistic motion + let _angular_vel = imu_msg.angular_velocity; + let _acceleration = imu_msg.linear_acceleration; + } + + // Example 3: Generate custom dummy data + let custom_angular_velocity = Vector3::new(0.5, -0.3, 1.2); + let custom_acceleration = Vector3::new(8.5, 2.1, 10.2); + let custom_dummy_data = parser.generate_dummy_binary_data( + 123456789, + custom_angular_velocity, + custom_acceleration + ); + if let Some(imu_msg) = parser.parse_binary_data(&custom_dummy_data, 123456789) { + // Use the parsed IMU message with custom values + let _angular_vel = imu_msg.angular_velocity; + let _acceleration = imu_msg.linear_acceleration; + } + } +} \ No newline at end of file diff --git a/applications/tests/test_autoware/imu_raw.csv b/applications/tests/test_autoware/imu_raw.csv new file 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+1769682235,616463616,0.0,0.0,0.0,1.0,-0.0,0.0,-0.0,0.0,-0.0,0.0 diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs new file mode 100644 index 000000000..4ea886cb6 --- /dev/null +++ b/applications/tests/test_autoware/src/lib.rs @@ -0,0 +1,1121 @@ +#![no_std] +extern crate alloc; + +use alloc::{borrow::Cow, vec, vec::Vec, collections::VecDeque, string::String, format, sync::Arc}; +use awkernel_async_lib::dag::{create_dag, finish_create_dags}; +use awkernel_async_lib::scheduler::SchedulerType; +use awkernel_async_lib::task::perf::get_period_count; +use awkernel_lib::net::{add_ipv4_addr, poll_interface, get_all_interface}; +use awkernel_async_lib::net::{tcp::TcpStream, tcp::TcpConfig, udp::{UdpConfig, UdpSocketError},IpAddr}; +use awkernel_lib::delay::wait_microsec; +use awkernel_lib::sync::mutex::{MCSNode, Mutex}; +use core::time::Duration; +use core::net::Ipv4Addr; +use csv_core::{Reader, ReadRecordResult}; +// Thread-safe state management using atomic operations +use core::sync::atomic::{AtomicBool, AtomicU64, AtomicUsize,Ordering}; +// Global gyro odometer core instance with proper synchronization +use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; +use core::ptr::null_mut; + + +// IMU ドライバーライブラリをインポート +use imu_driver::{ImuMsg,TamagawaImuParser, Header, Vector3}; +use imu_corrector::{ImuCorrector, ImuWithCovariance, Transform}; + +// Vehicle Velocity Converter ライブラリをインポート（C++のpubsub機能に対応） +use vehicle_velocity_converter::{ + VehicleVelocityConverter, VelocityReport, TwistWithCovarianceStamped, + TwistWithCovariance, Twist, reactor_helpers}; + +// Gyro Odometer ライブラリをインポート +use gyro_odometer::{ + GyroOdometerCore, GyroOdometerConfig}; + +// EKF Localizer ライブラリをインポート +use ekf_localizer::{EKFModule, EKFParameters, Pose, Point3D, Quaternion, PoseWithCovariance}; +// COMMENTED OUT: 手動積分用の関数をコメントアウトしたためlibmは不要 +// use libm::{atan2, cos, sin}; + +/// EKF Odometry structure for publishing (equivalent to C++ nav_msgs::msg::Odometry) +#[derive(Debug, Clone)] +pub struct EKFOdometry { + pub header: imu_driver::Header, + pub child_frame_id: &'static str, + pub pose: PoseWithCovariance, + pub twist: TwistWithCovariance, +} + +const LOG_ENABLE: bool = false; + + +// EKF pose covariance (6x6 matrix flattened to array) +// Layout: [x, xy, xz, xr, xp, xy_yaw, +// yx, y, yz, yr, yp, y_yaw, +// zx, zy, z, zr, zp, z_yaw, +// rx, ry, rz, r, rp, r_yaw, +// px, py, pz, pr, p, p_yaw, +// yaw_x, yaw_y, yaw_z, yaw_r, yaw_p, yaw] +const EKF_POSE_COVARIANCE: [f64; 36] = [ + 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, +]; + +// EKF twist covariance (6x6 matrix flattened to array) +// For twist, we mainly care about linear.x (vx) and angular.z (wz) +// Layout: [vx_x, vx_y, vx_z, vx_rx, vx_ry, vx_wz, +// vy_x, vy_y, vy_z, vy_rx, vy_ry, vy_wz, +// vz_x, vz_y, vz_z, vz_rx, vz_ry, vz_wz, +// wx_x, wx_y, wx_z, wx_rx, wx_ry, wx_wz, +// wy_x, wy_y, wy_z, wy_rx, wy_ry, wy_wz, +// wz_x, wz_y, wz_z, wz_rx, wz_ry, wz] +// Based on Autoware's typical twist uncertainty (0.01 m/s for linear, 0.01 rad/s for angular) +const EKF_TWIST_COVARIANCE: [f64; 36] = [ + 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, +]; + +static LAST_DR_TIMESTAMP: AtomicU64 = AtomicU64::new(0); + +// ネットワーク状態管理 +const INTERFACE_ID: u64 = 0; + +// 10.0.2.0/24 is the IP address range of the Qemu's network. +const INTERFACE_ADDR: Ipv4Addr = Ipv4Addr::new(10, 0, 2, 64); + +// const INTERFACE_ADDR: Ipv4Addr = Ipv4Addr::new(192, 168, 100, 52); // For experiment. + +// 10.0.2.2 is the IP address of the Qemu's host. +const UDP_TCP_DST_ADDR: Ipv4Addr = Ipv4Addr::new(10, 0, 2, 2); + +// const UDP_TCP_DST_ADDR: Ipv4Addr = Ipv4Addr::new(192, 168, 100, 1); // For experiment. + +const UDP_DST_PORT: u16 = 26099; +const TCP_DST_PORT: u16 = 26099; +const TCP_LISTEN_PORT: u16 = 26100; + +// JSONデータ保存用のグローバル変数 +static mut LATEST_JSON_DATA: Option = None; +static JSON_DATA_READY: AtomicBool = AtomicBool::new(false); +static JSON_DATA_LENGTH: AtomicUsize = AtomicUsize::new(0); + +// CSVデータ埋め込み +const IMU_CSV_DATA_STR: &str = include_str!("../imu_raw.csv"); +const VELOCITY_CSV_DATA_STR: &str = include_str!("../velocity_status.csv"); + +// CSVパース結果の保存 +#[derive(Clone, Debug)] +struct ImuCsvRow { + timestamp: u64, + orientation: imu_driver::Quaternion, + angular_velocity: imu_driver::Vector3, + linear_acceleration: imu_driver::Vector3, +} + +#[derive(Clone, Debug)] +struct VelocityCsvRow { + timestamp: u64, + longitudinal_velocity: f64, + lateral_velocity: f64, + heading_rate: f64, +} + +static mut IMU_CSV_DATA: Option> = None; +static mut VELOCITY_CSV_DATA: Option> = None; +static IMU_CSV_COUNT: Mutex = Mutex::new(0); +static VELOCITY_CSV_COUNT: Mutex = Mutex::new(0); + + +// Global EKF Localizer instance with proper synchronization +static EKF_LOCALIZER: AtomicPtr = AtomicPtr::new(null_mut()); + +// COMMENTED OUT: 手動積分用のDR_POSEはEKF内部状態からポーズを取得するようになったため不要 +// static mut DR_POSE: Option = None; + + +pub async fn run() { + wait_microsec(1000000); + + if let Err(e) = initialize_csv_data() { + log::warn!("CSVデータの初期化に失敗しました: {}", e); + } + + log::info!("Starting Autoware test application with simplified TCP networking"); + + // 初期ネットワークインターフェース情報を表示 + //print_network_interfaces(); + + let dag = create_dag(); + let dag_id = dag.get_id(); + + // ダミーデータ送信用リアクター + // MODIFIED: 周期を10msから50msに変更（Autowareのekf_data_publisher.pyと同じ周期） + // これにより、CSVデータの消費速度が両システムで一致する + dag.register_periodic_reactor::<_, ((i32, u32), (i32, u32), (i32, u32))>( + "start_dummy_data".into(), + move || -> ((i32, u32), (i32, u32), (i32, u32)) { + let period_id = get_period_count(dag_id as usize) as u32; + return ((1, period_id), (2, period_id), (3, period_id)); // 通常のデータ処理用の値 + }, + vec![Cow::from("start_imu"),Cow::from("start_vel"),Cow::from("start_pose")], + SchedulerType::GEDF(5), + Duration::from_millis(50) // CHANGED: 10ms -> 50ms (Autowareと同じ) + ) + .await; + + // IMU driver node (periodic_reactor) - Dummy data generator + dag.register_reactor::<_, ((i32, u32),), ((ImuMsg, u32),)>( + "imu_driver".into(), + move |((_a, period_id),): ((i32, u32),)| -> ((ImuMsg, u32),) { + let mut node = MCSNode::new(); + let mut count_guard = IMU_CSV_COUNT.lock(&mut node); + let count = *count_guard; + let data = unsafe { IMU_CSV_DATA.as_ref() }; + + let imu_msg = if let Some(csv_data) = data { + if csv_data.is_empty() { + let mut parser = TamagawaImuParser::new("imu_link"); + let awkernel_timestamp = get_awkernel_uptime_timestamp(); + let static_dummy_data = parser.generate_static_dummy_data(awkernel_timestamp); + parser + .parse_binary_data(&static_dummy_data, awkernel_timestamp) + .unwrap_or_default() + } else { + let idx = count % csv_data.len(); + let row = &csv_data[idx]; + let awkernel_timestamp = get_awkernel_uptime_timestamp(); + ImuMsg { + header: Header { + frame_id: "imu_link", + timestamp: awkernel_timestamp, + }, + orientation: row.orientation.clone(), + angular_velocity: row.angular_velocity.clone(), + linear_acceleration: row.linear_acceleration.clone(), + } + } + } else { + let mut parser = TamagawaImuParser::new("imu_link"); + let awkernel_timestamp = get_awkernel_uptime_timestamp(); + let static_dummy_data = parser.generate_static_dummy_data(awkernel_timestamp); + parser + .parse_binary_data(&static_dummy_data, awkernel_timestamp) + .unwrap_or_default() + }; + + *count_guard += 1; + if *count_guard >= 5700 { + *count_guard = 0; + log::info!("rust_e2e_app: finish csv for IMU"); + loop {} + } + + if LOG_ENABLE { + log::debug!( + "IMU data in imu_driver_node,num={}, timestamp={}", + count, imu_msg.header.timestamp + ); + } + + ((imu_msg, period_id),) + }, + vec![Cow::from("start_imu")], + vec![Cow::from("imu_data")], + SchedulerType::GEDF(5), + ) + .await; + + // Vehicle Velocity Converter node - VelocityReport to TwistWithCovarianceStamped converter + dag.register_reactor::<_, ((i32, u32),), ((TwistWithCovarianceStamped, u32),)>( + "vehicle_velocity_converter".into(), + move |((_b, period_id),): ((i32, u32),)| -> ((TwistWithCovarianceStamped, u32),) { + let converter = VehicleVelocityConverter::default(); + + let mut node = MCSNode::new(); + let mut count_guard = VELOCITY_CSV_COUNT.lock(&mut node); + let count = *count_guard; + let data = unsafe { VELOCITY_CSV_DATA.as_ref() }; + + let csv_data = data.expect("VELOCITY_CSV_DATA must be initialized"); + let idx = count % csv_data.len(); + let row = &csv_data[idx]; + let awkernel_timestamp = get_awkernel_uptime_timestamp(); + let velocity_report = VelocityReport { + header: Header { + frame_id: "base_link", + timestamp: awkernel_timestamp, + }, + longitudinal_velocity: row.longitudinal_velocity, + lateral_velocity: row.lateral_velocity, + heading_rate: row.heading_rate, + }; + + *count_guard += 1; + if *count_guard >= 5700 { + *count_guard = 0; + log::info!("rust_e2e_app: finish csv for Velocity"); + loop {} + } + + let twist_msg = converter.convert_velocity_report(&velocity_report); + + if LOG_ENABLE { + log::debug!("Vehicle velocity converter: Converted velocity report to twist - linear.x={:.3}, angular.z={:.3}, awkernel_timestamp={}", + twist_msg.twist.twist.linear.x, + twist_msg.twist.twist.angular.z, + twist_msg.header.timestamp + ); + } + + ((twist_msg, period_id),) + }, + vec![Cow::from("start_vel")], // Subscribe to start_vel topic + vec![Cow::from("velocity_twist")], // Publish to twist_with_covariance topic + SchedulerType::GEDF(5), + ) + .await; + + //Imu Corrector + dag.register_reactor::<_, ((ImuMsg, u32),), ((ImuWithCovariance, u32),)>( + "imu_corrector".into(), + |((imu_msg, period_id),): ((ImuMsg, u32),)| -> ((ImuWithCovariance, u32),) { + + let corrector = ImuCorrector::new(); + // Use the enhanced corrector that outputs ImuWithCovariance + let corrected = corrector.correct_imu_with_covariance(&imu_msg, None); + // if LOG_ENABLE { + // log::debug!("IMU corrected in imu_corrector node with covariance"); + // } + ((corrected, period_id),) + }, + vec![Cow::from("imu_data")], + vec![Cow::from("corrected_imu_data")], + SchedulerType::GEDF(5), + ) + .await; + + // Gyro Odometer node - Simplified single processing step + dag.register_reactor::<_, ((ImuWithCovariance, u32), (TwistWithCovarianceStamped, u32)), ((TwistWithCovarianceStamped, u32),)>( + "gyro_odometer".into(), + |((imu_with_cov, period_imu), (vehicle_twist, _period_twist)): ((ImuWithCovariance, u32), (TwistWithCovarianceStamped, u32))| -> ((TwistWithCovarianceStamped, u32),) { + let current_timestamp = imu_with_cov.header.timestamp; + let current_time = get_awkernel_uptime_timestamp(); + + // Get or initialize gyro odometer core + let gyro_odometer = match gyro_odometer::get_or_initialize() { + Ok(core) => core, + Err(_) => { + return ((reactor_helpers::create_empty_twist(current_timestamp), period_imu),); + } + }; + + // Add both messages to queues (both arrive together in test_autoware) + gyro_odometer.add_vehicle_twist(vehicle_twist); + gyro_odometer.add_imu(imu_with_cov); + + // Process once with current time and return result + match gyro_odometer.process_and_get_result(current_time) { + Some(result) => ((gyro_odometer.process_result(result), period_imu),), + None => ((reactor_helpers::create_empty_twist(current_timestamp), period_imu),) + } + }, + vec![Cow::from("corrected_imu_data"),Cow::from("velocity_twist")], + vec![Cow::from("twist_with_covariance")], + SchedulerType::GEDF(5), + ) + .await; + + // Pose dummy data generator reactor + dag.register_reactor::<_, ((i32, u32),), ((Pose, u32),)>( + "pose_dummy_generator".into(), + move |((_counter, period_id),): ((i32, u32),)| -> ((Pose, u32),) { + // Generate dummy pose data that moves in a circle + // let time = counter as f64 * 0.1; // Time progression + // let radius = 10.0; // Circle radius + // let angular_velocity = 0.5; // rad/s + + // aip_x1_description/config/sensors_calibration.yaml + // if needed, comment out and use fixed values below + // let x = 0.86419; + // let y = 0.0; + // let z = 2.18096; + // let yaw = angular_velocity * time; + // for initial pose + let x = 0.0; + let y = 0.0; + let z = 0.0; + + let pose = Pose { + position: Point3D { x,y,z}, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, + }; + + // if LOG_ENABLE { + // log::debug!("Generated dummy pose: x={:.3}, y={:.3}, yaw={:.3}, counter={}", + // pose.position.x, pose.position.y, yaw, counter); + // } + + ((pose, period_id),) + }, + vec![Cow::from("start_pose")], + vec![Cow::from("dummy_pose")], + SchedulerType::GEDF(5), + ) + .await; + + // EKF Localizer reactor - combines pose and twist data + // MODIFIED: 手動積分（integrated_pose）を廃止し、EKFの内部状態から直接ポーズを取得するように変更 + dag.register_reactor::<_, ((Pose, u32), (TwistWithCovarianceStamped, u32)), ((Pose, u32), (EKFOdometry, u32))>( + "ekf_localizer".into(), + |((pose, period_pose), (twist, _period_twist)): ((Pose, u32), (TwistWithCovarianceStamped, u32))| -> ((Pose, u32), (EKFOdometry, u32)) { + // Initialize EKF Localizer if not already done + if get_ekf_localizer().is_none() { + if let Err(e) = initialize_ekf_localizer() { + // if LOG_ENABLE { + // log::error!("Failed to initialize EKF Localizer: {}", e); + // } + return ((pose, period_pose), (EKFOdometry { + header: imu_driver::Header { + frame_id: "map", + timestamp: twist.header.timestamp, + }, + child_frame_id: "base_link", + pose: PoseWithCovariance { + pose: pose, + covariance: EKF_POSE_COVARIANCE, + }, + twist: TwistWithCovariance { + twist: Twist { + linear: imu_driver::Vector3::new(0.0, 0.0, 0.0), + angular: imu_driver::Vector3::new(0.0, 0.0, 0.0), + }, + covariance: EKF_TWIST_COVARIANCE, + }, + }, period_pose)); + } + } + + let ekf = get_ekf_localizer().unwrap(); + + // Initialize EKF with first pose if not already initialized + static mut INITIALIZED: bool = false; + unsafe { + if !INITIALIZED { + ekf.initialize(pose.clone()); + // COMMENTED OUT: 手動積分用の変数は使用しない + // DR_POSE = Some(pose.clone()); + LAST_DR_TIMESTAMP.store(twist.header.timestamp, Ordering::Relaxed); + INITIALIZED = true; + // if LOG_ENABLE { + // log::info!("EKF Localizer initialized with initial pose"); + // } + } + } + + // Predict step using measured time gap + // MODIFIED: CSVタイムスタンプ差ではなく、固定dtを使用 + // Autowareのekf_data_publisher.pyは50ms固定周期でデータをpublishする + // EKFは実際の経過時間（システムクロック）を使用するため、 + // Awkernelも同様に固定dtを使用することで挙動を一致させる + // + // OLD CODE (CSVタイムスタンプ差を使用): + // let current_ts = twist.header.timestamp; + // let last_ts = LAST_DR_TIMESTAMP.swap(current_ts, Ordering::Relaxed); + // let dt = if last_ts == 0 { + // 0.0 + // } else { + // (current_ts.saturating_sub(last_ts)) as f64 / 1_000_000_000.0 + // }; + // + // NEW CODE: 固定dt = 50ms (0.05秒) - Autowareと同じ周期 + const FIXED_DT: f64 = 0.05; // 50ms in seconds + let dt = FIXED_DT; + + if dt > 0.0 { + ekf.predict(dt); + } + + // ADDED: EKFに速度観測値を更新（カルマンフィルタの観測更新ステップ） + let vx = twist.twist.twist.linear.x; + let wz = twist.twist.twist.angular.z; + ekf.update_velocity(vx, wz); + + // COMMENTED OUT: 手動積分（Dead Reckoning）処理 + // Autowareとの精度向上のため、EKF内部状態から直接ポーズを取得するように変更 + // let mut integrated_pose = unsafe { DR_POSE.clone().unwrap_or_else(|| pose.clone()) }; + // let yaw = quaternion_to_yaw(&integrated_pose.orientation); + // let vx = twist.twist.twist.linear.x; + // let vy = twist.twist.twist.linear.y; + // let vz = twist.twist.twist.linear.z; + // let wz = twist.twist.twist.angular.z; + // + // if dt > 0.0 { + // let cos_yaw = cos(yaw); + // let sin_yaw = sin(yaw); + // let new_yaw = yaw + wz * dt; + // + // integrated_pose.position.x += (vx * cos_yaw - vy * sin_yaw) * dt; + // integrated_pose.position.y += (vx * sin_yaw + vy * cos_yaw) * dt; + // integrated_pose.position.z += vz * dt; + // integrated_pose.orientation = yaw_to_quaternion(new_yaw); + // } + // + // unsafe { + // DR_POSE = Some(integrated_pose.clone()); + // } + + // MODIFIED: EKFの内部状態から直接ポーズを取得 + // get_biased_yaw=false でyaw_biasを考慮したポーズを取得 + let ekf_pose = ekf.get_current_pose(false); + + // MODIFIED: EKFから動的な共分散を取得（固定値ではなく） + // これにより、走行距離や時間の経過に伴う不確かさの変化を反映 + let pose_covariance = ekf.get_current_pose_covariance(); + let twist_covariance = ekf.get_current_twist_covariance(); + + // COMMENTED OUT: 固定共分散の使用 + // let pose_covariance = EKF_POSE_COVARIANCE; + // let twist_covariance = EKF_TWIST_COVARIANCE; + + // Get EKF's estimated twist + let ekf_twist = ekf.get_current_twist(); + + // Create odometry message using EKF's estimated pose and twist + let odometry = EKFOdometry { + header: imu_driver::Header { + frame_id: "map", + timestamp: twist.header.timestamp, + }, + child_frame_id: "base_link", + pose: PoseWithCovariance { + pose: ekf_pose.clone(), + covariance: pose_covariance, + }, + twist: TwistWithCovariance { + // Use EKF's estimated twist instead of input twist + twist: Twist { + linear: imu_driver::Vector3::new(ekf_twist.linear.x, ekf_twist.linear.y, ekf_twist.linear.z), + angular: imu_driver::Vector3::new(ekf_twist.angular.x, ekf_twist.angular.y, ekf_twist.angular.z), + }, + covariance: twist_covariance, + }, + }; + + // if LOG_ENABLE { + // log::debug!("EKF Localizer: ekf_pose=({:.3}, {:.3}, {:.3}), dt={:.3}, awkernel_timestamp={}", + // ekf_pose.position.x, ekf_pose.position.y, ekf_pose.position.z, dt, odometry.header.timestamp); + // log::debug!("EKF Localizer: ekf_twist=({:.3}, {:.3}, {:.3}), angular=({:.3}, {:.3}, {:.3})", + // ekf_twist.linear.x, ekf_twist.linear.y, ekf_twist.linear.z, + // ekf_twist.angular.x, ekf_twist.angular.y, ekf_twist.angular.z); + // } + + // COMMENTED OUT: 手動積分のポーズを返していた + // (integrated_pose, odometry) + // MODIFIED: EKFの推定ポーズを返す + ((ekf_pose, period_pose), (odometry, period_pose)) + }, + vec![Cow::from("dummy_pose"), Cow::from("twist_with_covariance")], + vec![Cow::from("estimated_pose"), Cow::from("ekf_odometry")], + SchedulerType::GEDF(5), + ) + .await; + + // Sink reactor for EKF Localizer output with TCP sending + dag.register_sink_reactor::<_, ((Pose, u32), (EKFOdometry, u32))>( + "ekf_sink".into(), + move|((_pose, _period_pose), (ekf_odom, _period_odom)): ((Pose, u32), (EKFOdometry, u32))| { + // log::info!("=== EKF Sink Reactor 実行 ==="); + + // if LOG_ENABLE { + // log::info!("Estimated Pose:"); + // log::info!(" Position: x={:.3}, y={:.3}, z={:.3}", + // pose.position.x, pose.position.y, pose.position.z); + // log::info!(" Orientation: x={:.3}, y={:.3}, z={:.3}, w={:.3}", + // pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w); + + // log::info!("EKF Odometry (ekf_odom):"); + // log::info!(" Frame: {} -> {}", ekf_odom.header.frame_id, ekf_odom.child_frame_id); + // log::info!(" Timestamp: {}", ekf_odom.header.timestamp); + // log::info!(" Position: x={:.3}, y={:.3}, z={:.3}", + // ekf_odom.pose.pose.position.x, ekf_odom.pose.pose.position.y, ekf_odom.pose.pose.position.z); + // log::info!(" Orientation: x={:.3}, y={:.3}, z={:.3}, w={:.3}", + // ekf_odom.pose.pose.orientation.x, ekf_odom.pose.pose.orientation.y, + // ekf_odom.pose.pose.orientation.z, ekf_odom.pose.pose.orientation.w); + // log::info!(" Linear Velocity: x={:.3}, y={:.3}, z={:.3}", + // ekf_odom.twist.twist.linear.x, ekf_odom.twist.twist.linear.y, ekf_odom.twist.twist.linear.z); + // log::info!(" Angular Velocity: x={:.3}, y={:.3}, z={:.3}", + // ekf_odom.twist.twist.angular.x, ekf_odom.twist.twist.angular.y, ekf_odom.twist.twist.angular.z); + // log::info!("============================="); + // } + + // JSONデータを作成してグローバル変数に保存 + let json_data = format!( + r#"{{"header":{{"frame_id":"{}","timestamp":{}}},"child_frame_id":"{}","pose":{{"pose":{{"position":{{"x":{:.6},"y":{:.6},"z":{:.6}}},"orientation":{{"x":{:.6},"y":{:.6},"z":{:.6},"w":{:.6}}}}},"covariance":[{}]}},"twist":{{"twist":{{"linear":{{"x":{:.6},"y":{:.6},"z":{:.6}}},"angular":{{"x":{:.6},"y":{:.6},"z":{:.6}}}}},"covariance":[{}]}}}}"#, + ekf_odom.header.frame_id, + ekf_odom.header.timestamp, + ekf_odom.child_frame_id, + ekf_odom.pose.pose.position.x, + ekf_odom.pose.pose.position.y, + ekf_odom.pose.pose.position.z, + ekf_odom.pose.pose.orientation.x, + ekf_odom.pose.pose.orientation.y, + ekf_odom.pose.pose.orientation.z, + ekf_odom.pose.pose.orientation.w, + ekf_odom.pose.covariance.iter().map(|&x| format!("{:.6}", x)).collect::>().join(","), + ekf_odom.twist.twist.linear.x, + ekf_odom.twist.twist.linear.y, + ekf_odom.twist.twist.linear.z, + ekf_odom.twist.twist.angular.x, + ekf_odom.twist.twist.angular.y, + ekf_odom.twist.twist.angular.z, + ekf_odom.twist.covariance.iter().map(|&x| format!("{:.6}", x)).collect::>().join(",") + ); + + let awkernel_timestamp = get_awkernel_uptime_timestamp(); + // log::info!("JSONデータ作成完了: {} bytes, awkernel_timestamp={}", json_data.len(), awkernel_timestamp); + + // グローバル変数にJSONデータを保存 + save_json_data_to_global(json_data); + }, + vec![Cow::from("estimated_pose"), Cow::from("ekf_odometry")], + SchedulerType::GEDF(5), + Duration::from_millis(50), // CHANGED: 10ms -> 50ms (Autowareと同じ) + ) + .await; + + // DAG の作成を完了 + let result = finish_create_dags(&[dag.clone()]).await; + + match result { + Ok(_) => { + log::info!("Autoware test application DAGs created successfully"); + } + Err(errors) => { + log::error!("Failed to create Autoware test application DAGs"); + for error in errors { + log::error!("- {error}"); + } + } + } + + // ノード数の確認 + // assert_eq!(dag.node_count(), 9); // 1つの periodic reactor + 8つの reactor（network_info_display追加） + // assert_eq!(dag.edge_count(), 10); // トピックエッジの数 + + log::info!("Autoware test application DAG completed"); + + log::info!("=== ネットワークテスト開始 ==="); + log::info!("インターフェースID: {}", INTERFACE_ID); + log::info!("インターフェースIP: {}", INTERFACE_ADDR); + log::info!("宛先IP: {}", UDP_TCP_DST_ADDR); + // + awkernel_lib::net::add_ipv4_addr(INTERFACE_ID, INTERFACE_ADDR, 24); + log::info!("IPv4アドレス設定完了: {} をインターフェース {} に追加", INTERFACE_ADDR, INTERFACE_ID); + + // ネットワークスタックの初期化を待つ + log::info!("ネットワークスタック初期化のため待機中..."); + awkernel_async_lib::sleep(Duration::from_secs(2)).await; + + // リアクターAPIに干渉しない周期UDP送信タスクを開始 + log::info!("周期UDP送信タスクを開始します"); + start_periodic_udp_sender().await; + + // または、設定可能な周期で開始する場合 + // start_configurable_udp_sender(2).await; // 2秒間隔 + + // JSONデータが準備されるまで待機（最大3秒） + log::info!("JSONデータの準備を待機中..."); + let mut wait_count = 0; + const MAX_WAIT_COUNT: u32 = 3; + + while !JSON_DATA_READY.load(Ordering::Relaxed) && wait_count < MAX_WAIT_COUNT { + // log::info!("JSONデータ待機中... ({}/{})", wait_count + 1, MAX_WAIT_COUNT); + awkernel_async_lib::sleep(Duration::from_secs(1)).await; + wait_count += 1; + } + + if JSON_DATA_READY.load(Ordering::Relaxed) { + // log::info!("JSONデータが準備されました。周期UDP送信タスクが動作中です"); + // 周期UDP送信タスクは既に動作中なので、ここでは何もしない + } else { + log::warn!("JSONデータが準備されませんでした。周期UDP送信タスクは待機中です"); + } + + log::info!("Autoware test application completed"); +} + +fn initialize_csv_data() -> Result<(), &'static str> { + unsafe { + if IMU_CSV_DATA.is_none() { + let imu_data = parse_imu_csv(IMU_CSV_DATA_STR)?; + if imu_data.is_empty() { + return Err("IMU CSVが空です"); + } + log::info!("IMU CSVデータをロード: {} rows", imu_data.len()); + IMU_CSV_DATA = Some(imu_data); + } + + if VELOCITY_CSV_DATA.is_none() { + let velocity_data = parse_velocity_csv(VELOCITY_CSV_DATA_STR)?; + if velocity_data.is_empty() { + return Err("Velocity CSVが空です"); + } + log::info!("Velocity CSVデータをロード: {} rows", velocity_data.len()); + VELOCITY_CSV_DATA = Some(velocity_data); + } + } + + // let imu_start = find_first_active_imu_index(); + // IMU_CSV_INDEX.store(imu_start, Ordering::Relaxed); + // let velocity_start = find_first_moving_velocity_index(); + // VELOCITY_CSV_INDEX.store(velocity_start, Ordering::Relaxed); + // log::info!( + // "CSV開始インデックス: IMU={}, Velocity={}", + // imu_start, + // velocity_start + // ); + + Ok(()) +} + +fn parse_imu_csv(csv: &str) -> Result, &'static str> { + let mut rows = Vec::new(); + + parse_csv_records(csv, |fields| { + if fields.len() < 12 { + return Err("IMU CSVの列数が不足しています"); + } + + let timestamp = parse_timestamp(fields[0], fields[1])?; + let orientation = imu_driver::Quaternion { + x: parse_f64(fields[2])?, + y: parse_f64(fields[3])?, + z: parse_f64(fields[4])?, + w: parse_f64(fields[5])?, + }; + let angular_velocity = imu_driver::Vector3::new( + parse_f64(fields[6])?, + parse_f64(fields[7])?, + parse_f64(fields[8])?, + ); + let linear_acceleration = imu_driver::Vector3::new( + parse_f64(fields[9])?, + parse_f64(fields[10])?, + parse_f64(fields[11])?, + ); + + rows.push(ImuCsvRow { + timestamp, + orientation, + angular_velocity, + linear_acceleration, + }); + Ok(()) + })?; + + Ok(rows) +} + +fn parse_velocity_csv(csv: &str) -> Result, &'static str> { + let mut rows = Vec::new(); + + parse_csv_records(csv, |fields| { + if fields.len() < 5 { + return Err("Velocity CSVの列数が不足しています"); + } + + let timestamp = parse_timestamp(fields[0], fields[1])?; + let longitudinal_velocity = parse_f64(fields[2])?; + let lateral_velocity = parse_f64(fields[3])?; + let heading_rate = parse_f64(fields[4])?; + + rows.push(VelocityCsvRow { + timestamp, + longitudinal_velocity, + lateral_velocity, + heading_rate, + }); + Ok(()) + })?; + + Ok(rows) +} + +fn parse_csv_records(csv: &str, mut on_record: F) -> Result<(), &'static str> +where + F: FnMut(&[&str]) -> Result<(), &'static str>, +{ + let mut reader = Reader::new(); + let mut input = csv.as_bytes(); + let mut output = vec![0u8; 4096]; + let mut ends = vec![0usize; 32]; + let mut header_skipped = false; + + loop { + let (result, in_read, _out_written, num_fields) = reader.read_record(input, &mut output, &mut ends); + input = &input[in_read..]; + + if matches!(result, ReadRecordResult::OutputFull) { + return Err("CSV出力バッファが不足しています"); + } + + if num_fields == 0 { + if matches!(result, ReadRecordResult::InputEmpty | ReadRecordResult::End) { + break; + } + continue; + } + + let mut fields: Vec<&str> = Vec::with_capacity(num_fields); + let mut start = 0usize; + for i in 0..num_fields { + let end = ends[i]; + let slice = &output[start..end]; + let field = core::str::from_utf8(slice).map_err(|_| "CSV UTF-8変換に失敗しました")?; + fields.push(field); + start = end; + } + + if !header_skipped { + header_skipped = true; + } else { + on_record(&fields)?; + } + + if matches!(result, ReadRecordResult::End) { + break; + } + } + + Ok(()) +} + +fn parse_timestamp(sec: &str, nsec: &str) -> Result { + let sec_val = parse_u64(sec)?; + let nsec_val = parse_u64(nsec)?; + let ts = sec_val + .checked_mul(1_000_000_000) + .and_then(|v| v.checked_add(nsec_val)) + .ok_or("timestamp計算でオーバーフローしました")?; + Ok(ts) +} + +fn parse_u64(field: &str) -> Result { + let trimmed = field.trim(); + if trimmed.is_empty() { + return Ok(0); + } + trimmed.parse::().map_err(|_| "u64パースに失敗しました") +} + +fn parse_f64(field: &str) -> Result { + let trimmed = field.trim(); + if trimmed.is_empty() { + return Ok(0.0); + } + trimmed.parse::().map_err(|_| "f64パースに失敗しました") +} + +// fn find_first_moving_velocity_index() -> usize { + // const EPS: f64 = 1.0e-6; + // let data = unsafe { VELOCITY_CSV_DATA.as_ref() }; + // if let Some(rows) = data { + // for (idx, row) in rows.iter().enumerate() { + // if row.longitudinal_velocity.abs() > EPS || row.lateral_velocity.abs() > EPS { + // return idx; + // } + // } + // } + // 0 +// } +// +// fn find_first_active_imu_index() -> usize { + // const EPS: f64 = 1.0e-6; + // let data = unsafe { IMU_CSV_DATA.as_ref() }; + // if let Some(rows) = data { + // for (idx, row) in rows.iter().enumerate() { + // if row.angular_velocity.x.abs() > EPS + // || row.angular_velocity.y.abs() > EPS + // || row.angular_velocity.z.abs() > EPS + // || row.linear_acceleration.x.abs() > EPS + // || row.linear_acceleration.y.abs() > EPS + // || row.linear_acceleration.z.abs() > EPS + // { + // return idx; + // } + // } + // } + // 0 +// } + +// Awkernel起動時間からのタイムスタンプを取得する関数 +fn get_awkernel_uptime_timestamp() -> u64 { + // awkernel_lib::delay::uptime_nano()はu128を返すが、JSONではu64を使用 + // ナノ秒単位のタイムスタンプを取得 + let uptime_nanos = awkernel_lib::delay::uptime_nano(); + // u128からu64に変換（オーバーフローを防ぐため、適切な範囲に制限） + if uptime_nanos > u64::MAX as u128 { + u64::MAX + } else { + uptime_nanos as u64 + } +} + +// リアクターAPIに干渉しないUDP送信タスク（一定周期実行） +pub async fn start_periodic_udp_sender() { + // log::info!("=== 周期UDP送信タスク開始 ==="); + + // 独立したタスクとして実行 + awkernel_async_lib::spawn( + "periodic_udp_sender".into(), + periodic_udp_sender_task(), + awkernel_async_lib::scheduler::SchedulerType::PrioritizedFIFO(0), + ) + .await; + + // log::info!("周期UDP送信タスクを開始しました"); +} + +// 周期UDP送信タスクの実装 +async fn periodic_udp_sender_task() { + // log::info!("周期UDP送信タスク: 開始"); + + // UDPソケットを作成（一度だけ） + let socket_result = awkernel_async_lib::net::udp::UdpSocket::bind_on_interface( + INTERFACE_ID, + &Default::default(), + ); + + let mut socket = match socket_result { + Ok(socket) => { + // log::info!("周期UDP送信タスク: UDPソケット作成成功"); + socket + } + Err(e) => { + log::error!("周期UDP送信タスク: UDPソケット作成失敗: {:?}", e); + return; + } + }; + + let dst_addr = IpAddr::new_v4(UDP_TCP_DST_ADDR); + let mut counter = 0; + + // 無限ループで一定周期実行 + loop { + // JSONデータの準備チェック + if !JSON_DATA_READY.load(Ordering::Relaxed) { + // log::debug!("周期UDP送信タスク: JSONデータ未準備、待機中..."); + awkernel_async_lib::sleep(Duration::from_secs(1)).await; + continue; + } + + // 安全にJSONデータを取得 + let json_data = unsafe { + LATEST_JSON_DATA.as_ref().map(|s| s.clone()) + }; + + if let Some(data) = json_data { + // UDP送信を実行 + match socket.send(data.as_bytes(), &dst_addr, UDP_DST_PORT).await { + Ok(_) => { + counter += 1; + log::info!("周期UDP送信タスク: 送信成功 #{} ({} bytes)", counter, data.len()); + + // レスポンス受信（オプション、タイムアウト付き） + let mut buf = [0u8; 1024]; + if let Some(Ok((n, src_addr, src_port))) = + awkernel_async_lib::timeout( + Duration::from_millis(100), // 短いタイムアウト + socket.recv(&mut buf) + ).await { + if let Ok(response) = core::str::from_utf8(&buf[..n]) { + log::debug!("周期UDP送信タスク: レスポンス受信: {}:{} - {}", + src_addr.get_addr(), src_port, response); + } + } + } + Err(e) => { + log::warn!("周期UDP送信タスク: 送信失敗: {:?}", e); + } + } + } else { + log::warn!("周期UDP送信タスク: JSONデータが取得できませんでした"); + } + + // 一定周期で待機（例: 2秒間隔 - DAGの実行周期と衝突を避けるため） + awkernel_async_lib::sleep(Duration::from_millis(5)).await; + } +} + +// リアクターAPIに干渉しないUDP送信タスク（設定可能な周期） +// pub async fn start_configurable_udp_sender(interval_sec: u64) { +// log::info!("=== 設定可能周期UDP送信タスク開始 (間隔: {}秒) ===", interval_sec); + +// // 独立したタスクとして実行 +// awkernel_async_lib::spawn( +// "configurable_udp_sender".into(), +// configurable_udp_sender_task(interval_sec), +// awkernel_async_lib::scheduler::SchedulerType::GEDF(5), +// ) +// .await; + +// log::info!("設定可能周期UDP送信タスクを開始しました"); +// } + +// 設定可能な周期UDP送信タスクの実装 +// async fn configurable_udp_sender_task(interval_sec: u64) { +// log::info!("設定可能周期UDP送信タスク: 開始 (間隔: {}秒)", interval_sec); + +// // UDPソケットを作成 +// let socket_result = awkernel_async_lib::net::udp::UdpSocket::bind_on_interface( +// INTERFACE_ID, +// &Default::default(), +// ); + +// let mut socket = match socket_result { +// Ok(socket) => { +// log::info!("設定可能周期UDP送信タスク: UDPソケット作成成功"); +// socket +// } +// Err(e) => { +// log::error!("設定可能周期UDP送信タスク: UDPソケット作成失敗: {:?}", e); +// return; +// } +// }; + +// let dst_addr = IpAddr::new_v4(UDP_TCP_DST_ADDR); +// let mut counter = 0; + +// loop { +// // ネットワーク初期化チェック +// if !NETWORK_INITIALIZED.load(Ordering::Relaxed) { +// log::debug!("設定可能周期UDP送信タスク: ネットワーク未初期化、待機中..."); +// awkernel_async_lib::sleep(Duration::from_secs(1)).await; +// continue; +// } + +// // JSONデータの準備チェック +// if !JSON_DATA_READY.load(Ordering::Relaxed) { +// log::debug!("設定可能周期UDP送信タスク: JSONデータ未準備、待機中..."); +// awkernel_async_lib::sleep(Duration::from_secs(1)).await; +// continue; +// } + +// // 安全にJSONデータを取得 +// let json_data = unsafe { +// LATEST_JSON_DATA.as_ref().map(|s| s.clone()) +// }; + +// if let Some(data) = json_data { +// // UDP送信を実行 +// match socket.send(data.as_bytes(), &dst_addr, UDP_DST_PORT).await { +// Ok(_) => { +// counter += 1; +// log::info!("設定可能周期UDP送信タスク: 送信成功 #{} ({} bytes, 間隔: {}秒)", +// counter, data.len(), interval_sec); +// } +// Err(e) => { +// log::warn!("設定可能周期UDP送信タスク: 送信失敗: {:?}", e); +// } +// } +// } else { +// log::warn!("設定可能周期UDP送信タスク: JSONデータが取得できませんでした"); +// } + +// // 設定された周期で待機 +// awkernel_async_lib::sleep(Duration::from_secs(interval_sec)).await; +// } +// } + +// JSONデータをグローバル変数に保存する関数 +fn save_json_data_to_global(json_data: String) { + unsafe { + LATEST_JSON_DATA = Some(json_data.clone()); + } + JSON_DATA_READY.store(true, Ordering::Relaxed); + JSON_DATA_LENGTH.store(json_data.len(), Ordering::Relaxed); + // log::info!("JSONデータをグローバル変数に保存: {} bytes", json_data.len()); +} + +// Transform error handling function +fn get_transform_safely(from_frame: &str, to_frame: &str) -> Result { + // For now, return identity transform + // In a real implementation, this would query the transform tree + if from_frame == to_frame { + Ok(Transform::identity()) + } else { + // Simulate transform lookup + Ok(Transform::identity()) + } +} + +// Initialize EKF Localizer safely +fn initialize_ekf_localizer() -> Result<(), &'static str> { + let params = EKFParameters::default(); + let ekf = EKFModule::new(params); + + // Allocate on heap and store pointer + let boxed_ekf = alloc::boxed::Box::new(ekf); + let ptr = alloc::boxed::Box::into_raw(boxed_ekf); + + // Try to store the pointer atomically + let old_ptr = EKF_LOCALIZER.compare_exchange( + null_mut(), + ptr, + AtomicOrdering::Acquire, + AtomicOrdering::Relaxed, + ); + + match old_ptr { + Ok(_) => Ok(()), + Err(_) => { + // Another thread already initialized it, clean up our allocation + unsafe { + let _ = alloc::boxed::Box::from_raw(ptr); + } + Ok(()) + } + } +} + +// COMMENTED OUT: 手動積分用の関数はEKF内部状態からポーズを取得するようになったため不要 +// EKFModule内にquaternion_to_yawとrpy_to_quaternionがあるため、そちらを使用 +// fn quaternion_to_yaw(q: &Quaternion) -> f64 { +// // Yaw extraction for dead reckoning heading propagation +// let siny_cosp = 2.0 * (q.w * q.z + q.x * q.y); +// let cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z); +// atan2(siny_cosp, cosy_cosp) +// } +// +// fn yaw_to_quaternion(yaw: f64) -> Quaternion { +// let half = yaw * 0.5; +// Quaternion { +// x: 0.0, +// y: 0.0, +// z: sin(half), +// w: cos(half), +// } +// } + +// Get EKF Localizer safely +fn get_ekf_localizer() -> Option<&'static mut EKFModule> { + let ptr = EKF_LOCALIZER.load(AtomicOrdering::Acquire); + if ptr.is_null() { + None + } else { + unsafe { Some(&mut *ptr) } + } +} \ No newline at end of file diff --git a/applications/tests/test_autoware/vehicle_velocity_converter/Cargo.toml b/applications/tests/test_autoware/vehicle_velocity_converter/Cargo.toml new file mode 100644 index 000000000..093a4714e --- /dev/null +++ b/applications/tests/test_autoware/vehicle_velocity_converter/Cargo.toml @@ -0,0 +1,11 @@ +[package] +name = "vehicle_velocity_converter" +version = "0.1.0" +edition = "2021" + +[dependencies] +log = "0.4" +heapless = "0.7" +awkernel_lib = { path = "../../../../awkernel_lib", default-features = false } +awkernel_async_lib = { path = "../../../../awkernel_async_lib", default-features = false } +imu_driver = { path = "../imu_driver", default-features = false } diff --git a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs new file mode 100644 index 000000000..b529630b8 --- /dev/null +++ b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs @@ -0,0 +1,300 @@ +// Copyright 2021 TierIV +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#![no_std] + +use imu_driver::{Vector3, Header}; + +/// 速度レポートメッセージの構造体 +#[derive(Debug, Clone)] +pub struct VelocityReport { + pub header: Header, + pub longitudinal_velocity: f64, + pub lateral_velocity: f64, + pub heading_rate: f64, +} + +/// TwistWithCovarianceStampedメッセージの構造体 +#[derive(Debug, Clone)] +pub struct TwistWithCovarianceStamped { + pub header: Header, + pub twist: TwistWithCovariance, +} + +/// TwistWithCovariance構造体 +#[derive(Debug, Clone)] +pub struct TwistWithCovariance { + pub twist: Twist, + pub covariance: [f64; 36], +} + +/// Twist構造体 +#[derive(Debug, Clone)] +pub struct Twist { + pub linear: Vector3, + pub angular: Vector3, +} + +#[repr(C)] +pub struct Odometry { + pub velocity: f64, +} + +/// 車両速度変換器の構造体 +pub struct VehicleVelocityConverter { + frame_id: &'static str, // → frame_id: base_link + stddev_vx: f64, // → velocity_stddev_xx: 0.2 + stddev_wz: f64, // → angular_velocity_stddev_zz: 0.1 + speed_scale_factor: f64, // → speed_scale_factor: 1.0 +} + +impl VehicleVelocityConverter { + /// 新しいVehicleVelocityConverterインスタンスを作成 + pub fn new( + frame_id: &'static str, + stddev_vx: f64, + stddev_wz: f64, + speed_scale_factor: f64, + ) -> Self { + Self { + frame_id, + stddev_vx, + stddev_wz, + speed_scale_factor, + } + } + + /// パラメータからVehicleVelocityConverterを作成（配列ベース版） + pub fn from_params_array( + velocity_stddev_xx: Option, + angular_velocity_stddev_zz: Option, + speed_scale_factor: Option, + frame_id: &'static str, + ) -> Self { + let stddev_vx = velocity_stddev_xx.unwrap_or(0.2); + let stddev_wz = angular_velocity_stddev_zz.unwrap_or(0.1); + let speed_scale_factor = speed_scale_factor.unwrap_or(1.0); + + Self::new(frame_id, stddev_vx, stddev_wz, speed_scale_factor) + } + + /// デフォルト設定でVehicleVelocityConverterを作成 + pub fn default() -> Self { + Self::new("base_link", 0.2, 0.1, 1.0) + } + + /// 速度レポートをTwistWithCovarianceStampedに変換 + pub fn convert_velocity_report(&self, msg: &VelocityReport) -> TwistWithCovarianceStamped { + // WARN Only + let _frame_id_mismatch = msg.header.frame_id != self.frame_id; + + // TwistWithCovarianceStampedメッセージを生成 + TwistWithCovarianceStamped { + header: msg.header.clone(), + twist: TwistWithCovariance { + twist: Twist { + linear: Vector3 { + x: msg.longitudinal_velocity * self.speed_scale_factor, + y: msg.lateral_velocity, + z: 0.0, + }, + angular: Vector3 { + x: 0.0, + y: 0.0, + z: msg.heading_rate, + }, + }, + covariance: self.create_covariance_matrix(), + }, + } + } + + /// 共分散行列を作成 + fn create_covariance_matrix(&self) -> [f64; 36] { + let mut covariance = [0.0; 36]; + + // 線形速度の分散 (x方向) + covariance[0 + 0 * 6] = self.stddev_vx * self.stddev_vx; + + // その他の線形速度成分は大きな値（低い信頼度）を設定 + covariance[1 + 1 * 6] = 10000.0; // y方向 + covariance[2 + 2 * 6] = 10000.0; // z方向 + + // 角速度成分は大きな値（低い信頼度）を設定 + covariance[3 + 3 * 6] = 10000.0; // x方向 + covariance[4 + 4 * 6] = 10000.0; // y方向 + + // 角速度の分散 (z方向) + covariance[5 + 5 * 6] = self.stddev_wz * self.stddev_wz; + + covariance + } + + /// パラメータを取得 + pub fn get_frame_id(&self) -> &'static str { + self.frame_id + } + + pub fn get_stddev_vx(&self) -> f64 { + self.stddev_vx + } + + pub fn get_stddev_wz(&self) -> f64 { + self.stddev_wz + } + + pub fn get_speed_scale_factor(&self) -> f64 { + self.speed_scale_factor + } +} + +/// リアクターAPI用のヘルパー関数 +pub mod reactor_helpers { + use super::*; + + /// 空のTwistWithCovarianceStampedを生成 + pub fn create_empty_twist(timestamp: u64) -> TwistWithCovarianceStamped { + TwistWithCovarianceStamped { + header: Header { + frame_id: "base_link", + timestamp, + }, + twist: TwistWithCovariance { + twist: Twist { + linear: Vector3 { x: 0.0, y: 0.0, z: 0.0 }, + angular: Vector3 { x: 0.0, y: 0.0, z: 0.0 }, + }, + covariance: [0.0; 36], + }, + } + } +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn test_vehicle_velocity_converter_creation() { + let converter = VehicleVelocityConverter::new( + "base_link", + 0.1, + 0.1, + 1.0, + ); + + assert_eq!(converter.get_frame_id(), "base_link"); + assert_eq!(converter.get_stddev_vx(), 0.1); + assert_eq!(converter.get_stddev_wz(), 0.1); + assert_eq!(converter.get_speed_scale_factor(), 1.0); + } + + #[test] + fn test_vehicle_velocity_converter_default() { + let converter = VehicleVelocityConverter::default(); + assert_eq!(converter.get_frame_id(), "base_link"); + assert_eq!(converter.get_stddev_vx(), 0.1); + assert_eq!(converter.get_stddev_wz(), 0.1); + assert_eq!(converter.get_speed_scale_factor(), 1.0); + } + + #[test] + fn test_convert_velocity_report_success() { + let converter = VehicleVelocityConverter::new( + "base_link", + 0.1, + 0.1, + 1.0, + ); + + let velocity_report = VelocityReport { + header: Header { + frame_id: "base_link", + timestamp: 1234567890, + }, + longitudinal_velocity: 10.0, + lateral_velocity: 2.0, + heading_rate: 0.5, + }; + + let result = converter.convert_velocity_report(&velocity_report); + assert!(result.is_ok()); + + let twist_msg = result.unwrap(); + assert_eq!(twist_msg.twist.twist.linear.x, 10.0); + assert_eq!(twist_msg.twist.twist.linear.y, 2.0); + assert_eq!(twist_msg.twist.twist.angular.z, 0.5); + assert_eq!(twist_msg.twist.covariance[0], 0.01); // 0.1^2 + assert_eq!(twist_msg.twist.covariance[35], 0.01); // 0.1^2 + } + + #[test] + fn test_convert_velocity_report_wrong_frame_id() { + let converter = VehicleVelocityConverter::new( + "base_link", + 0.1, + 0.1, + 1.0, + ); + + let velocity_report = VelocityReport { + header: Header { + frame_id: "wrong_frame", + timestamp: 1234567890, + }, + longitudinal_velocity: 10.0, + lateral_velocity: 2.0, + heading_rate: 0.5, + }; + + let result = converter.convert_velocity_report(&velocity_report); + assert!(result.is_err()); + assert_eq!(result.unwrap_err(), "frame_id mismatch"); + } + + #[test] + fn test_from_params_array() { + let converter = VehicleVelocityConverter::from_params_array( + Some(0.2), + Some(0.3), + Some(1.5), + "base_link", + ); + + assert_eq!(converter.get_stddev_vx(), 0.2); + assert_eq!(converter.get_stddev_wz(), 0.3); + assert_eq!(converter.get_speed_scale_factor(), 1.5); + } + + #[test] + fn test_from_params_array_with_defaults() { + let converter = VehicleVelocityConverter::from_params_array( + None, + None, + None, + "base_link", + ); + + assert_eq!(converter.get_stddev_vx(), 0.1); + assert_eq!(converter.get_stddev_wz(), 0.1); + assert_eq!(converter.get_speed_scale_factor(), 1.0); + } + + #[test] + fn test_reactor_helpers() { + let empty_twist = reactor_helpers::create_empty_twist(1234567890); + assert_eq!(empty_twist.header.frame_id, "base_link"); + assert_eq!(empty_twist.twist.twist.linear.x, 0.0); + } +} diff --git a/applications/tests/test_autoware/velocity_status.csv b/applications/tests/test_autoware/velocity_status.csv new file mode 100644 index 000000000..395e34668 --- /dev/null +++ b/applications/tests/test_autoware/velocity_status.csv @@ -0,0 +1,5700 @@ +timestamp_sec,timestamp_nanosec,longitudinal_velocity,lateral_velocity,heading_rate +1769682011,700255232,0.0,-0.0,569.3849487304688 +1769682011,758522112,0.0,-0.0,569.3849487304688 +1769682011,769631744,0.0,-0.0,569.3849487304688 +1769682011,808847872,0.0,-0.0,569.3849487304688 +1769682011,864361984,0.0,-0.0,569.3849487304688 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a/userland/Cargo.toml b/userland/Cargo.toml index ab94f86dc..c6fac4eaa 100644 --- a/userland/Cargo.toml +++ b/userland/Cargo.toml @@ -66,6 +66,10 @@ optional = true path = "../applications/tests/test_dag" optional = true +[dependencies.test_autoware] +path = "../applications/tests/test_autoware" +optional = true + [dependencies.test_dvfs] path = "../applications/tests/test_dvfs" optional = true @@ -75,7 +79,7 @@ path = "../applications/tests/test_voluntary_preemption" optional = true [features] -default = ["test_dag"] +default = ["test_autoware"] perf = ["awkernel_services/perf"] # Evaluation applications @@ -93,4 +97,5 @@ test_gedf = ["dep:test_gedf"] test_measure_channel = ["dep:test_measure_channel"] test_measure_channel_heavy = ["dep:test_measure_channel_heavy"] test_dag = ["dep:test_dag"] +test_autoware = ["dep:test_autoware"] test_voluntary_preemption = ["dep:test_voluntary_preemption"] From dda7c64835458676e776adef9c3bc9d269247cd0 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Tue, 17 Mar 2026 17:00:22 +0900 Subject: [PATCH 02/60] fix: perf features and test_dag for sending period info Signed-off-by: nokosaaan --- applications/tests/test_dag/src/lib.rs | 52 +- awkernel_async_lib/src/dag.rs | 239 +++++++++- awkernel_async_lib/src/pubsub.rs | 80 +++- awkernel_async_lib/src/task.rs | 608 +++++++++++++++++++++++- awkernel_async_lib/src/time_interval.rs | 13 +- 5 files changed, 932 insertions(+), 60 deletions(-) diff --git a/applications/tests/test_dag/src/lib.rs b/applications/tests/test_dag/src/lib.rs index a7330457f..4b17b9746 100644 --- a/applications/tests/test_dag/src/lib.rs +++ b/applications/tests/test_dag/src/lib.rs @@ -1,13 +1,15 @@ #![no_std] extern crate alloc; -use alloc::{borrow::Cow, vec}; +use alloc::{borrow::Cow, vec, sync::Arc}; use awkernel_async_lib::dag::{create_dag, finish_create_dags}; use awkernel_async_lib::scheduler::SchedulerType; use awkernel_lib::delay::wait_microsec; use core::time::Duration; +use awkernel_async_lib::task::perf::get_period_count; -const LOG_ENABLE: bool = true; +const LOG_ENABLE: bool = false; +const DATA_SIZE: usize = 128; pub async fn run() { wait_microsec(1000000); @@ -18,16 +20,18 @@ pub async fn run() { log::debug!("period is {} [ns]", period.as_nanos()); let dag = create_dag(); + let dag_id = dag.get_id(); - dag.register_periodic_reactor::<_, (i32,)>( + dag.register_periodic_reactor::<_, ((Arc<[u8; DATA_SIZE]>, u32),)>( "reactor_source_node".into(), - move || -> (i32,) { + move || -> ((Arc<[u8; DATA_SIZE]>, u32),) { wait_microsec(exe_time); - let number: i32 = 1; + let data: Arc<[u8; DATA_SIZE]> = Arc::new([0; DATA_SIZE]); + let period_id = get_period_count(dag_id as usize) as u32; if LOG_ENABLE { - log::debug!("value={number} in reactor_source_node"); + log::debug!("Sending data[0]={}, period_id={}, size={} in reactor_source_node", data[0], period_id, DATA_SIZE); } - (number,) + ((data, period_id),) }, vec![Cow::from("topic0")], SchedulerType::GEDF(5), @@ -35,15 +39,14 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (i32,), (i32, i32)>( + dag.register_reactor::<_, ((Arc<[u8; DATA_SIZE]>, u32),), ((Arc<[u8; DATA_SIZE]>, u32), (Arc<[u8; DATA_SIZE]>, u32))>( "reactor_node1".into(), - |(a,): (i32,)| -> (i32, i32) { - let value = a + 1; + move |((data, period),): ((Arc<[u8; DATA_SIZE]>, u32),)| -> ((Arc<[u8; DATA_SIZE]>, u32), (Arc<[u8; DATA_SIZE]>, u32)) { if LOG_ENABLE { - log::debug!("value={value} in reactor_node1"); + log::debug!("Processing data[0]={}, period={}, size={} in reactor_node1", data[0], period, DATA_SIZE); } - (value, value + 1) + ((data.clone(), period), (data, period)) }, vec![Cow::from("topic0")], vec![Cow::from("topic1"), Cow::from("topic2")], @@ -51,14 +54,13 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (i32,), (i32,)>( + dag.register_reactor::<_, ((Arc<[u8; DATA_SIZE]>, u32),), ((Arc<[u8; DATA_SIZE]>, u32),)>( "reactor_node2".into(), - |(a,): (i32,)| -> (i32,) { - let value = a * 2; + |((data, period),): ((Arc<[u8; DATA_SIZE]>, u32),)| -> ((Arc<[u8; DATA_SIZE]>, u32),) { if LOG_ENABLE { - log::debug!("value={value} in reactor_node2"); + log::debug!("Processing data[0]={}, period={}, size={} in reactor_node2", data[0], period, DATA_SIZE); } - (value,) + ((data, period),) }, vec![Cow::from("topic1")], vec![Cow::from("topic3")], @@ -66,14 +68,13 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (i32,), (i32,)>( + dag.register_reactor::<_, ((Arc<[u8; DATA_SIZE]>, u32),), ((Arc<[u8; DATA_SIZE]>, u32),)>( "reactor_node3".into(), - |(a,): (i32,)| -> (i32,) { - let value = a * 3; + |((data, period),): ((Arc<[u8; DATA_SIZE]>, u32),)| -> ((Arc<[u8; DATA_SIZE]>, u32),) { if LOG_ENABLE { - log::debug!("value={value} in reactor_node3"); + log::debug!("Processing data[0]={}, period={}, size={} in reactor_node3", data[0], period, DATA_SIZE); } - (value,) + ((data, period),) }, vec![Cow::from("topic2")], vec![Cow::from("topic4")], @@ -81,12 +82,11 @@ pub async fn run() { ) .await; - dag.register_sink_reactor::<_, (i32, i32)>( + dag.register_sink_reactor::<_, ((Arc<[u8; DATA_SIZE]>, u32), (Arc<[u8; DATA_SIZE]>, u32))>( "reactor_node4".into(), - |(a, b): (i32, i32)| { - let value = a + b; + |((data1, period1), (data2, period2)): ((Arc<[u8; DATA_SIZE]>, u32), (Arc<[u8; DATA_SIZE]>, u32))| { if LOG_ENABLE { - log::debug!("value={value} in reactor_node4"); + log::debug!("Received data1[0]={}, data2[0]={}, period1={}, period2={}, size={} in reactor_node4", data1[0], data2[0], period1, period2, DATA_SIZE); } }, vec![Cow::from("topic3"), Cow::from("topic4")], diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index fa150a48f..533b6bdab 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -54,18 +54,17 @@ mod visit; mod performance; use crate::{ + Attribute, MultipleReceiver, MultipleSender, VectorToPublishers, VectorToSubscribers, dag::{ - graph::{ - algo::{connected_components, is_cyclic_directed}, - direction::Direction, - NodeIndex, - }, - visit::{EdgeRef, IntoNodeReferences, NodeRef}, - }, - scheduler::SchedulerType, - task::DagInfo, - time_interval::interval, - Attribute, MultipleReceiver, MultipleSender, VectorToPublishers, VectorToSubscribers, + self, graph::{ + NodeIndex, algo::{connected_components, is_cyclic_directed}, direction::Direction + }, visit::{EdgeRef, IntoNodeReferences, NodeRef} + }, + scheduler::SchedulerType, + task::{ + DagInfo, perf::{NodeRecord, get_period_count, get_pub_count, get_sink_count, get_sub_count, increment_period_count, increment_pub_count, increment_sink_count, increment_sub_count, node_finish, node_start, publish_timestamp_at, subscribe_timestamp_at, update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at}, + }, + time_interval::interval }; use alloc::{ borrow::Cow, @@ -76,6 +75,7 @@ use alloc::{ }; use awkernel_lib::sync::mutex::{MCSNode, Mutex}; use core::{future::Future, pin::Pin, time::Duration}; +use core::sync::atomic::Ordering; #[cfg(feature = "perf")] use performance::ResponseInfo; @@ -111,6 +111,73 @@ impl_tuple_size!(); impl_tuple_size!(T1); impl_tuple_size!(T1, T2); impl_tuple_size!(T1, T2, T3); +impl_tuple_size!(T1, T2, T3, T4); +impl_tuple_size!(T1, T2, T3, T4, T5); +impl_tuple_size!(T1, T2, T3, T4, T5, T6); +impl_tuple_size!(T1, T2, T3, T4, T5, T6, T7); +impl_tuple_size!(T1, T2, T3, T4, T5, T6, T7, T8); + +// Trait to extract the period (u32) carried in the last element of +// subscriber tuples. Each subscriber tuple element is expected to be +// a `(value, u32)` pair; implementations below return the u32 from +// the last tuple element. The trait is public so `get_period` bounds +// in other functions can reference it. +pub trait GetPeriod { + fn get_period(&self) -> u32; +} + +impl GetPeriod for ((V, u32),) { + fn get_period(&self) -> u32 { + self.0 .1 + } +} + +impl GetPeriod for ((V1, u32), (V2, u32)) { + fn get_period(&self) -> u32 { + self.1 .1 + } +} + +impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32)) { + fn get_period(&self) -> u32 { + self.2 .1 + } +} + +impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32)) { + fn get_period(&self) -> u32 { + self.3 .1 + } +} + +impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32), (V5, u32)) { + fn get_period(&self) -> u32 { + self.4 .1 + } +} + +impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32), (V5, u32), (V6, u32)) { + fn get_period(&self) -> u32 { + self.5 .1 + } +} + +impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32), (V5, u32), (V6, u32), (V7, u32)) { + fn get_period(&self) -> u32 { + self.6 .1 + } +} + +impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32), (V5, u32), (V6, u32), (V7, u32), (V8, u32)) { + fn get_period(&self) -> u32 { + self.7 .1 + } +} + +/// Convenience helper to extract period from a subscriber tuple by reference. +pub fn get_period(args: &T) -> u32 { + args.get_period() +} #[derive(Clone)] pub enum DagError { @@ -298,8 +365,8 @@ impl Dag { Ret: VectorToPublishers, Ret::Publishers: Send, Args::Subscribers: Send, - ::Item: TupleSize, - ::Item: TupleSize, + ::Item: TupleSize + GetPeriod + Send, + ::Item: TupleSize + Send, { let node_idx = self.add_node_with_topic_edges(&subscribe_topic_names, &publish_topic_names); self.check_subscribe_mismatch::(&subscribe_topic_names, node_idx); @@ -391,8 +458,8 @@ impl Dag { ) where F: Fn(::Item) + Send + 'static, Args: VectorToSubscribers, - Args::Subscribers: Send, - ::Item: TupleSize, + Args::Subscribers: Send, + ::Item: TupleSize + GetPeriod + Send, { let node_idx = self.add_node_with_topic_edges(&subscribe_topic_names, &Vec::new()); self.set_relative_deadline(node_idx, relative_deadline); @@ -612,6 +679,51 @@ pub async fn finish_create_dags(dags: &[Arc]) -> Result<(), Vec> } } +pub fn reset_all_dags() { + { + let mut dags_node = MCSNode::new(); + let mut dags = DAGS.lock(&mut dags_node); + dags.id_to_dag.clear(); + dags.candidate_id = 1; + } + + { + let mut pending_node = MCSNode::new(); + let mut pending_tasks = PENDING_TASKS.lock(&mut pending_node); + pending_tasks.clear(); + } + + { + let mut source_pending_node = MCSNode::new(); + let mut source_pending_tasks = SOURCE_PENDING_TASKS.lock(&mut source_pending_node); + source_pending_tasks.clear(); + } + + { + let mut node = MCSNode::new(); + let mut mismatch_subscribe = MISMATCH_SUBSCRIBE_NODES.lock(&mut node); + mismatch_subscribe.clear(); + } + + { + let mut node = MCSNode::new(); + let mut mismatch_publish = MISMATCH_PUBLISH_NODES.lock(&mut node); + mismatch_publish.clear(); + } + + { + let mut node = MCSNode::new(); + let mut duplicate_subscribe = DUPLICATE_SUBSCRIBE_NODES.lock(&mut node); + duplicate_subscribe.clear(); + } + + { + let mut node = MCSNode::new(); + let mut duplicate_publish = DUPLICATE_PUBLISH_NODES.lock(&mut node); + duplicate_publish.clear(); + } +} + fn remove_dag(id: u32) { let mut dags_node = MCSNode::new(); let mut dags = DAGS.lock(&mut dags_node); @@ -915,6 +1027,8 @@ where Ret: VectorToPublishers, Ret::Publishers: Send, Args::Subscribers: Send, + ::Item: TupleSize + GetPeriod + Send, + ::Item: TupleSize + Send, { let future = async move { let publishers = ::create_publishers( @@ -928,8 +1042,33 @@ where loop { let args: <::Subscribers as MultipleReceiver>::Item = subscribers.recv_all().await; + // [end] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let index_subscribe = get_period(&args).clone() as usize; + let count_st = get_period(&args); + subscribe_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); + + // period count from message to TaskInfo + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(count_st)); + } + // let noderecord = NodeRecord { + // period_count: count_st, + // dag_info: DagInfo { dag_id: dag_info.dag_id.clone(), node_id: dag_info.node_id.clone() }, + // }; + // node_period_count(noderecord.clone()); + // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + // node_start(noderecord.clone(), start); let results = f(args); - publishers.send_all(results).await; + + // node_finish(noderecord.clone(), end); + // let index_publish = get_period(&args) as usize; + + // [start] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + publish_timestamp_at(count_st as usize, end,1, dag_info.node_id.clone()); + publishers.send_all_with_meta(results, 1, count_st as usize, dag_info.node_id).await; } }; @@ -966,13 +1105,42 @@ where Attribute::default(), ); - let mut interval = interval(period); + let mut interval = interval(period, dag_info.dag_id.clone() as u32); // Consume the first tick here to start the loop's main body without an initial delay. interval.tick().await; loop { + let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(index as u32)); + } + // [node] per node + // let noderecord = NodeRecord { + // period_count: index as u32, + // dag_info: DagInfo { dag_id: dag_info.dag_id.clone(), node_id: dag_info.node_id.clone() }, + // }; + // node_period_count(noderecord.clone()); + // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + // node_start(noderecord.clone(), start); + if index != 0 { + let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + update_pre_send_outer_timestamp_at(index, release_time, dag_info.dag_id.clone()); + } let results = f(); - publishers.send_all(results).await; + // let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + // node_finish(noderecord.clone(), end); + + // let index_publish = get_pub_count(0) as usize; + + // [start] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + publish_timestamp_at(index, end, 0, dag_info.node_id); + publishers.send_all_with_meta(results, 0, index, dag_info.node_id).await; + + + increment_period_count(dag_info.dag_id.clone() as usize); + increment_pub_count(0); #[cfg(feature = "perf")] periodic_measure(); @@ -1000,6 +1168,7 @@ where F: Fn(::Item) + Send + 'static, Args: VectorToSubscribers, Args::Subscribers: Send, + ::Item: TupleSize + GetPeriod + Send, { let future = async move { let subscribers: ::Subscribers = @@ -1007,9 +1176,41 @@ where loop { let args: ::Item = subscribers.recv_all().await; + // [end] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let index_subscribe = get_period(&args) as usize; + let count_st = get_period(&args); + subscribe_timestamp_at(count_st as usize, end, 2, dag_info.node_id.clone()); + increment_pub_count(1); + increment_sub_count(1); + increment_sub_count(2); + + // period count from message to TaskInfo + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(count_st)); + } + + // [node] per node + // let noderecord = NodeRecord { + // period_count: count_st, + // dag_info: DagInfo { dag_id: dag_info.dag_id.clone(), node_id: dag_info.node_id.clone() }, + // }; + // node_period_count(noderecord.clone()); + // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + // node_start(noderecord.clone(), start); f(args); + // let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + // node_finish(noderecord.clone(), end); + let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let counter = get_sink_count(dag_info.dag_id.clone() as usize) as usize; + if count_st != 0 { + // update_fin_recv_outer_timestamp_at(counter, timenow, dag_info.dag_id.clone()); + update_fin_recv_outer_timestamp_at(count_st as usize, timenow, dag_info.dag_id); + } + increment_sink_count(dag_info.dag_id.clone() as usize); } }; crate::task::spawn_with_dag_info(reactor_name, future, sched_type, dag_info) -} +} \ No newline at end of file diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index c216bae0b..807c44d14 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -52,6 +52,10 @@ use core::{ use futures::Future; use pin_project::pin_project; +use crate::task; +use crate::task::{DagInfo}; +use crate::task::perf::{PUB_COUNT,get_pub_count, publish_timestamp_at}; + /// Data and timestamp. #[derive(Clone)] pub struct Data { @@ -381,9 +385,22 @@ impl Publisher where T: Clone + Sync + Send, { + /// Send with metadata forwarded from `send_all_with_meta`. + pub async fn send_with_meta(&self, data: T, pub_id: u32, index: usize, node_id: u32) { + // record publish timestamp at send start + // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + // publish_timestamp_at(index, start, pub_id, node_id); + + let sender = Sender::new(self, data); + sender.await; + + r#yield().await; + } + pub async fn send(&self, data: T) { let sender = Sender::new(self, data); sender.await; + r#yield().await; } } @@ -761,7 +778,18 @@ pub trait MultipleReceiver { pub trait MultipleSender { type Item; - fn send_all(&self, item: Self::Item) -> Pin + Send + '_>>; + fn send_all(&self, item: Self::Item) -> Pin + Send + '_>> { + // default to pub_id = 1 (intermediate), index = 0, node_id = 0 + self.send_all_with_meta(item, 1, 0, 0) + } + + fn send_all_with_meta( + &self, + item: Self::Item, + pub_id: u32, + index: usize, + node_id: u32, + ) -> Pin + Send + '_>>; } pub trait VectorToPublishers { type Publishers: MultipleSender; @@ -825,6 +853,11 @@ impl_tuple_to_pub_sub!(); impl_tuple_to_pub_sub!(A); impl_tuple_to_pub_sub!(A, B); impl_tuple_to_pub_sub!(A, B, C); +impl_tuple_to_pub_sub!(T0, T1, T2, T3); +impl_tuple_to_pub_sub!(T0, T1, T2, T3, T4); +impl_tuple_to_pub_sub!(T0, T1, T2, T3, T4, T5); +impl_tuple_to_pub_sub!(T0, T1, T2, T3, T4, T5, T6); +impl_tuple_to_pub_sub!(T0, T1, T2, T3, T4, T5, T6, T7); macro_rules! impl_async_receiver_for_tuple { () => { @@ -838,8 +871,7 @@ macro_rules! impl_async_receiver_for_tuple { impl MultipleSender for () { type Item = (); - - fn send_all(&self, _item: Self::Item) -> Pin + Send + '_>> { + fn send_all_with_meta(&self, _item: Self::Item, _pub_id: u32, _index: usize, _node_id: u32) -> Pin + Send + '_>> { Box::pin(async move{}) } } @@ -859,12 +891,15 @@ macro_rules! impl_async_receiver_for_tuple { impl<$($T: Clone + Sync + Send + 'static),+> MultipleSender for ($(Publisher<$T>,)+) { type Item = ($($T,)+); - fn send_all(&self, item: Self::Item) -> Pin + Send + '_>> { + fn send_all_with_meta(&self, item: Self::Item, pub_id: u32, index: usize, node_id: u32) -> Pin + Send + '_>> { let ($($idx,)+) = self; let ($($idx2,)+) = item; Box::pin(async move { $( - $idx.send($idx2).await; + // let now = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + // publish_timestamp_at(index, now, pub_id, node_id); + // $idx.send($idx2).await; + $idx.send_with_meta($idx2, pub_id, index, node_id).await; )+ }) } @@ -876,6 +911,41 @@ impl_async_receiver_for_tuple!(); impl_async_receiver_for_tuple!((A, a, p)); impl_async_receiver_for_tuple!((A, a, p), (B, b, q)); impl_async_receiver_for_tuple!((A, a, p), (B, b, q), (C, c, r)); +impl_async_receiver_for_tuple!((T0, v0, p0), (T1, v1, p1), (T2, v2, p2), (T3, v3, p3)); +impl_async_receiver_for_tuple!( + (T0, v0, p0), + (T1, v1, p1), + (T2, v2, p2), + (T3, v3, p3), + (T4, v4, p4) +); +impl_async_receiver_for_tuple!( + (T0, v0, p0), + (T1, v1, p1), + (T2, v2, p2), + (T3, v3, p3), + (T4, v4, p4), + (T5, v5, p5) +); +impl_async_receiver_for_tuple!( + (T0, v0, p0), + (T1, v1, p1), + (T2, v2, p2), + (T3, v3, p3), + (T4, v4, p4), + (T5, v5, p5), + (T6, v6, p6) +); +impl_async_receiver_for_tuple!( + (T0, v0, p0), + (T1, v1, p1), + (T2, v2, p2), + (T3, v3, p3), + (T4, v4, p4), + (T5, v5, p5), + (T6, v6, p6), + (T7, v7, p7) +); #[cfg(test)] mod tests { diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index bdb73c447..59393ea01 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -158,6 +158,7 @@ pub struct TaskInfo { pub(crate) need_preemption: bool, panicked: bool, pub(crate) dag_info: Option, + pub(crate) current_period: Option, #[cfg(not(feature = "no_preempt"))] thread: Option, @@ -225,6 +226,16 @@ impl TaskInfo { pub fn get_dag_info(&self) -> Option { self.dag_info.clone() } + + #[inline(always)] + pub fn set_current_period(&mut self, p: Option) { + self.current_period = p; + } + + #[inline(always)] + pub fn get_current_period(&self) -> Option { + self.current_period + } } /// State of task. @@ -246,7 +257,7 @@ struct Tasks { id_to_task: BTreeMap>, } -#[derive(Clone)] +#[derive(Debug, Clone)] pub struct DagInfo { pub dag_id: u32, pub node_id: u32, @@ -286,6 +297,7 @@ impl Tasks { need_preemption: false, panicked: false, dag_info, + current_period: None, #[cfg(not(feature = "no_preempt"))] thread: None, @@ -454,8 +466,13 @@ fn get_next_task(execution_ensured: bool) -> Option> { #[cfg(feature = "perf")] pub mod perf { - use awkernel_lib::cpu::NUM_MAX_CPU; - use core::ptr::{read_volatile, write_volatile}; + use alloc::string::{String, ToString}; + use awkernel_lib::{cpu::NUM_MAX_CPU, device_tree::node}; + use core::{ptr::{read_volatile, write_volatile}}; + use crate::task::{self}; + use core::sync::atomic::{AtomicU32, Ordering}; + use array_macro::array; + #[derive(Debug, Clone, PartialEq, Eq)] #[repr(u8)] @@ -464,6 +481,7 @@ pub mod perf { Kernel, Task, ContextSwitch, + ContextSwitchMain, Interrupt, Idle, } @@ -475,12 +493,18 @@ pub mod perf { 1 => Self::Kernel, 2 => Self::Task, 3 => Self::ContextSwitch, - 4 => Self::Interrupt, - 5 => Self::Idle, + 4 => Self::ContextSwitchMain, + 5 => Self::Interrupt, + 6 => Self::Idle, _ => panic!("From for PerfState::from: invalid value"), } } } + #[derive(Debug, Clone)] + pub struct NodeRecord{ + pub period_count: u32, + pub dag_info: task::DagInfo, + } static mut PERF_STATES: [u8; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; @@ -490,6 +514,7 @@ pub mod perf { static mut TASK_TIME: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut INTERRUPT_TIME: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut CONTEXT_SWITCH_TIME: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; + static mut CONTEXT_SWITCH_MAIN_TIME: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut IDLE_TIME: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut PERF_TIME: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; @@ -497,6 +522,7 @@ pub mod perf { static mut TASK_WCET: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut INTERRUPT_WCET: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut CONTEXT_SWITCH_WCET: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; + static mut CONTEXT_SWITCH_MAIN_WCET: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut IDLE_WCET: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut PERF_WCET: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; @@ -504,9 +530,409 @@ pub mod perf { static mut TASK_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut INTERRUPT_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut CONTEXT_SWITCH_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; + static mut CONTEXT_SWITCH_MAIN_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut IDLE_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut PERF_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; + use awkernel_lib::sync::{mcs::MCSNode, mutex::Mutex}; + const MAX_LOGS: usize = 8192; + + static SEND_OUTER_TIMESTAMP: Mutex> = Mutex::new(None); + static RECV_OUTER_TIMESTAMP: Mutex> = Mutex::new(None); + static ABSOLUTE_DEADLINE: Mutex> = Mutex::new(None); + static RELATIVE_DEADLINE: Mutex> = Mutex::new(None); + static DAG_PREEMPT_COUNT: Mutex> = Mutex::new(None); + + //DAG+1 + const MAX_DAGS: usize = 4; + pub static PERIOD_COUNT: [AtomicU32; MAX_DAGS] = array![_ => AtomicU32::new(0); MAX_DAGS]; + pub static SINK_COUNT: [AtomicU32; MAX_DAGS] = array![_ => AtomicU32::new(0); MAX_DAGS]; + + const MAX_NODES: usize = 20; + static NODE_START: Mutex> = Mutex::new(None); + static NODE_FINISH: Mutex> = Mutex::new(None); + static NODE_PREEMPT_COUNT: Mutex> = Mutex::new(None); + static NODE_CORE: Mutex> = Mutex::new(None); + + //pubsub + const MAX_PUBSUB: usize = 3; + static PUBLISH: Mutex> = Mutex::new(None); + static SUBSCRIBE: Mutex> = Mutex::new(None); + pub static PUB_COUNT: [AtomicU32; MAX_PUBSUB] = array![_ => AtomicU32::new(0); MAX_PUBSUB]; + pub static SUB_COUNT: [AtomicU32; MAX_PUBSUB] = array![_ => AtomicU32::new(0); MAX_PUBSUB]; + + pub fn reset_perf_logs() { + for i in 0..MAX_PUBSUB { + PUB_COUNT[i].store(0, Ordering::Relaxed); + SUB_COUNT[i].store(0, Ordering::Relaxed); + } + for i in 0..MAX_DAGS { + PERIOD_COUNT[i].store(0, Ordering::Relaxed); + SINK_COUNT[i].store(0, Ordering::Relaxed); + } + *SEND_OUTER_TIMESTAMP.lock(&mut MCSNode::new()) = None; + *RECV_OUTER_TIMESTAMP.lock(&mut MCSNode::new()) = None; + *ABSOLUTE_DEADLINE.lock(&mut MCSNode::new()) = None; + *RELATIVE_DEADLINE.lock(&mut MCSNode::new()) = None; + *NODE_START.lock(&mut MCSNode::new()) = None; + *NODE_FINISH.lock(&mut MCSNode::new()) = None; + } + + pub fn increment_pub_count(pub_id: usize) { + assert!(pub_id < MAX_PUBSUB, "Pub ID out of bounds"); + PUB_COUNT[pub_id].fetch_add(1, Ordering::Relaxed); + } + + pub fn increment_sub_count(sub_id: usize) { + assert!(sub_id < MAX_PUBSUB, "Sub ID out of bounds"); + SUB_COUNT[sub_id].fetch_add(1, Ordering::Relaxed); + } + + pub fn get_pub_count(pub_id: usize) -> u32 { + assert!(pub_id < MAX_PUBSUB, "Pub ID out of bounds"); + PUB_COUNT[pub_id].load(Ordering::Relaxed) + } + + pub fn get_sub_count(sub_id: usize) -> u32 { + assert!(sub_id < MAX_PUBSUB, "Sub ID out of bounds"); + SUB_COUNT[sub_id].load(Ordering::Relaxed) + } + + pub fn increment_period_count(dag_id: usize) { + assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); + PERIOD_COUNT[dag_id].fetch_add(1, Ordering::Relaxed); + } + + pub fn get_period_count(dag_id: usize) -> u32 { + assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); + PERIOD_COUNT[dag_id].load(Ordering::Relaxed) + } + + pub fn increment_sink_count(dag_id: usize) { + assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); + SINK_COUNT[dag_id].fetch_add(1, Ordering::Relaxed); + } + + pub fn get_sink_count(dag_id: usize) -> u32 { + assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); + SINK_COUNT[dag_id].load(Ordering::Relaxed) + } + + pub fn update_pre_send_outer_timestamp_at(index: usize, new_timestamp: u64, dag_id: u32) { + assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + + let mut node = MCSNode::new(); + let mut recorder_opt = SEND_OUTER_TIMESTAMP.lock(&mut node); + + let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_DAGS]; MAX_LOGS]); + + if recorder[index][dag_id as usize] == 0 { + recorder[index][dag_id as usize] = new_timestamp; + } + } + + pub fn update_fin_recv_outer_timestamp_at(index: usize, new_timestamp: u64, dag_id: u32) { + assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + + let mut node = MCSNode::new(); + let mut recorder_opt = RECV_OUTER_TIMESTAMP.lock(&mut node); + + let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_DAGS]; MAX_LOGS]); + + if (dag_id as usize) < recorder[0].len() { + recorder[index][dag_id as usize] = new_timestamp; + } + } + + pub fn update_absolute_deadline_timestamp_at(index: usize, deadline: u64, dag_id: u32){ + assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + + let mut node = MCSNode::new(); + let mut recorder_opt = ABSOLUTE_DEADLINE.lock(&mut node); + + let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_DAGS]; MAX_LOGS]); + + if recorder[index][dag_id as usize] == 0 { + recorder[index][dag_id as usize] = deadline; + } + + } + + pub fn update_relative_deadline_timestamp_at(index: usize, deadline: u64, dag_id: u32){ + assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + + let mut node = MCSNode::new(); + let mut recorder_opt = RELATIVE_DEADLINE.lock(&mut node); + + let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_DAGS]; MAX_LOGS]); + + if recorder[index][dag_id as usize] == 0 { + recorder[index][dag_id as usize] = deadline; + } + + } + + pub fn node_start(node:NodeRecord, start: u64){ + // assert!(index < MAX_LOGS, "Node log index out of bounds"); + assert!((node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds"); + + let mut mcs_node = MCSNode::new(); + let mut recorder_opt = NODE_START.lock(&mut mcs_node); + + let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_NODES]; MAX_LOGS]); + + if recorder[node.period_count as usize][node.dag_info.node_id as usize] == 0 { + recorder[node.period_count as usize][node.dag_info.node_id as usize] = start; + } + } + + pub fn node_finish(node:NodeRecord, finish: u64){ + // assert!(index < MAX_LOGS, "Node log index out of bounds"); + assert!((node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds"); + + let mut mcs_node = MCSNode::new(); + let mut recorder_opt = NODE_FINISH.lock(&mut mcs_node); + + let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_NODES]; MAX_LOGS]); + + if recorder[node.period_count as usize][node.dag_info.node_id as usize] == 0 { + recorder[node.period_count as usize][node.dag_info.node_id as usize] = finish; + } + } + + pub fn node_preempt(node:NodeRecord){ + // assert!(index < MAX_LOGS, "Node log index out of bounds"); + assert!((node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds"); + + let mut mcs_node = MCSNode::new(); + let mut recorder_opt = NODE_PREEMPT_COUNT.lock(&mut mcs_node); + + let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_NODES]; MAX_LOGS]); + + recorder[node.period_count as usize][node.dag_info.node_id as usize] += 1; + } + + pub fn dag_preempt(node:NodeRecord){ + // assert!(index < MAX_LOGS, "Node log index out of bounds"); + assert!((node.dag_info.dag_id as usize) < MAX_DAGS, "DAG ID out of bounds"); + + let mut mcs_node = MCSNode::new(); + let mut recorder_opt = DAG_PREEMPT_COUNT.lock(&mut mcs_node); + + let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_DAGS]; MAX_LOGS]); + + recorder[node.period_count as usize][node.dag_info.dag_id as usize] += 1; + } + + pub fn publish_timestamp_at(index: usize, new_timestamp: u64, pub_id: u32, node_id: u32) { + assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + assert!((pub_id as usize) < MAX_PUBSUB, "Publish ID out of bounds"); + + let mut node = MCSNode::new(); + let mut recorder_opt = PUBLISH.lock(&mut node); + + let recorder = recorder_opt.get_or_insert_with(|| [[[0; MAX_NODES]; MAX_PUBSUB]; MAX_LOGS]); + + if recorder[index][pub_id as usize][node_id as usize] == 0 { + recorder[index][pub_id as usize][node_id as usize] = new_timestamp; + } + } + + pub fn subscribe_timestamp_at(index: usize, new_timestamp: u64, sub_id: u32, node_id: u32) { + assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + assert!((sub_id as usize) < MAX_PUBSUB, "Subscribe ID out of bounds"); + + let mut node = MCSNode::new(); + let mut recorder_opt = SUBSCRIBE.lock(&mut node); + + let recorder = recorder_opt.get_or_insert_with(|| [[[0; MAX_NODES]; MAX_PUBSUB]; MAX_LOGS]); + + if recorder[index][sub_id as usize][node_id as usize] == 0 { + recorder[index][sub_id as usize][node_id as usize] = new_timestamp; + } + } + + // For precision of the cycle + pub fn print_timestamp_table() { + let mut node1 = MCSNode::new(); + let mut node2 = MCSNode::new(); + let mut node3 = MCSNode::new(); + let mut node4 = MCSNode::new(); + let mut node5 = MCSNode::new(); + + let send_outer_opt = SEND_OUTER_TIMESTAMP.lock(&mut node1); + let recv_outer_opt = RECV_OUTER_TIMESTAMP.lock(&mut node2); + let absolute_deadline_opt = ABSOLUTE_DEADLINE.lock(&mut node3); + let relative_deadline_opt = RELATIVE_DEADLINE.lock(&mut node4); + let dag_preempt_opt = DAG_PREEMPT_COUNT.lock(&mut node5); + + log::info!("--- Timestamp Summary (in nanoseconds) ---"); + log::info!( + "{: ^5} | {: ^5} | {: ^14} | {: ^14} | {: ^14} | {: ^14} | {: ^14} | {: ^14}", + "Index", + "DAG-ID", + "Send-Outer", + "Recv-Outer", + "Latency", + "Absolute Deadline", + "Relative Deadline", + "DAG Preemptions" + ); + + log::info!("-----|--------|----------------|----------------|----------------|--------------------|--------------------|--------------------|--------------------"); + + for i in 0..MAX_LOGS { + for j in 1..MAX_DAGS { + let pre_send_outer = send_outer_opt.as_ref().map_or(0, |arr| arr[i][j]); + let fin_recv_outer = recv_outer_opt.as_ref().map_or(0, |arr| arr[i][j]); + let absolute_deadline = absolute_deadline_opt.as_ref().map_or(0, |arr| arr[i][j]); + let relative_deadline = relative_deadline_opt.as_ref().map_or(0, |arr| arr[i][j]); + let dag_preempt = dag_preempt_opt.as_ref().map_or(0, |arr| arr[i][j]); + + if pre_send_outer != 0 || fin_recv_outer != 0 || absolute_deadline != 0 || relative_deadline != 0 || dag_preempt != 0 { + let format_ts = |ts: u64| -> String { + if ts == 0 { + "-".to_string() + } else { + ts.to_string() + } + }; + + let latency_str = if pre_send_outer != 0 && fin_recv_outer != 0 { + fin_recv_outer.saturating_sub(pre_send_outer).to_string() + } else { + "-".to_string() + }; + + log::info!( + "{: >5} | {: >5} | {: >14} | {: >14} | {: >14} | {: >20} | {: >20} | {: >20}", + i, + format_ts(j as u64), + format_ts(pre_send_outer), + format_ts(fin_recv_outer), + latency_str, + format_ts(absolute_deadline), + format_ts(relative_deadline), + format_ts(dag_preempt as u64), + ); + } + } + } + log::info!("----------------------------------------------------------"); + } + + /// Print per-node timing table. + /// Columns: DAG ID | node id | period | start(ns) | end(ns) | duration(ns) | preemptions | core + /// not used now + pub fn print_node_table() { + let mut node1 = MCSNode::new(); + let mut node2 = MCSNode::new(); + let mut node3 = MCSNode::new(); + let mut node4 = MCSNode::new(); + + let node_start_opt = NODE_START.lock(&mut node1); + let node_finish_opt = NODE_FINISH.lock(&mut node2); + let node_preempt_opt = NODE_PREEMPT_COUNT.lock(&mut node3); + let node_core_opt = NODE_CORE.lock(&mut node4); + + log::info!("--- Per-node Timing Summary (in nanoseconds) ---"); + log::info!( + "{:<5} | {:<6} | {:<7} | {:<20} | {:<20} | {:<20} | {:<12} | {:<4}", + "Index", + "DAG-ID", + "NODE-ID", + "start(ns)", + "end(ns)", + "duration(ns)", + "preemptions", + "core" + ); + log::info!("------|--------|---------|----------------------|----------------------|----------------------|-----"); + + for i in 0..MAX_LOGS { + for j in 0..MAX_NODES { + let start = node_start_opt.as_ref().map_or(0, |arr| arr[i][j]); + let finish = node_finish_opt.as_ref().map_or(0, |arr| arr[i][j]); + let preempt_count = node_preempt_opt.as_ref().map_or(0, |arr| arr[i][j]); + let core_id = node_core_opt.as_ref().map_or(0, |arr| arr[i][j]); + + if start != 0 || finish != 0 || preempt_count != 0 { + + let format_ts = |ts: u64| -> String { + ts.to_string() + }; + + let duration = if start != 0 && finish != 0 { + finish.saturating_sub(start).to_string() + } else { + "-".to_string() + }; + + log::info!( + "{:<5} | {:<6} | {:<7} | {:<20} | {:<20} | {:<20} | {:<12} | {:<4}", + i, + 1, // DAG ID (assumed 1 for simplicity) + format_ts(j as u64), + format_ts(start), + format_ts(finish), + duration, + format_ts(preempt_count as u64), + format_ts(core_id as u64), + ); + } + } + } + log::info!("--------------------------------------------------------------"); + } + + // For pubsub communication latency + pub fn print_pubsub_table() { + let mut node1 = MCSNode::new(); + let mut node2 = MCSNode::new(); + + let publish_opt = PUBLISH.lock(&mut node1); + let subscribe_opt = SUBSCRIBE.lock(&mut node2); + + log::info!("--- Pub/Sub Timestamp Summary (in nanoseconds) ---"); + log::info!( + "{: ^5} | {: ^10} | {: ^7} | {: ^14} | {: ^14}", + "Index", + "Pub/Sub ID", + "Node ID", + "Publish Time", + "Subscribe Time" + ); + log::info!("-----|------------|---------|----------------|----------------"); + for i in 0..MAX_LOGS { + for j in 0..MAX_PUBSUB { + for k in 0..MAX_NODES { + let publish_time = publish_opt.as_ref().map_or(0, |arr| arr[i][j][k]); + let subscribe_time = subscribe_opt.as_ref().map_or(0, |arr| arr[i][j][k]); + + if publish_time != 0 || subscribe_time != 0 { + let format_ts = |ts: u64| -> String { + if ts == 0 { + "-".to_string() + } else { + ts.to_string() + } + }; + + log::info!( + "{: >5} | {: >10} | {: >7} | {: >14} | {: >14}", + i, + j, + k, + format_ts(publish_time), + format_ts(subscribe_time), + ); + } + } + } + } + log::info!("--------------------------------------------------------------"); + } + fn update_time_and_state(next_state: PerfState) { let end = awkernel_lib::delay::cpu_counter(); let cpu_id = awkernel_lib::cpu::cpu_id(); @@ -554,6 +980,101 @@ pub mod perf { let wcet = read_volatile(&CONTEXT_SWITCH_WCET[cpu_id]); write_volatile(&mut CONTEXT_SWITCH_WCET[cpu_id], wcet.max(diff)); }, + PerfState::ContextSwitchMain => unsafe { + let t = read_volatile(&CONTEXT_SWITCH_MAIN_TIME[cpu_id]); + write_volatile(&mut CONTEXT_SWITCH_MAIN_TIME[cpu_id], t + diff); + let c = read_volatile(&CONTEXT_SWITCH_MAIN_COUNT[cpu_id]); + write_volatile(&mut CONTEXT_SWITCH_MAIN_COUNT[cpu_id], c + 1); + let wcet = read_volatile(&CONTEXT_SWITCH_MAIN_WCET[cpu_id]); + write_volatile(&mut CONTEXT_SWITCH_MAIN_WCET[cpu_id], wcet.max(diff)); + }, + PerfState::Idle => unsafe { + let t = read_volatile(&IDLE_TIME[cpu_id]); + write_volatile(&mut IDLE_TIME[cpu_id], t + diff); + let c = read_volatile(&IDLE_COUNT[cpu_id]); + write_volatile(&mut IDLE_COUNT[cpu_id], c + 1); + let wcet = read_volatile(&IDLE_WCET[cpu_id]); + write_volatile(&mut IDLE_WCET[cpu_id], wcet.max(diff)); + }, + PerfState::Boot => (), + } + } + + let cnt = awkernel_lib::delay::cpu_counter(); + + unsafe { + // Overhead of this. + let t = read_volatile(&PERF_TIME[cpu_id]); + write_volatile(&mut PERF_TIME[cpu_id], t + (cnt - end)); + let c = read_volatile(&PERF_COUNT[cpu_id]); + write_volatile(&mut PERF_COUNT[cpu_id], c + 1); + let wcet = read_volatile(&PERF_WCET[cpu_id]); + write_volatile(&mut PERF_WCET[cpu_id], wcet.max(cnt - end)); + + // State transition. + write_volatile(&mut START_TIME[cpu_id], cnt); + write_volatile(&mut PERF_STATES[cpu_id], next_state as u8); + } + } + + fn update_time_and_state_for_dag(next_state: PerfState) { + let end = awkernel_lib::delay::cpu_counter(); + let cpu_id = awkernel_lib::cpu::cpu_id(); + + let state: PerfState = unsafe { read_volatile(&PERF_STATES[cpu_id]) }.into(); + if state == next_state { + return; + } + + let start = unsafe { read_volatile(&START_TIME[cpu_id]) }; + + if start > 0 && start <= end { + let diff = end - start; + + match state { + PerfState::Kernel => unsafe { + let t = read_volatile(&KERNEL_TIME[cpu_id]); + write_volatile(&mut KERNEL_TIME[cpu_id], t + diff); + let c = read_volatile(&KERNEL_COUNT[cpu_id]); + write_volatile(&mut KERNEL_COUNT[cpu_id], c + 1); + let wcet = read_volatile(&KERNEL_WCET[cpu_id]); + write_volatile(&mut KERNEL_WCET[cpu_id], wcet.max(diff)); + }, + PerfState::Task => unsafe { + let t = read_volatile(&TASK_TIME[cpu_id]); + write_volatile(&mut TASK_TIME[cpu_id], t + diff); + let c = read_volatile(&TASK_COUNT[cpu_id]); + write_volatile(&mut TASK_COUNT[cpu_id], c + 1); + let wcet = read_volatile(&TASK_WCET[cpu_id]); + write_volatile(&mut TASK_WCET[cpu_id], wcet.max(diff)); + }, + PerfState::Interrupt => unsafe { + // log::info!("PreemptionTime CPU:{} Diff:{}", cpu_id, diff); + let t = read_volatile(&INTERRUPT_TIME[cpu_id]); + write_volatile(&mut INTERRUPT_TIME[cpu_id], t + diff); + let c = read_volatile(&INTERRUPT_COUNT[cpu_id]); + write_volatile(&mut INTERRUPT_COUNT[cpu_id], c + 1); + let wcet = read_volatile(&INTERRUPT_WCET[cpu_id]); + write_volatile(&mut INTERRUPT_WCET[cpu_id], wcet.max(diff)); + }, + PerfState::ContextSwitch => unsafe { + // log::info!("ContextSwitchTime CPU:{} Diff:{}", cpu_id, diff); + let t = read_volatile(&CONTEXT_SWITCH_TIME[cpu_id]); + write_volatile(&mut CONTEXT_SWITCH_TIME[cpu_id], t + diff); + let c = read_volatile(&CONTEXT_SWITCH_COUNT[cpu_id]); + write_volatile(&mut CONTEXT_SWITCH_COUNT[cpu_id], c + 1); + let wcet = read_volatile(&CONTEXT_SWITCH_WCET[cpu_id]); + write_volatile(&mut CONTEXT_SWITCH_WCET[cpu_id], wcet.max(diff)); + }, + PerfState::ContextSwitchMain => unsafe { + // log::info!("ContextSwitchMainTime CPU:{} Diff:{}", cpu_id, diff); + let t = read_volatile(&CONTEXT_SWITCH_MAIN_TIME[cpu_id]); + write_volatile(&mut CONTEXT_SWITCH_MAIN_TIME[cpu_id], t + diff); + let c = read_volatile(&CONTEXT_SWITCH_MAIN_COUNT[cpu_id]); + write_volatile(&mut CONTEXT_SWITCH_MAIN_COUNT[cpu_id], c + 1); + let wcet = read_volatile(&CONTEXT_SWITCH_MAIN_WCET[cpu_id]); + write_volatile(&mut CONTEXT_SWITCH_MAIN_WCET[cpu_id], wcet.max(diff)); + }, PerfState::Idle => unsafe { let t = read_volatile(&IDLE_TIME[cpu_id]); write_volatile(&mut IDLE_TIME[cpu_id], t + diff); @@ -598,7 +1119,24 @@ pub mod perf { pub fn start_interrupt() -> PerfState { let cpu_id = awkernel_lib::cpu::cpu_id(); let previous: PerfState = unsafe { read_volatile(&PERF_STATES[cpu_id]) }.into(); - update_time_and_state(PerfState::Interrupt); + + // Check the current task + if let Some(task_id) = task::get_current_task(cpu_id) { + if let Some(task) = task::get_task(task_id) { + let dag_info = task.info.lock(&mut task::MCSNode::new()).get_dag_info(); + if dag_info.is_some() { + // DAG task-specific handling + update_time_and_state_for_dag(PerfState::Interrupt); + } else { + // Normal task-specific handling + update_time_and_state(PerfState::Interrupt); + } + } + } else { + // Default handling if no task is running + update_time_and_state(PerfState::Interrupt); + } + previous } @@ -609,6 +1147,7 @@ pub mod perf { PerfState::Kernel => start_kernel(), PerfState::Task => start_task(), PerfState::ContextSwitch => start_context_switch(), + PerfState::ContextSwitchMain => start_context_switch_main(), PerfState::Interrupt => { start_interrupt(); } @@ -618,7 +1157,44 @@ pub mod perf { #[inline(always)] pub(crate) fn start_context_switch() { - update_time_and_state(PerfState::ContextSwitch); + let cpu_id = awkernel_lib::cpu::cpu_id(); + + if let Some(task_id) = task::get_current_task(cpu_id) { + if let Some(task) = task::get_task(task_id) { + let dag_info = task.info.lock(&mut task::MCSNode::new()).get_dag_info(); + if dag_info.is_some() { + // DAG task-specific handling + update_time_and_state_for_dag(PerfState::ContextSwitch); + } else { + // Normal task-specific handling + update_time_and_state(PerfState::ContextSwitch); + } + } + } else { + // Default handling if no task is running + update_time_and_state(PerfState::ContextSwitch); + } + } + + #[inline(always)] + pub(crate) fn start_context_switch_main() { + let cpu_id = awkernel_lib::cpu::cpu_id(); + + if let Some(task_id) = task::get_current_task(cpu_id) { + if let Some(task) = task::get_task(task_id) { + let dag_info = task.info.lock(&mut task::MCSNode::new()).get_dag_info(); + if dag_info.is_some() { + // DAG task-specific handling + update_time_and_state_for_dag(PerfState::ContextSwitchMain); + } else { + // Normal task-specific handling + update_time_and_state(PerfState::ContextSwitchMain); + } + } + } else { + // Default handling if no task is running + update_time_and_state(PerfState::ContextSwitchMain); + } } #[inline(always)] @@ -996,6 +1572,24 @@ pub fn get_scheduler_type_by_task_id(task_id: u32) -> Option { }) } +pub fn set_task_period(task_id: u32, period: Option) { + if let Some(task) = get_task(task_id) { + let mut node = MCSNode::new(); + let mut info = task.info.lock(&mut node); + info.set_current_period(period); + } +} + +pub fn get_task_period(task_id: u32) -> Option { + if let Some(task) = get_task(task_id) { + let mut node = MCSNode::new(); + let info = task.info.lock(&mut node); + info.get_current_period() + } else { + None + } +} + #[inline(always)] pub fn set_need_preemption(task_id: u32, cpu_id: usize) { let mut node = MCSNode::new(); diff --git a/awkernel_async_lib/src/time_interval.rs b/awkernel_async_lib/src/time_interval.rs index 96ce16219..ed188056b 100644 --- a/awkernel_async_lib/src/time_interval.rs +++ b/awkernel_async_lib/src/time_interval.rs @@ -29,6 +29,11 @@ //! SOFTWARE. use crate::sleep_task::Sleep; +use crate::{ + task::{ + perf::{update_pre_send_outer_timestamp_at, get_period_count}, + }, +}; use alloc::boxed::Box; use awkernel_lib::time::Time; use core::{ @@ -95,13 +100,15 @@ pub enum MissedTickBehavior { /// } /// ``` /// -pub fn interval(period: Duration) -> Interval { +pub fn interval(period: Duration, dag_id: u32) -> Interval { assert!(!period.is_zero(), "`period` must be non-zero."); - interval_at(Time::now(), period) + interval_at(Time::now(), period, dag_id) } -pub fn interval_at(start: Time, period: Duration) -> Interval { +pub fn interval_at(start: Time, period: Duration, dag_id: u32) -> Interval { assert!(!period.is_zero(), "`period` must be non-zero."); + let index = get_period_count(dag_id.clone() as usize) as usize; + update_pre_send_outer_timestamp_at(index, start.uptime().as_nanos() as u64, dag_id.clone()); Interval { delay: None, next_tick_target: start, From 29e5173ba1681d46f3de359794dc864d409f71ea Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Tue, 24 Mar 2026 07:26:24 +0900 Subject: [PATCH 03/60] fix: feature devision for test_autoware 1 Signed-off-by: nokosaaan --- applications/tests/test_autoware/Cargo.toml | 5 + .../test_autoware/ekf_localizer/src/lib.rs | 141 ++++--- .../test_autoware/gyro_odometer/src/lib.rs | 116 ++++-- .../test_autoware/imu_corrector/src/lib.rs | 170 ++++++--- .../tests/test_autoware/imu_driver/src/lib.rs | 79 ++-- applications/tests/test_autoware/src/lib.rs | 347 ++++++++++-------- .../vehicle_velocity_converter/src/lib.rs | 60 ++- applications/tests/test_dag/src/lib.rs | 25 +- awkernel_async_lib/Cargo.toml | 2 + awkernel_async_lib/src/dag.rs | 290 +++++++++------ awkernel_async_lib/src/pubsub.rs | 25 +- awkernel_async_lib/src/task.rs | 55 +-- awkernel_async_lib/src/time_interval.rs | 6 +- kernel/Cargo.toml | 1 + userland/src/lib.rs | 3 + x86bootdisk/src/main.rs | 2 +- 16 files changed, 799 insertions(+), 528 deletions(-) diff --git a/applications/tests/test_autoware/Cargo.toml b/applications/tests/test_autoware/Cargo.toml index 9ded42fb7..e625a69fb 100644 --- a/applications/tests/test_autoware/Cargo.toml +++ b/applications/tests/test_autoware/Cargo.toml @@ -7,6 +7,11 @@ edition = "2021" path = "src/lib.rs" crate-type = ["rlib"] +[features] +default = ["dag-no-period"] +dag-send-period = [] +dag-no-period = ["awkernel_async_lib/relax-get-period"] + [dependencies] log = "0.4" libm = "0.2" diff --git a/applications/tests/test_autoware/ekf_localizer/src/lib.rs b/applications/tests/test_autoware/ekf_localizer/src/lib.rs index 585ccb28b..6714aea03 100644 --- a/applications/tests/test_autoware/ekf_localizer/src/lib.rs +++ b/applications/tests/test_autoware/ekf_localizer/src/lib.rs @@ -3,10 +3,10 @@ extern crate alloc; -use core::f64::consts::PI; use alloc::{vec, vec::Vec}; -use nalgebra::{Matrix6, Vector6, Vector3}; -use libm::{sin, cos, atan2, asin}; +use core::f64::consts::PI; +use libm::{asin, atan2, cos, sin}; +use nalgebra::{Matrix6, Vector3, Vector6}; /// State indices for EKF #[derive(Debug, Clone, Copy, PartialEq)] @@ -168,7 +168,7 @@ impl EKFModule { let dim_x = 6; let mut state = StateVector::zeros(); let mut covariance = StateCovariance::identity() * 1e15; - + // Initialize covariance with reasonable values covariance[(StateIndex::Yaw as usize, StateIndex::Yaw as usize)] = 50.0; if params.enable_yaw_bias_estimation { @@ -180,7 +180,7 @@ impl EKFModule { let mut z_filter = Simple1DFilter::new(); let mut roll_filter = Simple1DFilter::new(); let mut pitch_filter = Simple1DFilter::new(); - + z_filter.set_proc_var(params.z_filter_proc_dev * params.z_filter_proc_dev); roll_filter.set_proc_var(params.roll_filter_proc_dev * params.roll_filter_proc_dev); pitch_filter.set_proc_var(params.pitch_filter_proc_dev * params.pitch_filter_proc_dev); @@ -240,9 +240,9 @@ impl EKFModule { // Normalize yaw to [-π, π] range (Autoware compatible) let yaw_next = yaw + wz * dt; x_next[StateIndex::Yaw as usize] = atan2(sin(yaw_next), cos(yaw_next)); - x_next[StateIndex::YawBias as usize] = yaw_bias; // yaw bias doesn't change - x_next[StateIndex::Vx as usize] = vx; // velocity doesn't change in predict - x_next[StateIndex::Wz as usize] = wz; // angular velocity doesn't change in predict + x_next[StateIndex::YawBias as usize] = yaw_bias; // yaw bias doesn't change + x_next[StateIndex::Vx as usize] = vx; // velocity doesn't change in predict + x_next[StateIndex::Wz as usize] = wz; // angular velocity doesn't change in predict x_next } @@ -259,11 +259,11 @@ impl EKFModule { F[(StateIndex::X as usize, StateIndex::Yaw as usize)] = -vx * sin(yaw + yaw_bias) * dt; F[(StateIndex::X as usize, StateIndex::YawBias as usize)] = -vx * sin(yaw + yaw_bias) * dt; F[(StateIndex::X as usize, StateIndex::Vx as usize)] = cos(yaw + yaw_bias) * dt; - + F[(StateIndex::Y as usize, StateIndex::Yaw as usize)] = vx * cos(yaw + yaw_bias) * dt; F[(StateIndex::Y as usize, StateIndex::YawBias as usize)] = vx * cos(yaw + yaw_bias) * dt; F[(StateIndex::Y as usize, StateIndex::Vx as usize)] = sin(yaw + yaw_bias) * dt; - + F[(StateIndex::Yaw as usize, StateIndex::Wz as usize)] = dt; F @@ -273,20 +273,20 @@ impl EKFModule { /// Q represents the uncertainty in the motion model fn process_noise_covariance(&self, dt: f64) -> Matrix6 { let mut Q = Matrix6::zeros(); - + // Process noise for each state variable - Q[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = + Q[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = self.params.proc_stddev_vx_c * self.params.proc_stddev_vx_c * dt * dt; - Q[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = + Q[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = self.params.proc_stddev_wz_c * self.params.proc_stddev_wz_c * dt * dt; - Q[(StateIndex::Yaw as usize, StateIndex::Yaw as usize)] = + Q[(StateIndex::Yaw as usize, StateIndex::Yaw as usize)] = self.params.proc_stddev_yaw_c * self.params.proc_stddev_yaw_c * dt * dt; - + // No process noise for position and yaw bias Q[(StateIndex::X as usize, StateIndex::X as usize)] = 0.0; Q[(StateIndex::Y as usize, StateIndex::Y as usize)] = 0.0; Q[(StateIndex::YawBias as usize, StateIndex::YawBias as usize)] = 0.0; - + Q } @@ -325,12 +325,12 @@ impl EKFModule { let z = self.z_filter.get_x(); let roll = self.roll_filter.get_x(); let pitch = self.pitch_filter.get_x(); - + let x = self.state[StateIndex::X as usize]; let y = self.state[StateIndex::Y as usize]; let biased_yaw = self.state[StateIndex::Yaw as usize]; let yaw_bias = self.state[StateIndex::YawBias as usize]; - + let yaw = if get_biased_yaw { biased_yaw } else { @@ -363,10 +363,10 @@ impl EKFModule { pub fn get_current_pose_with_covariance(&self) -> PoseWithCovariance { // Get current pose let pose = self.get_current_pose(false); - + // Get covariance matrix let pose_covariance = self.get_current_pose_covariance(); - + // Create and return PoseWithCovariance PoseWithCovariance { pose, @@ -377,30 +377,30 @@ impl EKFModule { /// Get pose covariance (simplified 6x6 to 36-element array) pub fn get_current_pose_covariance(&self) -> [f64; 36] { let mut cov = [0.0; 36]; - + // Copy 6x6 covariance matrix to 36-element array for i in 0..6 { for j in 0..6 { cov[i * 6 + j] = self.covariance[(i, j)]; } } - + // Add z, roll, pitch variances - cov[14] = self.z_filter.get_var(); // Z_Z - cov[21] = self.roll_filter.get_var(); // ROLL_ROLL - cov[28] = self.pitch_filter.get_var(); // PITCH_PITCH - + cov[14] = self.z_filter.get_var(); // Z_Z + cov[21] = self.roll_filter.get_var(); // ROLL_ROLL + cov[28] = self.pitch_filter.get_var(); // PITCH_PITCH + cov } /// Get twist covariance pub fn get_current_twist_covariance(&self) -> [f64; 36] { let mut cov = [0.0; 36]; - + // Simplified: only vx and wz have significant covariance - cov[0] = self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)]; // VX_VX + cov[0] = self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)]; // VX_VX cov[35] = self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)]; // WZ_WZ - + cov } @@ -414,27 +414,25 @@ impl EKFModule { // Simple measurement update using Kalman gain // This assumes direct observation of velocity states - + // Measurement variance (assumed) let vx_obs_var = 1.0; let wz_obs_var = 0.1; - + // Update Vx let vx_var = self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)]; let vx_gain = vx_var / (vx_var + vx_obs_var); - self.state[StateIndex::Vx as usize] = - self.state[StateIndex::Vx as usize] + - vx_gain * (vx_measurement - self.state[StateIndex::Vx as usize]); - self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = + self.state[StateIndex::Vx as usize] = self.state[StateIndex::Vx as usize] + + vx_gain * (vx_measurement - self.state[StateIndex::Vx as usize]); + self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = (1.0 - vx_gain) * vx_var; - + // Update Wz let wz_var = self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)]; let wz_gain = wz_var / (wz_var + wz_obs_var); - self.state[StateIndex::Wz as usize] = - self.state[StateIndex::Wz as usize] + - wz_gain * (wz_measurement - self.state[StateIndex::Wz as usize]); - self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = + self.state[StateIndex::Wz as usize] = self.state[StateIndex::Wz as usize] + + wz_gain * (wz_measurement - self.state[StateIndex::Wz as usize]); + self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = (1.0 - wz_gain) * wz_var; } @@ -455,10 +453,10 @@ impl EKFModule { if len == 0 { return; } - + let last_time = self.accumulated_delay_times[len - 1]; let new_time = last_time + dt; - + // Shift and add new time for i in 0..len - 1 { self.accumulated_delay_times[i] = self.accumulated_delay_times[i + 1]; @@ -480,7 +478,7 @@ impl EKFModule { // Simple linear search for closest value let mut closest_index = 0; let mut min_diff = f64::MAX; - + for i in 0..len { let time = self.accumulated_delay_times[i]; let diff = (target_value - time).abs(); @@ -489,13 +487,16 @@ impl EKFModule { closest_index = i; } } - + closest_index } // Utility functions for quaternion and euler angle conversions fn quaternion_to_yaw(&self, q: Quaternion) -> f64 { - atan2(2.0 * (q.w * q.z + q.x * q.y), 1.0 - 2.0 * (q.y * q.y + q.z * q.z)) + atan2( + 2.0 * (q.w * q.z + q.x * q.y), + 1.0 - 2.0 * (q.y * q.y + q.z * q.z), + ) } fn rpy_to_quaternion(&self, roll: f64, pitch: f64, yaw: f64) -> Quaternion { @@ -545,14 +546,23 @@ mod tests { fn test_ekf_initialization() { let params = EKFParameters::default(); let mut ekf = EKFModule::new(params); - + let initial_pose = Pose { - position: Point3D { x: 1.0, y: 2.0, z: 0.0 }, - orientation: Quaternion { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }, + position: Point3D { + x: 1.0, + y: 2.0, + z: 0.0, + }, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, }; - + ekf.initialize(initial_pose); - + let pose = ekf.get_current_pose(false); assert!((pose.position.x - 1.0).abs() < 1e-6); assert!((pose.position.y - 2.0).abs() < 1e-6); @@ -562,14 +572,14 @@ mod tests { fn test_quaternion_conversions() { let params = EKFParameters::default(); let ekf = EKFModule::new(params); - + let roll = 0.1; let pitch = 0.2; let yaw = 0.3; - + let q = ekf.rpy_to_quaternion(roll, pitch, yaw); let (r, p, y) = ekf.quaternion_to_rpy(q); - + assert!((roll - r).abs() < 1e-6); assert!((pitch - p).abs() < 1e-6); assert!((yaw - y).abs() < 1e-6); @@ -579,21 +589,30 @@ mod tests { fn test_pose_with_covariance_generation() { let params = EKFParameters::default(); let mut ekf = EKFModule::new(params); - + let initial_pose = Pose { - position: Point3D { x: 1.0, y: 2.0, z: 0.0 }, - orientation: Quaternion { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }, + position: Point3D { + x: 1.0, + y: 2.0, + z: 0.0, + }, + orientation: Quaternion { + x: 0.0, + y: 0.0, + z: 0.0, + w: 1.0, + }, }; - + ekf.initialize(initial_pose); - + let pose_with_cov = ekf.get_current_pose_with_covariance(); - + // Check pose assert!((pose_with_cov.pose.position.x - 1.0).abs() < 1e-6); assert!((pose_with_cov.pose.position.y - 2.0).abs() < 1e-6); - + // Check covariance array assert_eq!(pose_with_cov.covariance.len(), 36); } -} \ No newline at end of file +} diff --git a/applications/tests/test_autoware/gyro_odometer/src/lib.rs b/applications/tests/test_autoware/gyro_odometer/src/lib.rs index 8851bda3c..c6659acb7 100644 --- a/applications/tests/test_autoware/gyro_odometer/src/lib.rs +++ b/applications/tests/test_autoware/gyro_odometer/src/lib.rs @@ -4,14 +4,15 @@ extern crate alloc; use alloc::{borrow::Cow, collections::VecDeque, string::String, vec::Vec}; use core::time::Duration; // Global instance and lazy initialization support -use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; use core::ptr::null_mut; +use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; // Re-export common types for consistency with other libraries -pub use imu_driver::{Header, Vector3, Quaternion, ImuMsg}; -pub use vehicle_velocity_converter::{Odometry, TwistWithCovarianceStamped, TwistWithCovariance, Twist}; -pub use imu_corrector::{ImuWithCovariance, Transform, transform_covariance}; - +pub use imu_corrector::{transform_covariance, ImuWithCovariance, Transform}; +pub use imu_driver::{Header, ImuMsg, Quaternion, Vector3}; +pub use vehicle_velocity_converter::{ + Odometry, Twist, TwistWithCovariance, TwistWithCovarianceStamped, +}; static GYRO_ODOMETER_INSTANCE: AtomicPtr = AtomicPtr::new(null_mut()); @@ -49,7 +50,7 @@ impl GyroOdometerCore { let queue_size = config.queue_size; let output_frame = config.output_frame.clone(); let message_timeout_sec = config.message_timeout_sec; - + Ok(Self { output_frame, message_timeout_sec, @@ -61,13 +62,14 @@ impl GyroOdometerCore { }) } - - /// Main processing function (matching C++ concat_gyro_and_odometer) - /// + /// /// # Arguments /// * `current_time` - Current system time in nanoseconds (matching C++ this->now()) - pub fn concat_gyro_and_odometer(&mut self, current_time: u64) -> Result> { + pub fn concat_gyro_and_odometer( + &mut self, + current_time: u64, + ) -> Result> { // Check if first messages have arrived (matching C++ implementation) if !self.vehicle_twist_arrived { self.vehicle_twist_queue.clear(); @@ -83,25 +85,30 @@ impl GyroOdometerCore { // Check timeout (matching C++ implementation) // C++: vehicle_twist_dt = std::abs((this->now() - latest_vehicle_twist_ros_time_).seconds()) if !self.vehicle_twist_queue.is_empty() && !self.gyro_queue.is_empty() { - let latest_vehicle_twist_stamp = self.vehicle_twist_queue.back().unwrap().header.timestamp; + let latest_vehicle_twist_stamp = + self.vehicle_twist_queue.back().unwrap().header.timestamp; let latest_imu_stamp = self.gyro_queue.back().unwrap().header.timestamp; - + // Check vehicle twist timeout (matching C++ vehicle_twist_dt > message_timeout_sec_) - if Self::check_timeout(current_time, latest_vehicle_twist_stamp, self.message_timeout_sec) { + if Self::check_timeout( + current_time, + latest_vehicle_twist_stamp, + self.message_timeout_sec, + ) { self.vehicle_twist_queue.clear(); self.gyro_queue.clear(); - return Err(GyroOdometerError::TimeoutError( - String::from("Vehicle twist message timeout") - )); + return Err(GyroOdometerError::TimeoutError(String::from( + "Vehicle twist message timeout", + ))); } - + // Check IMU timeout (matching C++ imu_dt > message_timeout_sec_) if Self::check_timeout(current_time, latest_imu_stamp, self.message_timeout_sec) { self.vehicle_twist_queue.clear(); self.gyro_queue.clear(); - return Err(GyroOdometerError::TimeoutError( - String::from("IMU message timeout") - )); + return Err(GyroOdometerError::TimeoutError(String::from( + "IMU message timeout", + ))); } } @@ -159,7 +166,7 @@ impl GyroOdometerCore { // Create result (matching C++ implementation) let latest_vehicle_twist_stamp = self.vehicle_twist_queue.back().unwrap().header.timestamp; let latest_imu_stamp = self.gyro_queue.back().unwrap().header.timestamp; - + let result_timestamp = if latest_vehicle_twist_stamp < latest_imu_stamp { latest_imu_stamp } else { @@ -181,15 +188,15 @@ impl GyroOdometerCore { }; // Set covariance (matching C++ implementation exactly) - result.twist.covariance[COV_IDX_XYZRPY_X_X] = + result.twist.covariance[COV_IDX_XYZRPY_X_X] = vx_covariance_original / self.vehicle_twist_queue.len() as f64; result.twist.covariance[COV_IDX_XYZRPY_Y_Y] = 100000.0; result.twist.covariance[COV_IDX_XYZRPY_Z_Z] = 100000.0; - result.twist.covariance[COV_IDX_XYZRPY_ROLL_ROLL] = + result.twist.covariance[COV_IDX_XYZRPY_ROLL_ROLL] = gyro_covariance_original.x / self.gyro_queue.len() as f64; - result.twist.covariance[COV_IDX_XYZRPY_PITCH_PITCH] = + result.twist.covariance[COV_IDX_XYZRPY_PITCH_PITCH] = gyro_covariance_original.y / self.gyro_queue.len() as f64; - result.twist.covariance[COV_IDX_XYZRPY_YAW_YAW] = + result.twist.covariance[COV_IDX_XYZRPY_YAW_YAW] = gyro_covariance_original.z / self.gyro_queue.len() as f64; // Clear queues (matching C++ implementation) @@ -221,7 +228,10 @@ impl GyroOdometerCore { } /// Process result and apply vehicle stop logic - pub fn process_result(&self, twist_with_cov_raw: TwistWithCovarianceStamped) -> TwistWithCovarianceStamped { + pub fn process_result( + &self, + twist_with_cov_raw: TwistWithCovarianceStamped, + ) -> TwistWithCovarianceStamped { // 車両が停止している場合の処理 (matching C++ implementation exactly) if twist_with_cov_raw.twist.twist.angular.z.abs() < 0.01 && twist_with_cov_raw.twist.twist.linear.x.abs() < 0.01 @@ -237,7 +247,11 @@ impl GyroOdometerCore { } /// Convert vehicle velocity data to twist format - pub fn convert_vehicle_velocity_to_twist(&self, odometry: &Odometry, timestamp: u64) -> TwistWithCovarianceStamped { + pub fn convert_vehicle_velocity_to_twist( + &self, + odometry: &Odometry, + timestamp: u64, + ) -> TwistWithCovarianceStamped { TwistWithCovarianceStamped { header: Header { frame_id: "base_link", @@ -266,7 +280,10 @@ impl GyroOdometerCore { } /// Process queues and get result (matching test_autoware process_queues_and_get_result) - pub fn process_and_get_result(&mut self, current_time: u64) -> Option { + pub fn process_and_get_result( + &mut self, + current_time: u64, + ) -> Option { match self.concat_gyro_and_odometer(current_time) { Ok(result) => result, Err(_) => None, @@ -370,19 +387,28 @@ mod tests { assert_eq!(imu_msg.header.frame_id, converted_back.header.frame_id); assert_eq!(imu_msg.header.timestamp, converted_back.header.timestamp); - assert_eq!(imu_msg.angular_velocity.x, converted_back.angular_velocity.x); - assert_eq!(imu_msg.angular_velocity.y, converted_back.angular_velocity.y); - assert_eq!(imu_msg.angular_velocity.z, converted_back.angular_velocity.z); + assert_eq!( + imu_msg.angular_velocity.x, + converted_back.angular_velocity.x + ); + assert_eq!( + imu_msg.angular_velocity.y, + converted_back.angular_velocity.y + ); + assert_eq!( + imu_msg.angular_velocity.z, + converted_back.angular_velocity.z + ); } #[test] fn test_vehicle_velocity_conversion() { let config = GyroOdometerConfig::default(); let core = GyroOdometerCore::new(config).unwrap(); - + let odometry = Odometry { velocity: 15.5 }; let twist = core.convert_vehicle_velocity_to_twist(&odometry, 123456789); - + assert_eq!(twist.header.frame_id, "base_link"); assert_eq!(twist.header.timestamp, 123456789); assert_eq!(twist.twist.twist.linear.x, 15.5); @@ -394,7 +420,7 @@ mod tests { fn test_imu_corrector_integration() { let config = GyroOdometerConfig::default(); let mut core = GyroOdometerCore::new(config).unwrap(); - + // Create IMU with covariance from imu_corrector let imu_with_cov = ImuWithCovariance { header: Header { @@ -410,7 +436,17 @@ mod tests { angular_velocity: Vector3::new(0.1, 0.2, 0.3), angular_velocity_covariance: [0.0009, 0.0, 0.0, 0.0, 0.0009, 0.0, 0.0, 0.0, 0.0009], // 0.03^2 linear_acceleration: Vector3::new(9.8, 0.0, 0.0), - linear_acceleration_covariance: [100000000.0, 0.0, 0.0, 0.0, 100000000.0, 0.0, 0.0, 0.0, 100000000.0], // 10000^2 + linear_acceleration_covariance: [ + 100000000.0, + 0.0, + 0.0, + 0.0, + 100000000.0, + 0.0, + 0.0, + 0.0, + 100000000.0, + ], // 10000^2 }; // Process IMU with covariance @@ -433,19 +469,19 @@ mod tests { /// This provides lazy initialization with thread-safe access pub fn get_or_initialize() -> Result<&'static mut GyroOdometerCore> { let ptr = GYRO_ODOMETER_INSTANCE.load(AtomicOrdering::Acquire); - + if !ptr.is_null() { return Ok(unsafe { &mut *ptr }); } - + // Not initialized, try to initialize let config = GyroOdometerConfig::default(); let core = GyroOdometerCore::new(config)?; - + // Allocate on heap and store pointer let boxed_core = alloc::boxed::Box::new(core); let new_ptr = alloc::boxed::Box::into_raw(boxed_core); - + // Try to store the pointer atomically match GYRO_ODOMETER_INSTANCE.compare_exchange( null_mut(), @@ -465,4 +501,4 @@ pub fn get_or_initialize() -> Result<&'static mut GyroOdometerCore> { Ok(unsafe { &mut *existing_ptr }) } } -} \ No newline at end of file +} diff --git a/applications/tests/test_autoware/imu_corrector/src/lib.rs b/applications/tests/test_autoware/imu_corrector/src/lib.rs index 3abe671ee..97db33846 100644 --- a/applications/tests/test_autoware/imu_corrector/src/lib.rs +++ b/applications/tests/test_autoware/imu_corrector/src/lib.rs @@ -1,9 +1,9 @@ #![no_std] extern crate alloc; -use nalgebra::{Matrix3, UnitQuaternion, Vector3 as NVector3, Quaternion as NQuaternion}; -use imu_driver::{ImuMsg, Vector3, Quaternion, Header}; use alloc::{format, string::String}; +use imu_driver::{Header, ImuMsg, Quaternion, Vector3}; +use nalgebra::{Matrix3, Quaternion as NQuaternion, UnitQuaternion, Vector3 as NVector3}; // Transform structure (simplified TF representation) #[derive(Clone, Debug)] @@ -55,7 +55,12 @@ impl Transform { // Dynamic TF listener interface (simplified version) pub trait TransformListener { fn get_latest_transform(&self, from_frame: &str, to_frame: &str) -> Option; - fn get_transform_at_time(&self, from_frame: &str, to_frame: &str, timestamp: u64) -> Option; + fn get_transform_at_time( + &self, + from_frame: &str, + to_frame: &str, + timestamp: u64, + ) -> Option; } // Mock TF listener for testing (can be replaced with actual ROS2 TF implementation) @@ -82,7 +87,12 @@ impl TransformListener for MockTransformListener { self.transforms.get(&key).cloned() } - fn get_transform_at_time(&self, from_frame: &str, to_frame: &str, _timestamp: u64) -> Option { + fn get_transform_at_time( + &self, + from_frame: &str, + to_frame: &str, + _timestamp: u64, + ) -> Option { // For mock implementation, ignore timestamp and return latest self.get_latest_transform(from_frame, to_frame) } @@ -199,11 +209,11 @@ impl ImuCorrector { let nalgebra_vec = self.to_nalgebra_vector3(vec); let nalgebra_quat = self.to_nalgebra_quaternion(&transform.rotation); let nalgebra_trans = self.to_nalgebra_vector3(&transform.translation); - + // Apply rotation and translation let rotated = nalgebra_quat * nalgebra_vec; let result = rotated + nalgebra_trans; - + // Convert back to imu_driver Vector3 self.to_imu_vector3(&result) } @@ -213,14 +223,14 @@ impl ImuCorrector { fn transform_covariance(&self, cov: &[f64; 9]) -> [f64; 9] { // Find maximum covariance value from diagonal elements (xx, yy, zz) let max_cov = cov[0].max(cov[4]).max(cov[8]); // X_X, Y_Y, Z_Z indices - + // Create new covariance matrix with max_cov on diagonal, zeros elsewhere let mut cov_transformed = [0.0; 9]; cov_transformed[0] = max_cov; // X_X cov_transformed[4] = max_cov; // Y_Y cov_transformed[8] = max_cov; // Z_Z - // Other elements remain 0.0 - + // Other elements remain 0.0 + cov_transformed } @@ -232,15 +242,25 @@ impl ImuCorrector { /// Convert Matrix3 to array format for compatibility fn matrix3_to_array(&self, matrix: &Matrix3) -> [f64; 9] { [ - matrix[(0, 0)], matrix[(0, 1)], matrix[(0, 2)], - matrix[(1, 0)], matrix[(1, 1)], matrix[(1, 2)], - matrix[(2, 0)], matrix[(2, 1)], matrix[(2, 2)], + matrix[(0, 0)], + matrix[(0, 1)], + matrix[(0, 2)], + matrix[(1, 0)], + matrix[(1, 1)], + matrix[(1, 2)], + matrix[(2, 0)], + matrix[(2, 1)], + matrix[(2, 2)], ] } /// Correct IMU data with covariance (enhanced version for gyro_odometer) /// This function matches the C++ callback_imu function more faithfully - pub fn correct_imu_with_covariance(&self, imu_msg: &ImuMsg, transform: Option<&Transform>) -> ImuWithCovariance { + pub fn correct_imu_with_covariance( + &self, + imu_msg: &ImuMsg, + transform: Option<&Transform>, + ) -> ImuWithCovariance { // Start with a copy of the input IMU message (matches C++ line 82) let mut corrected_imu = ImuWithCovariance::from_imu_msg(imu_msg); @@ -251,11 +271,11 @@ impl ImuCorrector { // Calculate angular velocity covariance (matches C++ lines 89-93) // Convert to array format: [xx, xy, xz, yx, yy, yz, zx, zy, zz] - corrected_imu.angular_velocity_covariance[0] = + corrected_imu.angular_velocity_covariance[0] = self.config.angular_velocity_stddev_xx * self.config.angular_velocity_stddev_xx; // xx - corrected_imu.angular_velocity_covariance[4] = + corrected_imu.angular_velocity_covariance[4] = self.config.angular_velocity_stddev_yy * self.config.angular_velocity_stddev_yy; // yy - corrected_imu.angular_velocity_covariance[8] = + corrected_imu.angular_velocity_covariance[8] = self.config.angular_velocity_stddev_zz * self.config.angular_velocity_stddev_zz; // zz // Calculate acceleration covariance (matches C++ lines 98-103) @@ -267,17 +287,19 @@ impl ImuCorrector { // Apply TF transformation if provided (matches C++ lines 105-125) if let Some(tf) = transform { // Transform linear acceleration (matches C++ line 115) - corrected_imu.linear_acceleration = self.transform_vector3(&corrected_imu.linear_acceleration, tf); + corrected_imu.linear_acceleration = + self.transform_vector3(&corrected_imu.linear_acceleration, tf); // Transform linear acceleration covariance (matches C++ line 116) - corrected_imu.linear_acceleration_covariance = + corrected_imu.linear_acceleration_covariance = self.transform_covariance(&corrected_imu.linear_acceleration_covariance); - + // Transform angular velocity (matches C++ line 118) - corrected_imu.angular_velocity = self.transform_vector3(&corrected_imu.angular_velocity, tf); + corrected_imu.angular_velocity = + self.transform_vector3(&corrected_imu.angular_velocity, tf); // Transform angular velocity covariance (matches C++ line 119) - corrected_imu.angular_velocity_covariance = + corrected_imu.angular_velocity_covariance = self.transform_covariance(&corrected_imu.angular_velocity_covariance); - + // Update frame_id (matches C++ line 113) corrected_imu.header.frame_id = self.config.output_frame; } @@ -294,10 +316,9 @@ impl ImuCorrector { /// Correct IMU data with dynamic TF lookup (matches C++ callback_imu function) pub fn correct_imu_with_dynamic_tf(&self, imu_msg: &ImuMsg) -> Option { // Get latest transform dynamically (matches C++ lines 106-107) - let transform = self.transform_listener.get_latest_transform( - &imu_msg.header.frame_id, - self.config.output_frame - )?; + let transform = self + .transform_listener + .get_latest_transform(&imu_msg.header.frame_id, self.config.output_frame)?; // Apply correction with the dynamic transform let corrected_with_cov = self.correct_imu_with_covariance(imu_msg, Some(&transform)); @@ -305,12 +326,14 @@ impl ImuCorrector { } /// Correct IMU data with dynamic TF lookup and covariance - pub fn correct_imu_with_dynamic_tf_covariance(&self, imu_msg: &ImuMsg) -> Option { + pub fn correct_imu_with_dynamic_tf_covariance( + &self, + imu_msg: &ImuMsg, + ) -> Option { // Get latest transform dynamically (matches C++ lines 106-107) - let transform = self.transform_listener.get_latest_transform( - &imu_msg.header.frame_id, - self.config.output_frame - )?; + let transform = self + .transform_listener + .get_latest_transform(&imu_msg.header.frame_id, self.config.output_frame)?; // Apply correction with the dynamic transform Some(self.correct_imu_with_covariance(imu_msg, Some(&transform))) @@ -327,7 +350,7 @@ impl ImuCorrector { // Update frame_id corrected_msg.header.frame_id = self.config.output_frame; - + corrected_msg } @@ -348,14 +371,14 @@ impl ImuCorrector { pub fn transform_covariance(cov: &[f64; 9]) -> [f64; 9] { // Find maximum covariance value from diagonal elements (xx, yy, zz) let max_cov = cov[0].max(cov[4]).max(cov[8]); // X_X, Y_Y, Z_Z indices - + // Create new covariance matrix with max_cov on diagonal, zeros elsewhere let mut cov_transformed = [0.0; 9]; cov_transformed[0] = max_cov; // X_X cov_transformed[4] = max_cov; // Y_Y cov_transformed[8] = max_cov; // Z_Z - // Other elements remain 0.0 - + // Other elements remain 0.0 + cov_transformed } @@ -383,7 +406,7 @@ mod tests { let corrected_msg = corrector.correct_imu_simple(&imu_msg); assert_eq!(corrected_msg.header.frame_id, "base_link"); - + // Check that offset correction was applied (no offset in default config) assert_eq!(corrected_msg.angular_velocity.x, 0.1); assert_eq!(corrected_msg.angular_velocity.y, 0.2); @@ -396,10 +419,10 @@ mod tests { config.angular_velocity_offset_x = 0.05; config.angular_velocity_offset_y = 0.1; config.angular_velocity_offset_z = 0.15; - + let mut corrector = ImuCorrector::new(); corrector.set_config(config); - + let imu_msg = ImuMsg { header: Header { frame_id: "imu_link", @@ -416,7 +439,7 @@ mod tests { }; let corrected_msg = corrector.correct_imu_simple(&imu_msg); - + // Check that offset correction was applied assert_eq!(corrected_msg.angular_velocity.x, 0.1 - 0.05); assert_eq!(corrected_msg.angular_velocity.y, 0.2 - 0.1); @@ -442,32 +465,50 @@ mod tests { }; let corrected_with_cov = corrector.correct_imu_with_covariance(&imu_msg, None); - + // Check that covariance was calculated correctly let expected_angular_var = 0.03 * 0.03; // stddev^2 - assert_eq!(corrected_with_cov.angular_velocity_covariance[0], expected_angular_var); // xx - assert_eq!(corrected_with_cov.angular_velocity_covariance[4], expected_angular_var); // yy - assert_eq!(corrected_with_cov.angular_velocity_covariance[8], expected_angular_var); // zz - + assert_eq!( + corrected_with_cov.angular_velocity_covariance[0], + expected_angular_var + ); // xx + assert_eq!( + corrected_with_cov.angular_velocity_covariance[4], + expected_angular_var + ); // yy + assert_eq!( + corrected_with_cov.angular_velocity_covariance[8], + expected_angular_var + ); // zz + let expected_accel_var = 10000.0 * 10000.0; // stddev^2 - assert_eq!(corrected_with_cov.linear_acceleration_covariance[0], expected_accel_var); // xx - assert_eq!(corrected_with_cov.linear_acceleration_covariance[4], expected_accel_var); // yy - assert_eq!(corrected_with_cov.linear_acceleration_covariance[8], expected_accel_var); // zz + assert_eq!( + corrected_with_cov.linear_acceleration_covariance[0], + expected_accel_var + ); // xx + assert_eq!( + corrected_with_cov.linear_acceleration_covariance[4], + expected_accel_var + ); // yy + assert_eq!( + corrected_with_cov.linear_acceleration_covariance[8], + expected_accel_var + ); // zz } #[test] fn test_transform_covariance() { let corrector = ImuCorrector::new(); - + // Test covariance transformation (matches C++ transform_covariance function) let input_cov = [1.0, 0.5, 0.3, 0.5, 2.0, 0.4, 0.3, 0.4, 3.0]; // xx=1, yy=2, zz=3 let transformed_cov = corrector.transform_covariance(&input_cov); - + // Should take maximum value (3.0) and apply to diagonal assert_eq!(transformed_cov[0], 3.0); // xx assert_eq!(transformed_cov[4], 3.0); // yy assert_eq!(transformed_cov[8], 3.0); // zz - + // Off-diagonal elements should be 0 assert_eq!(transformed_cov[1], 0.0); // xy assert_eq!(transformed_cov[2], 0.0); // xz @@ -482,12 +523,12 @@ mod tests { // Test the public transform_covariance function let input_cov = [1.0, 0.5, 0.3, 0.5, 2.0, 0.4, 0.3, 0.4, 3.0]; // xx=1, yy=2, zz=3 let transformed_cov = transform_covariance(&input_cov); - + // Should take maximum value (3.0) and apply to diagonal assert_eq!(transformed_cov[0], 3.0); // xx assert_eq!(transformed_cov[4], 3.0); // yy assert_eq!(transformed_cov[8], 3.0); // zz - + // Off-diagonal elements should be 0 assert_eq!(transformed_cov[1], 0.0); // xy assert_eq!(transformed_cov[2], 0.0); // xz @@ -526,15 +567,24 @@ mod tests { }; let corrected_with_cov = corrector.correct_imu_with_covariance(&imu_msg, Some(&transform)); - + // Check that frame_id was updated assert_eq!(corrected_with_cov.header.frame_id, "base_link"); - + // Check that covariance was transformed (should use max value) let expected_angular_var = 0.03 * 0.03; // stddev^2 - assert_eq!(corrected_with_cov.angular_velocity_covariance[0], expected_angular_var); // xx - assert_eq!(corrected_with_cov.angular_velocity_covariance[4], expected_angular_var); // yy - assert_eq!(corrected_with_cov.angular_velocity_covariance[8], expected_angular_var); // zz + assert_eq!( + corrected_with_cov.angular_velocity_covariance[0], + expected_angular_var + ); // xx + assert_eq!( + corrected_with_cov.angular_velocity_covariance[4], + expected_angular_var + ); // yy + assert_eq!( + corrected_with_cov.angular_velocity_covariance[8], + expected_angular_var + ); // zz } #[test] @@ -550,7 +600,7 @@ mod tests { }, }; transform_listener.add_transform("imu_link", "base_link", transform); - + let corrector = ImuCorrector::with_transform_listener(transform_listener); let imu_msg = ImuMsg { header: Header { @@ -569,11 +619,11 @@ mod tests { let corrected_msg = corrector.correct_imu_with_dynamic_tf(&imu_msg); assert!(corrected_msg.is_some()); - + let corrected_msg = corrected_msg.unwrap(); // Check that frame_id was updated assert_eq!(corrected_msg.header.frame_id, "base_link"); - + // Check that translation was applied (linear acceleration should be transformed) // With translation of (1.0, 0.0, 0.0), the acceleration should be affected assert_eq!(corrected_msg.linear_acceleration.x, 9.8); // No change for identity rotation diff --git a/applications/tests/test_autoware/imu_driver/src/lib.rs b/applications/tests/test_autoware/imu_driver/src/lib.rs index 9d7f29837..09c2d6882 100644 --- a/applications/tests/test_autoware/imu_driver/src/lib.rs +++ b/applications/tests/test_autoware/imu_driver/src/lib.rs @@ -1,9 +1,9 @@ #![no_std] extern crate alloc; -use alloc::{vec, vec::Vec, format,string::String}; +use alloc::{format, string::String, vec, vec::Vec}; //use awkernel_lib::time::Time; -use core::{f64::consts::PI}; +use core::f64::consts::PI; // IMU message structure #[derive(Clone, Debug)] @@ -68,23 +68,28 @@ pub struct TamagawaImuParser { impl TamagawaImuParser { pub fn new(frame_id: &'static str) -> Self { - Self { + Self { frame_id, dummy_counter: 0, } } /// Parse binary IMU data from Tamagawa sensor - /// + /// /// # Arguments /// * `data` - Raw binary data from sensor (expected length 58 bytes) /// * `timestamp` - Current timestamp in nanoseconds - /// + /// /// # Returns /// * `Option` - Parsed IMU message if data is valid, None otherwise pub fn parse_binary_data(&self, data: &[u8], timestamp: u64) -> Option { // Check if data is valid BIN format and correct length - if data.len() != 58 || data[5] != b'B' || data[6] != b'I' || data[7] != b'N' || data[8] != b',' { + if data.len() != 58 + || data[5] != b'B' + || data[6] != b'I' + || data[7] != b'N' + || data[8] != b',' + { return None; } @@ -125,12 +130,12 @@ impl TamagawaImuParser { } /// Generate dummy binary data for testing - /// + /// /// # Arguments /// * `timestamp` - Current timestamp in nanoseconds /// * `angular_velocity` - Angular velocity values in rad/s /// * `linear_acceleration` - Linear acceleration values in m/s² - /// + /// /// # Returns /// * `Vec` - 58-byte binary data in Tamagawa format pub fn generate_dummy_binary_data( @@ -140,29 +145,29 @@ impl TamagawaImuParser { linear_acceleration: Vector3, ) -> Vec { let mut data = vec![0u8; 58]; - + // Header: $TSC,BIN, data[0..5].copy_from_slice(b"$TSC,"); data[5] = b'B'; data[6] = b'I'; data[7] = b'N'; data[8] = b','; - + // Counter (bytes 11-12) data[11] = (self.dummy_counter >> 8) as u8; data[12] = (self.dummy_counter & 0xFF) as u8; self.dummy_counter = self.dummy_counter.wrapping_add(1); - + // Convert angular velocity from rad/s to LSB let angular_vel_x_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.x); let angular_vel_y_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.y); let angular_vel_z_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.z); - + // Convert acceleration from m/s² to LSB let accel_x_lsb = self.convert_acceleration_to_lsb(linear_acceleration.x); let accel_y_lsb = self.convert_acceleration_to_lsb(linear_acceleration.y); let accel_z_lsb = self.convert_acceleration_to_lsb(linear_acceleration.z); - + // Angular velocity data (bytes 15-20) data[15] = (angular_vel_x_lsb >> 8) as u8; data[16] = (angular_vel_x_lsb & 0xFF) as u8; @@ -170,7 +175,7 @@ impl TamagawaImuParser { data[18] = (angular_vel_y_lsb & 0xFF) as u8; data[19] = (angular_vel_z_lsb >> 8) as u8; data[20] = (angular_vel_z_lsb & 0xFF) as u8; - + // Linear acceleration data (bytes 21-26) data[21] = (accel_x_lsb >> 8) as u8; data[22] = (accel_x_lsb & 0xFF) as u8; @@ -178,48 +183,48 @@ impl TamagawaImuParser { data[24] = (accel_y_lsb & 0xFF) as u8; data[25] = (accel_z_lsb >> 8) as u8; data[26] = (accel_z_lsb & 0xFF) as u8; - + data } /// Generate sinusoidal dummy data for realistic simulation - /// + /// /// # Arguments /// * `timestamp` - Current timestamp in nanoseconds /// * `time_offset` - Time offset for phase calculation - /// + /// /// # Returns /// * `Vec` - 58-byte binary data with sinusoidal motion /* pub fn generate_sinusoidal_dummy_data(&mut self, timestamp: u64, time_offset: f64) -> Vec { // Convert timestamp to seconds for sinusoidal calculation let time_sec = (timestamp as f64) / 1_000_000_000.0 + time_offset; - + // Generate sinusoidal angular velocity (rotation around Z-axis) let angular_vel_z = 0.5 * (2.0 * PI * 0.1 * time_sec).sin(); // 0.1 Hz, ±0.5 rad/s - + // Generate sinusoidal acceleration (oscillation in X-axis) let accel_x = 9.8 + 2.0 * (2.0 * PI * 0.05 * time_sec).sin(); // 0.05 Hz, 9.8±2.0 m/s² - + let angular_velocity = Vector3::new(0.1, 0.2, angular_vel_z); let linear_acceleration = Vector3::new(accel_x, 0.0, 9.8); - + self.generate_dummy_binary_data(timestamp, angular_velocity, linear_acceleration) } */ /// Generate static dummy data with fixed values - /// + /// /// # Arguments /// * `timestamp` - Current timestamp in nanoseconds - /// + /// /// # Returns /// * `Vec` - 58-byte binary data with static values // Autoware側と統一：加速度は重力加速度のみ pub fn generate_static_dummy_data(&mut self, timestamp: u64) -> Vec { let angular_velocity = Vector3::new(0.1, 0.2, 0.01); - let linear_acceleration = Vector3::new(0.0, 0.0, 9.80665); // z方向のみ重力加速度 - + let linear_acceleration = Vector3::new(0.0, 0.0, 9.80665); // z方向のみ重力加速度 + self.generate_dummy_binary_data(timestamp, angular_velocity, linear_acceleration) } @@ -237,7 +242,7 @@ impl TamagawaImuParser { } /// Parse signed 16-bit value from 2 bytes - /// + /// /// This matches the C++ implementation: /// raw_data = ((((rbuf[15] << 8) & 0xFFFFFF00) | (rbuf[16] & 0x000000FF))); fn parse_signed_16bit(&self, data: &[u8]) -> i16 { @@ -252,7 +257,7 @@ impl TamagawaImuParser { } /// Convert raw angular velocity data to rad/s - /// + /// /// Raw data is in LSB units with range ±200 deg/s /// Conversion: raw * (200 / 2^15) * π / 180 fn convert_angular_velocity(&self, raw_data: i16) -> f64 { @@ -262,7 +267,7 @@ impl TamagawaImuParser { } /// Convert raw acceleration data to m/s² - /// + /// /// Raw data is in LSB units with range ±100 m/s² /// Conversion: raw * (100 / 2^15) fn convert_acceleration(&self, raw_data: i16) -> f64 { @@ -291,8 +296,6 @@ impl TamagawaImuParser { } } - - #[cfg(test)] mod tests { use super::*; @@ -301,13 +304,13 @@ mod tests { fn example_usage() { // Create parser instance let mut parser = TamagawaImuParser::new("imu_link"); - + // Generate commands let version_cmd = TamagawaImuParser::generate_version_request(); let binary_cmd = TamagawaImuParser::generate_binary_request(30); let offset_cmd = TamagawaImuParser::generate_offset_cancel_request(123); let heading_cmd = TamagawaImuParser::generate_heading_reset_request(); - + // Example 1: Generate static dummy data let static_dummy_data = parser.generate_static_dummy_data(123456789); if let Some(imu_msg) = parser.parse_binary_data(&static_dummy_data, 123456789) { @@ -315,7 +318,7 @@ mod tests { let _angular_vel = imu_msg.angular_velocity; let _acceleration = imu_msg.linear_acceleration; } - + // Example 2: Generate sinusoidal dummy data for realistic simulation let sinusoidal_dummy_data = parser.generate_sinusoidal_dummy_data(123456789, 0.0); if let Some(imu_msg) = parser.parse_binary_data(&sinusoidal_dummy_data, 123456789) { @@ -323,14 +326,14 @@ mod tests { let _angular_vel = imu_msg.angular_velocity; let _acceleration = imu_msg.linear_acceleration; } - + // Example 3: Generate custom dummy data let custom_angular_velocity = Vector3::new(0.5, -0.3, 1.2); let custom_acceleration = Vector3::new(8.5, 2.1, 10.2); let custom_dummy_data = parser.generate_dummy_binary_data( - 123456789, - custom_angular_velocity, - custom_acceleration + 123456789, + custom_angular_velocity, + custom_acceleration, ); if let Some(imu_msg) = parser.parse_binary_data(&custom_dummy_data, 123456789) { // Use the parsed IMU message with custom values @@ -338,4 +341,4 @@ mod tests { let _acceleration = imu_msg.linear_acceleration; } } -} \ No newline at end of file +} diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs index 4ea886cb6..0ac57c330 100644 --- a/applications/tests/test_autoware/src/lib.rs +++ b/applications/tests/test_autoware/src/lib.rs @@ -1,39 +1,38 @@ #![no_std] extern crate alloc; -use alloc::{borrow::Cow, vec, vec::Vec, collections::VecDeque, string::String, format, sync::Arc}; +use alloc::{borrow::Cow, collections::VecDeque, format, string::String, sync::Arc, vec, vec::Vec}; use awkernel_async_lib::dag::{create_dag, finish_create_dags}; +use awkernel_async_lib::net::IpAddr; use awkernel_async_lib::scheduler::SchedulerType; +#[cfg(feature = "dag-send-period")] use awkernel_async_lib::task::perf::get_period_count; -use awkernel_lib::net::{add_ipv4_addr, poll_interface, get_all_interface}; -use awkernel_async_lib::net::{tcp::TcpStream, tcp::TcpConfig, udp::{UdpConfig, UdpSocketError},IpAddr}; use awkernel_lib::delay::wait_microsec; use awkernel_lib::sync::mutex::{MCSNode, Mutex}; -use core::time::Duration; use core::net::Ipv4Addr; -use csv_core::{Reader, ReadRecordResult}; +use core::time::Duration; +use csv_core::{ReadRecordResult, Reader}; // Thread-safe state management using atomic operations -use core::sync::atomic::{AtomicBool, AtomicU64, AtomicUsize,Ordering}; +use core::sync::atomic::{AtomicBool, AtomicU64, AtomicUsize, Ordering}; // Global gyro odometer core instance with proper synchronization -use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; use core::ptr::null_mut; - +use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; // IMU ドライバーライブラリをインポート -use imu_driver::{ImuMsg,TamagawaImuParser, Header, Vector3}; use imu_corrector::{ImuCorrector, ImuWithCovariance, Transform}; +use imu_driver::{Header, ImuMsg, TamagawaImuParser, Vector3}; // Vehicle Velocity Converter ライブラリをインポート（C++のpubsub機能に対応） use vehicle_velocity_converter::{ - VehicleVelocityConverter, VelocityReport, TwistWithCovarianceStamped, - TwistWithCovariance, Twist, reactor_helpers}; + reactor_helpers, Twist, TwistWithCovariance, TwistWithCovarianceStamped, + VehicleVelocityConverter, VelocityReport, +}; // Gyro Odometer ライブラリをインポート -use gyro_odometer::{ - GyroOdometerCore, GyroOdometerConfig}; +use gyro_odometer::{GyroOdometerConfig, GyroOdometerCore}; // EKF Localizer ライブラリをインポート -use ekf_localizer::{EKFModule, EKFParameters, Pose, Point3D, Quaternion, PoseWithCovariance}; +use ekf_localizer::{EKFModule, EKFParameters, Point3D, Pose, PoseWithCovariance, Quaternion}; // COMMENTED OUT: 手動積分用の関数をコメントアウトしたためlibmは不要 // use libm::{atan2, cos, sin}; @@ -46,8 +45,7 @@ pub struct EKFOdometry { pub twist: TwistWithCovariance, } -const LOG_ENABLE: bool = false; - +const LOG_ENABLE: bool = true; // EKF pose covariance (6x6 matrix flattened to array) // Layout: [x, xy, xz, xr, xp, xy_yaw, @@ -57,12 +55,9 @@ const LOG_ENABLE: bool = false; // px, py, pz, pr, p, p_yaw, // yaw_x, yaw_y, yaw_z, yaw_r, yaw_p, yaw] const EKF_POSE_COVARIANCE: [f64; 36] = [ - 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, + 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0225, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.000625, ]; // EKF twist covariance (6x6 matrix flattened to array) @@ -75,12 +70,9 @@ const EKF_POSE_COVARIANCE: [f64; 36] = [ // wz_x, wz_y, wz_z, wz_rx, wz_ry, wz] // Based on Autoware's typical twist uncertainty (0.01 m/s for linear, 0.01 rad/s for angular) const EKF_TWIST_COVARIANCE: [f64; 36] = [ - 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, + 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0001, ]; static LAST_DR_TIMESTAMP: AtomicU64 = AtomicU64::new(0); @@ -133,14 +125,47 @@ static mut VELOCITY_CSV_DATA: Option> = None; static IMU_CSV_COUNT: Mutex = Mutex::new(0); static VELOCITY_CSV_COUNT: Mutex = Mutex::new(0); - // Global EKF Localizer instance with proper synchronization static EKF_LOCALIZER: AtomicPtr = AtomicPtr::new(null_mut()); +#[cfg(feature = "dag-send-period")] +type DagMsg = (T, u32); +#[cfg(not(feature = "dag-send-period"))] +type DagMsg = T; + +#[cfg(feature = "dag-send-period")] +fn pack_dag_msg(value: T, period_id: u32) -> DagMsg { + (value, period_id) +} + +#[cfg(not(feature = "dag-send-period"))] +fn pack_dag_msg(value: T, _period_id: u32) -> DagMsg { + value +} + +#[cfg(feature = "dag-send-period")] +fn unpack_dag_msg(msg: DagMsg) -> (T, u32) { + msg +} + +#[cfg(not(feature = "dag-send-period"))] +fn unpack_dag_msg(msg: DagMsg) -> (T, u32) { + (msg, 0) +} + +#[cfg(feature = "dag-send-period")] +fn current_period_id(dag_id: u32) -> u32 { + get_period_count(dag_id as usize) as u32 +} + +#[cfg(not(feature = "dag-send-period"))] +fn current_period_id(_dag_id: u32) -> u32 { + 0 +} + // COMMENTED OUT: 手動積分用のDR_POSEはEKF内部状態からポーズを取得するようになったため不要 // static mut DR_POSE: Option = None; - pub async fn run() { wait_microsec(1000000); @@ -149,7 +174,7 @@ pub async fn run() { } log::info!("Starting Autoware test application with simplified TCP networking"); - + // 初期ネットワークインターフェース情報を表示 //print_network_interfaces(); @@ -159,27 +184,36 @@ pub async fn run() { // ダミーデータ送信用リアクター // MODIFIED: 周期を10msから50msに変更（Autowareのekf_data_publisher.pyと同じ周期） // これにより、CSVデータの消費速度が両システムで一致する - dag.register_periodic_reactor::<_, ((i32, u32), (i32, u32), (i32, u32))>( + dag.register_periodic_reactor::<_, (DagMsg, DagMsg, DagMsg)>( "start_dummy_data".into(), - move || -> ((i32, u32), (i32, u32), (i32, u32)) { - let period_id = get_period_count(dag_id as usize) as u32; - return ((1, period_id), (2, period_id), (3, period_id)); // 通常のデータ処理用の値 + move || -> (DagMsg, DagMsg, DagMsg) { + let period_id = current_period_id(dag_id); + ( + pack_dag_msg(1, period_id), + pack_dag_msg(2, period_id), + pack_dag_msg(3, period_id), + ) }, - vec![Cow::from("start_imu"),Cow::from("start_vel"),Cow::from("start_pose")], + vec![ + Cow::from("start_imu"), + Cow::from("start_vel"), + Cow::from("start_pose"), + ], SchedulerType::GEDF(5), - Duration::from_millis(50) // CHANGED: 10ms -> 50ms (Autowareと同じ) + Duration::from_millis(50), // CHANGED: 10ms -> 50ms (Autowareと同じ) ) .await; // IMU driver node (periodic_reactor) - Dummy data generator - dag.register_reactor::<_, ((i32, u32),), ((ImuMsg, u32),)>( + dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( "imu_driver".into(), - move |((_a, period_id),): ((i32, u32),)| -> ((ImuMsg, u32),) { + move |(start_msg,): (DagMsg,)| -> (DagMsg,) { + let (_a, period_id) = unpack_dag_msg(start_msg); let mut node = MCSNode::new(); let mut count_guard = IMU_CSV_COUNT.lock(&mut node); let count = *count_guard; let data = unsafe { IMU_CSV_DATA.as_ref() }; - + let imu_msg = if let Some(csv_data) = data { if csv_data.is_empty() { let mut parser = TamagawaImuParser::new("imu_link"); @@ -210,7 +244,7 @@ pub async fn run() { .parse_binary_data(&static_dummy_data, awkernel_timestamp) .unwrap_or_default() }; - + *count_guard += 1; if *count_guard >= 5700 { *count_guard = 0; @@ -221,11 +255,12 @@ pub async fn run() { if LOG_ENABLE { log::debug!( "IMU data in imu_driver_node,num={}, timestamp={}", - count, imu_msg.header.timestamp + count, + imu_msg.header.timestamp ); } - ((imu_msg, period_id),) + (pack_dag_msg(imu_msg, period_id),) }, vec![Cow::from("start_imu")], vec![Cow::from("imu_data")], @@ -234,9 +269,10 @@ pub async fn run() { .await; // Vehicle Velocity Converter node - VelocityReport to TwistWithCovarianceStamped converter - dag.register_reactor::<_, ((i32, u32),), ((TwistWithCovarianceStamped, u32),)>( + dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( "vehicle_velocity_converter".into(), - move |((_b, period_id),): ((i32, u32),)| -> ((TwistWithCovarianceStamped, u32),) { + move |(start_msg,): (DagMsg,)| -> (DagMsg,) { + let (_b, period_id) = unpack_dag_msg(start_msg); let converter = VehicleVelocityConverter::default(); let mut node = MCSNode::new(); @@ -275,7 +311,7 @@ pub async fn run() { ); } - ((twist_msg, period_id),) + (pack_dag_msg(twist_msg, period_id),) }, vec![Cow::from("start_vel")], // Subscribe to start_vel topic vec![Cow::from("velocity_twist")], // Publish to twist_with_covariance topic @@ -284,17 +320,17 @@ pub async fn run() { .await; //Imu Corrector - dag.register_reactor::<_, ((ImuMsg, u32),), ((ImuWithCovariance, u32),)>( + dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( "imu_corrector".into(), - |((imu_msg, period_id),): ((ImuMsg, u32),)| -> ((ImuWithCovariance, u32),) { - + |(imu_msg,): (DagMsg,)| -> (DagMsg,) { + let (imu_msg, period_id) = unpack_dag_msg(imu_msg); let corrector = ImuCorrector::new(); // Use the enhanced corrector that outputs ImuWithCovariance let corrected = corrector.correct_imu_with_covariance(&imu_msg, None); // if LOG_ENABLE { // log::debug!("IMU corrected in imu_corrector node with covariance"); // } - ((corrected, period_id),) + (pack_dag_msg(corrected, period_id),) }, vec![Cow::from("imu_data")], vec![Cow::from("corrected_imu_data")], @@ -303,9 +339,11 @@ pub async fn run() { .await; // Gyro Odometer node - Simplified single processing step - dag.register_reactor::<_, ((ImuWithCovariance, u32), (TwistWithCovarianceStamped, u32)), ((TwistWithCovarianceStamped, u32),)>( + dag.register_reactor::<_, (DagMsg, DagMsg), (DagMsg,)>( "gyro_odometer".into(), - |((imu_with_cov, period_imu), (vehicle_twist, _period_twist)): ((ImuWithCovariance, u32), (TwistWithCovarianceStamped, u32))| -> ((TwistWithCovarianceStamped, u32),) { + |(imu_msg, vehicle_msg): (DagMsg, DagMsg)| -> (DagMsg,) { + let (imu_with_cov, period_imu) = unpack_dag_msg(imu_msg); + let (vehicle_twist, _period_twist) = unpack_dag_msg(vehicle_msg); let current_timestamp = imu_with_cov.header.timestamp; let current_time = get_awkernel_uptime_timestamp(); @@ -313,7 +351,7 @@ pub async fn run() { let gyro_odometer = match gyro_odometer::get_or_initialize() { Ok(core) => core, Err(_) => { - return ((reactor_helpers::create_empty_twist(current_timestamp), period_imu),); + return (pack_dag_msg(reactor_helpers::create_empty_twist(current_timestamp), period_imu),); } }; @@ -323,8 +361,8 @@ pub async fn run() { // Process once with current time and return result match gyro_odometer.process_and_get_result(current_time) { - Some(result) => ((gyro_odometer.process_result(result), period_imu),), - None => ((reactor_helpers::create_empty_twist(current_timestamp), period_imu),) + Some(result) => (pack_dag_msg(gyro_odometer.process_result(result), period_imu),), + None => (pack_dag_msg(reactor_helpers::create_empty_twist(current_timestamp), period_imu),) } }, vec![Cow::from("corrected_imu_data"),Cow::from("velocity_twist")], @@ -334,27 +372,28 @@ pub async fn run() { .await; // Pose dummy data generator reactor - dag.register_reactor::<_, ((i32, u32),), ((Pose, u32),)>( + dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( "pose_dummy_generator".into(), - move |((_counter, period_id),): ((i32, u32),)| -> ((Pose, u32),) { + move |(start_msg,): (DagMsg,)| -> (DagMsg,) { + let (_counter, period_id) = unpack_dag_msg(start_msg); // Generate dummy pose data that moves in a circle // let time = counter as f64 * 0.1; // Time progression // let radius = 10.0; // Circle radius // let angular_velocity = 0.5; // rad/s - + // aip_x1_description/config/sensors_calibration.yaml // if needed, comment out and use fixed values below // let x = 0.86419; // let y = 0.0; // let z = 2.18096; // let yaw = angular_velocity * time; - // for initial pose + // for initial pose let x = 0.0; let y = 0.0; let z = 0.0; - + let pose = Pose { - position: Point3D { x,y,z}, + position: Point3D { x, y, z }, orientation: Quaternion { x: 0.0, y: 0.0, @@ -362,13 +401,13 @@ pub async fn run() { w: 1.0, }, }; - + // if LOG_ENABLE { // log::debug!("Generated dummy pose: x={:.3}, y={:.3}, yaw={:.3}, counter={}", // pose.position.x, pose.position.y, yaw, counter); // } - - ((pose, period_id),) + + (pack_dag_msg(pose, period_id),) }, vec![Cow::from("start_pose")], vec![Cow::from("dummy_pose")], @@ -378,16 +417,18 @@ pub async fn run() { // EKF Localizer reactor - combines pose and twist data // MODIFIED: 手動積分（integrated_pose）を廃止し、EKFの内部状態から直接ポーズを取得するように変更 - dag.register_reactor::<_, ((Pose, u32), (TwistWithCovarianceStamped, u32)), ((Pose, u32), (EKFOdometry, u32))>( + dag.register_reactor::<_, (DagMsg, DagMsg), (DagMsg, DagMsg)>( "ekf_localizer".into(), - |((pose, period_pose), (twist, _period_twist)): ((Pose, u32), (TwistWithCovarianceStamped, u32))| -> ((Pose, u32), (EKFOdometry, u32)) { + |(pose_msg, twist_msg): (DagMsg, DagMsg)| -> (DagMsg, DagMsg) { + let (pose, period_pose) = unpack_dag_msg(pose_msg); + let (twist, _period_twist) = unpack_dag_msg(twist_msg); // Initialize EKF Localizer if not already done if get_ekf_localizer().is_none() { if let Err(e) = initialize_ekf_localizer() { // if LOG_ENABLE { // log::error!("Failed to initialize EKF Localizer: {}", e); // } - return ((pose, period_pose), (EKFOdometry { + return (pack_dag_msg(pose, period_pose), pack_dag_msg(EKFOdometry { header: imu_driver::Header { frame_id: "map", timestamp: twist.header.timestamp, @@ -525,7 +566,7 @@ pub async fn run() { // COMMENTED OUT: 手動積分のポーズを返していた // (integrated_pose, odometry) // MODIFIED: EKFの推定ポーズを返す - ((ekf_pose, period_pose), (odometry, period_pose)) + (pack_dag_msg(ekf_pose, period_pose), pack_dag_msg(odometry, period_pose)) }, vec![Cow::from("dummy_pose"), Cow::from("twist_with_covariance")], vec![Cow::from("estimated_pose"), Cow::from("ekf_odometry")], @@ -534,9 +575,11 @@ pub async fn run() { .await; // Sink reactor for EKF Localizer output with TCP sending - dag.register_sink_reactor::<_, ((Pose, u32), (EKFOdometry, u32))>( + dag.register_sink_reactor::<_, (DagMsg, DagMsg)>( "ekf_sink".into(), - move|((_pose, _period_pose), (ekf_odom, _period_odom)): ((Pose, u32), (EKFOdometry, u32))| { + move |(pose_msg, odom_msg): (DagMsg, DagMsg)| { + let (_pose, _period_pose) = unpack_dag_msg(pose_msg); + let (ekf_odom, _period_odom) = unpack_dag_msg(odom_msg); // log::info!("=== EKF Sink Reactor 実行 ==="); // if LOG_ENABLE { @@ -621,32 +664,36 @@ pub async fn run() { log::info!("インターフェースID: {}", INTERFACE_ID); log::info!("インターフェースIP: {}", INTERFACE_ADDR); log::info!("宛先IP: {}", UDP_TCP_DST_ADDR); - // + // awkernel_lib::net::add_ipv4_addr(INTERFACE_ID, INTERFACE_ADDR, 24); - log::info!("IPv4アドレス設定完了: {} をインターフェース {} に追加", INTERFACE_ADDR, INTERFACE_ID); + log::info!( + "IPv4アドレス設定完了: {} をインターフェース {} に追加", + INTERFACE_ADDR, + INTERFACE_ID + ); // ネットワークスタックの初期化を待つ log::info!("ネットワークスタック初期化のため待機中..."); awkernel_async_lib::sleep(Duration::from_secs(2)).await; - + // リアクターAPIに干渉しない周期UDP送信タスクを開始 log::info!("周期UDP送信タスクを開始します"); start_periodic_udp_sender().await; - + // または、設定可能な周期で開始する場合 // start_configurable_udp_sender(2).await; // 2秒間隔 - + // JSONデータが準備されるまで待機（最大3秒） log::info!("JSONデータの準備を待機中..."); let mut wait_count = 0; const MAX_WAIT_COUNT: u32 = 3; - + while !JSON_DATA_READY.load(Ordering::Relaxed) && wait_count < MAX_WAIT_COUNT { // log::info!("JSONデータ待機中... ({}/{})", wait_count + 1, MAX_WAIT_COUNT); awkernel_async_lib::sleep(Duration::from_secs(1)).await; wait_count += 1; } - + if JSON_DATA_READY.load(Ordering::Relaxed) { // log::info!("JSONデータが準備されました。周期UDP送信タスクが動作中です"); // 周期UDP送信タスクは既に動作中なので、ここでは何もしない @@ -765,7 +812,8 @@ where let mut header_skipped = false; loop { - let (result, in_read, _out_written, num_fields) = reader.read_record(input, &mut output, &mut ends); + let (result, in_read, _out_written, num_fields) = + reader.read_record(input, &mut output, &mut ends); input = &input[in_read..]; if matches!(result, ReadRecordResult::OutputFull) { @@ -818,7 +866,9 @@ fn parse_u64(field: &str) -> Result { if trimmed.is_empty() { return Ok(0); } - trimmed.parse::().map_err(|_| "u64パースに失敗しました") + trimmed + .parse::() + .map_err(|_| "u64パースに失敗しました") } fn parse_f64(field: &str) -> Result { @@ -826,39 +876,41 @@ fn parse_f64(field: &str) -> Result { if trimmed.is_empty() { return Ok(0.0); } - trimmed.parse::().map_err(|_| "f64パースに失敗しました") + trimmed + .parse::() + .map_err(|_| "f64パースに失敗しました") } // fn find_first_moving_velocity_index() -> usize { - // const EPS: f64 = 1.0e-6; - // let data = unsafe { VELOCITY_CSV_DATA.as_ref() }; - // if let Some(rows) = data { - // for (idx, row) in rows.iter().enumerate() { - // if row.longitudinal_velocity.abs() > EPS || row.lateral_velocity.abs() > EPS { - // return idx; - // } - // } - // } - // 0 +// const EPS: f64 = 1.0e-6; +// let data = unsafe { VELOCITY_CSV_DATA.as_ref() }; +// if let Some(rows) = data { +// for (idx, row) in rows.iter().enumerate() { +// if row.longitudinal_velocity.abs() > EPS || row.lateral_velocity.abs() > EPS { +// return idx; // } -// +// } +// } +// 0 +// } +// // fn find_first_active_imu_index() -> usize { - // const EPS: f64 = 1.0e-6; - // let data = unsafe { IMU_CSV_DATA.as_ref() }; - // if let Some(rows) = data { - // for (idx, row) in rows.iter().enumerate() { - // if row.angular_velocity.x.abs() > EPS - // || row.angular_velocity.y.abs() > EPS - // || row.angular_velocity.z.abs() > EPS - // || row.linear_acceleration.x.abs() > EPS - // || row.linear_acceleration.y.abs() > EPS - // || row.linear_acceleration.z.abs() > EPS - // { - // return idx; - // } - // } - // } - // 0 +// const EPS: f64 = 1.0e-6; +// let data = unsafe { IMU_CSV_DATA.as_ref() }; +// if let Some(rows) = data { +// for (idx, row) in rows.iter().enumerate() { +// if row.angular_velocity.x.abs() > EPS +// || row.angular_velocity.y.abs() > EPS +// || row.angular_velocity.z.abs() > EPS +// || row.linear_acceleration.x.abs() > EPS +// || row.linear_acceleration.y.abs() > EPS +// || row.linear_acceleration.z.abs() > EPS +// { +// return idx; +// } +// } +// } +// 0 // } // Awkernel起動時間からのタイムスタンプを取得する関数 @@ -877,7 +929,7 @@ fn get_awkernel_uptime_timestamp() -> u64 { // リアクターAPIに干渉しないUDP送信タスク（一定周期実行） pub async fn start_periodic_udp_sender() { // log::info!("=== 周期UDP送信タスク開始 ==="); - + // 独立したタスクとして実行 awkernel_async_lib::spawn( "periodic_udp_sender".into(), @@ -885,20 +937,20 @@ pub async fn start_periodic_udp_sender() { awkernel_async_lib::scheduler::SchedulerType::PrioritizedFIFO(0), ) .await; - + // log::info!("周期UDP送信タスクを開始しました"); } // 周期UDP送信タスクの実装 async fn periodic_udp_sender_task() { // log::info!("周期UDP送信タスク: 開始"); - + // UDPソケットを作成（一度だけ） let socket_result = awkernel_async_lib::net::udp::UdpSocket::bind_on_interface( INTERFACE_ID, &Default::default(), ); - + let mut socket = match socket_result { Ok(socket) => { // log::info!("周期UDP送信タスク: UDPソケット作成成功"); @@ -909,10 +961,10 @@ async fn periodic_udp_sender_task() { return; } }; - + let dst_addr = IpAddr::new_v4(UDP_TCP_DST_ADDR); let mut counter = 0; - + // 無限ループで一定周期実行 loop { // JSONデータの準備チェック @@ -921,29 +973,36 @@ async fn periodic_udp_sender_task() { awkernel_async_lib::sleep(Duration::from_secs(1)).await; continue; } - + // 安全にJSONデータを取得 - let json_data = unsafe { - LATEST_JSON_DATA.as_ref().map(|s| s.clone()) - }; - + let json_data = unsafe { LATEST_JSON_DATA.as_ref().map(|s| s.clone()) }; + if let Some(data) = json_data { // UDP送信を実行 match socket.send(data.as_bytes(), &dst_addr, UDP_DST_PORT).await { Ok(_) => { counter += 1; - log::info!("周期UDP送信タスク: 送信成功 #{} ({} bytes)", counter, data.len()); - + log::info!( + "周期UDP送信タスク: 送信成功 #{} ({} bytes)", + counter, + data.len() + ); + // レスポンス受信（オプション、タイムアウト付き） let mut buf = [0u8; 1024]; - if let Some(Ok((n, src_addr, src_port))) = - awkernel_async_lib::timeout( - Duration::from_millis(100), // 短いタイムアウト - socket.recv(&mut buf) - ).await { + if let Some(Ok((n, src_addr, src_port))) = awkernel_async_lib::timeout( + Duration::from_millis(100), // 短いタイムアウト + socket.recv(&mut buf), + ) + .await + { if let Ok(response) = core::str::from_utf8(&buf[..n]) { - log::debug!("周期UDP送信タスク: レスポンス受信: {}:{} - {}", - src_addr.get_addr(), src_port, response); + log::debug!( + "周期UDP送信タスク: レスポンス受信: {}:{} - {}", + src_addr.get_addr(), + src_port, + response + ); } } } @@ -954,7 +1013,7 @@ async fn periodic_udp_sender_task() { } else { log::warn!("周期UDP送信タスク: JSONデータが取得できませんでした"); } - + // 一定周期で待機（例: 2秒間隔 - DAGの実行周期と衝突を避けるため） awkernel_async_lib::sleep(Duration::from_millis(5)).await; } @@ -963,7 +1022,7 @@ async fn periodic_udp_sender_task() { // リアクターAPIに干渉しないUDP送信タスク（設定可能な周期） // pub async fn start_configurable_udp_sender(interval_sec: u64) { // log::info!("=== 設定可能周期UDP送信タスク開始 (間隔: {}秒) ===", interval_sec); - + // // 独立したタスクとして実行 // awkernel_async_lib::spawn( // "configurable_udp_sender".into(), @@ -971,20 +1030,20 @@ async fn periodic_udp_sender_task() { // awkernel_async_lib::scheduler::SchedulerType::GEDF(5), // ) // .await; - + // log::info!("設定可能周期UDP送信タスクを開始しました"); // } // 設定可能な周期UDP送信タスクの実装 // async fn configurable_udp_sender_task(interval_sec: u64) { // log::info!("設定可能周期UDP送信タスク: 開始 (間隔: {}秒)", interval_sec); - + // // UDPソケットを作成 // let socket_result = awkernel_async_lib::net::udp::UdpSocket::bind_on_interface( // INTERFACE_ID, // &Default::default(), // ); - + // let mut socket = match socket_result { // Ok(socket) => { // log::info!("設定可能周期UDP送信タスク: UDPソケット作成成功"); @@ -995,10 +1054,10 @@ async fn periodic_udp_sender_task() { // return; // } // }; - + // let dst_addr = IpAddr::new_v4(UDP_TCP_DST_ADDR); // let mut counter = 0; - + // loop { // // ネットワーク初期化チェック // if !NETWORK_INITIALIZED.load(Ordering::Relaxed) { @@ -1006,25 +1065,25 @@ async fn periodic_udp_sender_task() { // awkernel_async_lib::sleep(Duration::from_secs(1)).await; // continue; // } - + // // JSONデータの準備チェック // if !JSON_DATA_READY.load(Ordering::Relaxed) { // log::debug!("設定可能周期UDP送信タスク: JSONデータ未準備、待機中..."); // awkernel_async_lib::sleep(Duration::from_secs(1)).await; // continue; // } - + // // 安全にJSONデータを取得 // let json_data = unsafe { // LATEST_JSON_DATA.as_ref().map(|s| s.clone()) // }; - + // if let Some(data) = json_data { // // UDP送信を実行 // match socket.send(data.as_bytes(), &dst_addr, UDP_DST_PORT).await { // Ok(_) => { // counter += 1; -// log::info!("設定可能周期UDP送信タスク: 送信成功 #{} ({} bytes, 間隔: {}秒)", +// log::info!("設定可能周期UDP送信タスク: 送信成功 #{} ({} bytes, 間隔: {}秒)", // counter, data.len(), interval_sec); // } // Err(e) => { @@ -1034,7 +1093,7 @@ async fn periodic_udp_sender_task() { // } else { // log::warn!("設定可能周期UDP送信タスク: JSONデータが取得できませんでした"); // } - + // // 設定された周期で待機 // awkernel_async_lib::sleep(Duration::from_secs(interval_sec)).await; // } @@ -1066,11 +1125,11 @@ fn get_transform_safely(from_frame: &str, to_frame: &str) -> Result Result<(), &'static str> { let params = EKFParameters::default(); let ekf = EKFModule::new(params); - + // Allocate on heap and store pointer let boxed_ekf = alloc::boxed::Box::new(ekf); let ptr = alloc::boxed::Box::into_raw(boxed_ekf); - + // Try to store the pointer atomically let old_ptr = EKF_LOCALIZER.compare_exchange( null_mut(), @@ -1078,7 +1137,7 @@ fn initialize_ekf_localizer() -> Result<(), &'static str> { AtomicOrdering::Acquire, AtomicOrdering::Relaxed, ); - + match old_ptr { Ok(_) => Ok(()), Err(_) => { @@ -1099,7 +1158,7 @@ fn initialize_ekf_localizer() -> Result<(), &'static str> { // let cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z); // atan2(siny_cosp, cosy_cosp) // } -// +// // fn yaw_to_quaternion(yaw: f64) -> Quaternion { // let half = yaw * 0.5; // Quaternion { @@ -1118,4 +1177,4 @@ fn get_ekf_localizer() -> Option<&'static mut EKFModule> { } else { unsafe { Some(&mut *ptr) } } -} \ No newline at end of file +} diff --git a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs index b529630b8..7ef0aba5b 100644 --- a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs +++ b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs @@ -14,7 +14,7 @@ #![no_std] -use imu_driver::{Vector3, Header}; +use imu_driver::{Header, Vector3}; /// 速度レポートメッセージの構造体 #[derive(Debug, Clone)] @@ -53,10 +53,10 @@ pub struct Odometry { /// 車両速度変換器の構造体 pub struct VehicleVelocityConverter { - frame_id: &'static str, // → frame_id: base_link - stddev_vx: f64, // → velocity_stddev_xx: 0.2 - stddev_wz: f64, // → angular_velocity_stddev_zz: 0.1 - speed_scale_factor: f64, // → speed_scale_factor: 1.0 + frame_id: &'static str, // → frame_id: base_link + stddev_vx: f64, // → velocity_stddev_xx: 0.2 + stddev_wz: f64, // → angular_velocity_stddev_zz: 0.1 + speed_scale_factor: f64, // → speed_scale_factor: 1.0 } impl VehicleVelocityConverter { @@ -123,21 +123,21 @@ impl VehicleVelocityConverter { /// 共分散行列を作成 fn create_covariance_matrix(&self) -> [f64; 36] { let mut covariance = [0.0; 36]; - + // 線形速度の分散 (x方向) covariance[0 + 0 * 6] = self.stddev_vx * self.stddev_vx; - + // その他の線形速度成分は大きな値（低い信頼度）を設定 covariance[1 + 1 * 6] = 10000.0; // y方向 covariance[2 + 2 * 6] = 10000.0; // z方向 - + // 角速度成分は大きな値（低い信頼度）を設定 covariance[3 + 3 * 6] = 10000.0; // x方向 covariance[4 + 4 * 6] = 10000.0; // y方向 - + // 角速度の分散 (z方向) covariance[5 + 5 * 6] = self.stddev_wz * self.stddev_wz; - + covariance } @@ -172,8 +172,16 @@ pub mod reactor_helpers { }, twist: TwistWithCovariance { twist: Twist { - linear: Vector3 { x: 0.0, y: 0.0, z: 0.0 }, - angular: Vector3 { x: 0.0, y: 0.0, z: 0.0 }, + linear: Vector3 { + x: 0.0, + y: 0.0, + z: 0.0, + }, + angular: Vector3 { + x: 0.0, + y: 0.0, + z: 0.0, + }, }, covariance: [0.0; 36], }, @@ -187,12 +195,7 @@ mod tests { #[test] fn test_vehicle_velocity_converter_creation() { - let converter = VehicleVelocityConverter::new( - "base_link", - 0.1, - 0.1, - 1.0, - ); + let converter = VehicleVelocityConverter::new("base_link", 0.1, 0.1, 1.0); assert_eq!(converter.get_frame_id(), "base_link"); assert_eq!(converter.get_stddev_vx(), 0.1); @@ -211,12 +214,7 @@ mod tests { #[test] fn test_convert_velocity_report_success() { - let converter = VehicleVelocityConverter::new( - "base_link", - 0.1, - 0.1, - 1.0, - ); + let converter = VehicleVelocityConverter::new("base_link", 0.1, 0.1, 1.0); let velocity_report = VelocityReport { header: Header { @@ -241,12 +239,7 @@ mod tests { #[test] fn test_convert_velocity_report_wrong_frame_id() { - let converter = VehicleVelocityConverter::new( - "base_link", - 0.1, - 0.1, - 1.0, - ); + let converter = VehicleVelocityConverter::new("base_link", 0.1, 0.1, 1.0); let velocity_report = VelocityReport { header: Header { @@ -279,12 +272,7 @@ mod tests { #[test] fn test_from_params_array_with_defaults() { - let converter = VehicleVelocityConverter::from_params_array( - None, - None, - None, - "base_link", - ); + let converter = VehicleVelocityConverter::from_params_array(None, None, None, "base_link"); assert_eq!(converter.get_stddev_vx(), 0.1); assert_eq!(converter.get_stddev_wz(), 0.1); diff --git a/applications/tests/test_dag/src/lib.rs b/applications/tests/test_dag/src/lib.rs index 4b17b9746..f36b830d6 100644 --- a/applications/tests/test_dag/src/lib.rs +++ b/applications/tests/test_dag/src/lib.rs @@ -1,12 +1,12 @@ #![no_std] extern crate alloc; -use alloc::{borrow::Cow, vec, sync::Arc}; +use alloc::{borrow::Cow, sync::Arc, vec}; use awkernel_async_lib::dag::{create_dag, finish_create_dags}; use awkernel_async_lib::scheduler::SchedulerType; +use awkernel_async_lib::task::perf::get_period_count; use awkernel_lib::delay::wait_microsec; use core::time::Duration; -use awkernel_async_lib::task::perf::get_period_count; const LOG_ENABLE: bool = false; const DATA_SIZE: usize = 128; @@ -29,7 +29,12 @@ pub async fn run() { let data: Arc<[u8; DATA_SIZE]> = Arc::new([0; DATA_SIZE]); let period_id = get_period_count(dag_id as usize) as u32; if LOG_ENABLE { - log::debug!("Sending data[0]={}, period_id={}, size={} in reactor_source_node", data[0], period_id, DATA_SIZE); + log::debug!( + "Sending data[0]={}, period_id={}, size={} in reactor_source_node", + data[0], + period_id, + DATA_SIZE + ); } ((data, period_id),) }, @@ -58,7 +63,12 @@ pub async fn run() { "reactor_node2".into(), |((data, period),): ((Arc<[u8; DATA_SIZE]>, u32),)| -> ((Arc<[u8; DATA_SIZE]>, u32),) { if LOG_ENABLE { - log::debug!("Processing data[0]={}, period={}, size={} in reactor_node2", data[0], period, DATA_SIZE); + log::debug!( + "Processing data[0]={}, period={}, size={} in reactor_node2", + data[0], + period, + DATA_SIZE + ); } ((data, period),) }, @@ -72,7 +82,12 @@ pub async fn run() { "reactor_node3".into(), |((data, period),): ((Arc<[u8; DATA_SIZE]>, u32),)| -> ((Arc<[u8; DATA_SIZE]>, u32),) { if LOG_ENABLE { - log::debug!("Processing data[0]={}, period={}, size={} in reactor_node3", data[0], period, DATA_SIZE); + log::debug!( + "Processing data[0]={}, period={}, size={} in reactor_node3", + data[0], + period, + DATA_SIZE + ); } ((data, period),) }, diff --git a/awkernel_async_lib/Cargo.toml b/awkernel_async_lib/Cargo.toml index 1abcf8e9c..61fe6104d 100644 --- a/awkernel_async_lib/Cargo.toml +++ b/awkernel_async_lib/Cargo.toml @@ -40,8 +40,10 @@ features = ["awkernel"] [features] default = [] +x86 = [] std = ["awkernel_lib/std", "no_preempt"] no_preempt = [] spinlock = ["awkernel_lib/spinlock"] clippy = [] perf = [] +relax-get-period = [] diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 533b6bdab..47a6bf2f3 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -54,17 +54,27 @@ mod visit; mod performance; use crate::{ - Attribute, MultipleReceiver, MultipleSender, VectorToPublishers, VectorToSubscribers, dag::{ - self, graph::{ - NodeIndex, algo::{connected_components, is_cyclic_directed}, direction::Direction - }, visit::{EdgeRef, IntoNodeReferences, NodeRef} - }, - scheduler::SchedulerType, + self, + graph::{ + algo::{connected_components, is_cyclic_directed}, + direction::Direction, + NodeIndex, + }, + visit::{EdgeRef, IntoNodeReferences, NodeRef}, + }, + scheduler::SchedulerType, task::{ - DagInfo, perf::{NodeRecord, get_period_count, get_pub_count, get_sink_count, get_sub_count, increment_period_count, increment_pub_count, increment_sink_count, increment_sub_count, node_finish, node_start, publish_timestamp_at, subscribe_timestamp_at, update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at}, - }, - time_interval::interval + perf::{ + get_period_count, get_pub_count, get_sink_count, get_sub_count, increment_period_count, + increment_pub_count, increment_sink_count, increment_sub_count, node_finish, + node_start, publish_timestamp_at, subscribe_timestamp_at, + update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, NodeRecord, + }, + DagInfo, + }, + time_interval::interval, + Attribute, MultipleReceiver, MultipleSender, VectorToPublishers, VectorToSubscribers, }; use alloc::{ borrow::Cow, @@ -74,8 +84,8 @@ use alloc::{ vec::Vec, }; use awkernel_lib::sync::mutex::{MCSNode, Mutex}; -use core::{future::Future, pin::Pin, time::Duration}; use core::sync::atomic::Ordering; +use core::{future::Future, pin::Pin, time::Duration}; #[cfg(feature = "perf")] use performance::ResponseInfo; @@ -126,54 +136,111 @@ pub trait GetPeriod { fn get_period(&self) -> u32; } +#[cfg(not(feature = "relax-get-period"))] +pub trait DagSubscriberItem: TupleSize + GetPeriod + Send {} + +#[cfg(not(feature = "relax-get-period"))] +impl DagSubscriberItem for T where T: TupleSize + GetPeriod + Send {} + +#[cfg(feature = "relax-get-period")] +pub trait DagSubscriberItem: TupleSize + Send {} + +#[cfg(feature = "relax-get-period")] +impl DagSubscriberItem for T where T: TupleSize + Send {} + +#[cfg(not(feature = "relax-get-period"))] impl GetPeriod for ((V, u32),) { fn get_period(&self) -> u32 { self.0 .1 } } +#[cfg(not(feature = "relax-get-period"))] impl GetPeriod for ((V1, u32), (V2, u32)) { fn get_period(&self) -> u32 { self.1 .1 } } +#[cfg(not(feature = "relax-get-period"))] impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32)) { fn get_period(&self) -> u32 { self.2 .1 } } +#[cfg(not(feature = "relax-get-period"))] impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32)) { fn get_period(&self) -> u32 { self.3 .1 } } +#[cfg(not(feature = "relax-get-period"))] impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32), (V5, u32)) { fn get_period(&self) -> u32 { self.4 .1 } } -impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32), (V5, u32), (V6, u32)) { +#[cfg(not(feature = "relax-get-period"))] +impl GetPeriod + for ( + (V1, u32), + (V2, u32), + (V3, u32), + (V4, u32), + (V5, u32), + (V6, u32), + ) +{ fn get_period(&self) -> u32 { self.5 .1 } } -impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32), (V5, u32), (V6, u32), (V7, u32)) { +#[cfg(not(feature = "relax-get-period"))] +impl GetPeriod + for ( + (V1, u32), + (V2, u32), + (V3, u32), + (V4, u32), + (V5, u32), + (V6, u32), + (V7, u32), + ) +{ fn get_period(&self) -> u32 { self.6 .1 } } -impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32), (V5, u32), (V6, u32), (V7, u32), (V8, u32)) { +#[cfg(not(feature = "relax-get-period"))] +impl GetPeriod + for ( + (V1, u32), + (V2, u32), + (V3, u32), + (V4, u32), + (V5, u32), + (V6, u32), + (V7, u32), + (V8, u32), + ) +{ fn get_period(&self) -> u32 { self.7 .1 } } +#[cfg(feature = "relax-get-period")] +impl GetPeriod for T { + fn get_period(&self) -> u32 { + 0 + } +} + /// Convenience helper to extract period from a subscriber tuple by reference. pub fn get_period(args: &T) -> u32 { args.get_period() @@ -365,8 +432,8 @@ impl Dag { Ret: VectorToPublishers, Ret::Publishers: Send, Args::Subscribers: Send, - ::Item: TupleSize + GetPeriod + Send, - ::Item: TupleSize + Send, + ::Item: DagSubscriberItem, + ::Item: TupleSize + Send, { let node_idx = self.add_node_with_topic_edges(&subscribe_topic_names, &publish_topic_names); self.check_subscribe_mismatch::(&subscribe_topic_names, node_idx); @@ -458,8 +525,8 @@ impl Dag { ) where F: Fn(::Item) + Send + 'static, Args: VectorToSubscribers, - Args::Subscribers: Send, - ::Item: TupleSize + GetPeriod + Send, + Args::Subscribers: Send, + ::Item: DagSubscriberItem, { let node_idx = self.add_node_with_topic_edges(&subscribe_topic_names, &Vec::new()); self.set_relative_deadline(node_idx, relative_deadline); @@ -1027,8 +1094,8 @@ where Ret: VectorToPublishers, Ret::Publishers: Send, Args::Subscribers: Send, - ::Item: TupleSize + GetPeriod + Send, - ::Item: TupleSize + Send, + ::Item: DagSubscriberItem, + ::Item: TupleSize + Send, { let future = async move { let publishers = ::create_publishers( @@ -1042,33 +1109,40 @@ where loop { let args: <::Subscribers as MultipleReceiver>::Item = subscribers.recv_all().await; - // [end] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - let index_subscribe = get_period(&args).clone() as usize; - let count_st = get_period(&args); - subscribe_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); - - // period count from message to TaskInfo - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(count_st)); + + #[cfg(not(feature = "relax-get-period"))] + { + // [end] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let count_st = get_period(&args); + subscribe_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); + + // period count from message to TaskInfo + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(count_st)); + } + // let noderecord = NodeRecord { + // period_count: count_st, + // dag_info: DagInfo { dag_id: dag_info.dag_id.clone(), node_id: dag_info.node_id.clone() }, + // }; + // node_period_count(noderecord.clone()); + // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + // node_start(noderecord.clone(), start); + let results = f(args); + // [start] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + publish_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); + publishers + .send_all_with_meta(results, 1, count_st as usize, dag_info.node_id) + .await; + } + + #[cfg(feature = "relax-get-period")] + { + let results = f(args); + publishers.send_all(results).await; } - // let noderecord = NodeRecord { - // period_count: count_st, - // dag_info: DagInfo { dag_id: dag_info.dag_id.clone(), node_id: dag_info.node_id.clone() }, - // }; - // node_period_count(noderecord.clone()); - // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - // node_start(noderecord.clone(), start); - let results = f(args); - - // node_finish(noderecord.clone(), end); - // let index_publish = get_period(&args) as usize; - - // [start] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - publish_timestamp_at(count_st as usize, end,1, dag_info.node_id.clone()); - publishers.send_all_with_meta(results, 1, count_st as usize, dag_info.node_id).await; } }; @@ -1110,37 +1184,46 @@ where interval.tick().await; loop { - let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(index as u32)); - } - // [node] per node - // let noderecord = NodeRecord { - // period_count: index as u32, - // dag_info: DagInfo { dag_id: dag_info.dag_id.clone(), node_id: dag_info.node_id.clone() }, - // }; - // node_period_count(noderecord.clone()); - // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - // node_start(noderecord.clone(), start); - if index != 0 { - let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - update_pre_send_outer_timestamp_at(index, release_time, dag_info.dag_id.clone()); + #[cfg(not(feature = "relax-get-period"))] + { + let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(index as u32)); + } + // [node] per node + // let noderecord = NodeRecord { + // period_count: index as u32, + // dag_info: DagInfo { dag_id: dag_info.dag_id.clone(), node_id: dag_info.node_id.clone() }, + // }; + // node_period_count(noderecord.clone()); + // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + // node_start(noderecord.clone(), start); + if index != 0 { + let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + update_pre_send_outer_timestamp_at( + index, + release_time, + dag_info.dag_id.clone(), + ); + } + let results = f(); + // [start] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + publish_timestamp_at(index, end, 0, dag_info.node_id); + publishers + .send_all_with_meta(results, 0, index, dag_info.node_id) + .await; + + increment_period_count(dag_info.dag_id.clone() as usize); + increment_pub_count(0); } - let results = f(); - // let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - // node_finish(noderecord.clone(), end); - - // let index_publish = get_pub_count(0) as usize; - - // [start] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - publish_timestamp_at(index, end, 0, dag_info.node_id); - publishers.send_all_with_meta(results, 0, index, dag_info.node_id).await; - - increment_period_count(dag_info.dag_id.clone() as usize); - increment_pub_count(0); + #[cfg(feature = "relax-get-period")] + { + let results = f(); + publishers.send_all(results).await; + } #[cfg(feature = "perf")] periodic_measure(); @@ -1168,7 +1251,7 @@ where F: Fn(::Item) + Send + 'static, Args: VectorToSubscribers, Args::Subscribers: Send, - ::Item: TupleSize + GetPeriod + Send, + ::Item: DagSubscriberItem, { let future = async move { let subscribers: ::Subscribers = @@ -1176,41 +1259,34 @@ where loop { let args: ::Item = subscribers.recv_all().await; - // [end] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - let index_subscribe = get_period(&args) as usize; - let count_st = get_period(&args); - subscribe_timestamp_at(count_st as usize, end, 2, dag_info.node_id.clone()); - increment_pub_count(1); - increment_sub_count(1); - increment_sub_count(2); - - // period count from message to TaskInfo - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(count_st)); - } - // [node] per node - // let noderecord = NodeRecord { - // period_count: count_st, - // dag_info: DagInfo { dag_id: dag_info.dag_id.clone(), node_id: dag_info.node_id.clone() }, - // }; - // node_period_count(noderecord.clone()); - // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - // node_start(noderecord.clone(), start); - f(args); - // let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - // node_finish(noderecord.clone(), end); - let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - let counter = get_sink_count(dag_info.dag_id.clone() as usize) as usize; - if count_st != 0 { - // update_fin_recv_outer_timestamp_at(counter, timenow, dag_info.dag_id.clone()); - update_fin_recv_outer_timestamp_at(count_st as usize, timenow, dag_info.dag_id); + #[cfg(not(feature = "relax-get-period"))] + { + // [end] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let count_st = get_period(&args); + subscribe_timestamp_at(count_st as usize, end, 2, dag_info.node_id.clone()); + increment_pub_count(1); + increment_sub_count(1); + increment_sub_count(2); + + // period count from message to TaskInfo + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(count_st)); + } + // f(args); + let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let counter = get_sink_count(dag_info.dag_id.clone() as usize) as usize; + if count_st != 0 { + // update_fin_recv_outer_timestamp_at(counter, timenow, dag_info.dag_id.clone()); + update_fin_recv_outer_timestamp_at(count_st as usize, timenow, dag_info.dag_id); + } + increment_sink_count(dag_info.dag_id.clone() as usize); } - increment_sink_count(dag_info.dag_id.clone() as usize); + f(args); } }; crate::task::spawn_with_dag_info(reactor_name, future, sched_type, dag_info) -} \ No newline at end of file +} diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 807c44d14..efb07ab17 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -53,8 +53,8 @@ use futures::Future; use pin_project::pin_project; use crate::task; -use crate::task::{DagInfo}; -use crate::task::perf::{PUB_COUNT,get_pub_count, publish_timestamp_at}; +use crate::task::perf::{get_pub_count, publish_timestamp_at, PUB_COUNT}; +use crate::task::DagInfo; /// Data and timestamp. #[derive(Clone)] @@ -778,10 +778,7 @@ pub trait MultipleReceiver { pub trait MultipleSender { type Item; - fn send_all(&self, item: Self::Item) -> Pin + Send + '_>> { - // default to pub_id = 1 (intermediate), index = 0, node_id = 0 - self.send_all_with_meta(item, 1, 0, 0) - } + fn send_all(&self, item: Self::Item) -> Pin + Send + '_>>; fn send_all_with_meta( &self, @@ -871,6 +868,9 @@ macro_rules! impl_async_receiver_for_tuple { impl MultipleSender for () { type Item = (); + fn send_all(&self, _item: Self::Item) -> Pin + Send + '_>> { + Box::pin(async move{}) + } fn send_all_with_meta(&self, _item: Self::Item, _pub_id: u32, _index: usize, _node_id: u32) -> Pin + Send + '_>> { Box::pin(async move{}) } @@ -891,14 +891,21 @@ macro_rules! impl_async_receiver_for_tuple { impl<$($T: Clone + Sync + Send + 'static),+> MultipleSender for ($(Publisher<$T>,)+) { type Item = ($($T,)+); + fn send_all(&self, item: Self::Item) -> Pin + Send + '_>> { + let ($($idx,)+) = self; + let ($($idx2,)+) = item; + Box::pin(async move { + $( + $idx.send($idx2).await; + )+ + }) + } + fn send_all_with_meta(&self, item: Self::Item, pub_id: u32, index: usize, node_id: u32) -> Pin + Send + '_>> { let ($($idx,)+) = self; let ($($idx2,)+) = item; Box::pin(async move { $( - // let now = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - // publish_timestamp_at(index, now, pub_id, node_id); - // $idx.send($idx2).await; $idx.send_with_meta($idx2, pub_id, index, node_id).await; )+ }) diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 59393ea01..6eefb8118 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -466,13 +466,12 @@ fn get_next_task(execution_ensured: bool) -> Option> { #[cfg(feature = "perf")] pub mod perf { + use crate::task::{self}; use alloc::string::{String, ToString}; + use array_macro::array; use awkernel_lib::{cpu::NUM_MAX_CPU, device_tree::node}; - use core::{ptr::{read_volatile, write_volatile}}; - use crate::task::{self}; + use core::ptr::{read_volatile, write_volatile}; use core::sync::atomic::{AtomicU32, Ordering}; - use array_macro::array; - #[derive(Debug, Clone, PartialEq, Eq)] #[repr(u8)] @@ -501,7 +500,7 @@ pub mod perf { } } #[derive(Debug, Clone)] - pub struct NodeRecord{ + pub struct NodeRecord { pub period_count: u32, pub dag_info: task::DagInfo, } @@ -644,7 +643,7 @@ pub mod perf { } } - pub fn update_absolute_deadline_timestamp_at(index: usize, deadline: u64, dag_id: u32){ + pub fn update_absolute_deadline_timestamp_at(index: usize, deadline: u64, dag_id: u32) { assert!(index < MAX_LOGS, "Timestamp index out of bounds"); let mut node = MCSNode::new(); @@ -655,10 +654,9 @@ pub mod perf { if recorder[index][dag_id as usize] == 0 { recorder[index][dag_id as usize] = deadline; } - } - pub fn update_relative_deadline_timestamp_at(index: usize, deadline: u64, dag_id: u32){ + pub fn update_relative_deadline_timestamp_at(index: usize, deadline: u64, dag_id: u32) { assert!(index < MAX_LOGS, "Timestamp index out of bounds"); let mut node = MCSNode::new(); @@ -669,12 +667,14 @@ pub mod perf { if recorder[index][dag_id as usize] == 0 { recorder[index][dag_id as usize] = deadline; } - } - pub fn node_start(node:NodeRecord, start: u64){ + pub fn node_start(node: NodeRecord, start: u64) { // assert!(index < MAX_LOGS, "Node log index out of bounds"); - assert!((node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds"); + assert!( + (node.dag_info.node_id as usize) < MAX_NODES, + "Node ID out of bounds" + ); let mut mcs_node = MCSNode::new(); let mut recorder_opt = NODE_START.lock(&mut mcs_node); @@ -686,9 +686,12 @@ pub mod perf { } } - pub fn node_finish(node:NodeRecord, finish: u64){ + pub fn node_finish(node: NodeRecord, finish: u64) { // assert!(index < MAX_LOGS, "Node log index out of bounds"); - assert!((node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds"); + assert!( + (node.dag_info.node_id as usize) < MAX_NODES, + "Node ID out of bounds" + ); let mut mcs_node = MCSNode::new(); let mut recorder_opt = NODE_FINISH.lock(&mut mcs_node); @@ -700,9 +703,12 @@ pub mod perf { } } - pub fn node_preempt(node:NodeRecord){ + pub fn node_preempt(node: NodeRecord) { // assert!(index < MAX_LOGS, "Node log index out of bounds"); - assert!((node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds"); + assert!( + (node.dag_info.node_id as usize) < MAX_NODES, + "Node ID out of bounds" + ); let mut mcs_node = MCSNode::new(); let mut recorder_opt = NODE_PREEMPT_COUNT.lock(&mut mcs_node); @@ -712,9 +718,12 @@ pub mod perf { recorder[node.period_count as usize][node.dag_info.node_id as usize] += 1; } - pub fn dag_preempt(node:NodeRecord){ + pub fn dag_preempt(node: NodeRecord) { // assert!(index < MAX_LOGS, "Node log index out of bounds"); - assert!((node.dag_info.dag_id as usize) < MAX_DAGS, "DAG ID out of bounds"); + assert!( + (node.dag_info.dag_id as usize) < MAX_DAGS, + "DAG ID out of bounds" + ); let mut mcs_node = MCSNode::new(); let mut recorder_opt = DAG_PREEMPT_COUNT.lock(&mut mcs_node); @@ -789,7 +798,12 @@ pub mod perf { let relative_deadline = relative_deadline_opt.as_ref().map_or(0, |arr| arr[i][j]); let dag_preempt = dag_preempt_opt.as_ref().map_or(0, |arr| arr[i][j]); - if pre_send_outer != 0 || fin_recv_outer != 0 || absolute_deadline != 0 || relative_deadline != 0 || dag_preempt != 0 { + if pre_send_outer != 0 + || fin_recv_outer != 0 + || absolute_deadline != 0 + || relative_deadline != 0 + || dag_preempt != 0 + { let format_ts = |ts: u64| -> String { if ts == 0 { "-".to_string() @@ -857,10 +871,7 @@ pub mod perf { let core_id = node_core_opt.as_ref().map_or(0, |arr| arr[i][j]); if start != 0 || finish != 0 || preempt_count != 0 { - - let format_ts = |ts: u64| -> String { - ts.to_string() - }; + let format_ts = |ts: u64| -> String { ts.to_string() }; let duration = if start != 0 && finish != 0 { finish.saturating_sub(start).to_string() diff --git a/awkernel_async_lib/src/time_interval.rs b/awkernel_async_lib/src/time_interval.rs index ed188056b..ec5bc6248 100644 --- a/awkernel_async_lib/src/time_interval.rs +++ b/awkernel_async_lib/src/time_interval.rs @@ -29,11 +29,7 @@ //! SOFTWARE. use crate::sleep_task::Sleep; -use crate::{ - task::{ - perf::{update_pre_send_outer_timestamp_at, get_period_count}, - }, -}; +use crate::task::perf::{get_period_count, update_pre_send_outer_timestamp_at}; use alloc::boxed::Box; use awkernel_lib::time::Time; use core::{ diff --git a/kernel/Cargo.toml b/kernel/Cargo.toml index 9368f5904..02f8b3fec 100644 --- a/kernel/Cargo.toml +++ b/kernel/Cargo.toml @@ -82,6 +82,7 @@ no_std_unwinding = ["dep:unwinding"] debug = ["dep:gimli", "dep:addr2line"] x86 = [ "perf", + "awkernel_async_lib/x86", "no_std_unwinding", "awkernel_lib/x86", "dep:x86_64", diff --git a/userland/src/lib.rs b/userland/src/lib.rs index 01a66fe18..695f13b79 100644 --- a/userland/src/lib.rs +++ b/userland/src/lib.rs @@ -46,6 +46,9 @@ pub async fn main() -> Result<(), Cow<'static, str>> { #[cfg(feature = "test_dag")] test_dag::run().await; // test for DAG + #[cfg(feature = "test_autoware")] + test_autoware::run().await; // test for autoware + #[cfg(feature = "test_dvfs")] test_dvfs::run().await; // test for DVFS diff --git a/x86bootdisk/src/main.rs b/x86bootdisk/src/main.rs index 03d87bc4f..d03aecedf 100644 --- a/x86bootdisk/src/main.rs +++ b/x86bootdisk/src/main.rs @@ -91,4 +91,4 @@ fn main() { ) } } -} \ No newline at end of file +} From 9cabca942dab2b921ff2481ee03125d0e8f9016b Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Tue, 24 Mar 2026 07:40:39 +0900 Subject: [PATCH 04/60] fix: comment alignment 1 Signed-off-by: nokosaaan --- applications/tests/test_autoware/src/lib.rs | 426 +++----------------- 1 file changed, 45 insertions(+), 381 deletions(-) diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs index 0ac57c330..487e8ccd6 100644 --- a/applications/tests/test_autoware/src/lib.rs +++ b/applications/tests/test_autoware/src/lib.rs @@ -18,23 +18,17 @@ use core::sync::atomic::{AtomicBool, AtomicU64, AtomicUsize, Ordering}; use core::ptr::null_mut; use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; -// IMU ドライバーライブラリをインポート use imu_corrector::{ImuCorrector, ImuWithCovariance, Transform}; use imu_driver::{Header, ImuMsg, TamagawaImuParser, Vector3}; -// Vehicle Velocity Converter ライブラリをインポート（C++のpubsub機能に対応） use vehicle_velocity_converter::{ reactor_helpers, Twist, TwistWithCovariance, TwistWithCovarianceStamped, VehicleVelocityConverter, VelocityReport, }; -// Gyro Odometer ライブラリをインポート use gyro_odometer::{GyroOdometerConfig, GyroOdometerCore}; -// EKF Localizer ライブラリをインポート use ekf_localizer::{EKFModule, EKFParameters, Point3D, Pose, PoseWithCovariance, Quaternion}; -// COMMENTED OUT: 手動積分用の関数をコメントアウトしたためlibmは不要 -// use libm::{atan2, cos, sin}; /// EKF Odometry structure for publishing (equivalent to C++ nav_msgs::msg::Odometry) #[derive(Debug, Clone)] @@ -77,33 +71,25 @@ const EKF_TWIST_COVARIANCE: [f64; 36] = [ static LAST_DR_TIMESTAMP: AtomicU64 = AtomicU64::new(0); -// ネットワーク状態管理 const INTERFACE_ID: u64 = 0; // 10.0.2.0/24 is the IP address range of the Qemu's network. const INTERFACE_ADDR: Ipv4Addr = Ipv4Addr::new(10, 0, 2, 64); -// const INTERFACE_ADDR: Ipv4Addr = Ipv4Addr::new(192, 168, 100, 52); // For experiment. - // 10.0.2.2 is the IP address of the Qemu's host. const UDP_TCP_DST_ADDR: Ipv4Addr = Ipv4Addr::new(10, 0, 2, 2); -// const UDP_TCP_DST_ADDR: Ipv4Addr = Ipv4Addr::new(192, 168, 100, 1); // For experiment. - const UDP_DST_PORT: u16 = 26099; const TCP_DST_PORT: u16 = 26099; const TCP_LISTEN_PORT: u16 = 26100; -// JSONデータ保存用のグローバル変数 static mut LATEST_JSON_DATA: Option = None; static JSON_DATA_READY: AtomicBool = AtomicBool::new(false); static JSON_DATA_LENGTH: AtomicUsize = AtomicUsize::new(0); -// CSVデータ埋め込み const IMU_CSV_DATA_STR: &str = include_str!("../imu_raw.csv"); const VELOCITY_CSV_DATA_STR: &str = include_str!("../velocity_status.csv"); -// CSVパース結果の保存 #[derive(Clone, Debug)] struct ImuCsvRow { timestamp: u64, @@ -163,27 +149,18 @@ fn current_period_id(_dag_id: u32) -> u32 { 0 } -// COMMENTED OUT: 手動積分用のDR_POSEはEKF内部状態からポーズを取得するようになったため不要 -// static mut DR_POSE: Option = None; - pub async fn run() { wait_microsec(1000000); if let Err(e) = initialize_csv_data() { - log::warn!("CSVデータの初期化に失敗しました: {}", e); + log::warn!("Failed to initialize CSV data: {}", e); } log::info!("Starting Autoware test application with simplified TCP networking"); - // 初期ネットワークインターフェース情報を表示 - //print_network_interfaces(); - let dag = create_dag(); let dag_id = dag.get_id(); - // ダミーデータ送信用リアクター - // MODIFIED: 周期を10msから50msに変更（Autowareのekf_data_publisher.pyと同じ周期） - // これにより、CSVデータの消費速度が両システムで一致する dag.register_periodic_reactor::<_, (DagMsg, DagMsg, DagMsg)>( "start_dummy_data".into(), move || -> (DagMsg, DagMsg, DagMsg) { @@ -200,11 +177,10 @@ pub async fn run() { Cow::from("start_pose"), ], SchedulerType::GEDF(5), - Duration::from_millis(50), // CHANGED: 10ms -> 50ms (Autowareと同じ) + Duration::from_millis(50), ) .await; - // IMU driver node (periodic_reactor) - Dummy data generator dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( "imu_driver".into(), move |(start_msg,): (DagMsg,)| -> (DagMsg,) { @@ -268,7 +244,6 @@ pub async fn run() { ) .await; - // Vehicle Velocity Converter node - VelocityReport to TwistWithCovarianceStamped converter dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( "vehicle_velocity_converter".into(), move |(start_msg,): (DagMsg,)| -> (DagMsg,) { @@ -313,23 +288,18 @@ pub async fn run() { (pack_dag_msg(twist_msg, period_id),) }, - vec![Cow::from("start_vel")], // Subscribe to start_vel topic - vec![Cow::from("velocity_twist")], // Publish to twist_with_covariance topic + vec![Cow::from("start_vel")], + vec![Cow::from("velocity_twist")], SchedulerType::GEDF(5), ) .await; - //Imu Corrector dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( "imu_corrector".into(), |(imu_msg,): (DagMsg,)| -> (DagMsg,) { let (imu_msg, period_id) = unpack_dag_msg(imu_msg); let corrector = ImuCorrector::new(); - // Use the enhanced corrector that outputs ImuWithCovariance let corrected = corrector.correct_imu_with_covariance(&imu_msg, None); - // if LOG_ENABLE { - // log::debug!("IMU corrected in imu_corrector node with covariance"); - // } (pack_dag_msg(corrected, period_id),) }, vec![Cow::from("imu_data")], @@ -338,7 +308,6 @@ pub async fn run() { ) .await; - // Gyro Odometer node - Simplified single processing step dag.register_reactor::<_, (DagMsg, DagMsg), (DagMsg,)>( "gyro_odometer".into(), |(imu_msg, vehicle_msg): (DagMsg, DagMsg)| -> (DagMsg,) { @@ -347,7 +316,6 @@ pub async fn run() { let current_timestamp = imu_with_cov.header.timestamp; let current_time = get_awkernel_uptime_timestamp(); - // Get or initialize gyro odometer core let gyro_odometer = match gyro_odometer::get_or_initialize() { Ok(core) => core, Err(_) => { @@ -355,11 +323,9 @@ pub async fn run() { } }; - // Add both messages to queues (both arrive together in test_autoware) gyro_odometer.add_vehicle_twist(vehicle_twist); gyro_odometer.add_imu(imu_with_cov); - - // Process once with current time and return result + match gyro_odometer.process_and_get_result(current_time) { Some(result) => (pack_dag_msg(gyro_odometer.process_result(result), period_imu),), None => (pack_dag_msg(reactor_helpers::create_empty_twist(current_timestamp), period_imu),) @@ -371,23 +337,10 @@ pub async fn run() { ) .await; - // Pose dummy data generator reactor dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( "pose_dummy_generator".into(), move |(start_msg,): (DagMsg,)| -> (DagMsg,) { let (_counter, period_id) = unpack_dag_msg(start_msg); - // Generate dummy pose data that moves in a circle - // let time = counter as f64 * 0.1; // Time progression - // let radius = 10.0; // Circle radius - // let angular_velocity = 0.5; // rad/s - - // aip_x1_description/config/sensors_calibration.yaml - // if needed, comment out and use fixed values below - // let x = 0.86419; - // let y = 0.0; - // let z = 2.18096; - // let yaw = angular_velocity * time; - // for initial pose let x = 0.0; let y = 0.0; let z = 0.0; @@ -402,11 +355,6 @@ pub async fn run() { }, }; - // if LOG_ENABLE { - // log::debug!("Generated dummy pose: x={:.3}, y={:.3}, yaw={:.3}, counter={}", - // pose.position.x, pose.position.y, yaw, counter); - // } - (pack_dag_msg(pose, period_id),) }, vec![Cow::from("start_pose")], @@ -415,19 +363,13 @@ pub async fn run() { ) .await; - // EKF Localizer reactor - combines pose and twist data - // MODIFIED: 手動積分（integrated_pose）を廃止し、EKFの内部状態から直接ポーズを取得するように変更 dag.register_reactor::<_, (DagMsg, DagMsg), (DagMsg, DagMsg)>( "ekf_localizer".into(), |(pose_msg, twist_msg): (DagMsg, DagMsg)| -> (DagMsg, DagMsg) { let (pose, period_pose) = unpack_dag_msg(pose_msg); let (twist, _period_twist) = unpack_dag_msg(twist_msg); - // Initialize EKF Localizer if not already done if get_ekf_localizer().is_none() { - if let Err(e) = initialize_ekf_localizer() { - // if LOG_ENABLE { - // log::error!("Failed to initialize EKF Localizer: {}", e); - // } + if let Err(_e) = initialize_ekf_localizer() { return (pack_dag_msg(pose, period_pose), pack_dag_msg(EKFOdometry { header: imu_driver::Header { frame_id: "map", @@ -450,91 +392,35 @@ pub async fn run() { } let ekf = get_ekf_localizer().unwrap(); - - // Initialize EKF with first pose if not already initialized + static mut INITIALIZED: bool = false; unsafe { if !INITIALIZED { ekf.initialize(pose.clone()); - // COMMENTED OUT: 手動積分用の変数は使用しない - // DR_POSE = Some(pose.clone()); LAST_DR_TIMESTAMP.store(twist.header.timestamp, Ordering::Relaxed); INITIALIZED = true; - // if LOG_ENABLE { - // log::info!("EKF Localizer initialized with initial pose"); - // } } } - - // Predict step using measured time gap - // MODIFIED: CSVタイムスタンプ差ではなく、固定dtを使用 - // Autowareのekf_data_publisher.pyは50ms固定周期でデータをpublishする - // EKFは実際の経過時間（システムクロック）を使用するため、 - // Awkernelも同様に固定dtを使用することで挙動を一致させる - // - // OLD CODE (CSVタイムスタンプ差を使用): - // let current_ts = twist.header.timestamp; - // let last_ts = LAST_DR_TIMESTAMP.swap(current_ts, Ordering::Relaxed); - // let dt = if last_ts == 0 { - // 0.0 - // } else { - // (current_ts.saturating_sub(last_ts)) as f64 / 1_000_000_000.0 - // }; - // - // NEW CODE: 固定dt = 50ms (0.05秒) - Autowareと同じ周期 - const FIXED_DT: f64 = 0.05; // 50ms in seconds + + // Use a fixed 50ms timestep to match the Autoware publisher cadence. + const FIXED_DT: f64 = 0.05; let dt = FIXED_DT; if dt > 0.0 { ekf.predict(dt); } - // ADDED: EKFに速度観測値を更新（カルマンフィルタの観測更新ステップ） let vx = twist.twist.twist.linear.x; let wz = twist.twist.twist.angular.z; ekf.update_velocity(vx, wz); - // COMMENTED OUT: 手動積分（Dead Reckoning）処理 - // Autowareとの精度向上のため、EKF内部状態から直接ポーズを取得するように変更 - // let mut integrated_pose = unsafe { DR_POSE.clone().unwrap_or_else(|| pose.clone()) }; - // let yaw = quaternion_to_yaw(&integrated_pose.orientation); - // let vx = twist.twist.twist.linear.x; - // let vy = twist.twist.twist.linear.y; - // let vz = twist.twist.twist.linear.z; - // let wz = twist.twist.twist.angular.z; - // - // if dt > 0.0 { - // let cos_yaw = cos(yaw); - // let sin_yaw = sin(yaw); - // let new_yaw = yaw + wz * dt; - // - // integrated_pose.position.x += (vx * cos_yaw - vy * sin_yaw) * dt; - // integrated_pose.position.y += (vx * sin_yaw + vy * cos_yaw) * dt; - // integrated_pose.position.z += vz * dt; - // integrated_pose.orientation = yaw_to_quaternion(new_yaw); - // } - // - // unsafe { - // DR_POSE = Some(integrated_pose.clone()); - // } - - // MODIFIED: EKFの内部状態から直接ポーズを取得 - // get_biased_yaw=false でyaw_biasを考慮したポーズを取得 let ekf_pose = ekf.get_current_pose(false); - - // MODIFIED: EKFから動的な共分散を取得（固定値ではなく） - // これにより、走行距離や時間の経過に伴う不確かさの変化を反映 + let pose_covariance = ekf.get_current_pose_covariance(); let twist_covariance = ekf.get_current_twist_covariance(); - - // COMMENTED OUT: 固定共分散の使用 - // let pose_covariance = EKF_POSE_COVARIANCE; - // let twist_covariance = EKF_TWIST_COVARIANCE; - - // Get EKF's estimated twist + let ekf_twist = ekf.get_current_twist(); - - // Create odometry message using EKF's estimated pose and twist + let odometry = EKFOdometry { header: imu_driver::Header { frame_id: "map", @@ -546,7 +432,6 @@ pub async fn run() { covariance: pose_covariance, }, twist: TwistWithCovariance { - // Use EKF's estimated twist instead of input twist twist: Twist { linear: imu_driver::Vector3::new(ekf_twist.linear.x, ekf_twist.linear.y, ekf_twist.linear.z), angular: imu_driver::Vector3::new(ekf_twist.angular.x, ekf_twist.angular.y, ekf_twist.angular.z), @@ -554,18 +439,7 @@ pub async fn run() { covariance: twist_covariance, }, }; - - // if LOG_ENABLE { - // log::debug!("EKF Localizer: ekf_pose=({:.3}, {:.3}, {:.3}), dt={:.3}, awkernel_timestamp={}", - // ekf_pose.position.x, ekf_pose.position.y, ekf_pose.position.z, dt, odometry.header.timestamp); - // log::debug!("EKF Localizer: ekf_twist=({:.3}, {:.3}, {:.3}), angular=({:.3}, {:.3}, {:.3})", - // ekf_twist.linear.x, ekf_twist.linear.y, ekf_twist.linear.z, - // ekf_twist.angular.x, ekf_twist.angular.y, ekf_twist.angular.z); - // } - - // COMMENTED OUT: 手動積分のポーズを返していた - // (integrated_pose, odometry) - // MODIFIED: EKFの推定ポーズを返す + (pack_dag_msg(ekf_pose, period_pose), pack_dag_msg(odometry, period_pose)) }, vec![Cow::from("dummy_pose"), Cow::from("twist_with_covariance")], @@ -574,37 +448,12 @@ pub async fn run() { ) .await; - // Sink reactor for EKF Localizer output with TCP sending dag.register_sink_reactor::<_, (DagMsg, DagMsg)>( "ekf_sink".into(), move |(pose_msg, odom_msg): (DagMsg, DagMsg)| { let (_pose, _period_pose) = unpack_dag_msg(pose_msg); let (ekf_odom, _period_odom) = unpack_dag_msg(odom_msg); - // log::info!("=== EKF Sink Reactor 実行 ==="); - - // if LOG_ENABLE { - // log::info!("Estimated Pose:"); - // log::info!(" Position: x={:.3}, y={:.3}, z={:.3}", - // pose.position.x, pose.position.y, pose.position.z); - // log::info!(" Orientation: x={:.3}, y={:.3}, z={:.3}, w={:.3}", - // pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w); - - // log::info!("EKF Odometry (ekf_odom):"); - // log::info!(" Frame: {} -> {}", ekf_odom.header.frame_id, ekf_odom.child_frame_id); - // log::info!(" Timestamp: {}", ekf_odom.header.timestamp); - // log::info!(" Position: x={:.3}, y={:.3}, z={:.3}", - // ekf_odom.pose.pose.position.x, ekf_odom.pose.pose.position.y, ekf_odom.pose.pose.position.z); - // log::info!(" Orientation: x={:.3}, y={:.3}, z={:.3}, w={:.3}", - // ekf_odom.pose.pose.orientation.x, ekf_odom.pose.pose.orientation.y, - // ekf_odom.pose.pose.orientation.z, ekf_odom.pose.pose.orientation.w); - // log::info!(" Linear Velocity: x={:.3}, y={:.3}, z={:.3}", - // ekf_odom.twist.twist.linear.x, ekf_odom.twist.twist.linear.y, ekf_odom.twist.twist.linear.z); - // log::info!(" Angular Velocity: x={:.3}, y={:.3}, z={:.3}", - // ekf_odom.twist.twist.angular.x, ekf_odom.twist.twist.angular.y, ekf_odom.twist.twist.angular.z); - // log::info!("============================="); - // } - - // JSONデータを作成してグローバル変数に保存 + let json_data = format!( r#"{{"header":{{"frame_id":"{}","timestamp":{}}},"child_frame_id":"{}","pose":{{"pose":{{"position":{{"x":{:.6},"y":{:.6},"z":{:.6}}},"orientation":{{"x":{:.6},"y":{:.6},"z":{:.6},"w":{:.6}}}}},"covariance":[{}]}},"twist":{{"twist":{{"linear":{{"x":{:.6},"y":{:.6},"z":{:.6}}},"angular":{{"x":{:.6},"y":{:.6},"z":{:.6}}}}},"covariance":[{}]}}}}"#, ekf_odom.header.frame_id, @@ -626,20 +475,15 @@ pub async fn run() { ekf_odom.twist.twist.angular.z, ekf_odom.twist.covariance.iter().map(|&x| format!("{:.6}", x)).collect::>().join(",") ); - - let awkernel_timestamp = get_awkernel_uptime_timestamp(); - // log::info!("JSONデータ作成完了: {} bytes, awkernel_timestamp={}", json_data.len(), awkernel_timestamp); - - // グローバル変数にJSONデータを保存 + save_json_data_to_global(json_data); }, vec![Cow::from("estimated_pose"), Cow::from("ekf_odometry")], SchedulerType::GEDF(5), - Duration::from_millis(50), // CHANGED: 10ms -> 50ms (Autowareと同じ) + Duration::from_millis(50), ) .await; - // DAG の作成を完了 let result = finish_create_dags(&[dag.clone()]).await; match result { @@ -654,51 +498,37 @@ pub async fn run() { } } - // ノード数の確認 - // assert_eq!(dag.node_count(), 9); // 1つの periodic reactor + 8つの reactor（network_info_display追加） - // assert_eq!(dag.edge_count(), 10); // トピックエッジの数 - log::info!("Autoware test application DAG completed"); - log::info!("=== ネットワークテスト開始 ==="); - log::info!("インターフェースID: {}", INTERFACE_ID); - log::info!("インターフェースIP: {}", INTERFACE_ADDR); - log::info!("宛先IP: {}", UDP_TCP_DST_ADDR); - // + log::info!("=== Network test start ==="); + log::info!("Interface ID: {}", INTERFACE_ID); + log::info!("Interface IP: {}", INTERFACE_ADDR); + log::info!("Destination IP: {}", UDP_TCP_DST_ADDR); awkernel_lib::net::add_ipv4_addr(INTERFACE_ID, INTERFACE_ADDR, 24); log::info!( - "IPv4アドレス設定完了: {} をインターフェース {} に追加", + "Configured IPv4 address {} on interface {}", INTERFACE_ADDR, INTERFACE_ID ); - // ネットワークスタックの初期化を待つ - log::info!("ネットワークスタック初期化のため待機中..."); + log::info!("Waiting for network stack initialization..."); awkernel_async_lib::sleep(Duration::from_secs(2)).await; - // リアクターAPIに干渉しない周期UDP送信タスクを開始 - log::info!("周期UDP送信タスクを開始します"); + log::info!("Starting periodic UDP sender task"); start_periodic_udp_sender().await; - // または、設定可能な周期で開始する場合 - // start_configurable_udp_sender(2).await; // 2秒間隔 - - // JSONデータが準備されるまで待機（最大3秒） - log::info!("JSONデータの準備を待機中..."); + log::info!("Waiting for JSON data to become ready..."); let mut wait_count = 0; const MAX_WAIT_COUNT: u32 = 3; while !JSON_DATA_READY.load(Ordering::Relaxed) && wait_count < MAX_WAIT_COUNT { - // log::info!("JSONデータ待機中... ({}/{})", wait_count + 1, MAX_WAIT_COUNT); awkernel_async_lib::sleep(Duration::from_secs(1)).await; wait_count += 1; } if JSON_DATA_READY.load(Ordering::Relaxed) { - // log::info!("JSONデータが準備されました。周期UDP送信タスクが動作中です"); - // 周期UDP送信タスクは既に動作中なので、ここでは何もしない } else { - log::warn!("JSONデータが準備されませんでした。周期UDP送信タスクは待機中です"); + log::warn!("JSON data was not ready. Periodic UDP sender task remains waiting"); } log::info!("Autoware test application completed"); @@ -709,32 +539,22 @@ fn initialize_csv_data() -> Result<(), &'static str> { if IMU_CSV_DATA.is_none() { let imu_data = parse_imu_csv(IMU_CSV_DATA_STR)?; if imu_data.is_empty() { - return Err("IMU CSVが空です"); + return Err("IMU CSV is empty"); } - log::info!("IMU CSVデータをロード: {} rows", imu_data.len()); + log::info!("Loaded IMU CSV data: {} rows", imu_data.len()); IMU_CSV_DATA = Some(imu_data); } if VELOCITY_CSV_DATA.is_none() { let velocity_data = parse_velocity_csv(VELOCITY_CSV_DATA_STR)?; if velocity_data.is_empty() { - return Err("Velocity CSVが空です"); + return Err("Velocity CSV is empty"); } - log::info!("Velocity CSVデータをロード: {} rows", velocity_data.len()); + log::info!("Loaded velocity CSV data: {} rows", velocity_data.len()); VELOCITY_CSV_DATA = Some(velocity_data); } } - // let imu_start = find_first_active_imu_index(); - // IMU_CSV_INDEX.store(imu_start, Ordering::Relaxed); - // let velocity_start = find_first_moving_velocity_index(); - // VELOCITY_CSV_INDEX.store(velocity_start, Ordering::Relaxed); - // log::info!( - // "CSV開始インデックス: IMU={}, Velocity={}", - // imu_start, - // velocity_start - // ); - Ok(()) } @@ -743,7 +563,7 @@ fn parse_imu_csv(csv: &str) -> Result, &'static str> { parse_csv_records(csv, |fields| { if fields.len() < 12 { - return Err("IMU CSVの列数が不足しています"); + return Err("IMU CSV has insufficient columns"); } let timestamp = parse_timestamp(fields[0], fields[1])?; @@ -781,7 +601,7 @@ fn parse_velocity_csv(csv: &str) -> Result, &'static str> { parse_csv_records(csv, |fields| { if fields.len() < 5 { - return Err("Velocity CSVの列数が不足しています"); + return Err("Velocity CSV has insufficient columns"); } let timestamp = parse_timestamp(fields[0], fields[1])?; @@ -817,7 +637,7 @@ where input = &input[in_read..]; if matches!(result, ReadRecordResult::OutputFull) { - return Err("CSV出力バッファが不足しています"); + return Err("CSV output buffer is too small"); } if num_fields == 0 { @@ -832,7 +652,7 @@ where for i in 0..num_fields { let end = ends[i]; let slice = &output[start..end]; - let field = core::str::from_utf8(slice).map_err(|_| "CSV UTF-8変換に失敗しました")?; + let field = core::str::from_utf8(slice).map_err(|_| "Failed to decode CSV UTF-8")?; fields.push(field); start = end; } @@ -857,7 +677,7 @@ fn parse_timestamp(sec: &str, nsec: &str) -> Result { let ts = sec_val .checked_mul(1_000_000_000) .and_then(|v| v.checked_add(nsec_val)) - .ok_or("timestamp計算でオーバーフローしました")?; + .ok_or("Timestamp calculation overflowed")?; Ok(ts) } @@ -868,7 +688,7 @@ fn parse_u64(field: &str) -> Result { } trimmed .parse::() - .map_err(|_| "u64パースに失敗しました") + .map_err(|_| "Failed to parse u64") } fn parse_f64(field: &str) -> Result { @@ -878,47 +698,12 @@ fn parse_f64(field: &str) -> Result { } trimmed .parse::() - .map_err(|_| "f64パースに失敗しました") + .map_err(|_| "Failed to parse f64") } -// fn find_first_moving_velocity_index() -> usize { -// const EPS: f64 = 1.0e-6; -// let data = unsafe { VELOCITY_CSV_DATA.as_ref() }; -// if let Some(rows) = data { -// for (idx, row) in rows.iter().enumerate() { -// if row.longitudinal_velocity.abs() > EPS || row.lateral_velocity.abs() > EPS { -// return idx; -// } -// } -// } -// 0 -// } -// -// fn find_first_active_imu_index() -> usize { -// const EPS: f64 = 1.0e-6; -// let data = unsafe { IMU_CSV_DATA.as_ref() }; -// if let Some(rows) = data { -// for (idx, row) in rows.iter().enumerate() { -// if row.angular_velocity.x.abs() > EPS -// || row.angular_velocity.y.abs() > EPS -// || row.angular_velocity.z.abs() > EPS -// || row.linear_acceleration.x.abs() > EPS -// || row.linear_acceleration.y.abs() > EPS -// || row.linear_acceleration.z.abs() > EPS -// { -// return idx; -// } -// } -// } -// 0 -// } - -// Awkernel起動時間からのタイムスタンプを取得する関数 +// Returns monotonic uptime in nanoseconds clamped to u64. fn get_awkernel_uptime_timestamp() -> u64 { - // awkernel_lib::delay::uptime_nano()はu128を返すが、JSONではu64を使用 - // ナノ秒単位のタイムスタンプを取得 let uptime_nanos = awkernel_lib::delay::uptime_nano(); - // u128からu64に変換（オーバーフローを防ぐため、適切な範囲に制限） if uptime_nanos > u64::MAX as u128 { u64::MAX } else { @@ -926,38 +711,25 @@ fn get_awkernel_uptime_timestamp() -> u64 { } } -// リアクターAPIに干渉しないUDP送信タスク（一定周期実行） pub async fn start_periodic_udp_sender() { - // log::info!("=== 周期UDP送信タスク開始 ==="); - - // 独立したタスクとして実行 awkernel_async_lib::spawn( "periodic_udp_sender".into(), periodic_udp_sender_task(), awkernel_async_lib::scheduler::SchedulerType::PrioritizedFIFO(0), ) .await; - - // log::info!("周期UDP送信タスクを開始しました"); } -// 周期UDP送信タスクの実装 async fn periodic_udp_sender_task() { - // log::info!("周期UDP送信タスク: 開始"); - - // UDPソケットを作成（一度だけ） let socket_result = awkernel_async_lib::net::udp::UdpSocket::bind_on_interface( INTERFACE_ID, &Default::default(), ); let mut socket = match socket_result { - Ok(socket) => { - // log::info!("周期UDP送信タスク: UDPソケット作成成功"); - socket - } + Ok(socket) => socket, Err(e) => { - log::error!("周期UDP送信タスク: UDPソケット作成失敗: {:?}", e); + log::error!("Periodic UDP sender task: failed to create UDP socket: {:?}", e); return; } }; @@ -965,40 +737,34 @@ async fn periodic_udp_sender_task() { let dst_addr = IpAddr::new_v4(UDP_TCP_DST_ADDR); let mut counter = 0; - // 無限ループで一定周期実行 loop { - // JSONデータの準備チェック if !JSON_DATA_READY.load(Ordering::Relaxed) { - // log::debug!("周期UDP送信タスク: JSONデータ未準備、待機中..."); awkernel_async_lib::sleep(Duration::from_secs(1)).await; continue; } - // 安全にJSONデータを取得 let json_data = unsafe { LATEST_JSON_DATA.as_ref().map(|s| s.clone()) }; if let Some(data) = json_data { - // UDP送信を実行 match socket.send(data.as_bytes(), &dst_addr, UDP_DST_PORT).await { Ok(_) => { counter += 1; log::info!( - "周期UDP送信タスク: 送信成功 #{} ({} bytes)", + "Periodic UDP sender task: send success #{} ({} bytes)", counter, data.len() ); - // レスポンス受信（オプション、タイムアウト付き） let mut buf = [0u8; 1024]; if let Some(Ok((n, src_addr, src_port))) = awkernel_async_lib::timeout( - Duration::from_millis(100), // 短いタイムアウト + Duration::from_millis(100), socket.recv(&mut buf), ) .await { if let Ok(response) = core::str::from_utf8(&buf[..n]) { log::debug!( - "周期UDP送信タスク: レスポンス受信: {}:{} - {}", + "Periodic UDP sender task: response received: {}:{} - {}", src_addr.get_addr(), src_port, response @@ -1007,106 +773,23 @@ async fn periodic_udp_sender_task() { } } Err(e) => { - log::warn!("周期UDP送信タスク: 送信失敗: {:?}", e); + log::warn!("Periodic UDP sender task: send failed: {:?}", e); } } } else { - log::warn!("周期UDP送信タスク: JSONデータが取得できませんでした"); + log::warn!("Periodic UDP sender task: failed to get JSON data"); } - // 一定周期で待機（例: 2秒間隔 - DAGの実行周期と衝突を避けるため） awkernel_async_lib::sleep(Duration::from_millis(5)).await; } } -// リアクターAPIに干渉しないUDP送信タスク（設定可能な周期） -// pub async fn start_configurable_udp_sender(interval_sec: u64) { -// log::info!("=== 設定可能周期UDP送信タスク開始 (間隔: {}秒) ===", interval_sec); - -// // 独立したタスクとして実行 -// awkernel_async_lib::spawn( -// "configurable_udp_sender".into(), -// configurable_udp_sender_task(interval_sec), -// awkernel_async_lib::scheduler::SchedulerType::GEDF(5), -// ) -// .await; - -// log::info!("設定可能周期UDP送信タスクを開始しました"); -// } - -// 設定可能な周期UDP送信タスクの実装 -// async fn configurable_udp_sender_task(interval_sec: u64) { -// log::info!("設定可能周期UDP送信タスク: 開始 (間隔: {}秒)", interval_sec); - -// // UDPソケットを作成 -// let socket_result = awkernel_async_lib::net::udp::UdpSocket::bind_on_interface( -// INTERFACE_ID, -// &Default::default(), -// ); - -// let mut socket = match socket_result { -// Ok(socket) => { -// log::info!("設定可能周期UDP送信タスク: UDPソケット作成成功"); -// socket -// } -// Err(e) => { -// log::error!("設定可能周期UDP送信タスク: UDPソケット作成失敗: {:?}", e); -// return; -// } -// }; - -// let dst_addr = IpAddr::new_v4(UDP_TCP_DST_ADDR); -// let mut counter = 0; - -// loop { -// // ネットワーク初期化チェック -// if !NETWORK_INITIALIZED.load(Ordering::Relaxed) { -// log::debug!("設定可能周期UDP送信タスク: ネットワーク未初期化、待機中..."); -// awkernel_async_lib::sleep(Duration::from_secs(1)).await; -// continue; -// } - -// // JSONデータの準備チェック -// if !JSON_DATA_READY.load(Ordering::Relaxed) { -// log::debug!("設定可能周期UDP送信タスク: JSONデータ未準備、待機中..."); -// awkernel_async_lib::sleep(Duration::from_secs(1)).await; -// continue; -// } - -// // 安全にJSONデータを取得 -// let json_data = unsafe { -// LATEST_JSON_DATA.as_ref().map(|s| s.clone()) -// }; - -// if let Some(data) = json_data { -// // UDP送信を実行 -// match socket.send(data.as_bytes(), &dst_addr, UDP_DST_PORT).await { -// Ok(_) => { -// counter += 1; -// log::info!("設定可能周期UDP送信タスク: 送信成功 #{} ({} bytes, 間隔: {}秒)", -// counter, data.len(), interval_sec); -// } -// Err(e) => { -// log::warn!("設定可能周期UDP送信タスク: 送信失敗: {:?}", e); -// } -// } -// } else { -// log::warn!("設定可能周期UDP送信タスク: JSONデータが取得できませんでした"); -// } - -// // 設定された周期で待機 -// awkernel_async_lib::sleep(Duration::from_secs(interval_sec)).await; -// } -// } - -// JSONデータをグローバル変数に保存する関数 fn save_json_data_to_global(json_data: String) { unsafe { LATEST_JSON_DATA = Some(json_data.clone()); } JSON_DATA_READY.store(true, Ordering::Relaxed); JSON_DATA_LENGTH.store(json_data.len(), Ordering::Relaxed); - // log::info!("JSONデータをグローバル変数に保存: {} bytes", json_data.len()); } // Transform error handling function @@ -1150,25 +833,6 @@ fn initialize_ekf_localizer() -> Result<(), &'static str> { } } -// COMMENTED OUT: 手動積分用の関数はEKF内部状態からポーズを取得するようになったため不要 -// EKFModule内にquaternion_to_yawとrpy_to_quaternionがあるため、そちらを使用 -// fn quaternion_to_yaw(q: &Quaternion) -> f64 { -// // Yaw extraction for dead reckoning heading propagation -// let siny_cosp = 2.0 * (q.w * q.z + q.x * q.y); -// let cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z); -// atan2(siny_cosp, cosy_cosp) -// } -// -// fn yaw_to_quaternion(yaw: f64) -> Quaternion { -// let half = yaw * 0.5; -// Quaternion { -// x: 0.0, -// y: 0.0, -// z: sin(half), -// w: cos(half), -// } -// } - // Get EKF Localizer safely fn get_ekf_localizer() -> Option<&'static mut EKFModule> { let ptr = EKF_LOCALIZER.load(AtomicOrdering::Acquire); From 9832297a39bf52bafee8ccd55073c77979a6f968 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Tue, 24 Mar 2026 15:07:33 +0900 Subject: [PATCH 05/60] fix: module separation 1 Signed-off-by: nokosaaan --- .../test_autoware/ekf_localizer/src/lib.rs | 29 +++ .../tests/test_autoware/imu_driver/src/lib.rs | 21 +++ applications/tests/test_autoware/src/lib.rs | 167 ++---------------- .../vehicle_velocity_converter/src/lib.rs | 21 +++ 4 files changed, 83 insertions(+), 155 deletions(-) diff --git a/applications/tests/test_autoware/ekf_localizer/src/lib.rs b/applications/tests/test_autoware/ekf_localizer/src/lib.rs index 6714aea03..33db0dab9 100644 --- a/applications/tests/test_autoware/ekf_localizer/src/lib.rs +++ b/applications/tests/test_autoware/ekf_localizer/src/lib.rs @@ -5,9 +5,13 @@ extern crate alloc; use alloc::{vec, vec::Vec}; use core::f64::consts::PI; +use core::ptr::null_mut; +use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; use libm::{asin, atan2, cos, sin}; use nalgebra::{Matrix6, Vector3, Vector6}; +static EKF_MODULE_INSTANCE: AtomicPtr = AtomicPtr::new(null_mut()); + /// State indices for EKF #[derive(Debug, Clone, Copy, PartialEq)] pub enum StateIndex { @@ -538,6 +542,31 @@ impl EKFModule { } } +pub fn get_or_initialize_default_module() -> &'static mut EKFModule { + let existing = EKF_MODULE_INSTANCE.load(AtomicOrdering::Acquire); + if !existing.is_null() { + return unsafe { &mut *existing }; + } + + let boxed = alloc::boxed::Box::new(EKFModule::new(EKFParameters::default())); + let ptr = alloc::boxed::Box::into_raw(boxed); + + match EKF_MODULE_INSTANCE.compare_exchange( + null_mut(), + ptr, + AtomicOrdering::AcqRel, + AtomicOrdering::Acquire, + ) { + Ok(_) => unsafe { &mut *ptr }, + Err(existing_ptr) => { + unsafe { + let _ = alloc::boxed::Box::from_raw(ptr); + &mut *existing_ptr + } + } + } +} + #[cfg(test)] mod tests { use super::*; diff --git a/applications/tests/test_autoware/imu_driver/src/lib.rs b/applications/tests/test_autoware/imu_driver/src/lib.rs index 09c2d6882..3c660c7cd 100644 --- a/applications/tests/test_autoware/imu_driver/src/lib.rs +++ b/applications/tests/test_autoware/imu_driver/src/lib.rs @@ -14,6 +14,14 @@ pub struct ImuMsg { pub linear_acceleration: Vector3, } +#[derive(Clone, Debug)] +pub struct ImuCsvRow { + pub timestamp: u64, + pub orientation: Quaternion, + pub angular_velocity: Vector3, + pub linear_acceleration: Vector3, +} + #[derive(Clone, Debug)] pub struct Header { pub frame_id: &'static str, @@ -60,6 +68,19 @@ impl Default for ImuMsg { } } +pub fn build_imu_msg_from_csv_row( + row: &ImuCsvRow, + frame_id: &'static str, + timestamp: u64, +) -> ImuMsg { + ImuMsg { + header: Header { frame_id, timestamp }, + orientation: row.orientation.clone(), + angular_velocity: row.angular_velocity.clone(), + linear_acceleration: row.linear_acceleration.clone(), + } +} + /// IMU data parser for Tamagawa IMU pub struct TamagawaImuParser { frame_id: &'static str, diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs index 487e8ccd6..36df051f0 100644 --- a/applications/tests/test_autoware/src/lib.rs +++ b/applications/tests/test_autoware/src/lib.rs @@ -1,7 +1,7 @@ #![no_std] extern crate alloc; -use alloc::{borrow::Cow, collections::VecDeque, format, string::String, sync::Arc, vec, vec::Vec}; +use alloc::{borrow::Cow, format, string::String, vec, vec::Vec}; use awkernel_async_lib::dag::{create_dag, finish_create_dags}; use awkernel_async_lib::net::IpAddr; use awkernel_async_lib::scheduler::SchedulerType; @@ -13,22 +13,18 @@ use core::net::Ipv4Addr; use core::time::Duration; use csv_core::{ReadRecordResult, Reader}; // Thread-safe state management using atomic operations -use core::sync::atomic::{AtomicBool, AtomicU64, AtomicUsize, Ordering}; -// Global gyro odometer core instance with proper synchronization -use core::ptr::null_mut; -use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; +use core::sync::atomic::{AtomicBool, AtomicUsize, Ordering}; -use imu_corrector::{ImuCorrector, ImuWithCovariance, Transform}; -use imu_driver::{Header, ImuMsg, TamagawaImuParser, Vector3}; +use imu_corrector::{ImuCorrector, ImuWithCovariance}; +use imu_driver::{build_imu_msg_from_csv_row, ImuCsvRow, ImuMsg, TamagawaImuParser}; use vehicle_velocity_converter::{ + build_velocity_report_from_csv_row, reactor_helpers, Twist, TwistWithCovariance, TwistWithCovarianceStamped, - VehicleVelocityConverter, VelocityReport, + VehicleVelocityConverter, VelocityCsvRow, }; -use gyro_odometer::{GyroOdometerConfig, GyroOdometerCore}; - -use ekf_localizer::{EKFModule, EKFParameters, Point3D, Pose, PoseWithCovariance, Quaternion}; +use ekf_localizer::{get_or_initialize_default_module, Point3D, Pose, PoseWithCovariance, Quaternion}; /// EKF Odometry structure for publishing (equivalent to C++ nav_msgs::msg::Odometry) #[derive(Debug, Clone)] @@ -39,37 +35,7 @@ pub struct EKFOdometry { pub twist: TwistWithCovariance, } -const LOG_ENABLE: bool = true; - -// EKF pose covariance (6x6 matrix flattened to array) -// Layout: [x, xy, xz, xr, xp, xy_yaw, -// yx, y, yz, yr, yp, y_yaw, -// zx, zy, z, zr, zp, z_yaw, -// rx, ry, rz, r, rp, r_yaw, -// px, py, pz, pr, p, p_yaw, -// yaw_x, yaw_y, yaw_z, yaw_r, yaw_p, yaw] -const EKF_POSE_COVARIANCE: [f64; 36] = [ - 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0225, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.000625, -]; - -// EKF twist covariance (6x6 matrix flattened to array) -// For twist, we mainly care about linear.x (vx) and angular.z (wz) -// Layout: [vx_x, vx_y, vx_z, vx_rx, vx_ry, vx_wz, -// vy_x, vy_y, vy_z, vy_rx, vy_ry, vy_wz, -// vz_x, vz_y, vz_z, vz_rx, vz_ry, vz_wz, -// wx_x, wx_y, wx_z, wx_rx, wx_ry, wx_wz, -// wy_x, wy_y, wy_z, wy_rx, wy_ry, wy_wz, -// wz_x, wz_y, wz_z, wz_rx, wz_ry, wz] -// Based on Autoware's typical twist uncertainty (0.01 m/s for linear, 0.01 rad/s for angular) -const EKF_TWIST_COVARIANCE: [f64; 36] = [ - 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0001, -]; - -static LAST_DR_TIMESTAMP: AtomicU64 = AtomicU64::new(0); +const LOG_ENABLE: bool = false; const INTERFACE_ID: u64 = 0; @@ -90,30 +56,11 @@ static JSON_DATA_LENGTH: AtomicUsize = AtomicUsize::new(0); const IMU_CSV_DATA_STR: &str = include_str!("../imu_raw.csv"); const VELOCITY_CSV_DATA_STR: &str = include_str!("../velocity_status.csv"); -#[derive(Clone, Debug)] -struct ImuCsvRow { - timestamp: u64, - orientation: imu_driver::Quaternion, - angular_velocity: imu_driver::Vector3, - linear_acceleration: imu_driver::Vector3, -} - -#[derive(Clone, Debug)] -struct VelocityCsvRow { - timestamp: u64, - longitudinal_velocity: f64, - lateral_velocity: f64, - heading_rate: f64, -} - static mut IMU_CSV_DATA: Option> = None; static mut VELOCITY_CSV_DATA: Option> = None; static IMU_CSV_COUNT: Mutex = Mutex::new(0); static VELOCITY_CSV_COUNT: Mutex = Mutex::new(0); -// Global EKF Localizer instance with proper synchronization -static EKF_LOCALIZER: AtomicPtr = AtomicPtr::new(null_mut()); - #[cfg(feature = "dag-send-period")] type DagMsg = (T, u32); #[cfg(not(feature = "dag-send-period"))] @@ -202,15 +149,7 @@ pub async fn run() { let idx = count % csv_data.len(); let row = &csv_data[idx]; let awkernel_timestamp = get_awkernel_uptime_timestamp(); - ImuMsg { - header: Header { - frame_id: "imu_link", - timestamp: awkernel_timestamp, - }, - orientation: row.orientation.clone(), - angular_velocity: row.angular_velocity.clone(), - linear_acceleration: row.linear_acceleration.clone(), - } + build_imu_msg_from_csv_row(row, "imu_link", awkernel_timestamp) } } else { let mut parser = TamagawaImuParser::new("imu_link"); @@ -259,15 +198,8 @@ pub async fn run() { let idx = count % csv_data.len(); let row = &csv_data[idx]; let awkernel_timestamp = get_awkernel_uptime_timestamp(); - let velocity_report = VelocityReport { - header: Header { - frame_id: "base_link", - timestamp: awkernel_timestamp, - }, - longitudinal_velocity: row.longitudinal_velocity, - lateral_velocity: row.lateral_velocity, - heading_rate: row.heading_rate, - }; + let velocity_report = + build_velocity_report_from_csv_row(row, "base_link", awkernel_timestamp); *count_guard += 1; if *count_guard >= 5700 { @@ -368,36 +300,12 @@ pub async fn run() { |(pose_msg, twist_msg): (DagMsg, DagMsg)| -> (DagMsg, DagMsg) { let (pose, period_pose) = unpack_dag_msg(pose_msg); let (twist, _period_twist) = unpack_dag_msg(twist_msg); - if get_ekf_localizer().is_none() { - if let Err(_e) = initialize_ekf_localizer() { - return (pack_dag_msg(pose, period_pose), pack_dag_msg(EKFOdometry { - header: imu_driver::Header { - frame_id: "map", - timestamp: twist.header.timestamp, - }, - child_frame_id: "base_link", - pose: PoseWithCovariance { - pose: pose, - covariance: EKF_POSE_COVARIANCE, - }, - twist: TwistWithCovariance { - twist: Twist { - linear: imu_driver::Vector3::new(0.0, 0.0, 0.0), - angular: imu_driver::Vector3::new(0.0, 0.0, 0.0), - }, - covariance: EKF_TWIST_COVARIANCE, - }, - }, period_pose)); - } - } - - let ekf = get_ekf_localizer().unwrap(); + let ekf = get_or_initialize_default_module(); static mut INITIALIZED: bool = false; unsafe { if !INITIALIZED { ekf.initialize(pose.clone()); - LAST_DR_TIMESTAMP.store(twist.header.timestamp, Ordering::Relaxed); INITIALIZED = true; } } @@ -791,54 +699,3 @@ fn save_json_data_to_global(json_data: String) { JSON_DATA_READY.store(true, Ordering::Relaxed); JSON_DATA_LENGTH.store(json_data.len(), Ordering::Relaxed); } - -// Transform error handling function -fn get_transform_safely(from_frame: &str, to_frame: &str) -> Result { - // For now, return identity transform - // In a real implementation, this would query the transform tree - if from_frame == to_frame { - Ok(Transform::identity()) - } else { - // Simulate transform lookup - Ok(Transform::identity()) - } -} - -// Initialize EKF Localizer safely -fn initialize_ekf_localizer() -> Result<(), &'static str> { - let params = EKFParameters::default(); - let ekf = EKFModule::new(params); - - // Allocate on heap and store pointer - let boxed_ekf = alloc::boxed::Box::new(ekf); - let ptr = alloc::boxed::Box::into_raw(boxed_ekf); - - // Try to store the pointer atomically - let old_ptr = EKF_LOCALIZER.compare_exchange( - null_mut(), - ptr, - AtomicOrdering::Acquire, - AtomicOrdering::Relaxed, - ); - - match old_ptr { - Ok(_) => Ok(()), - Err(_) => { - // Another thread already initialized it, clean up our allocation - unsafe { - let _ = alloc::boxed::Box::from_raw(ptr); - } - Ok(()) - } - } -} - -// Get EKF Localizer safely -fn get_ekf_localizer() -> Option<&'static mut EKFModule> { - let ptr = EKF_LOCALIZER.load(AtomicOrdering::Acquire); - if ptr.is_null() { - None - } else { - unsafe { Some(&mut *ptr) } - } -} diff --git a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs index 7ef0aba5b..cb2ff5e52 100644 --- a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs +++ b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs @@ -25,6 +25,27 @@ pub struct VelocityReport { pub heading_rate: f64, } +#[derive(Debug, Clone)] +pub struct VelocityCsvRow { + pub timestamp: u64, + pub longitudinal_velocity: f64, + pub lateral_velocity: f64, + pub heading_rate: f64, +} + +pub fn build_velocity_report_from_csv_row( + row: &VelocityCsvRow, + frame_id: &'static str, + timestamp: u64, +) -> VelocityReport { + VelocityReport { + header: Header { frame_id, timestamp }, + longitudinal_velocity: row.longitudinal_velocity, + lateral_velocity: row.lateral_velocity, + heading_rate: row.heading_rate, + } +} + /// TwistWithCovarianceStampedメッセージの構造体 #[derive(Debug, Clone)] pub struct TwistWithCovarianceStamped { From 9bac5301211f68644fe45c6f6e80de9fb85e7de9 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Tue, 24 Mar 2026 15:43:20 +0900 Subject: [PATCH 06/60] fix: revert schedtype and toml Signed-off-by: nokosaaan --- applications/tests/test_autoware/src/lib.rs | 2 +- mdbook/book.toml | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs index 36df051f0..621e7bd9c 100644 --- a/applications/tests/test_autoware/src/lib.rs +++ b/applications/tests/test_autoware/src/lib.rs @@ -623,7 +623,7 @@ pub async fn start_periodic_udp_sender() { awkernel_async_lib::spawn( "periodic_udp_sender".into(), periodic_udp_sender_task(), - awkernel_async_lib::scheduler::SchedulerType::PrioritizedFIFO(0), + awkernel_async_lib::scheduler::SchedulerType::GEDF(5), ) .await; } diff --git a/mdbook/book.toml b/mdbook/book.toml index 4bf31f613..8f5c1c4a3 100644 --- a/mdbook/book.toml +++ b/mdbook/book.toml @@ -1,6 +1,7 @@ [book] authors = ["Yuuki Takano"] language = "en" +multilingual = false src = "src" title = "Awkernel" From 47de021827b9ff9ae5268e4eb994cde2c9ef5376 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Thu, 26 Mar 2026 09:15:02 +0900 Subject: [PATCH 07/60] add: saveing implementation msg with period Signed-off-by: nokosaaan --- .../test_autoware/ekf_localizer/src/lib.rs | 10 +- .../tests/test_autoware/imu_driver/src/lib.rs | 5 +- applications/tests/test_autoware/src/lib.rs | 64 ++++++---- .../vehicle_velocity_converter/src/lib.rs | 5 +- applications/tests/test_dag/Cargo.toml | 4 + applications/tests/test_dag/src/lib.rs | 112 ++++++++++++------ awkernel_async_lib/src/dag.rs | 57 +++------ awkernel_async_lib/src/task.rs | 7 +- userland/Cargo.toml | 2 +- 9 files changed, 156 insertions(+), 110 deletions(-) diff --git a/applications/tests/test_autoware/ekf_localizer/src/lib.rs b/applications/tests/test_autoware/ekf_localizer/src/lib.rs index 33db0dab9..f7a9396ed 100644 --- a/applications/tests/test_autoware/ekf_localizer/src/lib.rs +++ b/applications/tests/test_autoware/ekf_localizer/src/lib.rs @@ -558,12 +558,10 @@ pub fn get_or_initialize_default_module() -> &'static mut EKFModule { AtomicOrdering::Acquire, ) { Ok(_) => unsafe { &mut *ptr }, - Err(existing_ptr) => { - unsafe { - let _ = alloc::boxed::Box::from_raw(ptr); - &mut *existing_ptr - } - } + Err(existing_ptr) => unsafe { + let _ = alloc::boxed::Box::from_raw(ptr); + &mut *existing_ptr + }, } } diff --git a/applications/tests/test_autoware/imu_driver/src/lib.rs b/applications/tests/test_autoware/imu_driver/src/lib.rs index 3c660c7cd..fa36930eb 100644 --- a/applications/tests/test_autoware/imu_driver/src/lib.rs +++ b/applications/tests/test_autoware/imu_driver/src/lib.rs @@ -74,7 +74,10 @@ pub fn build_imu_msg_from_csv_row( timestamp: u64, ) -> ImuMsg { ImuMsg { - header: Header { frame_id, timestamp }, + header: Header { + frame_id, + timestamp, + }, orientation: row.orientation.clone(), angular_velocity: row.angular_velocity.clone(), linear_acceleration: row.linear_acceleration.clone(), diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs index 621e7bd9c..e0df1e920 100644 --- a/applications/tests/test_autoware/src/lib.rs +++ b/applications/tests/test_autoware/src/lib.rs @@ -19,12 +19,13 @@ use imu_corrector::{ImuCorrector, ImuWithCovariance}; use imu_driver::{build_imu_msg_from_csv_row, ImuCsvRow, ImuMsg, TamagawaImuParser}; use vehicle_velocity_converter::{ - build_velocity_report_from_csv_row, - reactor_helpers, Twist, TwistWithCovariance, TwistWithCovarianceStamped, - VehicleVelocityConverter, VelocityCsvRow, + build_velocity_report_from_csv_row, reactor_helpers, Twist, TwistWithCovariance, + TwistWithCovarianceStamped, VehicleVelocityConverter, VelocityCsvRow, }; -use ekf_localizer::{get_or_initialize_default_module, Point3D, Pose, PoseWithCovariance, Quaternion}; +use ekf_localizer::{ + get_or_initialize_default_module, Point3D, Pose, PoseWithCovariance, Quaternion, +}; /// EKF Odometry structure for publishing (equivalent to C++ nav_msgs::msg::Odometry) #[derive(Debug, Clone)] @@ -188,28 +189,28 @@ pub async fn run() { move |(start_msg,): (DagMsg,)| -> (DagMsg,) { let (_b, period_id) = unpack_dag_msg(start_msg); let converter = VehicleVelocityConverter::default(); - + let mut node = MCSNode::new(); let mut count_guard = VELOCITY_CSV_COUNT.lock(&mut node); let count = *count_guard; let data = unsafe { VELOCITY_CSV_DATA.as_ref() }; - + let csv_data = data.expect("VELOCITY_CSV_DATA must be initialized"); let idx = count % csv_data.len(); let row = &csv_data[idx]; let awkernel_timestamp = get_awkernel_uptime_timestamp(); let velocity_report = build_velocity_report_from_csv_row(row, "base_link", awkernel_timestamp); - + *count_guard += 1; if *count_guard >= 5700 { *count_guard = 0; log::info!("rust_e2e_app: finish csv for Velocity"); loop {} } - + let twist_msg = converter.convert_velocity_report(&velocity_report); - + if LOG_ENABLE { log::debug!("Vehicle velocity converter: Converted velocity report to twist - linear.x={:.3}, angular.z={:.3}, awkernel_timestamp={}", twist_msg.twist.twist.linear.x, @@ -217,7 +218,7 @@ pub async fn run() { twist_msg.header.timestamp ); } - + (pack_dag_msg(twist_msg, period_id),) }, vec![Cow::from("start_vel")], @@ -240,18 +241,28 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (DagMsg, DagMsg), (DagMsg,)>( + dag.register_reactor::<_, ( + DagMsg, + DagMsg, + ), (DagMsg,)>( "gyro_odometer".into(), - |(imu_msg, vehicle_msg): (DagMsg, DagMsg)| -> (DagMsg,) { + |(imu_msg, vehicle_msg): ( + DagMsg, + DagMsg, + )| + -> (DagMsg,) { let (imu_with_cov, period_imu) = unpack_dag_msg(imu_msg); let (vehicle_twist, _period_twist) = unpack_dag_msg(vehicle_msg); let current_timestamp = imu_with_cov.header.timestamp; let current_time = get_awkernel_uptime_timestamp(); - + let gyro_odometer = match gyro_odometer::get_or_initialize() { Ok(core) => core, Err(_) => { - return (pack_dag_msg(reactor_helpers::create_empty_twist(current_timestamp), period_imu),); + return (pack_dag_msg( + reactor_helpers::create_empty_twist(current_timestamp), + period_imu, + ),); } }; @@ -259,11 +270,17 @@ pub async fn run() { gyro_odometer.add_imu(imu_with_cov); match gyro_odometer.process_and_get_result(current_time) { - Some(result) => (pack_dag_msg(gyro_odometer.process_result(result), period_imu),), - None => (pack_dag_msg(reactor_helpers::create_empty_twist(current_timestamp), period_imu),) + Some(result) => (pack_dag_msg( + gyro_odometer.process_result(result), + period_imu, + ),), + None => (pack_dag_msg( + reactor_helpers::create_empty_twist(current_timestamp), + period_imu, + ),), } }, - vec![Cow::from("corrected_imu_data"),Cow::from("velocity_twist")], + vec![Cow::from("corrected_imu_data"), Cow::from("velocity_twist")], vec![Cow::from("twist_with_covariance")], SchedulerType::GEDF(5), ) @@ -594,9 +611,7 @@ fn parse_u64(field: &str) -> Result { if trimmed.is_empty() { return Ok(0); } - trimmed - .parse::() - .map_err(|_| "Failed to parse u64") + trimmed.parse::().map_err(|_| "Failed to parse u64") } fn parse_f64(field: &str) -> Result { @@ -604,9 +619,7 @@ fn parse_f64(field: &str) -> Result { if trimmed.is_empty() { return Ok(0.0); } - trimmed - .parse::() - .map_err(|_| "Failed to parse f64") + trimmed.parse::().map_err(|_| "Failed to parse f64") } // Returns monotonic uptime in nanoseconds clamped to u64. @@ -637,7 +650,10 @@ async fn periodic_udp_sender_task() { let mut socket = match socket_result { Ok(socket) => socket, Err(e) => { - log::error!("Periodic UDP sender task: failed to create UDP socket: {:?}", e); + log::error!( + "Periodic UDP sender task: failed to create UDP socket: {:?}", + e + ); return; } }; diff --git a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs index cb2ff5e52..e94e39e6e 100644 --- a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs +++ b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs @@ -39,7 +39,10 @@ pub fn build_velocity_report_from_csv_row( timestamp: u64, ) -> VelocityReport { VelocityReport { - header: Header { frame_id, timestamp }, + header: Header { + frame_id, + timestamp, + }, longitudinal_velocity: row.longitudinal_velocity, lateral_velocity: row.lateral_velocity, heading_rate: row.heading_rate, diff --git a/applications/tests/test_dag/Cargo.toml b/applications/tests/test_dag/Cargo.toml index 739914e9d..afa70e28b 100644 --- a/applications/tests/test_dag/Cargo.toml +++ b/applications/tests/test_dag/Cargo.toml @@ -13,3 +13,7 @@ default-features = false [dependencies.awkernel_lib] path = "../../../awkernel_lib" default-features = false + +[features] +default = ["relax-get-period"] +relax-get-period = ["awkernel_async_lib/relax-get-period"] diff --git a/applications/tests/test_dag/src/lib.rs b/applications/tests/test_dag/src/lib.rs index f36b830d6..284f18a57 100644 --- a/applications/tests/test_dag/src/lib.rs +++ b/applications/tests/test_dag/src/lib.rs @@ -1,16 +1,55 @@ #![no_std] extern crate alloc; -use alloc::{borrow::Cow, sync::Arc, vec}; +use alloc::{borrow::Cow, vec}; use awkernel_async_lib::dag::{create_dag, finish_create_dags}; use awkernel_async_lib::scheduler::SchedulerType; +#[cfg(not(feature = "dag-no-period"))] use awkernel_async_lib::task::perf::get_period_count; use awkernel_lib::delay::wait_microsec; use core::time::Duration; -const LOG_ENABLE: bool = false; +const LOG_ENABLE: bool = true; const DATA_SIZE: usize = 128; +// Conditional message type based on features +#[cfg(not(feature = "dag-no-period"))] +type DagMsg = (T, u32); +#[cfg(feature = "dag-no-period")] +type DagMsg = T; + +// Conditional message packing/unpacking - dag-no-period フィーチャー有効時 +#[cfg(not(feature = "dag-no-period"))] +fn pack_dag_msg(value: T, period_id: u32) -> DagMsg { + (value, period_id) +} + +#[cfg(not(feature = "dag-no-period"))] +fn unpack_dag_msg(msg: DagMsg) -> (T, u32) { + msg +} + +#[cfg(not(feature = "dag-no-period"))] +fn current_period_id(dag_id: u32) -> u32 { + get_period_count(dag_id as usize) as u32 +} + +// dag-no-period フィーチャー無効時 (period_id は使わない) +#[cfg(feature = "dag-no-period")] +fn pack_dag_msg(value: T, _period_id: u32) -> DagMsg { + value +} + +#[cfg(feature = "dag-no-period")] +fn unpack_dag_msg(msg: DagMsg) -> (T, u32) { + (msg, 0) +} + +#[cfg(feature = "dag-no-period")] +fn current_period_id(_dag_id: u32) -> u32 { + 5 +} + pub async fn run() { wait_microsec(1000000); @@ -22,21 +61,16 @@ pub async fn run() { let dag = create_dag(); let dag_id = dag.get_id(); - dag.register_periodic_reactor::<_, ((Arc<[u8; DATA_SIZE]>, u32),)>( + dag.register_periodic_reactor::<_, (DagMsg,)>( "reactor_source_node".into(), - move || -> ((Arc<[u8; DATA_SIZE]>, u32),) { + move || -> (DagMsg,) { wait_microsec(exe_time); - let data: Arc<[u8; DATA_SIZE]> = Arc::new([0; DATA_SIZE]); - let period_id = get_period_count(dag_id as usize) as u32; + let number: i32 = 1; + let period_id = current_period_id(dag_id); if LOG_ENABLE { - log::debug!( - "Sending data[0]={}, period_id={}, size={} in reactor_source_node", - data[0], - period_id, - DATA_SIZE - ); + log::debug!("value={number} period={period_id} in reactor_source_node"); } - ((data, period_id),) + (pack_dag_msg(number, period_id),) }, vec![Cow::from("topic0")], SchedulerType::GEDF(5), @@ -44,14 +78,19 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, ((Arc<[u8; DATA_SIZE]>, u32),), ((Arc<[u8; DATA_SIZE]>, u32), (Arc<[u8; DATA_SIZE]>, u32))>( + dag.register_reactor::<_, (DagMsg,), (DagMsg, DagMsg)>( "reactor_node1".into(), - move |((data, period),): ((Arc<[u8; DATA_SIZE]>, u32),)| -> ((Arc<[u8; DATA_SIZE]>, u32), (Arc<[u8; DATA_SIZE]>, u32)) { + move |(msg,): (DagMsg,)| -> (DagMsg, DagMsg) { + let (value, period) = unpack_dag_msg(msg); + let result = value + 1; if LOG_ENABLE { - log::debug!("Processing data[0]={}, period={}, size={} in reactor_node1", data[0], period, DATA_SIZE); + log::debug!("value={result} in reactor_node1"); } - ((data.clone(), period), (data, period)) + ( + pack_dag_msg(result, period), + pack_dag_msg(result + 1, period), + ) }, vec![Cow::from("topic0")], vec![Cow::from("topic1"), Cow::from("topic2")], @@ -59,18 +98,15 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, ((Arc<[u8; DATA_SIZE]>, u32),), ((Arc<[u8; DATA_SIZE]>, u32),)>( + dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( "reactor_node2".into(), - |((data, period),): ((Arc<[u8; DATA_SIZE]>, u32),)| -> ((Arc<[u8; DATA_SIZE]>, u32),) { + |(msg,): (DagMsg,)| -> (DagMsg,) { + let (value, period) = unpack_dag_msg(msg); + let result = value * 2; if LOG_ENABLE { - log::debug!( - "Processing data[0]={}, period={}, size={} in reactor_node2", - data[0], - period, - DATA_SIZE - ); + log::debug!("value={result} in reactor_node2"); } - ((data, period),) + (pack_dag_msg(result, period),) }, vec![Cow::from("topic1")], vec![Cow::from("topic3")], @@ -78,18 +114,15 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, ((Arc<[u8; DATA_SIZE]>, u32),), ((Arc<[u8; DATA_SIZE]>, u32),)>( + dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( "reactor_node3".into(), - |((data, period),): ((Arc<[u8; DATA_SIZE]>, u32),)| -> ((Arc<[u8; DATA_SIZE]>, u32),) { + |(msg,): (DagMsg,)| -> (DagMsg,) { + let (value, period) = unpack_dag_msg(msg); + let result = value * 3; if LOG_ENABLE { - log::debug!( - "Processing data[0]={}, period={}, size={} in reactor_node3", - data[0], - period, - DATA_SIZE - ); + log::debug!("value={result} in reactor_node3"); } - ((data, period),) + (pack_dag_msg(result, period),) }, vec![Cow::from("topic2")], vec![Cow::from("topic4")], @@ -97,11 +130,14 @@ pub async fn run() { ) .await; - dag.register_sink_reactor::<_, ((Arc<[u8; DATA_SIZE]>, u32), (Arc<[u8; DATA_SIZE]>, u32))>( + dag.register_sink_reactor::<_, (DagMsg, DagMsg)>( "reactor_node4".into(), - |((data1, period1), (data2, period2)): ((Arc<[u8; DATA_SIZE]>, u32), (Arc<[u8; DATA_SIZE]>, u32))| { + |(msg1, msg2): (DagMsg, DagMsg)| { + let (value1, _period1) = unpack_dag_msg(msg1); + let (value2, _period2) = unpack_dag_msg(msg2); + let result = value1 + value2; if LOG_ENABLE { - log::debug!("Received data1[0]={}, data2[0]={}, period1={}, period2={}, size={} in reactor_node4", data1[0], data2[0], period1, period2, DATA_SIZE); + log::debug!("value={result} in reactor_node4"); } }, vec![Cow::from("topic3"), Cow::from("topic4")], diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 47a6bf2f3..3103c0e7f 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -136,18 +136,13 @@ pub trait GetPeriod { fn get_period(&self) -> u32; } +// When relax-get-period is NOT enabled, enforce period_id presence via GetPeriod #[cfg(not(feature = "relax-get-period"))] pub trait DagSubscriberItem: TupleSize + GetPeriod + Send {} #[cfg(not(feature = "relax-get-period"))] impl DagSubscriberItem for T where T: TupleSize + GetPeriod + Send {} -#[cfg(feature = "relax-get-period")] -pub trait DagSubscriberItem: TupleSize + Send {} - -#[cfg(feature = "relax-get-period")] -impl DagSubscriberItem for T where T: TupleSize + Send {} - #[cfg(not(feature = "relax-get-period"))] impl GetPeriod for ((V, u32),) { fn get_period(&self) -> u32 { @@ -234,6 +229,7 @@ impl GetPeriod } } +// When relax-get-period feature is enabled, provide a default implementation #[cfg(feature = "relax-get-period")] impl GetPeriod for T { fn get_period(&self) -> u32 { @@ -241,6 +237,18 @@ impl GetPeriod for T { } } +// When relax-get-period is enabled, DagSubscriberItem does not require GetPeriod +#[cfg(feature = "relax-get-period")] +pub trait DagSubscriberItem: TupleSize + Send {} + +#[cfg(feature = "relax-get-period")] +impl DagSubscriberItem for T where T: TupleSize + Send {} + +// #[cfg(feature = "relax-get-period")] +// impl DagSubscriberItem for T where T: TupleSize + Send {} + + + /// Convenience helper to extract period from a subscriber tuple by reference. pub fn get_period(args: &T) -> u32 { args.get_period() @@ -1110,8 +1118,7 @@ where let args: <::Subscribers as MultipleReceiver>::Item = subscribers.recv_all().await; - #[cfg(not(feature = "relax-get-period"))] - { + if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { // [end] pubsub communication latency let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; let count_st = get_period(&args); @@ -1122,13 +1129,6 @@ where if let Some(task_id) = crate::task::get_current_task(cpu_id) { crate::task::set_task_period(task_id, Some(count_st)); } - // let noderecord = NodeRecord { - // period_count: count_st, - // dag_info: DagInfo { dag_id: dag_info.dag_id.clone(), node_id: dag_info.node_id.clone() }, - // }; - // node_period_count(noderecord.clone()); - // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - // node_start(noderecord.clone(), start); let results = f(args); // [start] pubsub communication latency let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; @@ -1136,10 +1136,7 @@ where publishers .send_all_with_meta(results, 1, count_st as usize, dag_info.node_id) .await; - } - - #[cfg(feature = "relax-get-period")] - { + } else { let results = f(args); publishers.send_all(results).await; } @@ -1184,21 +1181,12 @@ where interval.tick().await; loop { - #[cfg(not(feature = "relax-get-period"))] - { + if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; let cpu_id = awkernel_lib::cpu::cpu_id(); if let Some(task_id) = crate::task::get_current_task(cpu_id) { crate::task::set_task_period(task_id, Some(index as u32)); } - // [node] per node - // let noderecord = NodeRecord { - // period_count: index as u32, - // dag_info: DagInfo { dag_id: dag_info.dag_id.clone(), node_id: dag_info.node_id.clone() }, - // }; - // node_period_count(noderecord.clone()); - // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - // node_start(noderecord.clone(), start); if index != 0 { let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; update_pre_send_outer_timestamp_at( @@ -1217,10 +1205,7 @@ where increment_period_count(dag_info.dag_id.clone() as usize); increment_pub_count(0); - } - - #[cfg(feature = "relax-get-period")] - { + } else { let results = f(); publishers.send_all(results).await; } @@ -1260,8 +1245,7 @@ where loop { let args: ::Item = subscribers.recv_all().await; - #[cfg(not(feature = "relax-get-period"))] - { + if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { // [end] pubsub communication latency let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; let count_st = get_period(&args); @@ -1275,11 +1259,8 @@ where if let Some(task_id) = crate::task::get_current_task(cpu_id) { crate::task::set_task_period(task_id, Some(count_st)); } - // f(args); let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - let counter = get_sink_count(dag_info.dag_id.clone() as usize) as usize; if count_st != 0 { - // update_fin_recv_outer_timestamp_at(counter, timenow, dag_info.dag_id.clone()); update_fin_recv_outer_timestamp_at(count_st as usize, timenow, dag_info.dag_id); } increment_sink_count(dag_info.dag_id.clone() as usize); diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 6eefb8118..db982e06e 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -471,7 +471,12 @@ pub mod perf { use array_macro::array; use awkernel_lib::{cpu::NUM_MAX_CPU, device_tree::node}; use core::ptr::{read_volatile, write_volatile}; - use core::sync::atomic::{AtomicU32, Ordering}; + use core::sync::atomic::{AtomicBool, AtomicU32, Ordering}; + + /// Flag to control whether period tracking is enabled + /// When false (with relax-get-period feature), period tracking is disabled to reduce BSS memory + /// When true (without relax-get-period feature), period tracking is enabled + pub static ENABLE_PERIOD_TRACKING: AtomicBool = AtomicBool::new(false); #[derive(Debug, Clone, PartialEq, Eq)] #[repr(u8)] diff --git a/userland/Cargo.toml b/userland/Cargo.toml index c6fac4eaa..95e969185 100644 --- a/userland/Cargo.toml +++ b/userland/Cargo.toml @@ -79,7 +79,7 @@ path = "../applications/tests/test_voluntary_preemption" optional = true [features] -default = ["test_autoware"] +default = ["test_dag"] perf = ["awkernel_services/perf"] # Evaluation applications From efb1f02361580abfa010a90b79785e64bbed9641 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Thu, 26 Mar 2026 09:43:11 +0900 Subject: [PATCH 08/60] fix: delete kernel dependics Signed-off-by: nokosaaan --- applications/tests/test_dag/Cargo.toml | 2 +- awkernel_async_lib/Cargo.toml | 1 - kernel/Cargo.toml | 1 - 3 files changed, 1 insertion(+), 3 deletions(-) diff --git a/applications/tests/test_dag/Cargo.toml b/applications/tests/test_dag/Cargo.toml index afa70e28b..c379ab109 100644 --- a/applications/tests/test_dag/Cargo.toml +++ b/applications/tests/test_dag/Cargo.toml @@ -15,5 +15,5 @@ path = "../../../awkernel_lib" default-features = false [features] -default = ["relax-get-period"] +default = [] relax-get-period = ["awkernel_async_lib/relax-get-period"] diff --git a/awkernel_async_lib/Cargo.toml b/awkernel_async_lib/Cargo.toml index 61fe6104d..209cd59b9 100644 --- a/awkernel_async_lib/Cargo.toml +++ b/awkernel_async_lib/Cargo.toml @@ -40,7 +40,6 @@ features = ["awkernel"] [features] default = [] -x86 = [] std = ["awkernel_lib/std", "no_preempt"] no_preempt = [] spinlock = ["awkernel_lib/spinlock"] diff --git a/kernel/Cargo.toml b/kernel/Cargo.toml index 02f8b3fec..9368f5904 100644 --- a/kernel/Cargo.toml +++ b/kernel/Cargo.toml @@ -82,7 +82,6 @@ no_std_unwinding = ["dep:unwinding"] debug = ["dep:gimli", "dep:addr2line"] x86 = [ "perf", - "awkernel_async_lib/x86", "no_std_unwinding", "awkernel_lib/x86", "dep:x86_64", From b1b921b179d492411c3cfda7b1a8f01dab2624f9 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Thu, 26 Mar 2026 10:00:03 +0900 Subject: [PATCH 09/60] fix: no period with test_autoware Signed-off-by: nokosaaan --- applications/tests/test_autoware/Cargo.toml | 7 +- applications/tests/test_autoware/src/lib.rs | 121 +++++--------------- userland/Cargo.toml | 2 +- 3 files changed, 32 insertions(+), 98 deletions(-) diff --git a/applications/tests/test_autoware/Cargo.toml b/applications/tests/test_autoware/Cargo.toml index e625a69fb..5e7075844 100644 --- a/applications/tests/test_autoware/Cargo.toml +++ b/applications/tests/test_autoware/Cargo.toml @@ -7,16 +7,11 @@ edition = "2021" path = "src/lib.rs" crate-type = ["rlib"] -[features] -default = ["dag-no-period"] -dag-send-period = [] -dag-no-period = ["awkernel_async_lib/relax-get-period"] - [dependencies] log = "0.4" libm = "0.2" csv-core = "0.1" -awkernel_async_lib = { path = "../../../awkernel_async_lib", default-features = false } +awkernel_async_lib = { path = "../../../awkernel_async_lib", default-features = false, features = ["relax-get-period"] } awkernel_lib = { path = "../../../awkernel_lib", default-features = false } imu_driver = { path = "./imu_driver", default-features = false } imu_corrector = { path = "./imu_corrector", default-features = false } diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs index e0df1e920..b0f5a2f9e 100644 --- a/applications/tests/test_autoware/src/lib.rs +++ b/applications/tests/test_autoware/src/lib.rs @@ -5,8 +5,6 @@ use alloc::{borrow::Cow, format, string::String, vec, vec::Vec}; use awkernel_async_lib::dag::{create_dag, finish_create_dags}; use awkernel_async_lib::net::IpAddr; use awkernel_async_lib::scheduler::SchedulerType; -#[cfg(feature = "dag-send-period")] -use awkernel_async_lib::task::perf::get_period_count; use awkernel_lib::delay::wait_microsec; use awkernel_lib::sync::mutex::{MCSNode, Mutex}; use core::net::Ipv4Addr; @@ -62,41 +60,6 @@ static mut VELOCITY_CSV_DATA: Option> = None; static IMU_CSV_COUNT: Mutex = Mutex::new(0); static VELOCITY_CSV_COUNT: Mutex = Mutex::new(0); -#[cfg(feature = "dag-send-period")] -type DagMsg = (T, u32); -#[cfg(not(feature = "dag-send-period"))] -type DagMsg = T; - -#[cfg(feature = "dag-send-period")] -fn pack_dag_msg(value: T, period_id: u32) -> DagMsg { - (value, period_id) -} - -#[cfg(not(feature = "dag-send-period"))] -fn pack_dag_msg(value: T, _period_id: u32) -> DagMsg { - value -} - -#[cfg(feature = "dag-send-period")] -fn unpack_dag_msg(msg: DagMsg) -> (T, u32) { - msg -} - -#[cfg(not(feature = "dag-send-period"))] -fn unpack_dag_msg(msg: DagMsg) -> (T, u32) { - (msg, 0) -} - -#[cfg(feature = "dag-send-period")] -fn current_period_id(dag_id: u32) -> u32 { - get_period_count(dag_id as usize) as u32 -} - -#[cfg(not(feature = "dag-send-period"))] -fn current_period_id(_dag_id: u32) -> u32 { - 0 -} - pub async fn run() { wait_microsec(1000000); @@ -109,15 +72,10 @@ pub async fn run() { let dag = create_dag(); let dag_id = dag.get_id(); - dag.register_periodic_reactor::<_, (DagMsg, DagMsg, DagMsg)>( + dag.register_periodic_reactor::<_, (i32, i32, i32)>( "start_dummy_data".into(), - move || -> (DagMsg, DagMsg, DagMsg) { - let period_id = current_period_id(dag_id); - ( - pack_dag_msg(1, period_id), - pack_dag_msg(2, period_id), - pack_dag_msg(3, period_id), - ) + move || -> (i32, i32, i32) { + (1, 2, 3) }, vec![ Cow::from("start_imu"), @@ -129,10 +87,9 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( + dag.register_reactor::<_, (i32,), (ImuMsg,)>( "imu_driver".into(), - move |(start_msg,): (DagMsg,)| -> (DagMsg,) { - let (_a, period_id) = unpack_dag_msg(start_msg); + move |(_start_msg,): (i32,)| -> (ImuMsg,) { let mut node = MCSNode::new(); let mut count_guard = IMU_CSV_COUNT.lock(&mut node); let count = *count_guard; @@ -176,7 +133,7 @@ pub async fn run() { ); } - (pack_dag_msg(imu_msg, period_id),) + (imu_msg,) }, vec![Cow::from("start_imu")], vec![Cow::from("imu_data")], @@ -184,10 +141,9 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( + dag.register_reactor::<_, (i32,), (TwistWithCovarianceStamped,)>( "vehicle_velocity_converter".into(), - move |(start_msg,): (DagMsg,)| -> (DagMsg,) { - let (_b, period_id) = unpack_dag_msg(start_msg); + move |(_start_msg,): (i32,)| -> (TwistWithCovarianceStamped,) { let converter = VehicleVelocityConverter::default(); let mut node = MCSNode::new(); @@ -219,7 +175,7 @@ pub async fn run() { ); } - (pack_dag_msg(twist_msg, period_id),) + (twist_msg,) }, vec![Cow::from("start_vel")], vec![Cow::from("velocity_twist")], @@ -227,13 +183,12 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( + dag.register_reactor::<_, (ImuMsg,), (ImuWithCovariance,)>( "imu_corrector".into(), - |(imu_msg,): (DagMsg,)| -> (DagMsg,) { - let (imu_msg, period_id) = unpack_dag_msg(imu_msg); + |(imu_msg,): (ImuMsg,)| -> (ImuWithCovariance,) { let corrector = ImuCorrector::new(); let corrected = corrector.correct_imu_with_covariance(&imu_msg, None); - (pack_dag_msg(corrected, period_id),) + (corrected,) }, vec![Cow::from("imu_data")], vec![Cow::from("corrected_imu_data")], @@ -242,27 +197,22 @@ pub async fn run() { .await; dag.register_reactor::<_, ( - DagMsg, - DagMsg, - ), (DagMsg,)>( + ImuWithCovariance, + TwistWithCovarianceStamped, + ), (TwistWithCovarianceStamped,)>( "gyro_odometer".into(), - |(imu_msg, vehicle_msg): ( - DagMsg, - DagMsg, + |(imu_with_cov, vehicle_twist): ( + ImuWithCovariance, + TwistWithCovarianceStamped, )| - -> (DagMsg,) { - let (imu_with_cov, period_imu) = unpack_dag_msg(imu_msg); - let (vehicle_twist, _period_twist) = unpack_dag_msg(vehicle_msg); + -> (TwistWithCovarianceStamped,) { let current_timestamp = imu_with_cov.header.timestamp; let current_time = get_awkernel_uptime_timestamp(); let gyro_odometer = match gyro_odometer::get_or_initialize() { Ok(core) => core, Err(_) => { - return (pack_dag_msg( - reactor_helpers::create_empty_twist(current_timestamp), - period_imu, - ),); + return (reactor_helpers::create_empty_twist(current_timestamp),); } }; @@ -270,14 +220,8 @@ pub async fn run() { gyro_odometer.add_imu(imu_with_cov); match gyro_odometer.process_and_get_result(current_time) { - Some(result) => (pack_dag_msg( - gyro_odometer.process_result(result), - period_imu, - ),), - None => (pack_dag_msg( - reactor_helpers::create_empty_twist(current_timestamp), - period_imu, - ),), + Some(result) => (gyro_odometer.process_result(result),), + None => (reactor_helpers::create_empty_twist(current_timestamp),), } }, vec![Cow::from("corrected_imu_data"), Cow::from("velocity_twist")], @@ -286,10 +230,9 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( + dag.register_reactor::<_, (i32,), (Pose,)>( "pose_dummy_generator".into(), - move |(start_msg,): (DagMsg,)| -> (DagMsg,) { - let (_counter, period_id) = unpack_dag_msg(start_msg); + move |(_start_msg,): (i32,)| -> (Pose,) { let x = 0.0; let y = 0.0; let z = 0.0; @@ -304,7 +247,7 @@ pub async fn run() { }, }; - (pack_dag_msg(pose, period_id),) + (pose,) }, vec![Cow::from("start_pose")], vec![Cow::from("dummy_pose")], @@ -312,11 +255,9 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (DagMsg, DagMsg), (DagMsg, DagMsg)>( + dag.register_reactor::<_, (Pose, TwistWithCovarianceStamped), (Pose, EKFOdometry)>( "ekf_localizer".into(), - |(pose_msg, twist_msg): (DagMsg, DagMsg)| -> (DagMsg, DagMsg) { - let (pose, period_pose) = unpack_dag_msg(pose_msg); - let (twist, _period_twist) = unpack_dag_msg(twist_msg); + |(pose, twist): (Pose, TwistWithCovarianceStamped)| -> (Pose, EKFOdometry) { let ekf = get_or_initialize_default_module(); static mut INITIALIZED: bool = false; @@ -365,7 +306,7 @@ pub async fn run() { }, }; - (pack_dag_msg(ekf_pose, period_pose), pack_dag_msg(odometry, period_pose)) + (ekf_pose, odometry) }, vec![Cow::from("dummy_pose"), Cow::from("twist_with_covariance")], vec![Cow::from("estimated_pose"), Cow::from("ekf_odometry")], @@ -373,11 +314,9 @@ pub async fn run() { ) .await; - dag.register_sink_reactor::<_, (DagMsg, DagMsg)>( + dag.register_sink_reactor::<_, (Pose, EKFOdometry)>( "ekf_sink".into(), - move |(pose_msg, odom_msg): (DagMsg, DagMsg)| { - let (_pose, _period_pose) = unpack_dag_msg(pose_msg); - let (ekf_odom, _period_odom) = unpack_dag_msg(odom_msg); + move |(_pose, ekf_odom): (Pose, EKFOdometry)| { let json_data = format!( r#"{{"header":{{"frame_id":"{}","timestamp":{}}},"child_frame_id":"{}","pose":{{"pose":{{"position":{{"x":{:.6},"y":{:.6},"z":{:.6}}},"orientation":{{"x":{:.6},"y":{:.6},"z":{:.6},"w":{:.6}}}}},"covariance":[{}]}},"twist":{{"twist":{{"linear":{{"x":{:.6},"y":{:.6},"z":{:.6}}},"angular":{{"x":{:.6},"y":{:.6},"z":{:.6}}}}},"covariance":[{}]}}}}"#, diff --git a/userland/Cargo.toml b/userland/Cargo.toml index 95e969185..c6fac4eaa 100644 --- a/userland/Cargo.toml +++ b/userland/Cargo.toml @@ -79,7 +79,7 @@ path = "../applications/tests/test_voluntary_preemption" optional = true [features] -default = ["test_dag"] +default = ["test_autoware"] perf = ["awkernel_services/perf"] # Evaluation applications From 1b18749b26c1ca3890d1ab9376d59b492d26b543 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 27 Mar 2026 18:44:26 +0900 Subject: [PATCH 10/60] fix: reduce impl for get_period with macro Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 276 ++++++++++++---------------------- 1 file changed, 94 insertions(+), 182 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 3103c0e7f..da12e208d 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -84,7 +84,6 @@ use alloc::{ vec::Vec, }; use awkernel_lib::sync::mutex::{MCSNode, Mutex}; -use core::sync::atomic::Ordering; use core::{future::Future, pin::Pin, time::Duration}; #[cfg(feature = "perf")] @@ -106,150 +105,53 @@ pub trait TupleSize { const SIZE: usize; } -macro_rules! impl_tuple_size { - (@count) => { 0 }; - (@count $_head:ident $($tail:ident)*) => { 1 + impl_tuple_size!(@count $($tail)*) }; - - ($($T:ident),*) => { - impl<$($T),*> TupleSize for ($($T,)*) { - const SIZE: usize = impl_tuple_size!(@count $($T)*); - } - }; -} - -impl_tuple_size!(); -impl_tuple_size!(T1); -impl_tuple_size!(T1, T2); -impl_tuple_size!(T1, T2, T3); -impl_tuple_size!(T1, T2, T3, T4); -impl_tuple_size!(T1, T2, T3, T4, T5); -impl_tuple_size!(T1, T2, T3, T4, T5, T6); -impl_tuple_size!(T1, T2, T3, T4, T5, T6, T7); -impl_tuple_size!(T1, T2, T3, T4, T5, T6, T7, T8); - -// Trait to extract the period (u32) carried in the last element of -// subscriber tuples. Each subscriber tuple element is expected to be -// a `(value, u32)` pair; implementations below return the u32 from -// the last tuple element. The trait is public so `get_period` bounds -// in other functions can reference it. pub trait GetPeriod { fn get_period(&self) -> u32; } -// When relax-get-period is NOT enabled, enforce period_id presence via GetPeriod -#[cfg(not(feature = "relax-get-period"))] -pub trait DagSubscriberItem: TupleSize + GetPeriod + Send {} - -#[cfg(not(feature = "relax-get-period"))] -impl DagSubscriberItem for T where T: TupleSize + GetPeriod + Send {} - -#[cfg(not(feature = "relax-get-period"))] -impl GetPeriod for ((V, u32),) { - fn get_period(&self) -> u32 { - self.0 .1 - } -} - -#[cfg(not(feature = "relax-get-period"))] -impl GetPeriod for ((V1, u32), (V2, u32)) { - fn get_period(&self) -> u32 { - self.1 .1 - } -} - -#[cfg(not(feature = "relax-get-period"))] -impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32)) { - fn get_period(&self) -> u32 { - self.2 .1 - } -} +macro_rules! impl_tuple_traits { + () => { + impl TupleSize for () { + const SIZE: usize = 0; + } + }; -#[cfg(not(feature = "relax-get-period"))] -impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32)) { - fn get_period(&self) -> u32 { - self.3 .1 - } -} + ($last_idx:tt => $($T:ident),+) => { + impl<$($T),+> TupleSize for ($($T,)+) { + const SIZE: usize = $last_idx + 1; + } -#[cfg(not(feature = "relax-get-period"))] -impl GetPeriod for ((V1, u32), (V2, u32), (V3, u32), (V4, u32), (V5, u32)) { - fn get_period(&self) -> u32 { - self.4 .1 - } + #[cfg(not(feature = "relax-get-period"))] + impl<$($T),+> GetPeriod for ($(($T, u32),)+) { + fn get_period(&self) -> u32 { + self.$last_idx .1 + } + } + }; } -#[cfg(not(feature = "relax-get-period"))] -impl GetPeriod - for ( - (V1, u32), - (V2, u32), - (V3, u32), - (V4, u32), - (V5, u32), - (V6, u32), - ) -{ - fn get_period(&self) -> u32 { - self.5 .1 - } -} +impl_tuple_traits!(); +impl_tuple_traits!(0 => T1); +impl_tuple_traits!(1 => T1, T2); +impl_tuple_traits!(2 => T1, T2, T3); +impl_tuple_traits!(3 => T1, T2, T3, T4); +impl_tuple_traits!(4 => T1, T2, T3, T4, T5); +impl_tuple_traits!(5 => T1, T2, T3, T4, T5, T6); +impl_tuple_traits!(6 => T1, T2, T3, T4, T5, T6, T7); +impl_tuple_traits!(7 => T1, T2, T3, T4, T5, T6, T7, T8); #[cfg(not(feature = "relax-get-period"))] -impl GetPeriod - for ( - (V1, u32), - (V2, u32), - (V3, u32), - (V4, u32), - (V5, u32), - (V6, u32), - (V7, u32), - ) -{ - fn get_period(&self) -> u32 { - self.6 .1 - } -} +pub trait DagSubscriberItem: TupleSize + GetPeriod + Send {} #[cfg(not(feature = "relax-get-period"))] -impl GetPeriod - for ( - (V1, u32), - (V2, u32), - (V3, u32), - (V4, u32), - (V5, u32), - (V6, u32), - (V7, u32), - (V8, u32), - ) -{ - fn get_period(&self) -> u32 { - self.7 .1 - } -} - -// When relax-get-period feature is enabled, provide a default implementation -#[cfg(feature = "relax-get-period")] -impl GetPeriod for T { - fn get_period(&self) -> u32 { - 0 - } -} +impl DagSubscriberItem for T where T: TupleSize + GetPeriod + Send {} -// When relax-get-period is enabled, DagSubscriberItem does not require GetPeriod #[cfg(feature = "relax-get-period")] pub trait DagSubscriberItem: TupleSize + Send {} #[cfg(feature = "relax-get-period")] impl DagSubscriberItem for T where T: TupleSize + Send {} - -// #[cfg(feature = "relax-get-period")] -// impl DagSubscriberItem for T where T: TupleSize + Send {} - - - -/// Convenience helper to extract period from a subscriber tuple by reference. +#[cfg(not(feature = "relax-get-period"))] pub fn get_period(args: &T) -> u32 { args.get_period() } @@ -1119,23 +1021,26 @@ where subscribers.recv_all().await; if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { - // [end] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - let count_st = get_period(&args); - subscribe_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); - - // period count from message to TaskInfo - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(count_st)); + #[cfg(not(feature = "relax-get-period"))] + { + // [end] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let count_st = get_period(&args); + subscribe_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); + + // period count from message to TaskInfo + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(count_st)); + } + let results = f(args); + // [start] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + publish_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); + publishers + .send_all_with_meta(results, 1, count_st as usize, dag_info.node_id) + .await; } - let results = f(args); - // [start] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - publish_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); - publishers - .send_all_with_meta(results, 1, count_st as usize, dag_info.node_id) - .await; } else { let results = f(args); publishers.send_all(results).await; @@ -1182,29 +1087,32 @@ where loop { if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { - let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(index as u32)); + #[cfg(not(feature = "relax-get-period"))] + { + let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(index as u32)); + } + if index != 0 { + let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + update_pre_send_outer_timestamp_at( + index, + release_time, + dag_info.dag_id.clone(), + ); + } + let results = f(); + // [start] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + publish_timestamp_at(index, end, 0, dag_info.node_id); + publishers + .send_all_with_meta(results, 0, index, dag_info.node_id) + .await; + + increment_period_count(dag_info.dag_id.clone() as usize); + increment_pub_count(0); } - if index != 0 { - let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - update_pre_send_outer_timestamp_at( - index, - release_time, - dag_info.dag_id.clone(), - ); - } - let results = f(); - // [start] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - publish_timestamp_at(index, end, 0, dag_info.node_id); - publishers - .send_all_with_meta(results, 0, index, dag_info.node_id) - .await; - - increment_period_count(dag_info.dag_id.clone() as usize); - increment_pub_count(0); } else { let results = f(); publishers.send_all(results).await; @@ -1246,24 +1154,28 @@ where let args: ::Item = subscribers.recv_all().await; if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { - // [end] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - let count_st = get_period(&args); - subscribe_timestamp_at(count_st as usize, end, 2, dag_info.node_id.clone()); - increment_pub_count(1); - increment_sub_count(1); - increment_sub_count(2); - - // period count from message to TaskInfo - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(count_st)); - } - let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - if count_st != 0 { - update_fin_recv_outer_timestamp_at(count_st as usize, timenow, dag_info.dag_id); + #[cfg(not(feature = "relax-get-period"))] + { + // [end] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let count_st = get_period(&args); + subscribe_timestamp_at(count_st as usize, end, 2, dag_info.node_id.clone()); + increment_pub_count(1); + increment_sub_count(1); + increment_sub_count(2); + + // period count from message to TaskInfo + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(count_st)); + } + let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + if count_st != 0 { + update_fin_recv_outer_timestamp_at(count_st as usize, timenow, dag_info.dag_id); + } + increment_sink_count(dag_info.dag_id.clone() as usize); } - increment_sink_count(dag_info.dag_id.clone() as usize); + } f(args); } From 3c112f9f3d36520cb767a7684505dcb9f81cbfe9 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 27 Mar 2026 18:46:32 +0900 Subject: [PATCH 11/60] fix: reset test_dag Signed-off-by: nokosaaan --- applications/tests/test_dag/Cargo.toml | 4 -- applications/tests/test_dag/src/lib.rs | 97 ++++++-------------------- 2 files changed, 23 insertions(+), 78 deletions(-) diff --git a/applications/tests/test_dag/Cargo.toml b/applications/tests/test_dag/Cargo.toml index c379ab109..739914e9d 100644 --- a/applications/tests/test_dag/Cargo.toml +++ b/applications/tests/test_dag/Cargo.toml @@ -13,7 +13,3 @@ default-features = false [dependencies.awkernel_lib] path = "../../../awkernel_lib" default-features = false - -[features] -default = [] -relax-get-period = ["awkernel_async_lib/relax-get-period"] diff --git a/applications/tests/test_dag/src/lib.rs b/applications/tests/test_dag/src/lib.rs index 284f18a57..a7330457f 100644 --- a/applications/tests/test_dag/src/lib.rs +++ b/applications/tests/test_dag/src/lib.rs @@ -4,51 +4,10 @@ extern crate alloc; use alloc::{borrow::Cow, vec}; use awkernel_async_lib::dag::{create_dag, finish_create_dags}; use awkernel_async_lib::scheduler::SchedulerType; -#[cfg(not(feature = "dag-no-period"))] -use awkernel_async_lib::task::perf::get_period_count; use awkernel_lib::delay::wait_microsec; use core::time::Duration; const LOG_ENABLE: bool = true; -const DATA_SIZE: usize = 128; - -// Conditional message type based on features -#[cfg(not(feature = "dag-no-period"))] -type DagMsg = (T, u32); -#[cfg(feature = "dag-no-period")] -type DagMsg = T; - -// Conditional message packing/unpacking - dag-no-period フィーチャー有効時 -#[cfg(not(feature = "dag-no-period"))] -fn pack_dag_msg(value: T, period_id: u32) -> DagMsg { - (value, period_id) -} - -#[cfg(not(feature = "dag-no-period"))] -fn unpack_dag_msg(msg: DagMsg) -> (T, u32) { - msg -} - -#[cfg(not(feature = "dag-no-period"))] -fn current_period_id(dag_id: u32) -> u32 { - get_period_count(dag_id as usize) as u32 -} - -// dag-no-period フィーチャー無効時 (period_id は使わない) -#[cfg(feature = "dag-no-period")] -fn pack_dag_msg(value: T, _period_id: u32) -> DagMsg { - value -} - -#[cfg(feature = "dag-no-period")] -fn unpack_dag_msg(msg: DagMsg) -> (T, u32) { - (msg, 0) -} - -#[cfg(feature = "dag-no-period")] -fn current_period_id(_dag_id: u32) -> u32 { - 5 -} pub async fn run() { wait_microsec(1000000); @@ -59,18 +18,16 @@ pub async fn run() { log::debug!("period is {} [ns]", period.as_nanos()); let dag = create_dag(); - let dag_id = dag.get_id(); - dag.register_periodic_reactor::<_, (DagMsg,)>( + dag.register_periodic_reactor::<_, (i32,)>( "reactor_source_node".into(), - move || -> (DagMsg,) { + move || -> (i32,) { wait_microsec(exe_time); let number: i32 = 1; - let period_id = current_period_id(dag_id); if LOG_ENABLE { - log::debug!("value={number} period={period_id} in reactor_source_node"); + log::debug!("value={number} in reactor_source_node"); } - (pack_dag_msg(number, period_id),) + (number,) }, vec![Cow::from("topic0")], SchedulerType::GEDF(5), @@ -78,19 +35,15 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (DagMsg,), (DagMsg, DagMsg)>( + dag.register_reactor::<_, (i32,), (i32, i32)>( "reactor_node1".into(), - move |(msg,): (DagMsg,)| -> (DagMsg, DagMsg) { - let (value, period) = unpack_dag_msg(msg); - let result = value + 1; + |(a,): (i32,)| -> (i32, i32) { + let value = a + 1; if LOG_ENABLE { - log::debug!("value={result} in reactor_node1"); + log::debug!("value={value} in reactor_node1"); } - ( - pack_dag_msg(result, period), - pack_dag_msg(result + 1, period), - ) + (value, value + 1) }, vec![Cow::from("topic0")], vec![Cow::from("topic1"), Cow::from("topic2")], @@ -98,15 +51,14 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( + dag.register_reactor::<_, (i32,), (i32,)>( "reactor_node2".into(), - |(msg,): (DagMsg,)| -> (DagMsg,) { - let (value, period) = unpack_dag_msg(msg); - let result = value * 2; + |(a,): (i32,)| -> (i32,) { + let value = a * 2; if LOG_ENABLE { - log::debug!("value={result} in reactor_node2"); + log::debug!("value={value} in reactor_node2"); } - (pack_dag_msg(result, period),) + (value,) }, vec![Cow::from("topic1")], vec![Cow::from("topic3")], @@ -114,15 +66,14 @@ pub async fn run() { ) .await; - dag.register_reactor::<_, (DagMsg,), (DagMsg,)>( + dag.register_reactor::<_, (i32,), (i32,)>( "reactor_node3".into(), - |(msg,): (DagMsg,)| -> (DagMsg,) { - let (value, period) = unpack_dag_msg(msg); - let result = value * 3; + |(a,): (i32,)| -> (i32,) { + let value = a * 3; if LOG_ENABLE { - log::debug!("value={result} in reactor_node3"); + log::debug!("value={value} in reactor_node3"); } - (pack_dag_msg(result, period),) + (value,) }, vec![Cow::from("topic2")], vec![Cow::from("topic4")], @@ -130,14 +81,12 @@ pub async fn run() { ) .await; - dag.register_sink_reactor::<_, (DagMsg, DagMsg)>( + dag.register_sink_reactor::<_, (i32, i32)>( "reactor_node4".into(), - |(msg1, msg2): (DagMsg, DagMsg)| { - let (value1, _period1) = unpack_dag_msg(msg1); - let (value2, _period2) = unpack_dag_msg(msg2); - let result = value1 + value2; + |(a, b): (i32, i32)| { + let value = a + b; if LOG_ENABLE { - log::debug!("value={result} in reactor_node4"); + log::debug!("value={value} in reactor_node4"); } }, vec![Cow::from("topic3"), Cow::from("topic4")], From 1cfa9eda0a5db3517f13bd5137e7fcd5fdad8044 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 3 Apr 2026 16:52:29 +0900 Subject: [PATCH 12/60] fix: delete unnecessary comments Signed-off-by: nokosaaan --- .../test_autoware/ekf_localizer/Cargo.toml | 2 + .../test_autoware/ekf_localizer/README.md | 150 -------------- .../test_autoware/ekf_localizer/src/lib.rs | 111 ++--------- .../test_autoware/gyro_odometer/src/lib.rs | 67 +------ .../test_autoware/imu_corrector/src/lib.rs | 188 +++++------------- .../tests/test_autoware/imu_driver/src/lib.rs | 110 +--------- applications/tests/test_autoware/src/lib.rs | 20 +- .../vehicle_velocity_converter/src/lib.rs | 43 +--- 8 files changed, 83 insertions(+), 608 deletions(-) delete mode 100644 applications/tests/test_autoware/ekf_localizer/README.md diff --git a/applications/tests/test_autoware/ekf_localizer/Cargo.toml b/applications/tests/test_autoware/ekf_localizer/Cargo.toml index b81a101b1..92111e0cb 100644 --- a/applications/tests/test_autoware/ekf_localizer/Cargo.toml +++ b/applications/tests/test_autoware/ekf_localizer/Cargo.toml @@ -8,6 +8,8 @@ edition = "2021" libm = "0.2" nalgebra = { version = "0.32", default-features = false} approx = "0.5" +imu_driver = { path = "../imu_driver", default-features = false } +vehicle_velocity_converter = { path = "../vehicle_velocity_converter", default-features = false} # Optional: for better math functions micromath = "2.1" \ No newline at end of file diff --git a/applications/tests/test_autoware/ekf_localizer/README.md b/applications/tests/test_autoware/ekf_localizer/README.md deleted file mode 100644 index f84837adc..000000000 --- a/applications/tests/test_autoware/ekf_localizer/README.md +++ /dev/null @@ -1,150 +0,0 @@ -# EKF Localizer for awkernel - -This is a no_std Rust implementation of the EKF (Extended Kalman Filter) Localizer for awkernel, extracted from Autoware's EKF Localizer. - -## Features - -- **no_std compatible**: Can run in embedded environments without standard library -- **TF publishing support**: Provides transform data for ROS2 tf broadcasting -- **EKF state estimation**: Estimates vehicle pose (x, y, yaw) and velocity (vx, wz) -- **Yaw bias estimation**: Optional yaw bias estimation for improved accuracy -- **Simple 1D filters**: For z, roll, and pitch estimation - -## State Vector - -The EKF state vector contains 6 elements: -- `x`: X position [m] -- `y`: Y position [m] -- `yaw`: Yaw angle [rad] -- `yaw_bias`: Yaw bias [rad] -- `vx`: X velocity [m/s] -- `wz`: Z angular velocity [rad/s] - -## Usage - -### Basic Usage - -```rust -use ekf_localizer::{EKFModule, EKFParameters, Pose, Transform, Point3D, Quaternion}; - -// Create EKF parameters -let params = EKFParameters::default(); - -// Create EKF module -let mut ekf = EKFModule::new(params); - -// Initialize with initial pose -let initial_pose = Pose { - position: Point3D { x: 0.0, y: 0.0, z: 0.0 }, - orientation: Quaternion { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }, -}; - -let transform = Transform { - translation: Point3D { x: 0.0, y: 0.0, z: 0.0 }, - rotation: Quaternion { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }, -}; - -ekf.initialize(initial_pose, transform); - -// Prediction step -ekf.predict(0.01); // dt = 10ms - -// Get current pose for tf publishing -let pose = ekf.get_current_pose(false); -let transform = ekf.get_transform("base_link"); - -// Get covariance for uncertainty representation -let pose_covariance = ekf.get_current_pose_covariance(); -let twist_covariance = ekf.get_current_twist_covariance(); -``` - -### TF Publishing - -To publish transforms for ROS2 tf, use the `get_transform` method: - -```rust -// Get transform from map to base_link -let transform = ekf.get_transform("base_link"); - -// The transform contains: -// - translation: (x, y, z) position -// - rotation: quaternion orientation - -// Use this data to publish tf2_msgs/TransformStamped -``` - -### Integration with awkernel Reactor API - -The EKF module is designed to be used with awkernel's reactor API. You can create a separate file for pub/sub implementation: - -```rust -// In your reactor implementation file -use ekf_localizer::EKFModule; - -pub struct EKFLocalizerReactor { - ekf: EKFModule, - // Add other fields for pub/sub -} - -impl EKFLocalizerReactor { - pub fn new() -> Self { - let params = EKFParameters::default(); - let ekf = EKFModule::new(params); - - Self { - ekf, - // Initialize other fields - } - } - - pub fn timer_callback(&mut self) { - // Predict step - self.ekf.predict(0.01); - - // Get transform for publishing - let transform = self.ekf.get_transform("base_link"); - - // Publish transform using awkernel reactor API - // self.publish_tf(transform); - } -} -``` - -## Parameters - -Key parameters that can be tuned: - -- `enable_yaw_bias_estimation`: Enable/disable yaw bias estimation -- `extend_state_step`: Number of extended state steps for delay compensation -- `proc_stddev_vx_c`: Process noise standard deviation for velocity -- `proc_stddev_wz_c`: Process noise standard deviation for angular velocity -- `proc_stddev_yaw_c`: Process noise standard deviation for yaw -- `z_filter_proc_dev`: Process noise for z filter -- `roll_filter_proc_dev`: Process noise for roll filter -- `pitch_filter_proc_dev`: Process noise for pitch filter - -## Dependencies - -- `libm`: Mathematical functions for no_std -- `nalgebra`: Linear algebra operations -- `approx`: Approximate equality comparisons for tests - -## Building - -```bash -cd ~/azumi-lab/awkernel_1/ekf_localizer -cargo build --target thumbv7em-none-eabihf # For ARM Cortex-M4 -``` - -## Testing - -```bash -cargo test -``` - -## Notes - -- This implementation focuses on the core EKF calculation and tf generation -- Pub/sub functionality should be implemented separately using awkernel's reactor API -- The original Autoware implementation includes additional features like measurement updates, diagnostics, etc. -- This version is simplified for embedded use but maintains the essential EKF functionality \ No newline at end of file diff --git a/applications/tests/test_autoware/ekf_localizer/src/lib.rs b/applications/tests/test_autoware/ekf_localizer/src/lib.rs index f7a9396ed..ec77b805e 100644 --- a/applications/tests/test_autoware/ekf_localizer/src/lib.rs +++ b/applications/tests/test_autoware/ekf_localizer/src/lib.rs @@ -9,10 +9,11 @@ use core::ptr::null_mut; use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; use libm::{asin, atan2, cos, sin}; use nalgebra::{Matrix6, Vector3, Vector6}; +pub use imu_driver; +pub use vehicle_velocity_converter::TwistWithCovariance; static EKF_MODULE_INSTANCE: AtomicPtr = AtomicPtr::new(null_mut()); -/// State indices for EKF #[derive(Debug, Clone, Copy, PartialEq)] pub enum StateIndex { X = 0, @@ -23,14 +24,9 @@ pub enum StateIndex { Wz = 5, } -/// EKF State vector (6x1) -/// [x, y, yaw, yaw_bias, vx, wz] pub type StateVector = Vector6; - -/// EKF Covariance matrix (6x6) pub type StateCovariance = Matrix6; -/// 3D Point structure #[derive(Debug, Clone, Copy)] pub struct Point3D { pub x: f64, @@ -38,7 +34,6 @@ pub struct Point3D { pub z: f64, } -/// Quaternion structure #[derive(Debug, Clone, Copy)] pub struct Quaternion { pub x: f64, @@ -47,28 +42,32 @@ pub struct Quaternion { pub w: f64, } -/// Pose structure #[derive(Debug, Clone, Copy)] pub struct Pose { pub position: Point3D, pub orientation: Quaternion, } -/// Twist structure #[derive(Debug, Clone, Copy)] pub struct Twist { pub linear: Vector3, pub angular: Vector3, } -/// PoseWithCovariance structure #[derive(Debug, Clone, Copy)] pub struct PoseWithCovariance { pub pose: Pose, pub covariance: [f64; 36], } -/// EKF Parameters +#[derive(Debug, Clone)] +pub struct EKFOdometry { + pub header: imu_driver::Header, + pub child_frame_id: &'static str, + pub pose: PoseWithCovariance, + pub twist: TwistWithCovariance, +} + #[derive(Debug, Clone)] pub struct EKFParameters { pub enable_yaw_bias_estimation: bool, @@ -96,7 +95,6 @@ impl Default for EKFParameters { } } -/// Simple 1D Filter for z, roll, pitch #[derive(Debug, Clone)] pub struct Simple1DFilter { initialized: bool, @@ -127,11 +125,9 @@ impl Simple1DFilter { return; } - // Prediction step let proc_var_x_d = self.proc_var_x_c * dt * dt; self.var = self.var + proc_var_x_d; - // Update step let kalman_gain = self.var / (self.var + obs_var); self.x = self.x + kalman_gain * (obs - self.x); self.var = (1.0 - kalman_gain) * self.var; @@ -150,7 +146,6 @@ impl Simple1DFilter { } } -/// Main EKF Module #[derive(Debug, Clone)] pub struct EKFModule { params: EKFParameters, @@ -162,8 +157,7 @@ pub struct EKFModule { pitch_filter: Simple1DFilter, accumulated_delay_times: Vec, last_angular_velocity: Vector3, - /// MRM (Minimal Risk Maneuver) mode flag - /// When true, only prediction is performed (no measurement updates) + // When true, only prediction is performed (no measurement updates) is_mrm_mode: bool, } @@ -173,7 +167,6 @@ impl EKFModule { let mut state = StateVector::zeros(); let mut covariance = StateCovariance::identity() * 1e15; - // Initialize covariance with reasonable values covariance[(StateIndex::Yaw as usize, StateIndex::Yaw as usize)] = 50.0; if params.enable_yaw_bias_estimation { covariance[(StateIndex::YawBias as usize, StateIndex::YawBias as usize)] = 50.0; @@ -205,9 +198,7 @@ impl EKFModule { } } - /// Initialize EKF with initial pose pub fn initialize(&mut self, initial_pose: Pose) { - // Set initial state directly from pose self.state[StateIndex::X as usize] = initial_pose.position.x; self.state[StateIndex::Y as usize] = initial_pose.position.y; self.state[StateIndex::Yaw as usize] = self.quaternion_to_yaw(initial_pose.orientation); @@ -215,20 +206,16 @@ impl EKFModule { self.state[StateIndex::Vx as usize] = 0.0; self.state[StateIndex::Wz as usize] = 0.0; - // Initialize covariance (simplified) self.covariance = StateCovariance::identity() * 0.01; if self.params.enable_yaw_bias_estimation { self.covariance[(StateIndex::YawBias as usize, StateIndex::YawBias as usize)] = 0.0001; } - // Initialize filters self.z_filter.init(initial_pose.position.z, 0.01); self.roll_filter.init(0.0, 0.01); self.pitch_filter.init(0.0, 0.01); } - /// Predict next state using nonlinear state transition (core prediction logic) - /// x_{k+1} = x_k + vx * cos(yaw + bias) * dt, y_{k+1} = y_k + vx * sin(yaw + bias) * dt, etc. fn predict_next_state(&self, dt: f64) -> StateVector { let mut x_next = self.state.clone(); let x = self.state[StateIndex::X as usize]; @@ -238,28 +225,23 @@ impl EKFModule { let vx = self.state[StateIndex::Vx as usize]; let wz = self.state[StateIndex::Wz as usize]; - // Nonlinear state transition x_next[StateIndex::X as usize] = x + vx * cos(yaw + yaw_bias) * dt; x_next[StateIndex::Y as usize] = y + vx * sin(yaw + yaw_bias) * dt; - // Normalize yaw to [-π, π] range (Autoware compatible) let yaw_next = yaw + wz * dt; x_next[StateIndex::Yaw as usize] = atan2(sin(yaw_next), cos(yaw_next)); - x_next[StateIndex::YawBias as usize] = yaw_bias; // yaw bias doesn't change - x_next[StateIndex::Vx as usize] = vx; // velocity doesn't change in predict - x_next[StateIndex::Wz as usize] = wz; // angular velocity doesn't change in predict + x_next[StateIndex::YawBias as usize] = yaw_bias; + x_next[StateIndex::Vx as usize] = vx; + x_next[StateIndex::Wz as usize] = wz; x_next } - /// Create state transition (Jacobian) matrix F - /// F = d(f)/d(x) where f is the nonlinear state transition function fn create_state_transition_matrix(&self, dt: f64) -> Matrix6 { let mut F = Matrix6::identity(); let yaw = self.state[StateIndex::Yaw as usize]; let yaw_bias = self.state[StateIndex::YawBias as usize]; let vx = self.state[StateIndex::Vx as usize]; - // Jacobian of position with respect to yaw and velocity F[(StateIndex::X as usize, StateIndex::Yaw as usize)] = -vx * sin(yaw + yaw_bias) * dt; F[(StateIndex::X as usize, StateIndex::YawBias as usize)] = -vx * sin(yaw + yaw_bias) * dt; F[(StateIndex::X as usize, StateIndex::Vx as usize)] = cos(yaw + yaw_bias) * dt; @@ -273,12 +255,9 @@ impl EKFModule { F } - /// Calculate process noise covariance Q - /// Q represents the uncertainty in the motion model fn process_noise_covariance(&self, dt: f64) -> Matrix6 { let mut Q = Matrix6::zeros(); - // Process noise for each state variable Q[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = self.params.proc_stddev_vx_c * self.params.proc_stddev_vx_c * dt * dt; Q[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = @@ -286,7 +265,6 @@ impl EKFModule { Q[(StateIndex::Yaw as usize, StateIndex::Yaw as usize)] = self.params.proc_stddev_yaw_c * self.params.proc_stddev_yaw_c * dt * dt; - // No process noise for position and yaw bias Q[(StateIndex::X as usize, StateIndex::X as usize)] = 0.0; Q[(StateIndex::Y as usize, StateIndex::Y as usize)] = 0.0; Q[(StateIndex::YawBias as usize, StateIndex::YawBias as usize)] = 0.0; @@ -294,37 +272,22 @@ impl EKFModule { Q } - /// Predict step of EKF (uses predict_next_state, create_state_transition_matrix, and process_noise_covariance) pub fn predict(&mut self, dt: f64) { - // 1. Predict next state using nonlinear motion model self.state = self.predict_next_state(dt); - - // 2. Create state transition (Jacobian) matrix let F = self.create_state_transition_matrix(dt); - - // 3. Calculate process noise covariance let Q = self.process_noise_covariance(dt); - - // 4. Predict covariance: P = F * P * F^T + Q self.covariance = F * self.covariance * F.transpose() + Q; - - // 5. Update accumulated delay times self.accumulate_delay_time(dt); } - /// Predict with delay support (Autoware compatible) - /// This version maintains the delay history for measurement updates pub fn predict_with_delay(&mut self, dt: f64) { self.predict(dt); } - /// Predict-only step (for MRM mode when measurement updates are not available) - /// Only performs prediction without any measurement updates pub fn predict_only(&mut self, dt: f64) { self.predict(dt); } - /// Get current pose for tf publishing pub fn get_current_pose(&self, get_biased_yaw: bool) -> Pose { let z = self.z_filter.get_x(); let roll = self.roll_filter.get_x(); @@ -347,7 +310,6 @@ impl EKFModule { } } - /// Get current twist pub fn get_current_twist(&self) -> Twist { let vx = self.state[StateIndex::Vx as usize]; let wz = self.state[StateIndex::Wz as usize]; @@ -358,72 +320,52 @@ impl EKFModule { } } - /// Get yaw bias pub fn get_yaw_bias(&self) -> f64 { self.state[StateIndex::YawBias as usize] } - /// Get current pose with covariance for publishing pub fn get_current_pose_with_covariance(&self) -> PoseWithCovariance { - // Get current pose let pose = self.get_current_pose(false); - - // Get covariance matrix let pose_covariance = self.get_current_pose_covariance(); - - // Create and return PoseWithCovariance PoseWithCovariance { pose, covariance: pose_covariance, } } - /// Get pose covariance (simplified 6x6 to 36-element array) pub fn get_current_pose_covariance(&self) -> [f64; 36] { let mut cov = [0.0; 36]; - // Copy 6x6 covariance matrix to 36-element array for i in 0..6 { for j in 0..6 { cov[i * 6 + j] = self.covariance[(i, j)]; } } - // Add z, roll, pitch variances - cov[14] = self.z_filter.get_var(); // Z_Z - cov[21] = self.roll_filter.get_var(); // ROLL_ROLL - cov[28] = self.pitch_filter.get_var(); // PITCH_PITCH + cov[14] = self.z_filter.get_var(); + cov[21] = self.roll_filter.get_var(); + cov[28] = self.pitch_filter.get_var(); cov } - /// Get twist covariance pub fn get_current_twist_covariance(&self) -> [f64; 36] { let mut cov = [0.0; 36]; - // Simplified: only vx and wz have significant covariance - cov[0] = self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)]; // VX_VX - cov[35] = self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)]; // WZ_WZ + cov[0] = self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)]; + cov[35] = self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)]; cov } - /// Update velocity measurement (measurement update for Vx and Wz) - /// This is NOT executed during MRM mode (dead reckoning only) pub fn update_velocity(&mut self, vx_measurement: f64, wz_measurement: f64) { - // Skip measurement update during MRM mode if self.is_mrm_mode { return; } - // Simple measurement update using Kalman gain - // This assumes direct observation of velocity states - - // Measurement variance (assumed) let vx_obs_var = 1.0; let wz_obs_var = 0.1; - // Update Vx let vx_var = self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)]; let vx_gain = vx_var / (vx_var + vx_obs_var); self.state[StateIndex::Vx as usize] = self.state[StateIndex::Vx as usize] @@ -431,7 +373,6 @@ impl EKFModule { self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = (1.0 - vx_gain) * vx_var; - // Update Wz let wz_var = self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)]; let wz_gain = wz_var / (wz_var + wz_obs_var); self.state[StateIndex::Wz as usize] = self.state[StateIndex::Wz as usize] @@ -440,18 +381,14 @@ impl EKFModule { (1.0 - wz_gain) * wz_var; } - /// Set MRM (Minimal Risk Maneuver) mode - /// When MRM mode is active, only prediction is performed (no measurement updates) pub fn set_mrm_mode(&mut self, is_mrm: bool) { self.is_mrm_mode = is_mrm; } - /// Get current MRM mode status pub fn is_mrm(&self) -> bool { self.is_mrm_mode } - /// Accumulate delay time pub fn accumulate_delay_time(&mut self, dt: f64) { let len = self.accumulated_delay_times.len(); if len == 0 { @@ -461,14 +398,12 @@ impl EKFModule { let last_time = self.accumulated_delay_times[len - 1]; let new_time = last_time + dt; - // Shift and add new time for i in 0..len - 1 { self.accumulated_delay_times[i] = self.accumulated_delay_times[i + 1]; } self.accumulated_delay_times[len - 1] = new_time; } - /// Find closest delay time index pub fn find_closest_delay_time_index(&self, target_value: f64) -> usize { let len = self.accumulated_delay_times.len(); if len == 0 { @@ -479,7 +414,6 @@ impl EKFModule { return len; } - // Simple linear search for closest value let mut closest_index = 0; let mut min_diff = f64::MAX; @@ -495,7 +429,6 @@ impl EKFModule { closest_index } - // Utility functions for quaternion and euler angle conversions fn quaternion_to_yaw(&self, q: Quaternion) -> f64 { atan2( 2.0 * (q.w * q.z + q.x * q.y), @@ -520,12 +453,10 @@ impl EKFModule { } fn quaternion_to_rpy(&self, q: Quaternion) -> (f64, f64, f64) { - // Roll (x-axis rotation) let sinr_cosp = 2.0 * (q.w * q.x + q.y * q.z); let cosr_cosp = 1.0 - 2.0 * (q.x * q.x + q.y * q.y); let roll = atan2(sinr_cosp, cosr_cosp); - // Pitch (y-axis rotation) let sinp = 2.0 * (q.w * q.y - q.z * q.x); let pitch = if sinp.abs() >= 1.0 { PI / 2.0 * sinp.signum() @@ -533,7 +464,6 @@ impl EKFModule { asin(sinp) }; - // Yaw (z-axis rotation) let siny_cosp = 2.0 * (q.w * q.z + q.x * q.y); let cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z); let yaw = atan2(siny_cosp, cosy_cosp); @@ -635,11 +565,8 @@ mod tests { let pose_with_cov = ekf.get_current_pose_with_covariance(); - // Check pose assert!((pose_with_cov.pose.position.x - 1.0).abs() < 1e-6); assert!((pose_with_cov.pose.position.y - 2.0).abs() < 1e-6); - - // Check covariance array assert_eq!(pose_with_cov.covariance.len(), 36); } } diff --git a/applications/tests/test_autoware/gyro_odometer/src/lib.rs b/applications/tests/test_autoware/gyro_odometer/src/lib.rs index c6659acb7..8a5b30ee8 100644 --- a/applications/tests/test_autoware/gyro_odometer/src/lib.rs +++ b/applications/tests/test_autoware/gyro_odometer/src/lib.rs @@ -3,11 +3,9 @@ extern crate alloc; use alloc::{borrow::Cow, collections::VecDeque, string::String, vec::Vec}; use core::time::Duration; -// Global instance and lazy initialization support use core::ptr::null_mut; use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; -// Re-export common types for consistency with other libraries pub use imu_corrector::{transform_covariance, ImuWithCovariance, Transform}; pub use imu_driver::{Header, ImuMsg, Quaternion, Vector3}; pub use vehicle_velocity_converter::{ @@ -16,12 +14,9 @@ pub use vehicle_velocity_converter::{ static GYRO_ODOMETER_INSTANCE: AtomicPtr = AtomicPtr::new(null_mut()); -// Constants for covariance indices (matching C++ implementation) const COV_IDX_X_X: usize = 0; const COV_IDX_Y_Y: usize = 4; const COV_IDX_Z_Z: usize = 8; - -// XYZRPY covariance indices (matching C++ implementation) const COV_IDX_XYZRPY_X_X: usize = 0; const COV_IDX_XYZRPY_Y_Y: usize = 7; const COV_IDX_XYZRPY_Z_Z: usize = 14; @@ -29,19 +24,13 @@ const COV_IDX_XYZRPY_ROLL_ROLL: usize = 21; const COV_IDX_XYZRPY_PITCH_PITCH: usize = 28; const COV_IDX_XYZRPY_YAW_YAW: usize = 35; -// GyroOdometerCore implementation pub struct GyroOdometerCore { - // Parameters pub output_frame: String, pub message_timeout_sec: f64, - - // State pub vehicle_twist_arrived: bool, pub imu_arrived: bool, pub vehicle_twist_queue: VecDeque, pub gyro_queue: VecDeque, - - // Configuration pub config: GyroOdometerConfig, } @@ -62,15 +51,10 @@ impl GyroOdometerCore { }) } - /// Main processing function (matching C++ concat_gyro_and_odometer) - /// - /// # Arguments - /// * `current_time` - Current system time in nanoseconds (matching C++ this->now()) pub fn concat_gyro_and_odometer( &mut self, current_time: u64, ) -> Result> { - // Check if first messages have arrived (matching C++ implementation) if !self.vehicle_twist_arrived { self.vehicle_twist_queue.clear(); self.gyro_queue.clear(); @@ -81,15 +65,11 @@ impl GyroOdometerCore { self.gyro_queue.clear(); return Ok(None); } - - // Check timeout (matching C++ implementation) - // C++: vehicle_twist_dt = std::abs((this->now() - latest_vehicle_twist_ros_time_).seconds()) if !self.vehicle_twist_queue.is_empty() && !self.gyro_queue.is_empty() { let latest_vehicle_twist_stamp = self.vehicle_twist_queue.back().unwrap().header.timestamp; let latest_imu_stamp = self.gyro_queue.back().unwrap().header.timestamp; - // Check vehicle twist timeout (matching C++ vehicle_twist_dt > message_timeout_sec_) if Self::check_timeout( current_time, latest_vehicle_twist_stamp, @@ -102,7 +82,6 @@ impl GyroOdometerCore { ))); } - // Check IMU timeout (matching C++ imu_dt > message_timeout_sec_) if Self::check_timeout(current_time, latest_imu_stamp, self.message_timeout_sec) { self.vehicle_twist_queue.clear(); self.gyro_queue.clear(); @@ -112,33 +91,25 @@ impl GyroOdometerCore { } } - // Check queue size (matching C++ implementation) if self.vehicle_twist_queue.is_empty() || self.gyro_queue.is_empty() { return Ok(None); } - // Get transformation (matching C++ implementation) let tf = self.get_transform( &self.gyro_queue.front().unwrap().header.frame_id, &self.output_frame, )?; - // Transform gyro frame (matching C++ implementation) for gyro in &mut self.gyro_queue { let transformed_angular_velocity = tf.apply_to_vector(gyro.angular_velocity.clone()); - // Note: In C++ implementation, frame_id is updated to output_frame - // but for now we keep the original frame_id to avoid lifetime issues gyro.angular_velocity = transformed_angular_velocity; - // Covariance is already calculated and transformed by imu_corrector } - // Calculate mean and covariance (matching C++ implementation exactly) let mut vx_mean = 0.0; let mut gyro_mean = Vector3::new(0.0, 0.0, 0.0); let mut vx_covariance_original = 0.0; let mut gyro_covariance_original = Vector3::new(0.0, 0.0, 0.0); - // Calculate vehicle twist mean and covariance for vehicle_twist in &self.vehicle_twist_queue { vx_mean += vehicle_twist.twist.twist.linear.x; vx_covariance_original += vehicle_twist.twist.covariance[0 * 6 + 0]; @@ -146,12 +117,10 @@ impl GyroOdometerCore { vx_mean /= self.vehicle_twist_queue.len() as f64; vx_covariance_original /= self.vehicle_twist_queue.len() as f64; - // Calculate gyro mean and covariance (using pre-calculated covariance from imu_corrector) for gyro in &self.gyro_queue { gyro_mean.x += gyro.angular_velocity.x; gyro_mean.y += gyro.angular_velocity.y; gyro_mean.z += gyro.angular_velocity.z; - // Use pre-calculated covariance from imu_corrector (already transformed) gyro_covariance_original.x += gyro.angular_velocity_covariance[COV_IDX_X_X]; gyro_covariance_original.y += gyro.angular_velocity_covariance[COV_IDX_Y_Y]; gyro_covariance_original.z += gyro.angular_velocity_covariance[COV_IDX_Z_Z]; @@ -163,7 +132,6 @@ impl GyroOdometerCore { gyro_covariance_original.y /= self.gyro_queue.len() as f64; gyro_covariance_original.z /= self.gyro_queue.len() as f64; - // Create result (matching C++ implementation) let latest_vehicle_twist_stamp = self.vehicle_twist_queue.back().unwrap().header.timestamp; let latest_imu_stamp = self.gyro_queue.back().unwrap().header.timestamp; @@ -187,7 +155,6 @@ impl GyroOdometerCore { }, }; - // Set covariance (matching C++ implementation exactly) result.twist.covariance[COV_IDX_XYZRPY_X_X] = vx_covariance_original / self.vehicle_twist_queue.len() as f64; result.twist.covariance[COV_IDX_XYZRPY_Y_Y] = 100000.0; @@ -199,40 +166,28 @@ impl GyroOdometerCore { result.twist.covariance[COV_IDX_XYZRPY_YAW_YAW] = gyro_covariance_original.z / self.gyro_queue.len() as f64; - // Clear queues (matching C++ implementation) self.vehicle_twist_queue.clear(); self.gyro_queue.clear(); Ok(Some(result)) } - /// Check timeout (matching C++ implementation) - // Timeout checking function (matching C++ implementation) pub fn check_timeout(current_timestamp: u64, last_timestamp: u64, timeout_sec: f64) -> bool { - let dt = (current_timestamp as f64 - last_timestamp as f64) / 1_000_000_000.0; // Convert to seconds + let dt = (current_timestamp as f64 - last_timestamp as f64) / 1_000_000_000.0; dt.abs() > timeout_sec } - - /// Get transform (to be implemented by the caller) - /// Returns identity transform by default. Override this behavior by providing transform externally. pub fn get_transform(&self, from_frame: &str, to_frame: &str) -> Result { - // This should be implemented by the caller (e.g., transform listener) - // For now, return identity transform if from_frame == to_frame || from_frame == "" || to_frame == "" { Ok(Transform::identity()) } else { - // In a real implementation, this would query the transform tree - // For awkernel, we assume all frames are aligned (identity transform) Ok(Transform::identity()) } } - /// Process result and apply vehicle stop logic pub fn process_result( &self, twist_with_cov_raw: TwistWithCovarianceStamped, ) -> TwistWithCovarianceStamped { - // 車両が停止している場合の処理 (matching C++ implementation exactly) if twist_with_cov_raw.twist.twist.angular.z.abs() < 0.01 && twist_with_cov_raw.twist.twist.linear.x.abs() < 0.01 { @@ -246,7 +201,6 @@ impl GyroOdometerCore { } } - /// Convert vehicle velocity data to twist format pub fn convert_vehicle_velocity_to_twist( &self, odometry: &Odometry, @@ -267,19 +221,16 @@ impl GyroOdometerCore { } } - /// Add vehicle twist to queue (matching test_autoware usage pattern) pub fn add_vehicle_twist(&mut self, twist: TwistWithCovarianceStamped) { self.vehicle_twist_arrived = true; self.vehicle_twist_queue.push_back(twist); } - /// Add IMU data to queue (matching test_autoware usage pattern) pub fn add_imu(&mut self, imu: ImuWithCovariance) { self.imu_arrived = true; self.gyro_queue.push_back(imu); } - /// Process queues and get result (matching test_autoware process_queues_and_get_result) pub fn process_and_get_result( &mut self, current_time: u64, @@ -290,18 +241,15 @@ impl GyroOdometerCore { } } - /// Get queue sizes pub fn get_queue_sizes(&self) -> (usize, usize) { (self.vehicle_twist_queue.len(), self.gyro_queue.len()) } - /// Clear both queues pub fn clear_queues(&mut self) { self.vehicle_twist_queue.clear(); self.gyro_queue.clear(); } - /// Reset arrival flags pub fn reset_arrival_flags(&mut self) { self.vehicle_twist_arrived = false; self.imu_arrived = false; @@ -421,7 +369,6 @@ mod tests { let config = GyroOdometerConfig::default(); let mut core = GyroOdometerCore::new(config).unwrap(); - // Create IMU with covariance from imu_corrector let imu_with_cov = ImuWithCovariance { header: Header { frame_id: "imu_link", @@ -446,17 +393,15 @@ mod tests { 0.0, 0.0, 100000000.0, - ], // 10000^2 + ], }; - // Process IMU with covariance let result = core.process_imu_with_covariance(imu_with_cov); assert!(result.is_ok()); } #[test] fn test_transform_covariance_from_imu_corrector() { - // Test that we can use the transform_covariance function from imu_corrector let input = [1.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 3.0]; let output = transform_covariance(&input); assert_eq!(output[COV_IDX_X_X], 3.0); @@ -465,8 +410,6 @@ mod tests { } } -/// Get or initialize the global GyroOdometerCore instance -/// This provides lazy initialization with thread-safe access pub fn get_or_initialize() -> Result<&'static mut GyroOdometerCore> { let ptr = GYRO_ODOMETER_INSTANCE.load(AtomicOrdering::Acquire); @@ -474,15 +417,11 @@ pub fn get_or_initialize() -> Result<&'static mut GyroOdometerCore> { return Ok(unsafe { &mut *ptr }); } - // Not initialized, try to initialize let config = GyroOdometerConfig::default(); let core = GyroOdometerCore::new(config)?; - - // Allocate on heap and store pointer let boxed_core = alloc::boxed::Box::new(core); let new_ptr = alloc::boxed::Box::into_raw(boxed_core); - // Try to store the pointer atomically match GYRO_ODOMETER_INSTANCE.compare_exchange( null_mut(), new_ptr, @@ -490,11 +429,9 @@ pub fn get_or_initialize() -> Result<&'static mut GyroOdometerCore> { AtomicOrdering::Relaxed, ) { Ok(_) => { - // We successfully initialized Ok(unsafe { &mut *new_ptr }) } Err(existing_ptr) => { - // Another thread already initialized it, clean up our allocation unsafe { let _ = alloc::boxed::Box::from_raw(new_ptr); } diff --git a/applications/tests/test_autoware/imu_corrector/src/lib.rs b/applications/tests/test_autoware/imu_corrector/src/lib.rs index 97db33846..893efb3a8 100644 --- a/applications/tests/test_autoware/imu_corrector/src/lib.rs +++ b/applications/tests/test_autoware/imu_corrector/src/lib.rs @@ -5,7 +5,6 @@ use alloc::{format, string::String}; use imu_driver::{Header, ImuMsg, Quaternion, Vector3}; use nalgebra::{Matrix3, Quaternion as NQuaternion, UnitQuaternion, Vector3 as NVector3}; -// Transform structure (simplified TF representation) #[derive(Clone, Debug)] pub struct Transform { pub translation: Vector3, @@ -25,19 +24,15 @@ impl Transform { } } - /// Convert imu_driver Vector3 to nalgebra Vector3 fn to_nalgebra_vector3(&self, vec: &Vector3) -> NVector3 { NVector3::new(vec.x, vec.y, vec.z) } - /// Convert nalgebra Vector3 to imu_driver Vector3 fn to_imu_vector3(&self, vec: &NVector3) -> Vector3 { Vector3::new(vec.x, vec.y, vec.z) } - /// Convert imu_driver Quaternion to nalgebra UnitQuaternion fn to_nalgebra_quaternion(&self, quat: &Quaternion) -> UnitQuaternion { - // Create nalgebra Quaternion first, then normalize to UnitQuaternion let n_quat = NQuaternion::new(quat.w, quat.x, quat.y, quat.z); UnitQuaternion::from_quaternion(n_quat) } @@ -52,7 +47,6 @@ impl Transform { } } -// Dynamic TF listener interface (simplified version) pub trait TransformListener { fn get_latest_transform(&self, from_frame: &str, to_frame: &str) -> Option; fn get_transform_at_time( @@ -63,7 +57,6 @@ pub trait TransformListener { ) -> Option; } -// Mock TF listener for testing (can be replaced with actual ROS2 TF implementation) pub struct MockTransformListener { transforms: alloc::collections::BTreeMap, } @@ -93,12 +86,10 @@ impl TransformListener for MockTransformListener { to_frame: &str, _timestamp: u64, ) -> Option { - // For mock implementation, ignore timestamp and return latest self.get_latest_transform(from_frame, to_frame) } } -// Enhanced IMU structure with covariance information #[derive(Clone, Debug)] pub struct ImuWithCovariance { pub header: Header, @@ -131,7 +122,6 @@ impl ImuWithCovariance { } } -// Configuration structure pub struct ImuCorrectorConfig { pub angular_velocity_offset_x: f64, pub angular_velocity_offset_y: f64, @@ -144,7 +134,6 @@ pub struct ImuCorrectorConfig { } impl Default for ImuCorrectorConfig { - //sensing/autoware_imu_corrector/config/imu_corrector.param.yaml fn default() -> Self { Self { angular_velocity_offset_x: 0.0, @@ -159,7 +148,6 @@ impl Default for ImuCorrectorConfig { } } -// IMU corrector implementation pub struct ImuCorrector { config: ImuCorrectorConfig, transform_listener: T, @@ -186,60 +174,42 @@ impl ImuCorrector { self.config = config; } - /// Convert imu_driver Vector3 to nalgebra Vector3 fn to_nalgebra_vector3(&self, vec: &Vector3) -> NVector3 { NVector3::new(vec.x, vec.y, vec.z) } - /// Convert nalgebra Vector3 to imu_driver Vector3 fn to_imu_vector3(&self, vec: &NVector3) -> Vector3 { Vector3::new(vec.x, vec.y, vec.z) } - /// Convert imu_driver Quaternion to nalgebra UnitQuaternion fn to_nalgebra_quaternion(&self, quat: &Quaternion) -> UnitQuaternion { - // Create nalgebra Quaternion first, then normalize to UnitQuaternion let n_quat = NQuaternion::new(quat.w, quat.x, quat.y, quat.z); UnitQuaternion::from_quaternion(n_quat) } - /// Transform vector3 using transform (simplified version) fn transform_vector3(&self, vec: &Vector3, transform: &Transform) -> Vector3 { - // Convert to nalgebra types for transformation let nalgebra_vec = self.to_nalgebra_vector3(vec); let nalgebra_quat = self.to_nalgebra_quaternion(&transform.rotation); let nalgebra_trans = self.to_nalgebra_vector3(&transform.translation); - - // Apply rotation and translation let rotated = nalgebra_quat * nalgebra_vec; let result = rotated + nalgebra_trans; - - // Convert back to imu_driver Vector3 self.to_imu_vector3(&result) } - /// Transform covariance matrix (matches C++ transform_covariance function) - /// Takes the maximum covariance value and applies it to diagonal elements fn transform_covariance(&self, cov: &[f64; 9]) -> [f64; 9] { - // Find maximum covariance value from diagonal elements (xx, yy, zz) - let max_cov = cov[0].max(cov[4]).max(cov[8]); // X_X, Y_Y, Z_Z indices - - // Create new covariance matrix with max_cov on diagonal, zeros elsewhere + let max_cov = cov[0].max(cov[4]).max(cov[8]); let mut cov_transformed = [0.0; 9]; - cov_transformed[0] = max_cov; // X_X - cov_transformed[4] = max_cov; // Y_Y - cov_transformed[8] = max_cov; // Z_Z - // Other elements remain 0.0 + cov_transformed[0] = max_cov; + cov_transformed[4] = max_cov; + cov_transformed[8] = max_cov; cov_transformed } - /// Create default covariance matrix as array fn create_default_covariance_array(&self) -> [f64; 9] { [0.0; 9] } - /// Convert Matrix3 to array format for compatibility fn matrix3_to_array(&self, matrix: &Matrix3) -> [f64; 9] { [ matrix[(0, 0)], @@ -254,107 +224,78 @@ impl ImuCorrector { ] } - /// Correct IMU data with covariance (enhanced version for gyro_odometer) - /// This function matches the C++ callback_imu function more faithfully pub fn correct_imu_with_covariance( &self, imu_msg: &ImuMsg, transform: Option<&Transform>, ) -> ImuWithCovariance { - // Start with a copy of the input IMU message (matches C++ line 82) let mut corrected_imu = ImuWithCovariance::from_imu_msg(imu_msg); - - // Apply angular velocity offset correction (matches C++ lines 85-87) corrected_imu.angular_velocity.x -= self.config.angular_velocity_offset_x; corrected_imu.angular_velocity.y -= self.config.angular_velocity_offset_y; corrected_imu.angular_velocity.z -= self.config.angular_velocity_offset_z; - - // Calculate angular velocity covariance (matches C++ lines 89-93) - // Convert to array format: [xx, xy, xz, yx, yy, yz, zx, zy, zz] corrected_imu.angular_velocity_covariance[0] = - self.config.angular_velocity_stddev_xx * self.config.angular_velocity_stddev_xx; // xx + self.config.angular_velocity_stddev_xx * self.config.angular_velocity_stddev_xx; corrected_imu.angular_velocity_covariance[4] = - self.config.angular_velocity_stddev_yy * self.config.angular_velocity_stddev_yy; // yy + self.config.angular_velocity_stddev_yy * self.config.angular_velocity_stddev_yy; corrected_imu.angular_velocity_covariance[8] = - self.config.angular_velocity_stddev_zz * self.config.angular_velocity_stddev_zz; // zz - - // Calculate acceleration covariance (matches C++ lines 98-103) + self.config.angular_velocity_stddev_zz * self.config.angular_velocity_stddev_zz; let accel_var = self.config.acceleration_stddev * self.config.acceleration_stddev; - corrected_imu.linear_acceleration_covariance[0] = accel_var; // xx - corrected_imu.linear_acceleration_covariance[4] = accel_var; // yy - corrected_imu.linear_acceleration_covariance[8] = accel_var; // zz + corrected_imu.linear_acceleration_covariance[0] = accel_var; + corrected_imu.linear_acceleration_covariance[4] = accel_var; + corrected_imu.linear_acceleration_covariance[8] = accel_var; - // Apply TF transformation if provided (matches C++ lines 105-125) if let Some(tf) = transform { - // Transform linear acceleration (matches C++ line 115) corrected_imu.linear_acceleration = self.transform_vector3(&corrected_imu.linear_acceleration, tf); - // Transform linear acceleration covariance (matches C++ line 116) corrected_imu.linear_acceleration_covariance = self.transform_covariance(&corrected_imu.linear_acceleration_covariance); - - // Transform angular velocity (matches C++ line 118) corrected_imu.angular_velocity = self.transform_vector3(&corrected_imu.angular_velocity, tf); - // Transform angular velocity covariance (matches C++ line 119) corrected_imu.angular_velocity_covariance = self.transform_covariance(&corrected_imu.angular_velocity_covariance); - - // Update frame_id (matches C++ line 113) corrected_imu.header.frame_id = self.config.output_frame; } corrected_imu } - /// Correct IMU data (matches C++ implementation more closely) pub fn correct_imu(&self, imu_msg: &ImuMsg, transform: Option<&Transform>) -> ImuMsg { let corrected_with_cov = self.correct_imu_with_covariance(imu_msg, transform); corrected_with_cov.to_imu_msg() } - /// Correct IMU data with dynamic TF lookup (matches C++ callback_imu function) pub fn correct_imu_with_dynamic_tf(&self, imu_msg: &ImuMsg) -> Option { - // Get latest transform dynamically (matches C++ lines 106-107) let transform = self .transform_listener .get_latest_transform(&imu_msg.header.frame_id, self.config.output_frame)?; - // Apply correction with the dynamic transform let corrected_with_cov = self.correct_imu_with_covariance(imu_msg, Some(&transform)); Some(corrected_with_cov.to_imu_msg()) } - /// Correct IMU data with dynamic TF lookup and covariance pub fn correct_imu_with_dynamic_tf_covariance( &self, imu_msg: &ImuMsg, ) -> Option { - // Get latest transform dynamically (matches C++ lines 106-107) let transform = self .transform_listener .get_latest_transform(&imu_msg.header.frame_id, self.config.output_frame)?; - // Apply correction with the dynamic transform Some(self.correct_imu_with_covariance(imu_msg, Some(&transform))) } - /// Correct IMU data without TF transformation (simplified version) pub fn correct_imu_simple(&self, imu_msg: &ImuMsg) -> ImuMsg { let mut corrected_msg = imu_msg.clone(); - // Apply angular velocity offset correction corrected_msg.angular_velocity.x -= self.config.angular_velocity_offset_x; corrected_msg.angular_velocity.y -= self.config.angular_velocity_offset_y; corrected_msg.angular_velocity.z -= self.config.angular_velocity_offset_z; - // Update frame_id corrected_msg.header.frame_id = self.config.output_frame; corrected_msg } - /// Get covariance configuration for external use pub fn get_covariance_config(&self) -> (f64, f64, f64, f64) { ( self.config.angular_velocity_stddev_xx, @@ -365,20 +306,12 @@ impl ImuCorrector { } } -/// Public transform_covariance function that can be called from other libraries -/// Transform covariance matrix (matches C++ transform_covariance function) -/// Takes the maximum covariance value and applies it to diagonal elements pub fn transform_covariance(cov: &[f64; 9]) -> [f64; 9] { - // Find maximum covariance value from diagonal elements (xx, yy, zz) - let max_cov = cov[0].max(cov[4]).max(cov[8]); // X_X, Y_Y, Z_Z indices - - // Create new covariance matrix with max_cov on diagonal, zeros elsewhere + let max_cov = cov[0].max(cov[4]).max(cov[8]); let mut cov_transformed = [0.0; 9]; - cov_transformed[0] = max_cov; // X_X - cov_transformed[4] = max_cov; // Y_Y - cov_transformed[8] = max_cov; // Z_Z - // Other elements remain 0.0 - + cov_transformed[0] = max_cov; + cov_transformed[4] = max_cov; + cov_transformed[8] = max_cov; cov_transformed } @@ -406,8 +339,6 @@ mod tests { let corrected_msg = corrector.correct_imu_simple(&imu_msg); assert_eq!(corrected_msg.header.frame_id, "base_link"); - - // Check that offset correction was applied (no offset in default config) assert_eq!(corrected_msg.angular_velocity.x, 0.1); assert_eq!(corrected_msg.angular_velocity.y, 0.2); assert_eq!(corrected_msg.angular_velocity.z, 0.3); @@ -440,7 +371,6 @@ mod tests { let corrected_msg = corrector.correct_imu_simple(&imu_msg); - // Check that offset correction was applied assert_eq!(corrected_msg.angular_velocity.x, 0.1 - 0.05); assert_eq!(corrected_msg.angular_velocity.y, 0.2 - 0.1); assert_eq!(corrected_msg.angular_velocity.z, 0.3 - 0.15); @@ -465,77 +395,64 @@ mod tests { }; let corrected_with_cov = corrector.correct_imu_with_covariance(&imu_msg, None); - - // Check that covariance was calculated correctly - let expected_angular_var = 0.03 * 0.03; // stddev^2 + let expected_angular_var = 0.03 * 0.03; assert_eq!( corrected_with_cov.angular_velocity_covariance[0], expected_angular_var - ); // xx + ); assert_eq!( corrected_with_cov.angular_velocity_covariance[4], expected_angular_var - ); // yy + ); assert_eq!( corrected_with_cov.angular_velocity_covariance[8], expected_angular_var - ); // zz - - let expected_accel_var = 10000.0 * 10000.0; // stddev^2 + ); + let expected_accel_var = 10000.0 * 10000.0; assert_eq!( corrected_with_cov.linear_acceleration_covariance[0], expected_accel_var - ); // xx + ); assert_eq!( corrected_with_cov.linear_acceleration_covariance[4], expected_accel_var - ); // yy + ); assert_eq!( corrected_with_cov.linear_acceleration_covariance[8], expected_accel_var - ); // zz + ); } #[test] fn test_transform_covariance() { let corrector = ImuCorrector::new(); - - // Test covariance transformation (matches C++ transform_covariance function) - let input_cov = [1.0, 0.5, 0.3, 0.5, 2.0, 0.4, 0.3, 0.4, 3.0]; // xx=1, yy=2, zz=3 + let input_cov = [1.0, 0.5, 0.3, 0.5, 2.0, 0.4, 0.3, 0.4, 3.0]; let transformed_cov = corrector.transform_covariance(&input_cov); - // Should take maximum value (3.0) and apply to diagonal - assert_eq!(transformed_cov[0], 3.0); // xx - assert_eq!(transformed_cov[4], 3.0); // yy - assert_eq!(transformed_cov[8], 3.0); // zz - - // Off-diagonal elements should be 0 - assert_eq!(transformed_cov[1], 0.0); // xy - assert_eq!(transformed_cov[2], 0.0); // xz - assert_eq!(transformed_cov[3], 0.0); // yx - assert_eq!(transformed_cov[5], 0.0); // yz - assert_eq!(transformed_cov[6], 0.0); // zx - assert_eq!(transformed_cov[7], 0.0); // zy + assert_eq!(transformed_cov[0], 3.0); + assert_eq!(transformed_cov[4], 3.0); + assert_eq!(transformed_cov[8], 3.0); + assert_eq!(transformed_cov[1], 0.0); + assert_eq!(transformed_cov[2], 0.0); + assert_eq!(transformed_cov[3], 0.0); + assert_eq!(transformed_cov[5], 0.0); + assert_eq!(transformed_cov[6], 0.0); + assert_eq!(transformed_cov[7], 0.0); } #[test] fn test_public_transform_covariance() { - // Test the public transform_covariance function - let input_cov = [1.0, 0.5, 0.3, 0.5, 2.0, 0.4, 0.3, 0.4, 3.0]; // xx=1, yy=2, zz=3 + let input_cov = [1.0, 0.5, 0.3, 0.5, 2.0, 0.4, 0.3, 0.4, 3.0]; let transformed_cov = transform_covariance(&input_cov); - - // Should take maximum value (3.0) and apply to diagonal - assert_eq!(transformed_cov[0], 3.0); // xx - assert_eq!(transformed_cov[4], 3.0); // yy - assert_eq!(transformed_cov[8], 3.0); // zz - - // Off-diagonal elements should be 0 - assert_eq!(transformed_cov[1], 0.0); // xy - assert_eq!(transformed_cov[2], 0.0); // xz - assert_eq!(transformed_cov[3], 0.0); // yx - assert_eq!(transformed_cov[5], 0.0); // yz - assert_eq!(transformed_cov[6], 0.0); // zx - assert_eq!(transformed_cov[7], 0.0); // zy + assert_eq!(transformed_cov[0], 3.0); + assert_eq!(transformed_cov[4], 3.0); + assert_eq!(transformed_cov[8], 3.0); + assert_eq!(transformed_cov[1], 0.0); + assert_eq!(transformed_cov[2], 0.0); + assert_eq!(transformed_cov[3], 0.0); + assert_eq!(transformed_cov[5], 0.0); + assert_eq!(transformed_cov[6], 0.0); + assert_eq!(transformed_cov[7], 0.0); } #[test] @@ -567,24 +484,20 @@ mod tests { }; let corrected_with_cov = corrector.correct_imu_with_covariance(&imu_msg, Some(&transform)); - - // Check that frame_id was updated assert_eq!(corrected_with_cov.header.frame_id, "base_link"); - - // Check that covariance was transformed (should use max value) - let expected_angular_var = 0.03 * 0.03; // stddev^2 + let expected_angular_var = 0.03 * 0.03; assert_eq!( corrected_with_cov.angular_velocity_covariance[0], expected_angular_var - ); // xx + ); assert_eq!( corrected_with_cov.angular_velocity_covariance[4], expected_angular_var - ); // yy + ); assert_eq!( corrected_with_cov.angular_velocity_covariance[8], expected_angular_var - ); // zz + ); } #[test] @@ -621,17 +534,13 @@ mod tests { assert!(corrected_msg.is_some()); let corrected_msg = corrected_msg.unwrap(); - // Check that frame_id was updated assert_eq!(corrected_msg.header.frame_id, "base_link"); - - // Check that translation was applied (linear acceleration should be transformed) - // With translation of (1.0, 0.0, 0.0), the acceleration should be affected - assert_eq!(corrected_msg.linear_acceleration.x, 9.8); // No change for identity rotation + assert_eq!(corrected_msg.linear_acceleration.x, 9.8); } #[test] fn test_imu_corrector_with_dynamic_tf_no_transform() { - let transform_listener = MockTransformListener::new(); // Empty listener + let transform_listener = MockTransformListener::new(); let corrector = ImuCorrector::with_transform_listener(transform_listener); let imu_msg = ImuMsg { header: Header { @@ -649,7 +558,6 @@ mod tests { }; let corrected_msg = corrector.correct_imu_with_dynamic_tf(&imu_msg); - // Should return None when no transform is available assert!(corrected_msg.is_none()); } } diff --git a/applications/tests/test_autoware/imu_driver/src/lib.rs b/applications/tests/test_autoware/imu_driver/src/lib.rs index fa36930eb..3b8a947df 100644 --- a/applications/tests/test_autoware/imu_driver/src/lib.rs +++ b/applications/tests/test_autoware/imu_driver/src/lib.rs @@ -2,10 +2,8 @@ extern crate alloc; use alloc::{format, string::String, vec, vec::Vec}; -//use awkernel_lib::time::Time; use core::f64::consts::PI; -// IMU message structure #[derive(Clone, Debug)] pub struct ImuMsg { pub header: Header, @@ -84,7 +82,6 @@ pub fn build_imu_msg_from_csv_row( } } -/// IMU data parser for Tamagawa IMU pub struct TamagawaImuParser { frame_id: &'static str, dummy_counter: u16, @@ -98,16 +95,7 @@ impl TamagawaImuParser { } } - /// Parse binary IMU data from Tamagawa sensor - /// - /// # Arguments - /// * `data` - Raw binary data from sensor (expected length 58 bytes) - /// * `timestamp` - Current timestamp in nanoseconds - /// - /// # Returns - /// * `Option` - Parsed IMU message if data is valid, None otherwise pub fn parse_binary_data(&self, data: &[u8], timestamp: u64) -> Option { - // Check if data is valid BIN format and correct length if data.len() != 58 || data[5] != b'B' || data[6] != b'I' @@ -121,47 +109,23 @@ impl TamagawaImuParser { imu_msg.header.frame_id = self.frame_id; imu_msg.header.timestamp = timestamp; - // Parse counter (bytes 11-12) let _counter = ((data[11] as u16) << 8) | (data[12] as u16); - - // Parse angular velocity (gyroscope) data - // Bytes 15-16: X-axis angular velocity let raw_data = self.parse_signed_16bit(&data[15..17]); imu_msg.angular_velocity.x = self.convert_angular_velocity(raw_data); - - // Bytes 17-18: Y-axis angular velocity let raw_data = self.parse_signed_16bit(&data[17..19]); imu_msg.angular_velocity.y = self.convert_angular_velocity(raw_data); - - // Bytes 19-20: Z-axis angular velocity let raw_data = self.parse_signed_16bit(&data[19..21]); imu_msg.angular_velocity.z = self.convert_angular_velocity(raw_data); - - // Parse linear acceleration data - // Bytes 21-22: X-axis acceleration let raw_data = self.parse_signed_16bit(&data[21..23]); imu_msg.linear_acceleration.x = self.convert_acceleration(raw_data); - - // Bytes 23-24: Y-axis acceleration let raw_data = self.parse_signed_16bit(&data[23..25]); imu_msg.linear_acceleration.y = self.convert_acceleration(raw_data); - - // Bytes 25-26: Z-axis acceleration let raw_data = self.parse_signed_16bit(&data[25..27]); imu_msg.linear_acceleration.z = self.convert_acceleration(raw_data); Some(imu_msg) } - /// Generate dummy binary data for testing - /// - /// # Arguments - /// * `timestamp` - Current timestamp in nanoseconds - /// * `angular_velocity` - Angular velocity values in rad/s - /// * `linear_acceleration` - Linear acceleration values in m/s² - /// - /// # Returns - /// * `Vec` - 58-byte binary data in Tamagawa format pub fn generate_dummy_binary_data( &mut self, _timestamp: u64, @@ -170,37 +134,28 @@ impl TamagawaImuParser { ) -> Vec { let mut data = vec![0u8; 58]; - // Header: $TSC,BIN, data[0..5].copy_from_slice(b"$TSC,"); data[5] = b'B'; data[6] = b'I'; data[7] = b'N'; data[8] = b','; - - // Counter (bytes 11-12) data[11] = (self.dummy_counter >> 8) as u8; data[12] = (self.dummy_counter & 0xFF) as u8; self.dummy_counter = self.dummy_counter.wrapping_add(1); - // Convert angular velocity from rad/s to LSB let angular_vel_x_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.x); let angular_vel_y_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.y); let angular_vel_z_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.z); - - // Convert acceleration from m/s² to LSB let accel_x_lsb = self.convert_acceleration_to_lsb(linear_acceleration.x); let accel_y_lsb = self.convert_acceleration_to_lsb(linear_acceleration.y); let accel_z_lsb = self.convert_acceleration_to_lsb(linear_acceleration.z); - // Angular velocity data (bytes 15-20) data[15] = (angular_vel_x_lsb >> 8) as u8; data[16] = (angular_vel_x_lsb & 0xFF) as u8; data[17] = (angular_vel_y_lsb >> 8) as u8; data[18] = (angular_vel_y_lsb & 0xFF) as u8; data[19] = (angular_vel_z_lsb >> 8) as u8; data[20] = (angular_vel_z_lsb & 0xFF) as u8; - - // Linear acceleration data (bytes 21-26) data[21] = (accel_x_lsb >> 8) as u8; data[22] = (accel_x_lsb & 0xFF) as u8; data[23] = (accel_y_lsb >> 8) as u8; @@ -211,110 +166,57 @@ impl TamagawaImuParser { data } - /// Generate sinusoidal dummy data for realistic simulation - /// - /// # Arguments - /// * `timestamp` - Current timestamp in nanoseconds - /// * `time_offset` - Time offset for phase calculation - /// - /// # Returns - /// * `Vec` - 58-byte binary data with sinusoidal motion - /* - pub fn generate_sinusoidal_dummy_data(&mut self, timestamp: u64, time_offset: f64) -> Vec { - // Convert timestamp to seconds for sinusoidal calculation - let time_sec = (timestamp as f64) / 1_000_000_000.0 + time_offset; - - // Generate sinusoidal angular velocity (rotation around Z-axis) - let angular_vel_z = 0.5 * (2.0 * PI * 0.1 * time_sec).sin(); // 0.1 Hz, ±0.5 rad/s - - // Generate sinusoidal acceleration (oscillation in X-axis) - let accel_x = 9.8 + 2.0 * (2.0 * PI * 0.05 * time_sec).sin(); // 0.05 Hz, 9.8±2.0 m/s² - - let angular_velocity = Vector3::new(0.1, 0.2, angular_vel_z); - let linear_acceleration = Vector3::new(accel_x, 0.0, 9.8); - - self.generate_dummy_binary_data(timestamp, angular_velocity, linear_acceleration) - } - */ - - /// Generate static dummy data with fixed values - /// - /// # Arguments - /// * `timestamp` - Current timestamp in nanoseconds - /// - /// # Returns - /// * `Vec` - 58-byte binary data with static values - // Autoware側と統一：加速度は重力加速度のみ pub fn generate_static_dummy_data(&mut self, timestamp: u64) -> Vec { let angular_velocity = Vector3::new(0.1, 0.2, 0.01); - let linear_acceleration = Vector3::new(0.0, 0.0, 9.80665); // z方向のみ重力加速度 + let linear_acceleration = Vector3::new(0.0, 0.0, 9.80665); self.generate_dummy_binary_data(timestamp, angular_velocity, linear_acceleration) } - /// Convert angular velocity from rad/s to LSB fn convert_angular_velocity_to_lsb(&self, rad_per_sec: f64) -> i16 { let deg_per_sec = rad_per_sec * 180.0 / PI; let lsb = deg_per_sec / (200.0 / (1 << 15) as f64); lsb as i16 } - /// Convert acceleration from m/s² to LSB fn convert_acceleration_to_lsb(&self, m_per_sec_squared: f64) -> i16 { let lsb = m_per_sec_squared / (100.0 / (1 << 15) as f64); lsb as i16 } - /// Parse signed 16-bit value from 2 bytes - /// - /// This matches the C++ implementation: - /// raw_data = ((((rbuf[15] << 8) & 0xFFFFFF00) | (rbuf[16] & 0x000000FF))); fn parse_signed_16bit(&self, data: &[u8]) -> i16 { if data.len() != 2 { return 0; } - // Match C++ implementation: 32-bit integer with masking let high_byte = (data[0] as i32) << 8; let low_byte = data[1] as i32; let result = (high_byte & 0xFFFFFF00u32 as i32) | (low_byte & 0x000000FF); result as i16 } - /// Convert raw angular velocity data to rad/s - /// - /// Raw data is in LSB units with range ±200 deg/s - /// Conversion: raw * (200 / 2^15) * π / 180 fn convert_angular_velocity(&self, raw_data: i16) -> f64 { let lsb_to_deg_per_sec = 200.0 / (1 << 15) as f64; let deg_to_rad = PI / 180.0; (raw_data as f64) * lsb_to_deg_per_sec * deg_to_rad } - /// Convert raw acceleration data to m/s² - /// - /// Raw data is in LSB units with range ±100 m/s² - /// Conversion: raw * (100 / 2^15) fn convert_acceleration(&self, raw_data: i16) -> f64 { let lsb_to_m_per_sec_squared = 100.0 / (1 << 15) as f64; (raw_data as f64) * lsb_to_m_per_sec_squared } - /// Generate version request command pub fn generate_version_request() -> &'static [u8] { b"$TSC,VER*29\r\n" } - /// Generate offset cancel request command pub fn generate_offset_cancel_request(offset_value: i32) -> String { format!("$TSC,OFC,{}\r\n", offset_value) } - /// Generate heading reset request command pub fn generate_heading_reset_request() -> &'static [u8] { b"$TSC,HRST*29\r\n" } - /// Generate binary data request command pub fn generate_binary_request(rate_hz: u32) -> String { format!("$TSC,BIN,{}\r\n", rate_hz) } @@ -326,32 +228,23 @@ mod tests { #[test] fn example_usage() { - // Create parser instance let mut parser = TamagawaImuParser::new("imu_link"); - - // Generate commands let version_cmd = TamagawaImuParser::generate_version_request(); let binary_cmd = TamagawaImuParser::generate_binary_request(30); let offset_cmd = TamagawaImuParser::generate_offset_cancel_request(123); let heading_cmd = TamagawaImuParser::generate_heading_reset_request(); - - // Example 1: Generate static dummy data let static_dummy_data = parser.generate_static_dummy_data(123456789); if let Some(imu_msg) = parser.parse_binary_data(&static_dummy_data, 123456789) { - // Use the parsed IMU message let _angular_vel = imu_msg.angular_velocity; let _acceleration = imu_msg.linear_acceleration; } - // Example 2: Generate sinusoidal dummy data for realistic simulation let sinusoidal_dummy_data = parser.generate_sinusoidal_dummy_data(123456789, 0.0); if let Some(imu_msg) = parser.parse_binary_data(&sinusoidal_dummy_data, 123456789) { - // Use the parsed IMU message with realistic motion let _angular_vel = imu_msg.angular_velocity; let _acceleration = imu_msg.linear_acceleration; } - // Example 3: Generate custom dummy data let custom_angular_velocity = Vector3::new(0.5, -0.3, 1.2); let custom_acceleration = Vector3::new(8.5, 2.1, 10.2); let custom_dummy_data = parser.generate_dummy_binary_data( @@ -360,7 +253,6 @@ mod tests { custom_acceleration, ); if let Some(imu_msg) = parser.parse_binary_data(&custom_dummy_data, 123456789) { - // Use the parsed IMU message with custom values let _angular_vel = imu_msg.angular_velocity; let _acceleration = imu_msg.linear_acceleration; } diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs index b0f5a2f9e..24a0fc695 100644 --- a/applications/tests/test_autoware/src/lib.rs +++ b/applications/tests/test_autoware/src/lib.rs @@ -10,40 +10,23 @@ use awkernel_lib::sync::mutex::{MCSNode, Mutex}; use core::net::Ipv4Addr; use core::time::Duration; use csv_core::{ReadRecordResult, Reader}; -// Thread-safe state management using atomic operations use core::sync::atomic::{AtomicBool, AtomicUsize, Ordering}; use imu_corrector::{ImuCorrector, ImuWithCovariance}; use imu_driver::{build_imu_msg_from_csv_row, ImuCsvRow, ImuMsg, TamagawaImuParser}; - use vehicle_velocity_converter::{ build_velocity_report_from_csv_row, reactor_helpers, Twist, TwistWithCovariance, TwistWithCovarianceStamped, VehicleVelocityConverter, VelocityCsvRow, }; - use ekf_localizer::{ - get_or_initialize_default_module, Point3D, Pose, PoseWithCovariance, Quaternion, + get_or_initialize_default_module, EKFOdometry, Point3D, Pose, PoseWithCovariance, Quaternion, }; -/// EKF Odometry structure for publishing (equivalent to C++ nav_msgs::msg::Odometry) -#[derive(Debug, Clone)] -pub struct EKFOdometry { - pub header: imu_driver::Header, - pub child_frame_id: &'static str, - pub pose: PoseWithCovariance, - pub twist: TwistWithCovariance, -} - const LOG_ENABLE: bool = false; const INTERFACE_ID: u64 = 0; - -// 10.0.2.0/24 is the IP address range of the Qemu's network. const INTERFACE_ADDR: Ipv4Addr = Ipv4Addr::new(10, 0, 2, 64); - -// 10.0.2.2 is the IP address of the Qemu's host. const UDP_TCP_DST_ADDR: Ipv4Addr = Ipv4Addr::new(10, 0, 2, 2); - const UDP_DST_PORT: u16 = 26099; const TCP_DST_PORT: u16 = 26099; const TCP_LISTEN_PORT: u16 = 26100; @@ -561,7 +544,6 @@ fn parse_f64(field: &str) -> Result { trimmed.parse::().map_err(|_| "Failed to parse f64") } -// Returns monotonic uptime in nanoseconds clamped to u64. fn get_awkernel_uptime_timestamp() -> u64 { let uptime_nanos = awkernel_lib::delay::uptime_nano(); if uptime_nanos > u64::MAX as u128 { diff --git a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs index e94e39e6e..b6ab471d8 100644 --- a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs +++ b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs @@ -16,7 +16,6 @@ use imu_driver::{Header, Vector3}; -/// 速度レポートメッセージの構造体 #[derive(Debug, Clone)] pub struct VelocityReport { pub header: Header, @@ -49,21 +48,18 @@ pub fn build_velocity_report_from_csv_row( } } -/// TwistWithCovarianceStampedメッセージの構造体 #[derive(Debug, Clone)] pub struct TwistWithCovarianceStamped { pub header: Header, pub twist: TwistWithCovariance, } -/// TwistWithCovariance構造体 #[derive(Debug, Clone)] pub struct TwistWithCovariance { pub twist: Twist, pub covariance: [f64; 36], } -/// Twist構造体 #[derive(Debug, Clone)] pub struct Twist { pub linear: Vector3, @@ -75,16 +71,14 @@ pub struct Odometry { pub velocity: f64, } -/// 車両速度変換器の構造体 pub struct VehicleVelocityConverter { - frame_id: &'static str, // → frame_id: base_link - stddev_vx: f64, // → velocity_stddev_xx: 0.2 - stddev_wz: f64, // → angular_velocity_stddev_zz: 0.1 - speed_scale_factor: f64, // → speed_scale_factor: 1.0 + frame_id: &'static str, + stddev_vx: f64, + stddev_wz: f64, + speed_scale_factor: f64, } impl VehicleVelocityConverter { - /// 新しいVehicleVelocityConverterインスタンスを作成 pub fn new( frame_id: &'static str, stddev_vx: f64, @@ -99,7 +93,6 @@ impl VehicleVelocityConverter { } } - /// パラメータからVehicleVelocityConverterを作成（配列ベース版） pub fn from_params_array( velocity_stddev_xx: Option, angular_velocity_stddev_zz: Option, @@ -113,17 +106,13 @@ impl VehicleVelocityConverter { Self::new(frame_id, stddev_vx, stddev_wz, speed_scale_factor) } - /// デフォルト設定でVehicleVelocityConverterを作成 pub fn default() -> Self { Self::new("base_link", 0.2, 0.1, 1.0) } - /// 速度レポートをTwistWithCovarianceStampedに変換 pub fn convert_velocity_report(&self, msg: &VelocityReport) -> TwistWithCovarianceStamped { - // WARN Only let _frame_id_mismatch = msg.header.frame_id != self.frame_id; - // TwistWithCovarianceStampedメッセージを生成 TwistWithCovarianceStamped { header: msg.header.clone(), twist: TwistWithCovariance { @@ -144,28 +133,18 @@ impl VehicleVelocityConverter { } } - /// 共分散行列を作成 fn create_covariance_matrix(&self) -> [f64; 36] { let mut covariance = [0.0; 36]; - - // 線形速度の分散 (x方向) covariance[0 + 0 * 6] = self.stddev_vx * self.stddev_vx; - - // その他の線形速度成分は大きな値（低い信頼度）を設定 - covariance[1 + 1 * 6] = 10000.0; // y方向 - covariance[2 + 2 * 6] = 10000.0; // z方向 - - // 角速度成分は大きな値（低い信頼度）を設定 - covariance[3 + 3 * 6] = 10000.0; // x方向 - covariance[4 + 4 * 6] = 10000.0; // y方向 - - // 角速度の分散 (z方向) + covariance[1 + 1 * 6] = 10000.0; + covariance[2 + 2 * 6] = 10000.0; + covariance[3 + 3 * 6] = 10000.0; + covariance[4 + 4 * 6] = 10000.0; covariance[5 + 5 * 6] = self.stddev_wz * self.stddev_wz; covariance } - /// パラメータを取得 pub fn get_frame_id(&self) -> &'static str { self.frame_id } @@ -183,11 +162,9 @@ impl VehicleVelocityConverter { } } -/// リアクターAPI用のヘルパー関数 pub mod reactor_helpers { use super::*; - /// 空のTwistWithCovarianceStampedを生成 pub fn create_empty_twist(timestamp: u64) -> TwistWithCovarianceStamped { TwistWithCovarianceStamped { header: Header { @@ -257,8 +234,8 @@ mod tests { assert_eq!(twist_msg.twist.twist.linear.x, 10.0); assert_eq!(twist_msg.twist.twist.linear.y, 2.0); assert_eq!(twist_msg.twist.twist.angular.z, 0.5); - assert_eq!(twist_msg.twist.covariance[0], 0.01); // 0.1^2 - assert_eq!(twist_msg.twist.covariance[35], 0.01); // 0.1^2 + assert_eq!(twist_msg.twist.covariance[0], 0.01); + assert_eq!(twist_msg.twist.covariance[35], 0.01); } #[test] From 4e8a8c355f926856a83ebd5ced8f75abd1c22fcb Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 3 Apr 2026 17:08:34 +0900 Subject: [PATCH 13/60] fix: delete warnings 1 Signed-off-by: nokosaaan --- .../test_autoware/ekf_localizer/src/lib.rs | 19 ------------------- .../test_autoware/gyro_odometer/src/lib.rs | 2 +- .../test_autoware/imu_corrector/src/lib.rs | 18 ------------------ applications/tests/test_autoware/src/lib.rs | 2 -- awkernel_async_lib/src/dag.rs | 5 ++--- awkernel_async_lib/src/pubsub.rs | 12 ++++++------ awkernel_async_lib/src/task.rs | 2 +- awkernel_async_lib/src/time_interval.rs | 7 +++++-- 8 files changed, 15 insertions(+), 52 deletions(-) diff --git a/applications/tests/test_autoware/ekf_localizer/src/lib.rs b/applications/tests/test_autoware/ekf_localizer/src/lib.rs index ec77b805e..7f70f4274 100644 --- a/applications/tests/test_autoware/ekf_localizer/src/lib.rs +++ b/applications/tests/test_autoware/ekf_localizer/src/lib.rs @@ -451,25 +451,6 @@ impl EKFModule { z: cr * cp * sy - sr * sp * cy, } } - - fn quaternion_to_rpy(&self, q: Quaternion) -> (f64, f64, f64) { - let sinr_cosp = 2.0 * (q.w * q.x + q.y * q.z); - let cosr_cosp = 1.0 - 2.0 * (q.x * q.x + q.y * q.y); - let roll = atan2(sinr_cosp, cosr_cosp); - - let sinp = 2.0 * (q.w * q.y - q.z * q.x); - let pitch = if sinp.abs() >= 1.0 { - PI / 2.0 * sinp.signum() - } else { - asin(sinp) - }; - - let siny_cosp = 2.0 * (q.w * q.z + q.x * q.y); - let cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z); - let yaw = atan2(siny_cosp, cosy_cosp); - - (roll, pitch, yaw) - } } pub fn get_or_initialize_default_module() -> &'static mut EKFModule { diff --git a/applications/tests/test_autoware/gyro_odometer/src/lib.rs b/applications/tests/test_autoware/gyro_odometer/src/lib.rs index 8a5b30ee8..743015e1c 100644 --- a/applications/tests/test_autoware/gyro_odometer/src/lib.rs +++ b/applications/tests/test_autoware/gyro_odometer/src/lib.rs @@ -1,7 +1,7 @@ #![no_std] extern crate alloc; -use alloc::{borrow::Cow, collections::VecDeque, string::String, vec::Vec}; +use alloc::{collections::VecDeque, string::String}; use core::time::Duration; use core::ptr::null_mut; use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; diff --git a/applications/tests/test_autoware/imu_corrector/src/lib.rs b/applications/tests/test_autoware/imu_corrector/src/lib.rs index 893efb3a8..e92acab4a 100644 --- a/applications/tests/test_autoware/imu_corrector/src/lib.rs +++ b/applications/tests/test_autoware/imu_corrector/src/lib.rs @@ -206,24 +206,6 @@ impl ImuCorrector { cov_transformed } - fn create_default_covariance_array(&self) -> [f64; 9] { - [0.0; 9] - } - - fn matrix3_to_array(&self, matrix: &Matrix3) -> [f64; 9] { - [ - matrix[(0, 0)], - matrix[(0, 1)], - matrix[(0, 2)], - matrix[(1, 0)], - matrix[(1, 1)], - matrix[(1, 2)], - matrix[(2, 0)], - matrix[(2, 1)], - matrix[(2, 2)], - ] - } - pub fn correct_imu_with_covariance( &self, imu_msg: &ImuMsg, diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs index 24a0fc695..f2c5ae8e5 100644 --- a/applications/tests/test_autoware/src/lib.rs +++ b/applications/tests/test_autoware/src/lib.rs @@ -28,8 +28,6 @@ const INTERFACE_ID: u64 = 0; const INTERFACE_ADDR: Ipv4Addr = Ipv4Addr::new(10, 0, 2, 64); const UDP_TCP_DST_ADDR: Ipv4Addr = Ipv4Addr::new(10, 0, 2, 2); const UDP_DST_PORT: u16 = 26099; -const TCP_DST_PORT: u16 = 26099; -const TCP_LISTEN_PORT: u16 = 26100; static mut LATEST_JSON_DATA: Option = None; static JSON_DATA_READY: AtomicBool = AtomicBool::new(false); diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index da12e208d..743e75632 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -67,9 +67,8 @@ use crate::{ task::{ perf::{ get_period_count, get_pub_count, get_sink_count, get_sub_count, increment_period_count, - increment_pub_count, increment_sink_count, increment_sub_count, node_finish, - node_start, publish_timestamp_at, subscribe_timestamp_at, - update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, NodeRecord, + increment_pub_count, increment_sink_count, increment_sub_count, publish_timestamp_at, subscribe_timestamp_at, + update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, }, DagInfo, }, diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index efb07ab17..109fb0682 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -52,9 +52,7 @@ use core::{ use futures::Future; use pin_project::pin_project; -use crate::task; -use crate::task::perf::{get_pub_count, publish_timestamp_at, PUB_COUNT}; -use crate::task::DagInfo; +use crate::task::perf::publish_timestamp_at; /// Data and timestamp. #[derive(Clone)] @@ -387,9 +385,11 @@ where { /// Send with metadata forwarded from `send_all_with_meta`. pub async fn send_with_meta(&self, data: T, pub_id: u32, index: usize, node_id: u32) { - // record publish timestamp at send start - // let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - // publish_timestamp_at(index, start, pub_id, node_id); + #[cfg(not(feature = "relax-get-period"))] + { + let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + publish_timestamp_at(index, start, pub_id, node_id); + } let sender = Sender::new(self, data); sender.await; diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index db982e06e..4634a3510 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -469,7 +469,7 @@ pub mod perf { use crate::task::{self}; use alloc::string::{String, ToString}; use array_macro::array; - use awkernel_lib::{cpu::NUM_MAX_CPU, device_tree::node}; + use awkernel_lib::cpu::NUM_MAX_CPU; use core::ptr::{read_volatile, write_volatile}; use core::sync::atomic::{AtomicBool, AtomicU32, Ordering}; diff --git a/awkernel_async_lib/src/time_interval.rs b/awkernel_async_lib/src/time_interval.rs index ec5bc6248..8bf645887 100644 --- a/awkernel_async_lib/src/time_interval.rs +++ b/awkernel_async_lib/src/time_interval.rs @@ -103,8 +103,11 @@ pub fn interval(period: Duration, dag_id: u32) -> Interval { pub fn interval_at(start: Time, period: Duration, dag_id: u32) -> Interval { assert!(!period.is_zero(), "`period` must be non-zero."); - let index = get_period_count(dag_id.clone() as usize) as usize; - update_pre_send_outer_timestamp_at(index, start.uptime().as_nanos() as u64, dag_id.clone()); + #[cfg(not(feature = "relax-get-period"))] + { + let index = get_period_count(dag_id.clone() as usize) as usize; + update_pre_send_outer_timestamp_at(index, start.uptime().as_nanos() as u64, dag_id.clone()); + } Interval { delay: None, next_tick_target: start, From 60d50db67de619cbae2463ed1ba3c7c0c946814b Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Wed, 15 Apr 2026 17:08:10 +0900 Subject: [PATCH 14/60] fix: delete warnings 2 Signed-off-by: nokosaaan --- .../tests/test_autoware/ekf_localizer/src/lib.rs | 10 ++-------- .../tests/test_autoware/imu_corrector/src/lib.rs | 2 +- 2 files changed, 3 insertions(+), 9 deletions(-) diff --git a/applications/tests/test_autoware/ekf_localizer/src/lib.rs b/applications/tests/test_autoware/ekf_localizer/src/lib.rs index 7f70f4274..99c7d9410 100644 --- a/applications/tests/test_autoware/ekf_localizer/src/lib.rs +++ b/applications/tests/test_autoware/ekf_localizer/src/lib.rs @@ -4,10 +4,9 @@ extern crate alloc; use alloc::{vec, vec::Vec}; -use core::f64::consts::PI; use core::ptr::null_mut; use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; -use libm::{asin, atan2, cos, sin}; +use libm::{atan2, cos, sin}; use nalgebra::{Matrix6, Vector3, Vector6}; pub use imu_driver; pub use vehicle_velocity_converter::TwistWithCovariance; @@ -149,22 +148,19 @@ impl Simple1DFilter { #[derive(Debug, Clone)] pub struct EKFModule { params: EKFParameters, - dim_x: usize, state: StateVector, covariance: StateCovariance, z_filter: Simple1DFilter, roll_filter: Simple1DFilter, pitch_filter: Simple1DFilter, accumulated_delay_times: Vec, - last_angular_velocity: Vector3, // When true, only prediction is performed (no measurement updates) is_mrm_mode: bool, } impl EKFModule { pub fn new(params: EKFParameters) -> Self { - let dim_x = 6; - let mut state = StateVector::zeros(); + let state = StateVector::zeros(); let mut covariance = StateCovariance::identity() * 1e15; covariance[(StateIndex::Yaw as usize, StateIndex::Yaw as usize)] = 50.0; @@ -186,14 +182,12 @@ impl EKFModule { Self { params, - dim_x, state, covariance, z_filter, roll_filter, pitch_filter, accumulated_delay_times, - last_angular_velocity: Vector3::zeros(), is_mrm_mode: false, } } diff --git a/applications/tests/test_autoware/imu_corrector/src/lib.rs b/applications/tests/test_autoware/imu_corrector/src/lib.rs index e92acab4a..a32f8d850 100644 --- a/applications/tests/test_autoware/imu_corrector/src/lib.rs +++ b/applications/tests/test_autoware/imu_corrector/src/lib.rs @@ -3,7 +3,7 @@ extern crate alloc; use alloc::{format, string::String}; use imu_driver::{Header, ImuMsg, Quaternion, Vector3}; -use nalgebra::{Matrix3, Quaternion as NQuaternion, UnitQuaternion, Vector3 as NVector3}; +use nalgebra::{Quaternion as NQuaternion, UnitQuaternion, Vector3 as NVector3}; #[derive(Clone, Debug)] pub struct Transform { From 48f29f1a3d5e746c99984ba6bf31f0a505851e8c Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Wed, 15 Apr 2026 17:23:56 +0900 Subject: [PATCH 15/60] fix: delete warnings 3 Signed-off-by: nokosaaan --- applications/tests/test_autoware/src/lib.rs | 3 ++- awkernel_async_lib/src/pubsub.rs | 4 ++-- awkernel_async_lib/src/time_interval.rs | 6 +++--- 3 files changed, 7 insertions(+), 6 deletions(-) diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs index f2c5ae8e5..2d58963da 100644 --- a/applications/tests/test_autoware/src/lib.rs +++ b/applications/tests/test_autoware/src/lib.rs @@ -1,4 +1,5 @@ #![no_std] +#![allow(static_mut_refs)] extern crate alloc; use alloc::{borrow::Cow, format, string::String, vec, vec::Vec}; @@ -51,7 +52,7 @@ pub async fn run() { log::info!("Starting Autoware test application with simplified TCP networking"); let dag = create_dag(); - let dag_id = dag.get_id(); + let _dag_id = dag.get_id(); dag.register_periodic_reactor::<_, (i32, i32, i32)>( "start_dummy_data".into(), diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 109fb0682..8ad694c5a 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -384,11 +384,11 @@ where T: Clone + Sync + Send, { /// Send with metadata forwarded from `send_all_with_meta`. - pub async fn send_with_meta(&self, data: T, pub_id: u32, index: usize, node_id: u32) { + pub async fn send_with_meta(&self, data: T, _pub_id: u32, _index: usize, _node_id: u32) { #[cfg(not(feature = "relax-get-period"))] { let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - publish_timestamp_at(index, start, pub_id, node_id); + publish_timestamp_at(_index, start, _pub_id, _node_id); } let sender = Sender::new(self, data); diff --git a/awkernel_async_lib/src/time_interval.rs b/awkernel_async_lib/src/time_interval.rs index 8bf645887..10a87b0ec 100644 --- a/awkernel_async_lib/src/time_interval.rs +++ b/awkernel_async_lib/src/time_interval.rs @@ -101,12 +101,12 @@ pub fn interval(period: Duration, dag_id: u32) -> Interval { interval_at(Time::now(), period, dag_id) } -pub fn interval_at(start: Time, period: Duration, dag_id: u32) -> Interval { +pub fn interval_at(start: Time, period: Duration, _dag_id: u32) -> Interval { assert!(!period.is_zero(), "`period` must be non-zero."); #[cfg(not(feature = "relax-get-period"))] { - let index = get_period_count(dag_id.clone() as usize) as usize; - update_pre_send_outer_timestamp_at(index, start.uptime().as_nanos() as u64, dag_id.clone()); + let index = get_period_count(_dag_id.clone() as usize) as usize; + update_pre_send_outer_timestamp_at(index, start.uptime().as_nanos() as u64, _dag_id.clone()); } Interval { delay: None, From aed1c5c35acfe7e41f20bcd6efe90d30bc412df9 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Wed, 15 Apr 2026 17:40:40 +0900 Subject: [PATCH 16/60] fix: sync bootloader-fix Signed-off-by: nokosaaan --- x86bootdisk/Cargo.toml | 2 +- x86bootdisk/src/main.rs | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/x86bootdisk/Cargo.toml b/x86bootdisk/Cargo.toml index 49afc75ae..fab5ac981 100644 --- a/x86bootdisk/Cargo.toml +++ b/x86bootdisk/Cargo.toml @@ -6,7 +6,7 @@ edition = "2021" # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html [features] -default = ["bios", "uefi"] +default = ["uefi"] bios = ["bootloader/bios"] uefi = ["bootloader/uefi"] diff --git a/x86bootdisk/src/main.rs b/x86bootdisk/src/main.rs index d03aecedf..37a3899df 100644 --- a/x86bootdisk/src/main.rs +++ b/x86bootdisk/src/main.rs @@ -2,6 +2,9 @@ use clap::Parser; use ovmf_prebuilt::{Prebuilt, Source}; use std::{fs::File, io::Write, path::Path}; +#[cfg(not(any(feature = "bios", feature = "uefi")))] +compile_error!("At least one of the `bios` or `uefi` features must be enabled."); + #[cfg(feature = "bios")] use bootloader::BiosBoot; #[cfg(feature = "uefi")] From f024138ed849efcb6aaba72084ecb7f3811e3cbd Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Wed, 15 Apr 2026 17:53:52 +0900 Subject: [PATCH 17/60] sync bootloader-fix 2 Signed-off-by: nokosaaan --- Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Makefile b/Makefile index a6ac1121a..680e189f4 100644 --- a/Makefile +++ b/Makefile @@ -147,7 +147,7 @@ kernel-x86_64.elf: $(X86ASM) FORCE python3 scripts/embed_debug_info.py $@ x86_64_boot.img: kernel-x86_64.elf - RUSTFLAGS="$(RUSTC_MISC_ARGS)" cargo +$(RUSTV) run --release --package x86bootdisk --no-default-features --features bios -- --kernel $< --output $@ + RUSTFLAGS="$(RUSTC_MISC_ARGS)" cargo +$(RUSTV) run --release --package x86bootdisk --no-default-features --features bios -- --kernel $< --output $@ --boot-type bios x86_64_uefi.img: kernel-x86_64.elf RUSTFLAGS="$(RUSTC_MISC_ARGS)" cargo +$(RUSTV) run --release --package x86bootdisk --no-default-features --features uefi -- --kernel $< --output $@ --pxe x86_64_uefi_pxe_boot --boot-type uefi From 3aca1f93233d59b747b21f1ef9bb5bd1959e7e0e Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Wed, 15 Apr 2026 18:20:40 +0900 Subject: [PATCH 18/60] fix: add need-get-period feature Signed-off-by: nokosaaan --- applications/tests/test_autoware/Cargo.toml | 20 - .../test_autoware/ekf_localizer/Cargo.toml | 15 - .../test_autoware/ekf_localizer/src/lib.rs | 547 -- .../test_autoware/gyro_odometer/Cargo.toml | 12 - .../test_autoware/gyro_odometer/src/lib.rs | 441 -- .../test_autoware/imu_corrector/Cargo.toml | 11 - .../test_autoware/imu_corrector/src/lib.rs | 545 -- .../tests/test_autoware/imu_driver/Cargo.toml | 9 - .../tests/test_autoware/imu_driver/src/lib.rs | 260 - applications/tests/test_autoware/imu_raw.csv | 5709 ----------------- applications/tests/test_autoware/src/lib.rs | 637 -- .../vehicle_velocity_converter/Cargo.toml | 11 - .../vehicle_velocity_converter/src/lib.rs | 289 - .../tests/test_autoware/velocity_status.csv | 5700 ---------------- awkernel_async_lib/Cargo.toml | 2 +- awkernel_async_lib/src/dag.rs | 23 +- awkernel_async_lib/src/pubsub.rs | 2 +- awkernel_async_lib/src/task.rs | 4 +- awkernel_async_lib/src/time_interval.rs | 2 +- userland/Cargo.toml | 7 +- userland/src/lib.rs | 3 - 21 files changed, 15 insertions(+), 14234 deletions(-) delete mode 100644 applications/tests/test_autoware/Cargo.toml delete mode 100644 applications/tests/test_autoware/ekf_localizer/Cargo.toml delete mode 100644 applications/tests/test_autoware/ekf_localizer/src/lib.rs delete mode 100644 applications/tests/test_autoware/gyro_odometer/Cargo.toml delete mode 100644 applications/tests/test_autoware/gyro_odometer/src/lib.rs delete mode 100644 applications/tests/test_autoware/imu_corrector/Cargo.toml delete mode 100644 applications/tests/test_autoware/imu_corrector/src/lib.rs delete mode 100644 applications/tests/test_autoware/imu_driver/Cargo.toml delete mode 100644 applications/tests/test_autoware/imu_driver/src/lib.rs delete mode 100644 applications/tests/test_autoware/imu_raw.csv delete mode 100644 applications/tests/test_autoware/src/lib.rs delete mode 100644 applications/tests/test_autoware/vehicle_velocity_converter/Cargo.toml delete mode 100644 applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs delete mode 100644 applications/tests/test_autoware/velocity_status.csv diff --git a/applications/tests/test_autoware/Cargo.toml b/applications/tests/test_autoware/Cargo.toml deleted file mode 100644 index 5e7075844..000000000 --- a/applications/tests/test_autoware/Cargo.toml +++ /dev/null @@ -1,20 +0,0 @@ -[package] -name = "test_autoware" -version = "0.1.0" -edition = "2021" - -[lib] -path = "src/lib.rs" -crate-type = ["rlib"] - -[dependencies] -log = "0.4" -libm = "0.2" -csv-core = "0.1" -awkernel_async_lib = { path = "../../../awkernel_async_lib", default-features = false, features = ["relax-get-period"] } -awkernel_lib = { path = "../../../awkernel_lib", default-features = false } -imu_driver = { path = "./imu_driver", default-features = false } -imu_corrector = { path = "./imu_corrector", default-features = false } -vehicle_velocity_converter = { path = "./vehicle_velocity_converter", default-features = false } -gyro_odometer = { path = "./gyro_odometer", default-features = false} -ekf_localizer = { path = "./ekf_localizer", default-features = false} \ No newline at end of file diff --git a/applications/tests/test_autoware/ekf_localizer/Cargo.toml b/applications/tests/test_autoware/ekf_localizer/Cargo.toml deleted file mode 100644 index 92111e0cb..000000000 --- a/applications/tests/test_autoware/ekf_localizer/Cargo.toml +++ /dev/null @@ -1,15 +0,0 @@ -[package] -name = "ekf_localizer" -version = "0.1.0" -edition = "2021" - -[dependencies] -# no_std compatible dependencies -libm = "0.2" -nalgebra = { version = "0.32", default-features = false} -approx = "0.5" -imu_driver = { path = "../imu_driver", default-features = false } -vehicle_velocity_converter = { path = "../vehicle_velocity_converter", default-features = false} - -# Optional: for better math functions -micromath = "2.1" \ No newline at end of file diff --git a/applications/tests/test_autoware/ekf_localizer/src/lib.rs b/applications/tests/test_autoware/ekf_localizer/src/lib.rs deleted file mode 100644 index 99c7d9410..000000000 --- a/applications/tests/test_autoware/ekf_localizer/src/lib.rs +++ /dev/null @@ -1,547 +0,0 @@ -#![no_std] -#![allow(non_snake_case)] - -extern crate alloc; - -use alloc::{vec, vec::Vec}; -use core::ptr::null_mut; -use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; -use libm::{atan2, cos, sin}; -use nalgebra::{Matrix6, Vector3, Vector6}; -pub use imu_driver; -pub use vehicle_velocity_converter::TwistWithCovariance; - -static EKF_MODULE_INSTANCE: AtomicPtr = AtomicPtr::new(null_mut()); - -#[derive(Debug, Clone, Copy, PartialEq)] -pub enum StateIndex { - X = 0, - Y = 1, - Yaw = 2, - YawBias = 3, - Vx = 4, - Wz = 5, -} - -pub type StateVector = Vector6; -pub type StateCovariance = Matrix6; - -#[derive(Debug, Clone, Copy)] -pub struct Point3D { - pub x: f64, - pub y: f64, - pub z: f64, -} - -#[derive(Debug, Clone, Copy)] -pub struct Quaternion { - pub x: f64, - pub y: f64, - pub z: f64, - pub w: f64, -} - -#[derive(Debug, Clone, Copy)] -pub struct Pose { - pub position: Point3D, - pub orientation: Quaternion, -} - -#[derive(Debug, Clone, Copy)] -pub struct Twist { - pub linear: Vector3, - pub angular: Vector3, -} - -#[derive(Debug, Clone, Copy)] -pub struct PoseWithCovariance { - pub pose: Pose, - pub covariance: [f64; 36], -} - -#[derive(Debug, Clone)] -pub struct EKFOdometry { - pub header: imu_driver::Header, - pub child_frame_id: &'static str, - pub pose: PoseWithCovariance, - pub twist: TwistWithCovariance, -} - -#[derive(Debug, Clone)] -pub struct EKFParameters { - pub enable_yaw_bias_estimation: bool, - pub extend_state_step: usize, - pub proc_stddev_vx_c: f64, - pub proc_stddev_wz_c: f64, - pub proc_stddev_yaw_c: f64, - pub z_filter_proc_dev: f64, - pub roll_filter_proc_dev: f64, - pub pitch_filter_proc_dev: f64, -} - -impl Default for EKFParameters { - fn default() -> Self { - Self { - enable_yaw_bias_estimation: true, - extend_state_step: 50, - proc_stddev_vx_c: 2.0, - proc_stddev_wz_c: 1.0, - proc_stddev_yaw_c: 0.005, - z_filter_proc_dev: 1.0, - roll_filter_proc_dev: 0.1, - pitch_filter_proc_dev: 0.1, - } - } -} - -#[derive(Debug, Clone)] -pub struct Simple1DFilter { - initialized: bool, - x: f64, - var: f64, - proc_var_x_c: f64, -} - -impl Simple1DFilter { - pub fn new() -> Self { - Self { - initialized: false, - x: 0.0, - var: 1e9, - proc_var_x_c: 0.0, - } - } - - pub fn init(&mut self, init_obs: f64, obs_var: f64) { - self.x = init_obs; - self.var = obs_var; - self.initialized = true; - } - - pub fn update(&mut self, obs: f64, obs_var: f64, dt: f64) { - if !self.initialized { - self.init(obs, obs_var); - return; - } - - let proc_var_x_d = self.proc_var_x_c * dt * dt; - self.var = self.var + proc_var_x_d; - - let kalman_gain = self.var / (self.var + obs_var); - self.x = self.x + kalman_gain * (obs - self.x); - self.var = (1.0 - kalman_gain) * self.var; - } - - pub fn set_proc_var(&mut self, proc_var: f64) { - self.proc_var_x_c = proc_var; - } - - pub fn get_x(&self) -> f64 { - self.x - } - - pub fn get_var(&self) -> f64 { - self.var - } -} - -#[derive(Debug, Clone)] -pub struct EKFModule { - params: EKFParameters, - state: StateVector, - covariance: StateCovariance, - z_filter: Simple1DFilter, - roll_filter: Simple1DFilter, - pitch_filter: Simple1DFilter, - accumulated_delay_times: Vec, - // When true, only prediction is performed (no measurement updates) - is_mrm_mode: bool, -} - -impl EKFModule { - pub fn new(params: EKFParameters) -> Self { - let state = StateVector::zeros(); - let mut covariance = StateCovariance::identity() * 1e15; - - covariance[(StateIndex::Yaw as usize, StateIndex::Yaw as usize)] = 50.0; - if params.enable_yaw_bias_estimation { - covariance[(StateIndex::YawBias as usize, StateIndex::YawBias as usize)] = 50.0; - } - covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = 1000.0; - covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = 50.0; - - let mut z_filter = Simple1DFilter::new(); - let mut roll_filter = Simple1DFilter::new(); - let mut pitch_filter = Simple1DFilter::new(); - - z_filter.set_proc_var(params.z_filter_proc_dev * params.z_filter_proc_dev); - roll_filter.set_proc_var(params.roll_filter_proc_dev * params.roll_filter_proc_dev); - pitch_filter.set_proc_var(params.pitch_filter_proc_dev * params.pitch_filter_proc_dev); - - let accumulated_delay_times = vec![1e15; params.extend_state_step]; - - Self { - params, - state, - covariance, - z_filter, - roll_filter, - pitch_filter, - accumulated_delay_times, - is_mrm_mode: false, - } - } - - pub fn initialize(&mut self, initial_pose: Pose) { - self.state[StateIndex::X as usize] = initial_pose.position.x; - self.state[StateIndex::Y as usize] = initial_pose.position.y; - self.state[StateIndex::Yaw as usize] = self.quaternion_to_yaw(initial_pose.orientation); - self.state[StateIndex::YawBias as usize] = 0.0; - self.state[StateIndex::Vx as usize] = 0.0; - self.state[StateIndex::Wz as usize] = 0.0; - - self.covariance = StateCovariance::identity() * 0.01; - if self.params.enable_yaw_bias_estimation { - self.covariance[(StateIndex::YawBias as usize, StateIndex::YawBias as usize)] = 0.0001; - } - - self.z_filter.init(initial_pose.position.z, 0.01); - self.roll_filter.init(0.0, 0.01); - self.pitch_filter.init(0.0, 0.01); - } - - fn predict_next_state(&self, dt: f64) -> StateVector { - let mut x_next = self.state.clone(); - let x = self.state[StateIndex::X as usize]; - let y = self.state[StateIndex::Y as usize]; - let yaw = self.state[StateIndex::Yaw as usize]; - let yaw_bias = self.state[StateIndex::YawBias as usize]; - let vx = self.state[StateIndex::Vx as usize]; - let wz = self.state[StateIndex::Wz as usize]; - - x_next[StateIndex::X as usize] = x + vx * cos(yaw + yaw_bias) * dt; - x_next[StateIndex::Y as usize] = y + vx * sin(yaw + yaw_bias) * dt; - let yaw_next = yaw + wz * dt; - x_next[StateIndex::Yaw as usize] = atan2(sin(yaw_next), cos(yaw_next)); - x_next[StateIndex::YawBias as usize] = yaw_bias; - x_next[StateIndex::Vx as usize] = vx; - x_next[StateIndex::Wz as usize] = wz; - - x_next - } - - fn create_state_transition_matrix(&self, dt: f64) -> Matrix6 { - let mut F = Matrix6::identity(); - let yaw = self.state[StateIndex::Yaw as usize]; - let yaw_bias = self.state[StateIndex::YawBias as usize]; - let vx = self.state[StateIndex::Vx as usize]; - - F[(StateIndex::X as usize, StateIndex::Yaw as usize)] = -vx * sin(yaw + yaw_bias) * dt; - F[(StateIndex::X as usize, StateIndex::YawBias as usize)] = -vx * sin(yaw + yaw_bias) * dt; - F[(StateIndex::X as usize, StateIndex::Vx as usize)] = cos(yaw + yaw_bias) * dt; - - F[(StateIndex::Y as usize, StateIndex::Yaw as usize)] = vx * cos(yaw + yaw_bias) * dt; - F[(StateIndex::Y as usize, StateIndex::YawBias as usize)] = vx * cos(yaw + yaw_bias) * dt; - F[(StateIndex::Y as usize, StateIndex::Vx as usize)] = sin(yaw + yaw_bias) * dt; - - F[(StateIndex::Yaw as usize, StateIndex::Wz as usize)] = dt; - - F - } - - fn process_noise_covariance(&self, dt: f64) -> Matrix6 { - let mut Q = Matrix6::zeros(); - - Q[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = - self.params.proc_stddev_vx_c * self.params.proc_stddev_vx_c * dt * dt; - Q[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = - self.params.proc_stddev_wz_c * self.params.proc_stddev_wz_c * dt * dt; - Q[(StateIndex::Yaw as usize, StateIndex::Yaw as usize)] = - self.params.proc_stddev_yaw_c * self.params.proc_stddev_yaw_c * dt * dt; - - Q[(StateIndex::X as usize, StateIndex::X as usize)] = 0.0; - Q[(StateIndex::Y as usize, StateIndex::Y as usize)] = 0.0; - Q[(StateIndex::YawBias as usize, StateIndex::YawBias as usize)] = 0.0; - - Q - } - - pub fn predict(&mut self, dt: f64) { - self.state = self.predict_next_state(dt); - let F = self.create_state_transition_matrix(dt); - let Q = self.process_noise_covariance(dt); - self.covariance = F * self.covariance * F.transpose() + Q; - self.accumulate_delay_time(dt); - } - - pub fn predict_with_delay(&mut self, dt: f64) { - self.predict(dt); - } - - pub fn predict_only(&mut self, dt: f64) { - self.predict(dt); - } - - pub fn get_current_pose(&self, get_biased_yaw: bool) -> Pose { - let z = self.z_filter.get_x(); - let roll = self.roll_filter.get_x(); - let pitch = self.pitch_filter.get_x(); - - let x = self.state[StateIndex::X as usize]; - let y = self.state[StateIndex::Y as usize]; - let biased_yaw = self.state[StateIndex::Yaw as usize]; - let yaw_bias = self.state[StateIndex::YawBias as usize]; - - let yaw = if get_biased_yaw { - biased_yaw - } else { - biased_yaw + yaw_bias - }; - - Pose { - position: Point3D { x, y, z }, - orientation: self.rpy_to_quaternion(roll, pitch, yaw), - } - } - - pub fn get_current_twist(&self) -> Twist { - let vx = self.state[StateIndex::Vx as usize]; - let wz = self.state[StateIndex::Wz as usize]; - - Twist { - linear: Vector3::new(vx, 0.0, 0.0), - angular: Vector3::new(0.0, 0.0, wz), - } - } - - pub fn get_yaw_bias(&self) -> f64 { - self.state[StateIndex::YawBias as usize] - } - - pub fn get_current_pose_with_covariance(&self) -> PoseWithCovariance { - let pose = self.get_current_pose(false); - let pose_covariance = self.get_current_pose_covariance(); - PoseWithCovariance { - pose, - covariance: pose_covariance, - } - } - - pub fn get_current_pose_covariance(&self) -> [f64; 36] { - let mut cov = [0.0; 36]; - - for i in 0..6 { - for j in 0..6 { - cov[i * 6 + j] = self.covariance[(i, j)]; - } - } - - cov[14] = self.z_filter.get_var(); - cov[21] = self.roll_filter.get_var(); - cov[28] = self.pitch_filter.get_var(); - - cov - } - - pub fn get_current_twist_covariance(&self) -> [f64; 36] { - let mut cov = [0.0; 36]; - - cov[0] = self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)]; - cov[35] = self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)]; - - cov - } - - pub fn update_velocity(&mut self, vx_measurement: f64, wz_measurement: f64) { - if self.is_mrm_mode { - return; - } - - let vx_obs_var = 1.0; - let wz_obs_var = 0.1; - - let vx_var = self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)]; - let vx_gain = vx_var / (vx_var + vx_obs_var); - self.state[StateIndex::Vx as usize] = self.state[StateIndex::Vx as usize] - + vx_gain * (vx_measurement - self.state[StateIndex::Vx as usize]); - self.covariance[(StateIndex::Vx as usize, StateIndex::Vx as usize)] = - (1.0 - vx_gain) * vx_var; - - let wz_var = self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)]; - let wz_gain = wz_var / (wz_var + wz_obs_var); - self.state[StateIndex::Wz as usize] = self.state[StateIndex::Wz as usize] - + wz_gain * (wz_measurement - self.state[StateIndex::Wz as usize]); - self.covariance[(StateIndex::Wz as usize, StateIndex::Wz as usize)] = - (1.0 - wz_gain) * wz_var; - } - - pub fn set_mrm_mode(&mut self, is_mrm: bool) { - self.is_mrm_mode = is_mrm; - } - - pub fn is_mrm(&self) -> bool { - self.is_mrm_mode - } - - pub fn accumulate_delay_time(&mut self, dt: f64) { - let len = self.accumulated_delay_times.len(); - if len == 0 { - return; - } - - let last_time = self.accumulated_delay_times[len - 1]; - let new_time = last_time + dt; - - for i in 0..len - 1 { - self.accumulated_delay_times[i] = self.accumulated_delay_times[i + 1]; - } - self.accumulated_delay_times[len - 1] = new_time; - } - - pub fn find_closest_delay_time_index(&self, target_value: f64) -> usize { - let len = self.accumulated_delay_times.len(); - if len == 0 { - return 0; - } - - if target_value > self.accumulated_delay_times[len - 1] { - return len; - } - - let mut closest_index = 0; - let mut min_diff = f64::MAX; - - for i in 0..len { - let time = self.accumulated_delay_times[i]; - let diff = (target_value - time).abs(); - if diff < min_diff { - min_diff = diff; - closest_index = i; - } - } - - closest_index - } - - fn quaternion_to_yaw(&self, q: Quaternion) -> f64 { - atan2( - 2.0 * (q.w * q.z + q.x * q.y), - 1.0 - 2.0 * (q.y * q.y + q.z * q.z), - ) - } - - fn rpy_to_quaternion(&self, roll: f64, pitch: f64, yaw: f64) -> Quaternion { - let cy = cos(yaw * 0.5); - let sy = sin(yaw * 0.5); - let cp = cos(pitch * 0.5); - let sp = sin(pitch * 0.5); - let cr = cos(roll * 0.5); - let sr = sin(roll * 0.5); - - Quaternion { - w: cr * cp * cy + sr * sp * sy, - x: sr * cp * cy - cr * sp * sy, - y: cr * sp * cy + sr * cp * sy, - z: cr * cp * sy - sr * sp * cy, - } - } -} - -pub fn get_or_initialize_default_module() -> &'static mut EKFModule { - let existing = EKF_MODULE_INSTANCE.load(AtomicOrdering::Acquire); - if !existing.is_null() { - return unsafe { &mut *existing }; - } - - let boxed = alloc::boxed::Box::new(EKFModule::new(EKFParameters::default())); - let ptr = alloc::boxed::Box::into_raw(boxed); - - match EKF_MODULE_INSTANCE.compare_exchange( - null_mut(), - ptr, - AtomicOrdering::AcqRel, - AtomicOrdering::Acquire, - ) { - Ok(_) => unsafe { &mut *ptr }, - Err(existing_ptr) => unsafe { - let _ = alloc::boxed::Box::from_raw(ptr); - &mut *existing_ptr - }, - } -} - -#[cfg(test)] -mod tests { - use super::*; - - #[test] - fn test_ekf_initialization() { - let params = EKFParameters::default(); - let mut ekf = EKFModule::new(params); - - let initial_pose = Pose { - position: Point3D { - x: 1.0, - y: 2.0, - z: 0.0, - }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - }; - - ekf.initialize(initial_pose); - - let pose = ekf.get_current_pose(false); - assert!((pose.position.x - 1.0).abs() < 1e-6); - assert!((pose.position.y - 2.0).abs() < 1e-6); - } - - #[test] - fn test_quaternion_conversions() { - let params = EKFParameters::default(); - let ekf = EKFModule::new(params); - - let roll = 0.1; - let pitch = 0.2; - let yaw = 0.3; - - let q = ekf.rpy_to_quaternion(roll, pitch, yaw); - let (r, p, y) = ekf.quaternion_to_rpy(q); - - assert!((roll - r).abs() < 1e-6); - assert!((pitch - p).abs() < 1e-6); - assert!((yaw - y).abs() < 1e-6); - } - - #[test] - fn test_pose_with_covariance_generation() { - let params = EKFParameters::default(); - let mut ekf = EKFModule::new(params); - - let initial_pose = Pose { - position: Point3D { - x: 1.0, - y: 2.0, - z: 0.0, - }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - }; - - ekf.initialize(initial_pose); - - let pose_with_cov = ekf.get_current_pose_with_covariance(); - - assert!((pose_with_cov.pose.position.x - 1.0).abs() < 1e-6); - assert!((pose_with_cov.pose.position.y - 2.0).abs() < 1e-6); - assert_eq!(pose_with_cov.covariance.len(), 36); - } -} diff --git a/applications/tests/test_autoware/gyro_odometer/Cargo.toml b/applications/tests/test_autoware/gyro_odometer/Cargo.toml deleted file mode 100644 index b7890f557..000000000 --- a/applications/tests/test_autoware/gyro_odometer/Cargo.toml +++ /dev/null @@ -1,12 +0,0 @@ -[package] -name = "gyro_odometer" -version = "0.1.0" -edition = "2021" - -[dependencies] -log = "0.4" -awkernel_async_lib = { path = "../../../../awkernel_async_lib", default-features = false } -awkernel_lib = { path = "../../../../awkernel_lib", default-features = false } -imu_driver = { path = "../imu_driver", default-features = false } -imu_corrector = { path = "../imu_corrector", default-features = false } -vehicle_velocity_converter = { path = "../vehicle_velocity_converter", default-features = false} \ No newline at end of file diff --git a/applications/tests/test_autoware/gyro_odometer/src/lib.rs b/applications/tests/test_autoware/gyro_odometer/src/lib.rs deleted file mode 100644 index 743015e1c..000000000 --- a/applications/tests/test_autoware/gyro_odometer/src/lib.rs +++ /dev/null @@ -1,441 +0,0 @@ -#![no_std] -extern crate alloc; - -use alloc::{collections::VecDeque, string::String}; -use core::time::Duration; -use core::ptr::null_mut; -use core::sync::atomic::{AtomicPtr, Ordering as AtomicOrdering}; - -pub use imu_corrector::{transform_covariance, ImuWithCovariance, Transform}; -pub use imu_driver::{Header, ImuMsg, Quaternion, Vector3}; -pub use vehicle_velocity_converter::{ - Odometry, Twist, TwistWithCovariance, TwistWithCovarianceStamped, -}; - -static GYRO_ODOMETER_INSTANCE: AtomicPtr = AtomicPtr::new(null_mut()); - -const COV_IDX_X_X: usize = 0; -const COV_IDX_Y_Y: usize = 4; -const COV_IDX_Z_Z: usize = 8; -const COV_IDX_XYZRPY_X_X: usize = 0; -const COV_IDX_XYZRPY_Y_Y: usize = 7; -const COV_IDX_XYZRPY_Z_Z: usize = 14; -const COV_IDX_XYZRPY_ROLL_ROLL: usize = 21; -const COV_IDX_XYZRPY_PITCH_PITCH: usize = 28; -const COV_IDX_XYZRPY_YAW_YAW: usize = 35; - -pub struct GyroOdometerCore { - pub output_frame: String, - pub message_timeout_sec: f64, - pub vehicle_twist_arrived: bool, - pub imu_arrived: bool, - pub vehicle_twist_queue: VecDeque, - pub gyro_queue: VecDeque, - pub config: GyroOdometerConfig, -} - -impl GyroOdometerCore { - pub fn new(config: GyroOdometerConfig) -> Result { - let queue_size = config.queue_size; - let output_frame = config.output_frame.clone(); - let message_timeout_sec = config.message_timeout_sec; - - Ok(Self { - output_frame, - message_timeout_sec, - vehicle_twist_arrived: false, - imu_arrived: false, - vehicle_twist_queue: VecDeque::with_capacity(queue_size), - gyro_queue: VecDeque::with_capacity(queue_size), - config, - }) - } - - pub fn concat_gyro_and_odometer( - &mut self, - current_time: u64, - ) -> Result> { - if !self.vehicle_twist_arrived { - self.vehicle_twist_queue.clear(); - self.gyro_queue.clear(); - return Ok(None); - } - if !self.imu_arrived { - self.vehicle_twist_queue.clear(); - self.gyro_queue.clear(); - return Ok(None); - } - if !self.vehicle_twist_queue.is_empty() && !self.gyro_queue.is_empty() { - let latest_vehicle_twist_stamp = - self.vehicle_twist_queue.back().unwrap().header.timestamp; - let latest_imu_stamp = self.gyro_queue.back().unwrap().header.timestamp; - - if Self::check_timeout( - current_time, - latest_vehicle_twist_stamp, - self.message_timeout_sec, - ) { - self.vehicle_twist_queue.clear(); - self.gyro_queue.clear(); - return Err(GyroOdometerError::TimeoutError(String::from( - "Vehicle twist message timeout", - ))); - } - - if Self::check_timeout(current_time, latest_imu_stamp, self.message_timeout_sec) { - self.vehicle_twist_queue.clear(); - self.gyro_queue.clear(); - return Err(GyroOdometerError::TimeoutError(String::from( - "IMU message timeout", - ))); - } - } - - if self.vehicle_twist_queue.is_empty() || self.gyro_queue.is_empty() { - return Ok(None); - } - - let tf = self.get_transform( - &self.gyro_queue.front().unwrap().header.frame_id, - &self.output_frame, - )?; - - for gyro in &mut self.gyro_queue { - let transformed_angular_velocity = tf.apply_to_vector(gyro.angular_velocity.clone()); - gyro.angular_velocity = transformed_angular_velocity; - } - - let mut vx_mean = 0.0; - let mut gyro_mean = Vector3::new(0.0, 0.0, 0.0); - let mut vx_covariance_original = 0.0; - let mut gyro_covariance_original = Vector3::new(0.0, 0.0, 0.0); - - for vehicle_twist in &self.vehicle_twist_queue { - vx_mean += vehicle_twist.twist.twist.linear.x; - vx_covariance_original += vehicle_twist.twist.covariance[0 * 6 + 0]; - } - vx_mean /= self.vehicle_twist_queue.len() as f64; - vx_covariance_original /= self.vehicle_twist_queue.len() as f64; - - for gyro in &self.gyro_queue { - gyro_mean.x += gyro.angular_velocity.x; - gyro_mean.y += gyro.angular_velocity.y; - gyro_mean.z += gyro.angular_velocity.z; - gyro_covariance_original.x += gyro.angular_velocity_covariance[COV_IDX_X_X]; - gyro_covariance_original.y += gyro.angular_velocity_covariance[COV_IDX_Y_Y]; - gyro_covariance_original.z += gyro.angular_velocity_covariance[COV_IDX_Z_Z]; - } - gyro_mean.x /= self.gyro_queue.len() as f64; - gyro_mean.y /= self.gyro_queue.len() as f64; - gyro_mean.z /= self.gyro_queue.len() as f64; - gyro_covariance_original.x /= self.gyro_queue.len() as f64; - gyro_covariance_original.y /= self.gyro_queue.len() as f64; - gyro_covariance_original.z /= self.gyro_queue.len() as f64; - - let latest_vehicle_twist_stamp = self.vehicle_twist_queue.back().unwrap().header.timestamp; - let latest_imu_stamp = self.gyro_queue.back().unwrap().header.timestamp; - - let result_timestamp = if latest_vehicle_twist_stamp < latest_imu_stamp { - latest_imu_stamp - } else { - latest_vehicle_twist_stamp - }; - - let mut result = TwistWithCovarianceStamped { - header: Header { - frame_id: self.gyro_queue.front().unwrap().header.frame_id, - timestamp: result_timestamp, - }, - twist: TwistWithCovariance { - twist: Twist { - linear: Vector3::new(vx_mean, 0.0, 0.0), - angular: gyro_mean, - }, - covariance: [0.0; 36], - }, - }; - - result.twist.covariance[COV_IDX_XYZRPY_X_X] = - vx_covariance_original / self.vehicle_twist_queue.len() as f64; - result.twist.covariance[COV_IDX_XYZRPY_Y_Y] = 100000.0; - result.twist.covariance[COV_IDX_XYZRPY_Z_Z] = 100000.0; - result.twist.covariance[COV_IDX_XYZRPY_ROLL_ROLL] = - gyro_covariance_original.x / self.gyro_queue.len() as f64; - result.twist.covariance[COV_IDX_XYZRPY_PITCH_PITCH] = - gyro_covariance_original.y / self.gyro_queue.len() as f64; - result.twist.covariance[COV_IDX_XYZRPY_YAW_YAW] = - gyro_covariance_original.z / self.gyro_queue.len() as f64; - - self.vehicle_twist_queue.clear(); - self.gyro_queue.clear(); - - Ok(Some(result)) - } - - pub fn check_timeout(current_timestamp: u64, last_timestamp: u64, timeout_sec: f64) -> bool { - let dt = (current_timestamp as f64 - last_timestamp as f64) / 1_000_000_000.0; - dt.abs() > timeout_sec - } - pub fn get_transform(&self, from_frame: &str, to_frame: &str) -> Result { - if from_frame == to_frame || from_frame == "" || to_frame == "" { - Ok(Transform::identity()) - } else { - Ok(Transform::identity()) - } - } - - pub fn process_result( - &self, - twist_with_cov_raw: TwistWithCovarianceStamped, - ) -> TwistWithCovarianceStamped { - if twist_with_cov_raw.twist.twist.angular.z.abs() < 0.01 - && twist_with_cov_raw.twist.twist.linear.x.abs() < 0.01 - { - let mut twist = twist_with_cov_raw; - twist.twist.twist.angular.x = 0.0; - twist.twist.twist.angular.y = 0.0; - twist.twist.twist.angular.z = 0.0; - twist - } else { - twist_with_cov_raw - } - } - - pub fn convert_vehicle_velocity_to_twist( - &self, - odometry: &Odometry, - timestamp: u64, - ) -> TwistWithCovarianceStamped { - TwistWithCovarianceStamped { - header: Header { - frame_id: "base_link", - timestamp, - }, - twist: TwistWithCovariance { - twist: Twist { - linear: Vector3::new(odometry.velocity, 0.0, 0.0), - angular: Vector3::new(0.0, 0.0, 0.0), - }, - covariance: [0.0; 36], - }, - } - } - - pub fn add_vehicle_twist(&mut self, twist: TwistWithCovarianceStamped) { - self.vehicle_twist_arrived = true; - self.vehicle_twist_queue.push_back(twist); - } - - pub fn add_imu(&mut self, imu: ImuWithCovariance) { - self.imu_arrived = true; - self.gyro_queue.push_back(imu); - } - - pub fn process_and_get_result( - &mut self, - current_time: u64, - ) -> Option { - match self.concat_gyro_and_odometer(current_time) { - Ok(result) => result, - Err(_) => None, - } - } - - pub fn get_queue_sizes(&self) -> (usize, usize) { - (self.vehicle_twist_queue.len(), self.gyro_queue.len()) - } - - pub fn clear_queues(&mut self) { - self.vehicle_twist_queue.clear(); - self.gyro_queue.clear(); - } - - pub fn reset_arrival_flags(&mut self) { - self.vehicle_twist_arrived = false; - self.imu_arrived = false; - } -} - -#[derive(Debug)] -pub enum GyroOdometerError { - TransformError(String), - TimeoutError(String), - QueueError(String), - ParameterError(String), -} - -impl core::fmt::Display for GyroOdometerError { - fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result { - match self { - GyroOdometerError::TransformError(msg) => write!(f, "Transform error: {}", msg), - GyroOdometerError::TimeoutError(msg) => write!(f, "Timeout error: {}", msg), - GyroOdometerError::QueueError(msg) => write!(f, "Queue error: {}", msg), - GyroOdometerError::ParameterError(msg) => write!(f, "Invalid parameter: {}", msg), - } - } -} - -impl core::error::Error for GyroOdometerError {} - -type Result = core::result::Result; - -#[derive(Debug, Clone)] -pub struct GyroOdometerConfig { - pub output_frame: String, - pub message_timeout_sec: f64, - pub queue_size: usize, - pub transform_timeout: Duration, - pub min_velocity_threshold: f64, - pub covariance_scale: f64, -} - -impl Default for GyroOdometerConfig { - fn default() -> Self { - Self { - output_frame: String::from("base_link"), - message_timeout_sec: 1.0, - queue_size: 100, - transform_timeout: Duration::from_secs(1), - min_velocity_threshold: 0.01, - covariance_scale: 100000.0, - } - } -} - -#[cfg(test)] -mod tests { - use super::*; - - #[test] - fn test_gyro_odometer_core_creation() { - let config = GyroOdometerConfig::default(); - let core = GyroOdometerCore::new(config); - assert!(core.is_ok()); - } - - #[test] - fn test_imu_with_covariance_conversion() { - let imu_msg = ImuMsg { - header: Header { - frame_id: "imu_link", - timestamp: 123456789, - }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - angular_velocity: Vector3::new(0.1, 0.2, 0.3), - linear_acceleration: Vector3::new(9.8, 0.0, 0.0), - }; - - let imu_with_cov = ImuWithCovariance::from_imu_msg(&imu_msg); - let converted_back = imu_with_cov.to_imu_msg(); - - assert_eq!(imu_msg.header.frame_id, converted_back.header.frame_id); - assert_eq!(imu_msg.header.timestamp, converted_back.header.timestamp); - assert_eq!( - imu_msg.angular_velocity.x, - converted_back.angular_velocity.x - ); - assert_eq!( - imu_msg.angular_velocity.y, - converted_back.angular_velocity.y - ); - assert_eq!( - imu_msg.angular_velocity.z, - converted_back.angular_velocity.z - ); - } - - #[test] - fn test_vehicle_velocity_conversion() { - let config = GyroOdometerConfig::default(); - let core = GyroOdometerCore::new(config).unwrap(); - - let odometry = Odometry { velocity: 15.5 }; - let twist = core.convert_vehicle_velocity_to_twist(&odometry, 123456789); - - assert_eq!(twist.header.frame_id, "base_link"); - assert_eq!(twist.header.timestamp, 123456789); - assert_eq!(twist.twist.twist.linear.x, 15.5); - assert_eq!(twist.twist.twist.linear.y, 0.0); - assert_eq!(twist.twist.twist.linear.z, 0.0); - } - - #[test] - fn test_imu_corrector_integration() { - let config = GyroOdometerConfig::default(); - let mut core = GyroOdometerCore::new(config).unwrap(); - - let imu_with_cov = ImuWithCovariance { - header: Header { - frame_id: "imu_link", - timestamp: 123456789, - }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - angular_velocity: Vector3::new(0.1, 0.2, 0.3), - angular_velocity_covariance: [0.0009, 0.0, 0.0, 0.0, 0.0009, 0.0, 0.0, 0.0, 0.0009], // 0.03^2 - linear_acceleration: Vector3::new(9.8, 0.0, 0.0), - linear_acceleration_covariance: [ - 100000000.0, - 0.0, - 0.0, - 0.0, - 100000000.0, - 0.0, - 0.0, - 0.0, - 100000000.0, - ], - }; - - let result = core.process_imu_with_covariance(imu_with_cov); - assert!(result.is_ok()); - } - - #[test] - fn test_transform_covariance_from_imu_corrector() { - let input = [1.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 3.0]; - let output = transform_covariance(&input); - assert_eq!(output[COV_IDX_X_X], 3.0); - assert_eq!(output[COV_IDX_Y_Y], 3.0); - assert_eq!(output[COV_IDX_Z_Z], 3.0); - } -} - -pub fn get_or_initialize() -> Result<&'static mut GyroOdometerCore> { - let ptr = GYRO_ODOMETER_INSTANCE.load(AtomicOrdering::Acquire); - - if !ptr.is_null() { - return Ok(unsafe { &mut *ptr }); - } - - let config = GyroOdometerConfig::default(); - let core = GyroOdometerCore::new(config)?; - let boxed_core = alloc::boxed::Box::new(core); - let new_ptr = alloc::boxed::Box::into_raw(boxed_core); - - match GYRO_ODOMETER_INSTANCE.compare_exchange( - null_mut(), - new_ptr, - AtomicOrdering::Acquire, - AtomicOrdering::Relaxed, - ) { - Ok(_) => { - Ok(unsafe { &mut *new_ptr }) - } - Err(existing_ptr) => { - unsafe { - let _ = alloc::boxed::Box::from_raw(new_ptr); - } - Ok(unsafe { &mut *existing_ptr }) - } - } -} diff --git a/applications/tests/test_autoware/imu_corrector/Cargo.toml b/applications/tests/test_autoware/imu_corrector/Cargo.toml deleted file mode 100644 index 30b5ce849..000000000 --- a/applications/tests/test_autoware/imu_corrector/Cargo.toml +++ /dev/null @@ -1,11 +0,0 @@ -[package] -name = "imu_corrector" -version = "0.1.0" -edition = "2021" - -[dependencies] -log = "0.4" -nalgebra = { version = "0.32", default-features = false, features = ["libm"] } -awkernel_async_lib = { path = "../../../../awkernel_async_lib", default-features = false } -awkernel_lib = { path = "../../../../awkernel_lib", default-features = false } -imu_driver = { path = "../imu_driver", default-features = false } \ No newline at end of file diff --git a/applications/tests/test_autoware/imu_corrector/src/lib.rs b/applications/tests/test_autoware/imu_corrector/src/lib.rs deleted file mode 100644 index a32f8d850..000000000 --- a/applications/tests/test_autoware/imu_corrector/src/lib.rs +++ /dev/null @@ -1,545 +0,0 @@ -#![no_std] -extern crate alloc; - -use alloc::{format, string::String}; -use imu_driver::{Header, ImuMsg, Quaternion, Vector3}; -use nalgebra::{Quaternion as NQuaternion, UnitQuaternion, Vector3 as NVector3}; - -#[derive(Clone, Debug)] -pub struct Transform { - pub translation: Vector3, - pub rotation: Quaternion, -} - -impl Transform { - pub fn identity() -> Self { - Self { - translation: imu_driver::Vector3::new(5.22444, 0.07615, 2.72762), // use aip_x2_gen2_description. - rotation: imu_driver::Quaternion { - x: 1.0, - y: 0.0, - z: 0.0, - w: 0.0, - }, - } - } - - fn to_nalgebra_vector3(&self, vec: &Vector3) -> NVector3 { - NVector3::new(vec.x, vec.y, vec.z) - } - - fn to_imu_vector3(&self, vec: &NVector3) -> Vector3 { - Vector3::new(vec.x, vec.y, vec.z) - } - - fn to_nalgebra_quaternion(&self, quat: &Quaternion) -> UnitQuaternion { - let n_quat = NQuaternion::new(quat.w, quat.x, quat.y, quat.z); - UnitQuaternion::from_quaternion(n_quat) - } - - pub fn apply_to_vector(&self, vec: Vector3) -> Vector3 { - let nalgebra_vec = self.to_nalgebra_vector3(&vec); - let nalgebra_quat = self.to_nalgebra_quaternion(&self.rotation); - let nalgebra_trans = self.to_nalgebra_vector3(&self.translation); - let rotated = nalgebra_quat * nalgebra_vec; - let result = rotated + nalgebra_trans; - self.to_imu_vector3(&result) - } -} - -pub trait TransformListener { - fn get_latest_transform(&self, from_frame: &str, to_frame: &str) -> Option; - fn get_transform_at_time( - &self, - from_frame: &str, - to_frame: &str, - timestamp: u64, - ) -> Option; -} - -pub struct MockTransformListener { - transforms: alloc::collections::BTreeMap, -} - -impl MockTransformListener { - pub fn new() -> Self { - Self { - transforms: alloc::collections::BTreeMap::new(), - } - } - - pub fn add_transform(&mut self, from_frame: &str, to_frame: &str, transform: Transform) { - let key = format!("{}_to_{}", from_frame, to_frame); - self.transforms.insert(key, transform); - } -} - -impl TransformListener for MockTransformListener { - fn get_latest_transform(&self, from_frame: &str, to_frame: &str) -> Option { - let key = format!("{}_to_{}", from_frame, to_frame); - self.transforms.get(&key).cloned() - } - - fn get_transform_at_time( - &self, - from_frame: &str, - to_frame: &str, - _timestamp: u64, - ) -> Option { - self.get_latest_transform(from_frame, to_frame) - } -} - -#[derive(Clone, Debug)] -pub struct ImuWithCovariance { - pub header: Header, - pub orientation: Quaternion, - pub angular_velocity: Vector3, - pub angular_velocity_covariance: [f64; 9], - pub linear_acceleration: Vector3, - pub linear_acceleration_covariance: [f64; 9], -} - -impl ImuWithCovariance { - pub fn from_imu_msg(imu_msg: &ImuMsg) -> Self { - Self { - header: imu_msg.header.clone(), - orientation: imu_msg.orientation.clone(), - angular_velocity: imu_msg.angular_velocity.clone(), - angular_velocity_covariance: [0.0; 9], - linear_acceleration: imu_msg.linear_acceleration.clone(), - linear_acceleration_covariance: [0.0; 9], - } - } - - pub fn to_imu_msg(&self) -> ImuMsg { - ImuMsg { - header: self.header.clone(), - orientation: self.orientation.clone(), - angular_velocity: self.angular_velocity.clone(), - linear_acceleration: self.linear_acceleration.clone(), - } - } -} - -pub struct ImuCorrectorConfig { - pub angular_velocity_offset_x: f64, - pub angular_velocity_offset_y: f64, - pub angular_velocity_offset_z: f64, - pub angular_velocity_stddev_xx: f64, - pub angular_velocity_stddev_yy: f64, - pub angular_velocity_stddev_zz: f64, - pub acceleration_stddev: f64, - pub output_frame: &'static str, -} - -impl Default for ImuCorrectorConfig { - fn default() -> Self { - Self { - angular_velocity_offset_x: 0.0, - angular_velocity_offset_y: 0.0, - angular_velocity_offset_z: 0.0, - angular_velocity_stddev_xx: 0.03, - angular_velocity_stddev_yy: 0.03, - angular_velocity_stddev_zz: 0.03, - acceleration_stddev: 10000.0, - output_frame: "base_link", - } - } -} - -pub struct ImuCorrector { - config: ImuCorrectorConfig, - transform_listener: T, -} - -impl ImuCorrector { - pub fn new() -> Self { - Self { - config: ImuCorrectorConfig::default(), - transform_listener: MockTransformListener::new(), - } - } - - pub fn with_transform_listener(transform_listener: MockTransformListener) -> Self { - Self { - config: ImuCorrectorConfig::default(), - transform_listener, - } - } -} - -impl ImuCorrector { - pub fn set_config(&mut self, config: ImuCorrectorConfig) { - self.config = config; - } - - fn to_nalgebra_vector3(&self, vec: &Vector3) -> NVector3 { - NVector3::new(vec.x, vec.y, vec.z) - } - - fn to_imu_vector3(&self, vec: &NVector3) -> Vector3 { - Vector3::new(vec.x, vec.y, vec.z) - } - - fn to_nalgebra_quaternion(&self, quat: &Quaternion) -> UnitQuaternion { - let n_quat = NQuaternion::new(quat.w, quat.x, quat.y, quat.z); - UnitQuaternion::from_quaternion(n_quat) - } - - fn transform_vector3(&self, vec: &Vector3, transform: &Transform) -> Vector3 { - let nalgebra_vec = self.to_nalgebra_vector3(vec); - let nalgebra_quat = self.to_nalgebra_quaternion(&transform.rotation); - let nalgebra_trans = self.to_nalgebra_vector3(&transform.translation); - let rotated = nalgebra_quat * nalgebra_vec; - let result = rotated + nalgebra_trans; - self.to_imu_vector3(&result) - } - - fn transform_covariance(&self, cov: &[f64; 9]) -> [f64; 9] { - let max_cov = cov[0].max(cov[4]).max(cov[8]); - let mut cov_transformed = [0.0; 9]; - cov_transformed[0] = max_cov; - cov_transformed[4] = max_cov; - cov_transformed[8] = max_cov; - - cov_transformed - } - - pub fn correct_imu_with_covariance( - &self, - imu_msg: &ImuMsg, - transform: Option<&Transform>, - ) -> ImuWithCovariance { - let mut corrected_imu = ImuWithCovariance::from_imu_msg(imu_msg); - corrected_imu.angular_velocity.x -= self.config.angular_velocity_offset_x; - corrected_imu.angular_velocity.y -= self.config.angular_velocity_offset_y; - corrected_imu.angular_velocity.z -= self.config.angular_velocity_offset_z; - corrected_imu.angular_velocity_covariance[0] = - self.config.angular_velocity_stddev_xx * self.config.angular_velocity_stddev_xx; - corrected_imu.angular_velocity_covariance[4] = - self.config.angular_velocity_stddev_yy * self.config.angular_velocity_stddev_yy; - corrected_imu.angular_velocity_covariance[8] = - self.config.angular_velocity_stddev_zz * self.config.angular_velocity_stddev_zz; - let accel_var = self.config.acceleration_stddev * self.config.acceleration_stddev; - corrected_imu.linear_acceleration_covariance[0] = accel_var; - corrected_imu.linear_acceleration_covariance[4] = accel_var; - corrected_imu.linear_acceleration_covariance[8] = accel_var; - - if let Some(tf) = transform { - corrected_imu.linear_acceleration = - self.transform_vector3(&corrected_imu.linear_acceleration, tf); - corrected_imu.linear_acceleration_covariance = - self.transform_covariance(&corrected_imu.linear_acceleration_covariance); - corrected_imu.angular_velocity = - self.transform_vector3(&corrected_imu.angular_velocity, tf); - corrected_imu.angular_velocity_covariance = - self.transform_covariance(&corrected_imu.angular_velocity_covariance); - corrected_imu.header.frame_id = self.config.output_frame; - } - - corrected_imu - } - - pub fn correct_imu(&self, imu_msg: &ImuMsg, transform: Option<&Transform>) -> ImuMsg { - let corrected_with_cov = self.correct_imu_with_covariance(imu_msg, transform); - corrected_with_cov.to_imu_msg() - } - - pub fn correct_imu_with_dynamic_tf(&self, imu_msg: &ImuMsg) -> Option { - let transform = self - .transform_listener - .get_latest_transform(&imu_msg.header.frame_id, self.config.output_frame)?; - - let corrected_with_cov = self.correct_imu_with_covariance(imu_msg, Some(&transform)); - Some(corrected_with_cov.to_imu_msg()) - } - - pub fn correct_imu_with_dynamic_tf_covariance( - &self, - imu_msg: &ImuMsg, - ) -> Option { - let transform = self - .transform_listener - .get_latest_transform(&imu_msg.header.frame_id, self.config.output_frame)?; - - Some(self.correct_imu_with_covariance(imu_msg, Some(&transform))) - } - - pub fn correct_imu_simple(&self, imu_msg: &ImuMsg) -> ImuMsg { - let mut corrected_msg = imu_msg.clone(); - - corrected_msg.angular_velocity.x -= self.config.angular_velocity_offset_x; - corrected_msg.angular_velocity.y -= self.config.angular_velocity_offset_y; - corrected_msg.angular_velocity.z -= self.config.angular_velocity_offset_z; - - corrected_msg.header.frame_id = self.config.output_frame; - - corrected_msg - } - - pub fn get_covariance_config(&self) -> (f64, f64, f64, f64) { - ( - self.config.angular_velocity_stddev_xx, - self.config.angular_velocity_stddev_yy, - self.config.angular_velocity_stddev_zz, - self.config.acceleration_stddev, - ) - } -} - -pub fn transform_covariance(cov: &[f64; 9]) -> [f64; 9] { - let max_cov = cov[0].max(cov[4]).max(cov[8]); - let mut cov_transformed = [0.0; 9]; - cov_transformed[0] = max_cov; - cov_transformed[4] = max_cov; - cov_transformed[8] = max_cov; - cov_transformed -} - -#[cfg(test)] -mod tests { - use super::*; - - #[test] - fn test_imu_corrector() { - let corrector = ImuCorrector::new(); - let imu_msg = ImuMsg { - header: Header { - frame_id: "imu_link", - timestamp: 0, - }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - angular_velocity: Vector3::new(0.1, 0.2, 0.3), - linear_acceleration: Vector3::new(9.8, 0.0, 0.0), - }; - - let corrected_msg = corrector.correct_imu_simple(&imu_msg); - assert_eq!(corrected_msg.header.frame_id, "base_link"); - assert_eq!(corrected_msg.angular_velocity.x, 0.1); - assert_eq!(corrected_msg.angular_velocity.y, 0.2); - assert_eq!(corrected_msg.angular_velocity.z, 0.3); - } - - #[test] - fn test_imu_corrector_with_offset() { - let mut config = ImuCorrectorConfig::default(); - config.angular_velocity_offset_x = 0.05; - config.angular_velocity_offset_y = 0.1; - config.angular_velocity_offset_z = 0.15; - - let mut corrector = ImuCorrector::new(); - corrector.set_config(config); - - let imu_msg = ImuMsg { - header: Header { - frame_id: "imu_link", - timestamp: 0, - }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - angular_velocity: Vector3::new(0.1, 0.2, 0.3), - linear_acceleration: Vector3::new(9.8, 0.0, 0.0), - }; - - let corrected_msg = corrector.correct_imu_simple(&imu_msg); - - assert_eq!(corrected_msg.angular_velocity.x, 0.1 - 0.05); - assert_eq!(corrected_msg.angular_velocity.y, 0.2 - 0.1); - assert_eq!(corrected_msg.angular_velocity.z, 0.3 - 0.15); - } - - #[test] - fn test_imu_corrector_with_covariance() { - let corrector = ImuCorrector::new(); - let imu_msg = ImuMsg { - header: Header { - frame_id: "imu_link", - timestamp: 0, - }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - angular_velocity: Vector3::new(0.1, 0.2, 0.3), - linear_acceleration: Vector3::new(9.8, 0.0, 0.0), - }; - - let corrected_with_cov = corrector.correct_imu_with_covariance(&imu_msg, None); - let expected_angular_var = 0.03 * 0.03; - assert_eq!( - corrected_with_cov.angular_velocity_covariance[0], - expected_angular_var - ); - assert_eq!( - corrected_with_cov.angular_velocity_covariance[4], - expected_angular_var - ); - assert_eq!( - corrected_with_cov.angular_velocity_covariance[8], - expected_angular_var - ); - let expected_accel_var = 10000.0 * 10000.0; - assert_eq!( - corrected_with_cov.linear_acceleration_covariance[0], - expected_accel_var - ); - assert_eq!( - corrected_with_cov.linear_acceleration_covariance[4], - expected_accel_var - ); - assert_eq!( - corrected_with_cov.linear_acceleration_covariance[8], - expected_accel_var - ); - } - - #[test] - fn test_transform_covariance() { - let corrector = ImuCorrector::new(); - let input_cov = [1.0, 0.5, 0.3, 0.5, 2.0, 0.4, 0.3, 0.4, 3.0]; - let transformed_cov = corrector.transform_covariance(&input_cov); - - assert_eq!(transformed_cov[0], 3.0); - assert_eq!(transformed_cov[4], 3.0); - assert_eq!(transformed_cov[8], 3.0); - assert_eq!(transformed_cov[1], 0.0); - assert_eq!(transformed_cov[2], 0.0); - assert_eq!(transformed_cov[3], 0.0); - assert_eq!(transformed_cov[5], 0.0); - assert_eq!(transformed_cov[6], 0.0); - assert_eq!(transformed_cov[7], 0.0); - } - - #[test] - fn test_public_transform_covariance() { - let input_cov = [1.0, 0.5, 0.3, 0.5, 2.0, 0.4, 0.3, 0.4, 3.0]; - let transformed_cov = transform_covariance(&input_cov); - assert_eq!(transformed_cov[0], 3.0); - assert_eq!(transformed_cov[4], 3.0); - assert_eq!(transformed_cov[8], 3.0); - assert_eq!(transformed_cov[1], 0.0); - assert_eq!(transformed_cov[2], 0.0); - assert_eq!(transformed_cov[3], 0.0); - assert_eq!(transformed_cov[5], 0.0); - assert_eq!(transformed_cov[6], 0.0); - assert_eq!(transformed_cov[7], 0.0); - } - - #[test] - fn test_imu_corrector_with_transform() { - let corrector = ImuCorrector::new(); - let imu_msg = ImuMsg { - header: Header { - frame_id: "imu_link", - timestamp: 0, - }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - angular_velocity: Vector3::new(0.1, 0.2, 0.3), - linear_acceleration: Vector3::new(9.8, 0.0, 0.0), - }; - - let transform = Transform { - translation: Vector3::new(0.0, 0.0, 0.0), - rotation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - }; - - let corrected_with_cov = corrector.correct_imu_with_covariance(&imu_msg, Some(&transform)); - assert_eq!(corrected_with_cov.header.frame_id, "base_link"); - let expected_angular_var = 0.03 * 0.03; - assert_eq!( - corrected_with_cov.angular_velocity_covariance[0], - expected_angular_var - ); - assert_eq!( - corrected_with_cov.angular_velocity_covariance[4], - expected_angular_var - ); - assert_eq!( - corrected_with_cov.angular_velocity_covariance[8], - expected_angular_var - ); - } - - #[test] - fn test_imu_corrector_with_dynamic_tf() { - let mut transform_listener = MockTransformListener::new(); - let transform = Transform { - translation: Vector3::new(1.0, 0.0, 0.0), - rotation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - }; - transform_listener.add_transform("imu_link", "base_link", transform); - - let corrector = ImuCorrector::with_transform_listener(transform_listener); - let imu_msg = ImuMsg { - header: Header { - frame_id: "imu_link", - timestamp: 0, - }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - angular_velocity: Vector3::new(0.1, 0.2, 0.3), - linear_acceleration: Vector3::new(9.8, 0.0, 0.0), - }; - - let corrected_msg = corrector.correct_imu_with_dynamic_tf(&imu_msg); - assert!(corrected_msg.is_some()); - - let corrected_msg = corrected_msg.unwrap(); - assert_eq!(corrected_msg.header.frame_id, "base_link"); - assert_eq!(corrected_msg.linear_acceleration.x, 9.8); - } - - #[test] - fn test_imu_corrector_with_dynamic_tf_no_transform() { - let transform_listener = MockTransformListener::new(); - let corrector = ImuCorrector::with_transform_listener(transform_listener); - let imu_msg = ImuMsg { - header: Header { - frame_id: "imu_link", - timestamp: 0, - }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - angular_velocity: Vector3::new(0.1, 0.2, 0.3), - linear_acceleration: Vector3::new(9.8, 0.0, 0.0), - }; - - let corrected_msg = corrector.correct_imu_with_dynamic_tf(&imu_msg); - assert!(corrected_msg.is_none()); - } -} diff --git a/applications/tests/test_autoware/imu_driver/Cargo.toml b/applications/tests/test_autoware/imu_driver/Cargo.toml deleted file mode 100644 index f08727aa3..000000000 --- a/applications/tests/test_autoware/imu_driver/Cargo.toml +++ /dev/null @@ -1,9 +0,0 @@ -[package] -name = "imu_driver" -version = "0.1.0" -edition = "2021" - -[dependencies] -log = "0.4" -awkernel_async_lib = { path = "../../../../awkernel_async_lib", default-features = false } -awkernel_lib = { path = "../../../../awkernel_lib", default-features = false } \ No newline at end of file diff --git a/applications/tests/test_autoware/imu_driver/src/lib.rs b/applications/tests/test_autoware/imu_driver/src/lib.rs deleted file mode 100644 index 3b8a947df..000000000 --- a/applications/tests/test_autoware/imu_driver/src/lib.rs +++ /dev/null @@ -1,260 +0,0 @@ -#![no_std] -extern crate alloc; - -use alloc::{format, string::String, vec, vec::Vec}; -use core::f64::consts::PI; - -#[derive(Clone, Debug)] -pub struct ImuMsg { - pub header: Header, - pub orientation: Quaternion, - pub angular_velocity: Vector3, - pub linear_acceleration: Vector3, -} - -#[derive(Clone, Debug)] -pub struct ImuCsvRow { - pub timestamp: u64, - pub orientation: Quaternion, - pub angular_velocity: Vector3, - pub linear_acceleration: Vector3, -} - -#[derive(Clone, Debug)] -pub struct Header { - pub frame_id: &'static str, - pub timestamp: u64, -} - -#[derive(Debug, Clone)] -pub struct Quaternion { - pub x: f64, - pub y: f64, - pub z: f64, - pub w: f64, -} - -#[derive(Clone, Debug)] -pub struct Vector3 { - pub x: f64, - pub y: f64, - pub z: f64, -} - -impl Vector3 { - pub fn new(x: f64, y: f64, z: f64) -> Self { - Self { x, y, z } - } -} - -impl Default for ImuMsg { - fn default() -> Self { - Self { - header: Header { - frame_id: "imu", - timestamp: 0, - }, - orientation: Quaternion { - x: 1.0, - y: 0.0, - z: 0.0, - w: 0.0, - }, - angular_velocity: Vector3::new(0.0, 0.0, 0.0), - linear_acceleration: Vector3::new(0.0, 0.0, 0.0), - } - } -} - -pub fn build_imu_msg_from_csv_row( - row: &ImuCsvRow, - frame_id: &'static str, - timestamp: u64, -) -> ImuMsg { - ImuMsg { - header: Header { - frame_id, - timestamp, - }, - orientation: row.orientation.clone(), - angular_velocity: row.angular_velocity.clone(), - linear_acceleration: row.linear_acceleration.clone(), - } -} - -pub struct TamagawaImuParser { - frame_id: &'static str, - dummy_counter: u16, -} - -impl TamagawaImuParser { - pub fn new(frame_id: &'static str) -> Self { - Self { - frame_id, - dummy_counter: 0, - } - } - - pub fn parse_binary_data(&self, data: &[u8], timestamp: u64) -> Option { - if data.len() != 58 - || data[5] != b'B' - || data[6] != b'I' - || data[7] != b'N' - || data[8] != b',' - { - return None; - } - - let mut imu_msg = ImuMsg::default(); - imu_msg.header.frame_id = self.frame_id; - imu_msg.header.timestamp = timestamp; - - let _counter = ((data[11] as u16) << 8) | (data[12] as u16); - let raw_data = self.parse_signed_16bit(&data[15..17]); - imu_msg.angular_velocity.x = self.convert_angular_velocity(raw_data); - let raw_data = self.parse_signed_16bit(&data[17..19]); - imu_msg.angular_velocity.y = self.convert_angular_velocity(raw_data); - let raw_data = self.parse_signed_16bit(&data[19..21]); - imu_msg.angular_velocity.z = self.convert_angular_velocity(raw_data); - let raw_data = self.parse_signed_16bit(&data[21..23]); - imu_msg.linear_acceleration.x = self.convert_acceleration(raw_data); - let raw_data = self.parse_signed_16bit(&data[23..25]); - imu_msg.linear_acceleration.y = self.convert_acceleration(raw_data); - let raw_data = self.parse_signed_16bit(&data[25..27]); - imu_msg.linear_acceleration.z = self.convert_acceleration(raw_data); - - Some(imu_msg) - } - - pub fn generate_dummy_binary_data( - &mut self, - _timestamp: u64, - angular_velocity: Vector3, - linear_acceleration: Vector3, - ) -> Vec { - let mut data = vec![0u8; 58]; - - data[0..5].copy_from_slice(b"$TSC,"); - data[5] = b'B'; - data[6] = b'I'; - data[7] = b'N'; - data[8] = b','; - data[11] = (self.dummy_counter >> 8) as u8; - data[12] = (self.dummy_counter & 0xFF) as u8; - self.dummy_counter = self.dummy_counter.wrapping_add(1); - - let angular_vel_x_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.x); - let angular_vel_y_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.y); - let angular_vel_z_lsb = self.convert_angular_velocity_to_lsb(angular_velocity.z); - let accel_x_lsb = self.convert_acceleration_to_lsb(linear_acceleration.x); - let accel_y_lsb = self.convert_acceleration_to_lsb(linear_acceleration.y); - let accel_z_lsb = self.convert_acceleration_to_lsb(linear_acceleration.z); - - data[15] = (angular_vel_x_lsb >> 8) as u8; - data[16] = (angular_vel_x_lsb & 0xFF) as u8; - data[17] = (angular_vel_y_lsb >> 8) as u8; - data[18] = (angular_vel_y_lsb & 0xFF) as u8; - data[19] = (angular_vel_z_lsb >> 8) as u8; - data[20] = (angular_vel_z_lsb & 0xFF) as u8; - data[21] = (accel_x_lsb >> 8) as u8; - data[22] = (accel_x_lsb & 0xFF) as u8; - data[23] = (accel_y_lsb >> 8) as u8; - data[24] = (accel_y_lsb & 0xFF) as u8; - data[25] = (accel_z_lsb >> 8) as u8; - data[26] = (accel_z_lsb & 0xFF) as u8; - - data - } - - pub fn generate_static_dummy_data(&mut self, timestamp: u64) -> Vec { - let angular_velocity = Vector3::new(0.1, 0.2, 0.01); - let linear_acceleration = Vector3::new(0.0, 0.0, 9.80665); - - self.generate_dummy_binary_data(timestamp, angular_velocity, linear_acceleration) - } - - fn convert_angular_velocity_to_lsb(&self, rad_per_sec: f64) -> i16 { - let deg_per_sec = rad_per_sec * 180.0 / PI; - let lsb = deg_per_sec / (200.0 / (1 << 15) as f64); - lsb as i16 - } - - fn convert_acceleration_to_lsb(&self, m_per_sec_squared: f64) -> i16 { - let lsb = m_per_sec_squared / (100.0 / (1 << 15) as f64); - lsb as i16 - } - - fn parse_signed_16bit(&self, data: &[u8]) -> i16 { - if data.len() != 2 { - return 0; - } - let high_byte = (data[0] as i32) << 8; - let low_byte = data[1] as i32; - let result = (high_byte & 0xFFFFFF00u32 as i32) | (low_byte & 0x000000FF); - result as i16 - } - - fn convert_angular_velocity(&self, raw_data: i16) -> f64 { - let lsb_to_deg_per_sec = 200.0 / (1 << 15) as f64; - let deg_to_rad = PI / 180.0; - (raw_data as f64) * lsb_to_deg_per_sec * deg_to_rad - } - - fn convert_acceleration(&self, raw_data: i16) -> f64 { - let lsb_to_m_per_sec_squared = 100.0 / (1 << 15) as f64; - (raw_data as f64) * lsb_to_m_per_sec_squared - } - - pub fn generate_version_request() -> &'static [u8] { - b"$TSC,VER*29\r\n" - } - - pub fn generate_offset_cancel_request(offset_value: i32) -> String { - format!("$TSC,OFC,{}\r\n", offset_value) - } - - pub fn generate_heading_reset_request() -> &'static [u8] { - b"$TSC,HRST*29\r\n" - } - - pub fn generate_binary_request(rate_hz: u32) -> String { - format!("$TSC,BIN,{}\r\n", rate_hz) - } -} - -#[cfg(test)] -mod tests { - use super::*; - - #[test] - fn example_usage() { - let mut parser = TamagawaImuParser::new("imu_link"); - let version_cmd = TamagawaImuParser::generate_version_request(); - let binary_cmd = TamagawaImuParser::generate_binary_request(30); - let offset_cmd = TamagawaImuParser::generate_offset_cancel_request(123); - let heading_cmd = TamagawaImuParser::generate_heading_reset_request(); - let static_dummy_data = parser.generate_static_dummy_data(123456789); - if let Some(imu_msg) = parser.parse_binary_data(&static_dummy_data, 123456789) { - let _angular_vel = imu_msg.angular_velocity; - let _acceleration = imu_msg.linear_acceleration; - } - - let sinusoidal_dummy_data = parser.generate_sinusoidal_dummy_data(123456789, 0.0); - if let Some(imu_msg) = parser.parse_binary_data(&sinusoidal_dummy_data, 123456789) { - let _angular_vel = imu_msg.angular_velocity; - let _acceleration = imu_msg.linear_acceleration; - } - - let custom_angular_velocity = Vector3::new(0.5, -0.3, 1.2); - let custom_acceleration = Vector3::new(8.5, 2.1, 10.2); - let custom_dummy_data = parser.generate_dummy_binary_data( - 123456789, - custom_angular_velocity, - custom_acceleration, - ); - if let Some(imu_msg) = parser.parse_binary_data(&custom_dummy_data, 123456789) { - let _angular_vel = imu_msg.angular_velocity; - let _acceleration = imu_msg.linear_acceleration; - } - } -} diff --git a/applications/tests/test_autoware/imu_raw.csv b/applications/tests/test_autoware/imu_raw.csv 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-1769682235,616463616,0.0,0.0,0.0,1.0,-0.0,0.0,-0.0,0.0,-0.0,0.0 diff --git a/applications/tests/test_autoware/src/lib.rs b/applications/tests/test_autoware/src/lib.rs deleted file mode 100644 index 2d58963da..000000000 --- a/applications/tests/test_autoware/src/lib.rs +++ /dev/null @@ -1,637 +0,0 @@ -#![no_std] -#![allow(static_mut_refs)] -extern crate alloc; - -use alloc::{borrow::Cow, format, string::String, vec, vec::Vec}; -use awkernel_async_lib::dag::{create_dag, finish_create_dags}; -use awkernel_async_lib::net::IpAddr; -use awkernel_async_lib::scheduler::SchedulerType; -use awkernel_lib::delay::wait_microsec; -use awkernel_lib::sync::mutex::{MCSNode, Mutex}; -use core::net::Ipv4Addr; -use core::time::Duration; -use csv_core::{ReadRecordResult, Reader}; -use core::sync::atomic::{AtomicBool, AtomicUsize, Ordering}; - -use imu_corrector::{ImuCorrector, ImuWithCovariance}; -use imu_driver::{build_imu_msg_from_csv_row, ImuCsvRow, ImuMsg, TamagawaImuParser}; -use vehicle_velocity_converter::{ - build_velocity_report_from_csv_row, reactor_helpers, Twist, TwistWithCovariance, - TwistWithCovarianceStamped, VehicleVelocityConverter, VelocityCsvRow, -}; -use ekf_localizer::{ - get_or_initialize_default_module, EKFOdometry, Point3D, Pose, PoseWithCovariance, Quaternion, -}; - -const LOG_ENABLE: bool = false; - -const INTERFACE_ID: u64 = 0; -const INTERFACE_ADDR: Ipv4Addr = Ipv4Addr::new(10, 0, 2, 64); -const UDP_TCP_DST_ADDR: Ipv4Addr = Ipv4Addr::new(10, 0, 2, 2); -const UDP_DST_PORT: u16 = 26099; - -static mut LATEST_JSON_DATA: Option = None; -static JSON_DATA_READY: AtomicBool = AtomicBool::new(false); -static JSON_DATA_LENGTH: AtomicUsize = AtomicUsize::new(0); - -const IMU_CSV_DATA_STR: &str = include_str!("../imu_raw.csv"); -const VELOCITY_CSV_DATA_STR: &str = include_str!("../velocity_status.csv"); - -static mut IMU_CSV_DATA: Option> = None; -static mut VELOCITY_CSV_DATA: Option> = None; -static IMU_CSV_COUNT: Mutex = Mutex::new(0); -static VELOCITY_CSV_COUNT: Mutex = Mutex::new(0); - -pub async fn run() { - wait_microsec(1000000); - - if let Err(e) = initialize_csv_data() { - log::warn!("Failed to initialize CSV data: {}", e); - } - - log::info!("Starting Autoware test application with simplified TCP networking"); - - let dag = create_dag(); - let _dag_id = dag.get_id(); - - dag.register_periodic_reactor::<_, (i32, i32, i32)>( - "start_dummy_data".into(), - move || -> (i32, i32, i32) { - (1, 2, 3) - }, - vec![ - Cow::from("start_imu"), - Cow::from("start_vel"), - Cow::from("start_pose"), - ], - SchedulerType::GEDF(5), - Duration::from_millis(50), - ) - .await; - - dag.register_reactor::<_, (i32,), (ImuMsg,)>( - "imu_driver".into(), - move |(_start_msg,): (i32,)| -> (ImuMsg,) { - let mut node = MCSNode::new(); - let mut count_guard = IMU_CSV_COUNT.lock(&mut node); - let count = *count_guard; - let data = unsafe { IMU_CSV_DATA.as_ref() }; - - let imu_msg = if let Some(csv_data) = data { - if csv_data.is_empty() { - let mut parser = TamagawaImuParser::new("imu_link"); - let awkernel_timestamp = get_awkernel_uptime_timestamp(); - let static_dummy_data = parser.generate_static_dummy_data(awkernel_timestamp); - parser - .parse_binary_data(&static_dummy_data, awkernel_timestamp) - .unwrap_or_default() - } else { - let idx = count % csv_data.len(); - let row = &csv_data[idx]; - let awkernel_timestamp = get_awkernel_uptime_timestamp(); - build_imu_msg_from_csv_row(row, "imu_link", awkernel_timestamp) - } - } else { - let mut parser = TamagawaImuParser::new("imu_link"); - let awkernel_timestamp = get_awkernel_uptime_timestamp(); - let static_dummy_data = parser.generate_static_dummy_data(awkernel_timestamp); - parser - .parse_binary_data(&static_dummy_data, awkernel_timestamp) - .unwrap_or_default() - }; - - *count_guard += 1; - if *count_guard >= 5700 { - *count_guard = 0; - log::info!("rust_e2e_app: finish csv for IMU"); - loop {} - } - - if LOG_ENABLE { - log::debug!( - "IMU data in imu_driver_node,num={}, timestamp={}", - count, - imu_msg.header.timestamp - ); - } - - (imu_msg,) - }, - vec![Cow::from("start_imu")], - vec![Cow::from("imu_data")], - SchedulerType::GEDF(5), - ) - .await; - - dag.register_reactor::<_, (i32,), (TwistWithCovarianceStamped,)>( - "vehicle_velocity_converter".into(), - move |(_start_msg,): (i32,)| -> (TwistWithCovarianceStamped,) { - let converter = VehicleVelocityConverter::default(); - - let mut node = MCSNode::new(); - let mut count_guard = VELOCITY_CSV_COUNT.lock(&mut node); - let count = *count_guard; - let data = unsafe { VELOCITY_CSV_DATA.as_ref() }; - - let csv_data = data.expect("VELOCITY_CSV_DATA must be initialized"); - let idx = count % csv_data.len(); - let row = &csv_data[idx]; - let awkernel_timestamp = get_awkernel_uptime_timestamp(); - let velocity_report = - build_velocity_report_from_csv_row(row, "base_link", awkernel_timestamp); - - *count_guard += 1; - if *count_guard >= 5700 { - *count_guard = 0; - log::info!("rust_e2e_app: finish csv for Velocity"); - loop {} - } - - let twist_msg = converter.convert_velocity_report(&velocity_report); - - if LOG_ENABLE { - log::debug!("Vehicle velocity converter: Converted velocity report to twist - linear.x={:.3}, angular.z={:.3}, awkernel_timestamp={}", - twist_msg.twist.twist.linear.x, - twist_msg.twist.twist.angular.z, - twist_msg.header.timestamp - ); - } - - (twist_msg,) - }, - vec![Cow::from("start_vel")], - vec![Cow::from("velocity_twist")], - SchedulerType::GEDF(5), - ) - .await; - - dag.register_reactor::<_, (ImuMsg,), (ImuWithCovariance,)>( - "imu_corrector".into(), - |(imu_msg,): (ImuMsg,)| -> (ImuWithCovariance,) { - let corrector = ImuCorrector::new(); - let corrected = corrector.correct_imu_with_covariance(&imu_msg, None); - (corrected,) - }, - vec![Cow::from("imu_data")], - vec![Cow::from("corrected_imu_data")], - SchedulerType::GEDF(5), - ) - .await; - - dag.register_reactor::<_, ( - ImuWithCovariance, - TwistWithCovarianceStamped, - ), (TwistWithCovarianceStamped,)>( - "gyro_odometer".into(), - |(imu_with_cov, vehicle_twist): ( - ImuWithCovariance, - TwistWithCovarianceStamped, - )| - -> (TwistWithCovarianceStamped,) { - let current_timestamp = imu_with_cov.header.timestamp; - let current_time = get_awkernel_uptime_timestamp(); - - let gyro_odometer = match gyro_odometer::get_or_initialize() { - Ok(core) => core, - Err(_) => { - return (reactor_helpers::create_empty_twist(current_timestamp),); - } - }; - - gyro_odometer.add_vehicle_twist(vehicle_twist); - gyro_odometer.add_imu(imu_with_cov); - - match gyro_odometer.process_and_get_result(current_time) { - Some(result) => (gyro_odometer.process_result(result),), - None => (reactor_helpers::create_empty_twist(current_timestamp),), - } - }, - vec![Cow::from("corrected_imu_data"), Cow::from("velocity_twist")], - vec![Cow::from("twist_with_covariance")], - SchedulerType::GEDF(5), - ) - .await; - - dag.register_reactor::<_, (i32,), (Pose,)>( - "pose_dummy_generator".into(), - move |(_start_msg,): (i32,)| -> (Pose,) { - let x = 0.0; - let y = 0.0; - let z = 0.0; - - let pose = Pose { - position: Point3D { x, y, z }, - orientation: Quaternion { - x: 0.0, - y: 0.0, - z: 0.0, - w: 1.0, - }, - }; - - (pose,) - }, - vec![Cow::from("start_pose")], - vec![Cow::from("dummy_pose")], - SchedulerType::GEDF(5), - ) - .await; - - dag.register_reactor::<_, (Pose, TwistWithCovarianceStamped), (Pose, EKFOdometry)>( - "ekf_localizer".into(), - |(pose, twist): (Pose, TwistWithCovarianceStamped)| -> (Pose, EKFOdometry) { - let ekf = get_or_initialize_default_module(); - - static mut INITIALIZED: bool = false; - unsafe { - if !INITIALIZED { - ekf.initialize(pose.clone()); - INITIALIZED = true; - } - } - - // Use a fixed 50ms timestep to match the Autoware publisher cadence. - const FIXED_DT: f64 = 0.05; - let dt = FIXED_DT; - - if dt > 0.0 { - ekf.predict(dt); - } - - let vx = twist.twist.twist.linear.x; - let wz = twist.twist.twist.angular.z; - ekf.update_velocity(vx, wz); - - let ekf_pose = ekf.get_current_pose(false); - - let pose_covariance = ekf.get_current_pose_covariance(); - let twist_covariance = ekf.get_current_twist_covariance(); - - let ekf_twist = ekf.get_current_twist(); - - let odometry = EKFOdometry { - header: imu_driver::Header { - frame_id: "map", - timestamp: twist.header.timestamp, - }, - child_frame_id: "base_link", - pose: PoseWithCovariance { - pose: ekf_pose.clone(), - covariance: pose_covariance, - }, - twist: TwistWithCovariance { - twist: Twist { - linear: imu_driver::Vector3::new(ekf_twist.linear.x, ekf_twist.linear.y, ekf_twist.linear.z), - angular: imu_driver::Vector3::new(ekf_twist.angular.x, ekf_twist.angular.y, ekf_twist.angular.z), - }, - covariance: twist_covariance, - }, - }; - - (ekf_pose, odometry) - }, - vec![Cow::from("dummy_pose"), Cow::from("twist_with_covariance")], - vec![Cow::from("estimated_pose"), Cow::from("ekf_odometry")], - SchedulerType::GEDF(5), - ) - .await; - - dag.register_sink_reactor::<_, (Pose, EKFOdometry)>( - "ekf_sink".into(), - move |(_pose, ekf_odom): (Pose, EKFOdometry)| { - - let json_data = format!( - r#"{{"header":{{"frame_id":"{}","timestamp":{}}},"child_frame_id":"{}","pose":{{"pose":{{"position":{{"x":{:.6},"y":{:.6},"z":{:.6}}},"orientation":{{"x":{:.6},"y":{:.6},"z":{:.6},"w":{:.6}}}}},"covariance":[{}]}},"twist":{{"twist":{{"linear":{{"x":{:.6},"y":{:.6},"z":{:.6}}},"angular":{{"x":{:.6},"y":{:.6},"z":{:.6}}}}},"covariance":[{}]}}}}"#, - ekf_odom.header.frame_id, - ekf_odom.header.timestamp, - ekf_odom.child_frame_id, - ekf_odom.pose.pose.position.x, - ekf_odom.pose.pose.position.y, - ekf_odom.pose.pose.position.z, - ekf_odom.pose.pose.orientation.x, - ekf_odom.pose.pose.orientation.y, - ekf_odom.pose.pose.orientation.z, - ekf_odom.pose.pose.orientation.w, - ekf_odom.pose.covariance.iter().map(|&x| format!("{:.6}", x)).collect::>().join(","), - ekf_odom.twist.twist.linear.x, - ekf_odom.twist.twist.linear.y, - ekf_odom.twist.twist.linear.z, - ekf_odom.twist.twist.angular.x, - ekf_odom.twist.twist.angular.y, - ekf_odom.twist.twist.angular.z, - ekf_odom.twist.covariance.iter().map(|&x| format!("{:.6}", x)).collect::>().join(",") - ); - - save_json_data_to_global(json_data); - }, - vec![Cow::from("estimated_pose"), Cow::from("ekf_odometry")], - SchedulerType::GEDF(5), - Duration::from_millis(50), - ) - .await; - - let result = finish_create_dags(&[dag.clone()]).await; - - match result { - Ok(_) => { - log::info!("Autoware test application DAGs created successfully"); - } - Err(errors) => { - log::error!("Failed to create Autoware test application DAGs"); - for error in errors { - log::error!("- {error}"); - } - } - } - - log::info!("Autoware test application DAG completed"); - - log::info!("=== Network test start ==="); - log::info!("Interface ID: {}", INTERFACE_ID); - log::info!("Interface IP: {}", INTERFACE_ADDR); - log::info!("Destination IP: {}", UDP_TCP_DST_ADDR); - awkernel_lib::net::add_ipv4_addr(INTERFACE_ID, INTERFACE_ADDR, 24); - log::info!( - "Configured IPv4 address {} on interface {}", - INTERFACE_ADDR, - INTERFACE_ID - ); - - log::info!("Waiting for network stack initialization..."); - awkernel_async_lib::sleep(Duration::from_secs(2)).await; - - log::info!("Starting periodic UDP sender task"); - start_periodic_udp_sender().await; - - log::info!("Waiting for JSON data to become ready..."); - let mut wait_count = 0; - const MAX_WAIT_COUNT: u32 = 3; - - while !JSON_DATA_READY.load(Ordering::Relaxed) && wait_count < MAX_WAIT_COUNT { - awkernel_async_lib::sleep(Duration::from_secs(1)).await; - wait_count += 1; - } - - if JSON_DATA_READY.load(Ordering::Relaxed) { - } else { - log::warn!("JSON data was not ready. Periodic UDP sender task remains waiting"); - } - - log::info!("Autoware test application completed"); -} - -fn initialize_csv_data() -> Result<(), &'static str> { - unsafe { - if IMU_CSV_DATA.is_none() { - let imu_data = parse_imu_csv(IMU_CSV_DATA_STR)?; - if imu_data.is_empty() { - return Err("IMU CSV is empty"); - } - log::info!("Loaded IMU CSV data: {} rows", imu_data.len()); - IMU_CSV_DATA = Some(imu_data); - } - - if VELOCITY_CSV_DATA.is_none() { - let velocity_data = parse_velocity_csv(VELOCITY_CSV_DATA_STR)?; - if velocity_data.is_empty() { - return Err("Velocity CSV is empty"); - } - log::info!("Loaded velocity CSV data: {} rows", velocity_data.len()); - VELOCITY_CSV_DATA = Some(velocity_data); - } - } - - Ok(()) -} - -fn parse_imu_csv(csv: &str) -> Result, &'static str> { - let mut rows = Vec::new(); - - parse_csv_records(csv, |fields| { - if fields.len() < 12 { - return Err("IMU CSV has insufficient columns"); - } - - let timestamp = parse_timestamp(fields[0], fields[1])?; - let orientation = imu_driver::Quaternion { - x: parse_f64(fields[2])?, - y: parse_f64(fields[3])?, - z: parse_f64(fields[4])?, - w: parse_f64(fields[5])?, - }; - let angular_velocity = imu_driver::Vector3::new( - parse_f64(fields[6])?, - parse_f64(fields[7])?, - parse_f64(fields[8])?, - ); - let linear_acceleration = imu_driver::Vector3::new( - parse_f64(fields[9])?, - parse_f64(fields[10])?, - parse_f64(fields[11])?, - ); - - rows.push(ImuCsvRow { - timestamp, - orientation, - angular_velocity, - linear_acceleration, - }); - Ok(()) - })?; - - Ok(rows) -} - -fn parse_velocity_csv(csv: &str) -> Result, &'static str> { - let mut rows = Vec::new(); - - parse_csv_records(csv, |fields| { - if fields.len() < 5 { - return Err("Velocity CSV has insufficient columns"); - } - - let timestamp = parse_timestamp(fields[0], fields[1])?; - let longitudinal_velocity = parse_f64(fields[2])?; - let lateral_velocity = parse_f64(fields[3])?; - let heading_rate = parse_f64(fields[4])?; - - rows.push(VelocityCsvRow { - timestamp, - longitudinal_velocity, - lateral_velocity, - heading_rate, - }); - Ok(()) - })?; - - Ok(rows) -} - -fn parse_csv_records(csv: &str, mut on_record: F) -> Result<(), &'static str> -where - F: FnMut(&[&str]) -> Result<(), &'static str>, -{ - let mut reader = Reader::new(); - let mut input = csv.as_bytes(); - let mut output = vec![0u8; 4096]; - let mut ends = vec![0usize; 32]; - let mut header_skipped = false; - - loop { - let (result, in_read, _out_written, num_fields) = - reader.read_record(input, &mut output, &mut ends); - input = &input[in_read..]; - - if matches!(result, ReadRecordResult::OutputFull) { - return Err("CSV output buffer is too small"); - } - - if num_fields == 0 { - if matches!(result, ReadRecordResult::InputEmpty | ReadRecordResult::End) { - break; - } - continue; - } - - let mut fields: Vec<&str> = Vec::with_capacity(num_fields); - let mut start = 0usize; - for i in 0..num_fields { - let end = ends[i]; - let slice = &output[start..end]; - let field = core::str::from_utf8(slice).map_err(|_| "Failed to decode CSV UTF-8")?; - fields.push(field); - start = end; - } - - if !header_skipped { - header_skipped = true; - } else { - on_record(&fields)?; - } - - if matches!(result, ReadRecordResult::End) { - break; - } - } - - Ok(()) -} - -fn parse_timestamp(sec: &str, nsec: &str) -> Result { - let sec_val = parse_u64(sec)?; - let nsec_val = parse_u64(nsec)?; - let ts = sec_val - .checked_mul(1_000_000_000) - .and_then(|v| v.checked_add(nsec_val)) - .ok_or("Timestamp calculation overflowed")?; - Ok(ts) -} - -fn parse_u64(field: &str) -> Result { - let trimmed = field.trim(); - if trimmed.is_empty() { - return Ok(0); - } - trimmed.parse::().map_err(|_| "Failed to parse u64") -} - -fn parse_f64(field: &str) -> Result { - let trimmed = field.trim(); - if trimmed.is_empty() { - return Ok(0.0); - } - trimmed.parse::().map_err(|_| "Failed to parse f64") -} - -fn get_awkernel_uptime_timestamp() -> u64 { - let uptime_nanos = awkernel_lib::delay::uptime_nano(); - if uptime_nanos > u64::MAX as u128 { - u64::MAX - } else { - uptime_nanos as u64 - } -} - -pub async fn start_periodic_udp_sender() { - awkernel_async_lib::spawn( - "periodic_udp_sender".into(), - periodic_udp_sender_task(), - awkernel_async_lib::scheduler::SchedulerType::GEDF(5), - ) - .await; -} - -async fn periodic_udp_sender_task() { - let socket_result = awkernel_async_lib::net::udp::UdpSocket::bind_on_interface( - INTERFACE_ID, - &Default::default(), - ); - - let mut socket = match socket_result { - Ok(socket) => socket, - Err(e) => { - log::error!( - "Periodic UDP sender task: failed to create UDP socket: {:?}", - e - ); - return; - } - }; - - let dst_addr = IpAddr::new_v4(UDP_TCP_DST_ADDR); - let mut counter = 0; - - loop { - if !JSON_DATA_READY.load(Ordering::Relaxed) { - awkernel_async_lib::sleep(Duration::from_secs(1)).await; - continue; - } - - let json_data = unsafe { LATEST_JSON_DATA.as_ref().map(|s| s.clone()) }; - - if let Some(data) = json_data { - match socket.send(data.as_bytes(), &dst_addr, UDP_DST_PORT).await { - Ok(_) => { - counter += 1; - log::info!( - "Periodic UDP sender task: send success #{} ({} bytes)", - counter, - data.len() - ); - - let mut buf = [0u8; 1024]; - if let Some(Ok((n, src_addr, src_port))) = awkernel_async_lib::timeout( - Duration::from_millis(100), - socket.recv(&mut buf), - ) - .await - { - if let Ok(response) = core::str::from_utf8(&buf[..n]) { - log::debug!( - "Periodic UDP sender task: response received: {}:{} - {}", - src_addr.get_addr(), - src_port, - response - ); - } - } - } - Err(e) => { - log::warn!("Periodic UDP sender task: send failed: {:?}", e); - } - } - } else { - log::warn!("Periodic UDP sender task: failed to get JSON data"); - } - - awkernel_async_lib::sleep(Duration::from_millis(5)).await; - } -} - -fn save_json_data_to_global(json_data: String) { - unsafe { - LATEST_JSON_DATA = Some(json_data.clone()); - } - JSON_DATA_READY.store(true, Ordering::Relaxed); - JSON_DATA_LENGTH.store(json_data.len(), Ordering::Relaxed); -} diff --git a/applications/tests/test_autoware/vehicle_velocity_converter/Cargo.toml b/applications/tests/test_autoware/vehicle_velocity_converter/Cargo.toml deleted file mode 100644 index 093a4714e..000000000 --- a/applications/tests/test_autoware/vehicle_velocity_converter/Cargo.toml +++ /dev/null @@ -1,11 +0,0 @@ -[package] -name = "vehicle_velocity_converter" -version = "0.1.0" -edition = "2021" - -[dependencies] -log = "0.4" -heapless = "0.7" -awkernel_lib = { path = "../../../../awkernel_lib", default-features = false } -awkernel_async_lib = { path = "../../../../awkernel_async_lib", default-features = false } -imu_driver = { path = "../imu_driver", default-features = false } diff --git a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs b/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs deleted file mode 100644 index b6ab471d8..000000000 --- a/applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs +++ /dev/null @@ -1,289 +0,0 @@ -// Copyright 2021 TierIV -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#![no_std] - -use imu_driver::{Header, Vector3}; - -#[derive(Debug, Clone)] -pub struct VelocityReport { - pub header: Header, - pub longitudinal_velocity: f64, - pub lateral_velocity: f64, - pub heading_rate: f64, -} - -#[derive(Debug, Clone)] -pub struct VelocityCsvRow { - pub timestamp: u64, - pub longitudinal_velocity: f64, - pub lateral_velocity: f64, - pub heading_rate: f64, -} - -pub fn build_velocity_report_from_csv_row( - row: &VelocityCsvRow, - frame_id: &'static str, - timestamp: u64, -) -> VelocityReport { - VelocityReport { - header: Header { - frame_id, - timestamp, - }, - longitudinal_velocity: row.longitudinal_velocity, - lateral_velocity: row.lateral_velocity, - heading_rate: row.heading_rate, - } -} - -#[derive(Debug, Clone)] -pub struct TwistWithCovarianceStamped { - pub header: Header, - pub twist: TwistWithCovariance, -} - -#[derive(Debug, Clone)] -pub struct TwistWithCovariance { - pub twist: Twist, - pub covariance: [f64; 36], -} - -#[derive(Debug, Clone)] -pub struct Twist { - pub linear: Vector3, - pub angular: Vector3, -} - -#[repr(C)] -pub struct Odometry { - pub velocity: f64, -} - -pub struct VehicleVelocityConverter { - frame_id: &'static str, - stddev_vx: f64, - stddev_wz: f64, - speed_scale_factor: f64, -} - -impl VehicleVelocityConverter { - pub fn new( - frame_id: &'static str, - stddev_vx: f64, - stddev_wz: f64, - speed_scale_factor: f64, - ) -> Self { - Self { - frame_id, - stddev_vx, - stddev_wz, - speed_scale_factor, - } - } - - pub fn from_params_array( - velocity_stddev_xx: Option, - angular_velocity_stddev_zz: Option, - speed_scale_factor: Option, - frame_id: &'static str, - ) -> Self { - let stddev_vx = velocity_stddev_xx.unwrap_or(0.2); - let stddev_wz = angular_velocity_stddev_zz.unwrap_or(0.1); - let speed_scale_factor = speed_scale_factor.unwrap_or(1.0); - - Self::new(frame_id, stddev_vx, stddev_wz, speed_scale_factor) - } - - pub fn default() -> Self { - Self::new("base_link", 0.2, 0.1, 1.0) - } - - pub fn convert_velocity_report(&self, msg: &VelocityReport) -> TwistWithCovarianceStamped { - let _frame_id_mismatch = msg.header.frame_id != self.frame_id; - - TwistWithCovarianceStamped { - header: msg.header.clone(), - twist: TwistWithCovariance { - twist: Twist { - linear: Vector3 { - x: msg.longitudinal_velocity * self.speed_scale_factor, - y: msg.lateral_velocity, - z: 0.0, - }, - angular: Vector3 { - x: 0.0, - y: 0.0, - z: msg.heading_rate, - }, - }, - covariance: self.create_covariance_matrix(), - }, - } - } - - fn create_covariance_matrix(&self) -> [f64; 36] { - let mut covariance = [0.0; 36]; - covariance[0 + 0 * 6] = self.stddev_vx * self.stddev_vx; - covariance[1 + 1 * 6] = 10000.0; - covariance[2 + 2 * 6] = 10000.0; - covariance[3 + 3 * 6] = 10000.0; - covariance[4 + 4 * 6] = 10000.0; - covariance[5 + 5 * 6] = self.stddev_wz * self.stddev_wz; - - covariance - } - - pub fn get_frame_id(&self) -> &'static str { - self.frame_id - } - - pub fn get_stddev_vx(&self) -> f64 { - self.stddev_vx - } - - pub fn get_stddev_wz(&self) -> f64 { - self.stddev_wz - } - - pub fn get_speed_scale_factor(&self) -> f64 { - self.speed_scale_factor - } -} - -pub mod reactor_helpers { - use super::*; - - pub fn create_empty_twist(timestamp: u64) -> TwistWithCovarianceStamped { - TwistWithCovarianceStamped { - header: Header { - frame_id: "base_link", - timestamp, - }, - twist: TwistWithCovariance { - twist: Twist { - linear: Vector3 { - x: 0.0, - y: 0.0, - z: 0.0, - }, - angular: Vector3 { - x: 0.0, - y: 0.0, - z: 0.0, - }, - }, - covariance: [0.0; 36], - }, - } - } -} - -#[cfg(test)] -mod tests { - use super::*; - - #[test] - fn test_vehicle_velocity_converter_creation() { - let converter = VehicleVelocityConverter::new("base_link", 0.1, 0.1, 1.0); - - assert_eq!(converter.get_frame_id(), "base_link"); - assert_eq!(converter.get_stddev_vx(), 0.1); - assert_eq!(converter.get_stddev_wz(), 0.1); - assert_eq!(converter.get_speed_scale_factor(), 1.0); - } - - #[test] - fn test_vehicle_velocity_converter_default() { - let converter = VehicleVelocityConverter::default(); - assert_eq!(converter.get_frame_id(), "base_link"); - assert_eq!(converter.get_stddev_vx(), 0.1); - assert_eq!(converter.get_stddev_wz(), 0.1); - assert_eq!(converter.get_speed_scale_factor(), 1.0); - } - - #[test] - fn test_convert_velocity_report_success() { - let converter = VehicleVelocityConverter::new("base_link", 0.1, 0.1, 1.0); - - let velocity_report = VelocityReport { - header: Header { - frame_id: "base_link", - timestamp: 1234567890, - }, - longitudinal_velocity: 10.0, - lateral_velocity: 2.0, - heading_rate: 0.5, - }; - - let result = converter.convert_velocity_report(&velocity_report); - assert!(result.is_ok()); - - let twist_msg = result.unwrap(); - assert_eq!(twist_msg.twist.twist.linear.x, 10.0); - assert_eq!(twist_msg.twist.twist.linear.y, 2.0); - assert_eq!(twist_msg.twist.twist.angular.z, 0.5); - assert_eq!(twist_msg.twist.covariance[0], 0.01); - assert_eq!(twist_msg.twist.covariance[35], 0.01); - } - - #[test] - fn test_convert_velocity_report_wrong_frame_id() { - let converter = VehicleVelocityConverter::new("base_link", 0.1, 0.1, 1.0); - - let velocity_report = VelocityReport { - header: Header { - frame_id: "wrong_frame", - timestamp: 1234567890, - }, - longitudinal_velocity: 10.0, - lateral_velocity: 2.0, - heading_rate: 0.5, - }; - - let result = converter.convert_velocity_report(&velocity_report); - assert!(result.is_err()); - assert_eq!(result.unwrap_err(), "frame_id mismatch"); - } - - #[test] - fn test_from_params_array() { - let converter = VehicleVelocityConverter::from_params_array( - Some(0.2), - Some(0.3), - Some(1.5), - "base_link", - ); - - assert_eq!(converter.get_stddev_vx(), 0.2); - assert_eq!(converter.get_stddev_wz(), 0.3); - assert_eq!(converter.get_speed_scale_factor(), 1.5); - } - - #[test] - fn test_from_params_array_with_defaults() { - let converter = VehicleVelocityConverter::from_params_array(None, None, None, "base_link"); - - assert_eq!(converter.get_stddev_vx(), 0.1); - assert_eq!(converter.get_stddev_wz(), 0.1); - assert_eq!(converter.get_speed_scale_factor(), 1.0); - } - - #[test] - fn test_reactor_helpers() { - let empty_twist = reactor_helpers::create_empty_twist(1234567890); - assert_eq!(empty_twist.header.frame_id, "base_link"); - assert_eq!(empty_twist.twist.twist.linear.x, 0.0); - } -} diff --git a/applications/tests/test_autoware/velocity_status.csv b/applications/tests/test_autoware/velocity_status.csv deleted file mode 100644 index 395e34668..000000000 --- a/applications/tests/test_autoware/velocity_status.csv +++ /dev/null @@ -1,5700 +0,0 @@ -timestamp_sec,timestamp_nanosec,longitudinal_velocity,lateral_velocity,heading_rate -1769682011,700255232,0.0,-0.0,569.3849487304688 -1769682011,758522112,0.0,-0.0,569.3849487304688 -1769682011,769631744,0.0,-0.0,569.3849487304688 -1769682011,808847872,0.0,-0.0,569.3849487304688 -1769682011,864361984,0.0,-0.0,569.3849487304688 -1769682011,880172544,0.0,-0.0,569.3849487304688 -1769682011,910094592,0.0,-0.0,569.3849487304688 -1769682011,950354688,0.0,-0.0,569.3849487304688 -1769682011,978123520,0.0,-0.0,569.3849487304688 -1769682012,10280960,0.0,-0.0,569.3849487304688 -1769682012,51739648,0.0,-0.0,569.3849487304688 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-1769682235,283861504,0.0,-0.0,451.210205078125 -1769682235,306318592,0.0,-0.0,451.210205078125 -1769682235,350250240,0.0,-0.0,451.210205078125 -1769682235,382697728,0.0,-0.0,451.210205078125 -1769682235,416664832,0.0,-0.0,451.21026611328125 -1769682235,453504256,0.0,-0.0,451.21026611328125 -1769682235,469904384,0.0,-0.0,451.21026611328125 -1769682235,516407296,0.0,-0.0,451.2103271484375 -1769682235,550402304,0.0,-0.0,451.2103271484375 -1769682235,570142208,0.0,-0.0,451.2103271484375 -1769682235,615940096,0.0,-0.0,451.2103576660156 diff --git a/awkernel_async_lib/Cargo.toml b/awkernel_async_lib/Cargo.toml index 209cd59b9..961ed2ad7 100644 --- a/awkernel_async_lib/Cargo.toml +++ b/awkernel_async_lib/Cargo.toml @@ -45,4 +45,4 @@ no_preempt = [] spinlock = ["awkernel_lib/spinlock"] clippy = [] perf = [] -relax-get-period = [] +need-get-period = [] diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 743e75632..5dc980180 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -120,7 +120,7 @@ macro_rules! impl_tuple_traits { const SIZE: usize = $last_idx + 1; } - #[cfg(not(feature = "relax-get-period"))] + #[cfg(feature = "need-get-period")] impl<$($T),+> GetPeriod for ($(($T, u32),)+) { fn get_period(&self) -> u32 { self.$last_idx .1 @@ -133,24 +133,19 @@ impl_tuple_traits!(); impl_tuple_traits!(0 => T1); impl_tuple_traits!(1 => T1, T2); impl_tuple_traits!(2 => T1, T2, T3); -impl_tuple_traits!(3 => T1, T2, T3, T4); -impl_tuple_traits!(4 => T1, T2, T3, T4, T5); -impl_tuple_traits!(5 => T1, T2, T3, T4, T5, T6); -impl_tuple_traits!(6 => T1, T2, T3, T4, T5, T6, T7); -impl_tuple_traits!(7 => T1, T2, T3, T4, T5, T6, T7, T8); -#[cfg(not(feature = "relax-get-period"))] +#[cfg(feature = "need-get-period")] pub trait DagSubscriberItem: TupleSize + GetPeriod + Send {} -#[cfg(not(feature = "relax-get-period"))] +#[cfg(feature = "need-get-period")] impl DagSubscriberItem for T where T: TupleSize + GetPeriod + Send {} -#[cfg(feature = "relax-get-period")] +#[cfg(not(feature = "need-get-period"))] pub trait DagSubscriberItem: TupleSize + Send {} -#[cfg(feature = "relax-get-period")] +#[cfg(not(feature = "need-get-period"))] impl DagSubscriberItem for T where T: TupleSize + Send {} -#[cfg(not(feature = "relax-get-period"))] +#[cfg(feature = "need-get-period")] pub fn get_period(args: &T) -> u32 { args.get_period() } @@ -1020,7 +1015,7 @@ where subscribers.recv_all().await; if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { - #[cfg(not(feature = "relax-get-period"))] + #[cfg(feature = "need-get-period")] { // [end] pubsub communication latency let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; @@ -1086,7 +1081,7 @@ where loop { if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { - #[cfg(not(feature = "relax-get-period"))] + #[cfg(feature = "need-get-period")] { let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; let cpu_id = awkernel_lib::cpu::cpu_id(); @@ -1153,7 +1148,7 @@ where let args: ::Item = subscribers.recv_all().await; if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { - #[cfg(not(feature = "relax-get-period"))] + #[cfg(feature = "need-get-period")] { // [end] pubsub communication latency let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 8ad694c5a..2fb704171 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -385,7 +385,7 @@ where { /// Send with metadata forwarded from `send_all_with_meta`. pub async fn send_with_meta(&self, data: T, _pub_id: u32, _index: usize, _node_id: u32) { - #[cfg(not(feature = "relax-get-period"))] + #[cfg(feature = "need-get-period")] { let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; publish_timestamp_at(_index, start, _pub_id, _node_id); diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 4634a3510..2d1e673ad 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -474,8 +474,8 @@ pub mod perf { use core::sync::atomic::{AtomicBool, AtomicU32, Ordering}; /// Flag to control whether period tracking is enabled - /// When false (with relax-get-period feature), period tracking is disabled to reduce BSS memory - /// When true (without relax-get-period feature), period tracking is enabled + /// When false (without need-get-period feature), period tracking is disabled to reduce BSS memory + /// When true (with need-get-period feature), period tracking is enabled pub static ENABLE_PERIOD_TRACKING: AtomicBool = AtomicBool::new(false); #[derive(Debug, Clone, PartialEq, Eq)] diff --git a/awkernel_async_lib/src/time_interval.rs b/awkernel_async_lib/src/time_interval.rs index 10a87b0ec..91ea5286a 100644 --- a/awkernel_async_lib/src/time_interval.rs +++ b/awkernel_async_lib/src/time_interval.rs @@ -103,7 +103,7 @@ pub fn interval(period: Duration, dag_id: u32) -> Interval { pub fn interval_at(start: Time, period: Duration, _dag_id: u32) -> Interval { assert!(!period.is_zero(), "`period` must be non-zero."); - #[cfg(not(feature = "relax-get-period"))] + #[cfg(feature = "need-get-period")] { let index = get_period_count(_dag_id.clone() as usize) as usize; update_pre_send_outer_timestamp_at(index, start.uptime().as_nanos() as u64, _dag_id.clone()); diff --git a/userland/Cargo.toml b/userland/Cargo.toml index c6fac4eaa..ab94f86dc 100644 --- a/userland/Cargo.toml +++ b/userland/Cargo.toml @@ -66,10 +66,6 @@ optional = true path = "../applications/tests/test_dag" optional = true -[dependencies.test_autoware] -path = "../applications/tests/test_autoware" -optional = true - [dependencies.test_dvfs] path = "../applications/tests/test_dvfs" optional = true @@ -79,7 +75,7 @@ path = "../applications/tests/test_voluntary_preemption" optional = true [features] -default = ["test_autoware"] +default = ["test_dag"] perf = ["awkernel_services/perf"] # Evaluation applications @@ -97,5 +93,4 @@ test_gedf = ["dep:test_gedf"] test_measure_channel = ["dep:test_measure_channel"] test_measure_channel_heavy = ["dep:test_measure_channel_heavy"] test_dag = ["dep:test_dag"] -test_autoware = ["dep:test_autoware"] test_voluntary_preemption = ["dep:test_voluntary_preemption"] diff --git a/userland/src/lib.rs b/userland/src/lib.rs index 695f13b79..01a66fe18 100644 --- a/userland/src/lib.rs +++ b/userland/src/lib.rs @@ -46,9 +46,6 @@ pub async fn main() -> Result<(), Cow<'static, str>> { #[cfg(feature = "test_dag")] test_dag::run().await; // test for DAG - #[cfg(feature = "test_autoware")] - test_autoware::run().await; // test for autoware - #[cfg(feature = "test_dvfs")] test_dvfs::run().await; // test for DVFS From 87742e578ab145bbc9e5810459b4d56a23be125a Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Wed, 15 Apr 2026 18:31:10 +0900 Subject: [PATCH 19/60] fix: delete the portion of impl about macro Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 45 -------------------------------- awkernel_async_lib/src/pubsub.rs | 42 +---------------------------- 2 files changed, 1 insertion(+), 86 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 5dc980180..ceb593d55 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -650,51 +650,6 @@ pub async fn finish_create_dags(dags: &[Arc]) -> Result<(), Vec> } } -pub fn reset_all_dags() { - { - let mut dags_node = MCSNode::new(); - let mut dags = DAGS.lock(&mut dags_node); - dags.id_to_dag.clear(); - dags.candidate_id = 1; - } - - { - let mut pending_node = MCSNode::new(); - let mut pending_tasks = PENDING_TASKS.lock(&mut pending_node); - pending_tasks.clear(); - } - - { - let mut source_pending_node = MCSNode::new(); - let mut source_pending_tasks = SOURCE_PENDING_TASKS.lock(&mut source_pending_node); - source_pending_tasks.clear(); - } - - { - let mut node = MCSNode::new(); - let mut mismatch_subscribe = MISMATCH_SUBSCRIBE_NODES.lock(&mut node); - mismatch_subscribe.clear(); - } - - { - let mut node = MCSNode::new(); - let mut mismatch_publish = MISMATCH_PUBLISH_NODES.lock(&mut node); - mismatch_publish.clear(); - } - - { - let mut node = MCSNode::new(); - let mut duplicate_subscribe = DUPLICATE_SUBSCRIBE_NODES.lock(&mut node); - duplicate_subscribe.clear(); - } - - { - let mut node = MCSNode::new(); - let mut duplicate_publish = DUPLICATE_PUBLISH_NODES.lock(&mut node); - duplicate_publish.clear(); - } -} - fn remove_dag(id: u32) { let mut dags_node = MCSNode::new(); let mut dags = DAGS.lock(&mut dags_node); diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 2fb704171..a13a7ab6b 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -383,7 +383,6 @@ impl Publisher where T: Clone + Sync + Send, { - /// Send with metadata forwarded from `send_all_with_meta`. pub async fn send_with_meta(&self, data: T, _pub_id: u32, _index: usize, _node_id: u32) { #[cfg(feature = "need-get-period")] { @@ -850,11 +849,6 @@ impl_tuple_to_pub_sub!(); impl_tuple_to_pub_sub!(A); impl_tuple_to_pub_sub!(A, B); impl_tuple_to_pub_sub!(A, B, C); -impl_tuple_to_pub_sub!(T0, T1, T2, T3); -impl_tuple_to_pub_sub!(T0, T1, T2, T3, T4); -impl_tuple_to_pub_sub!(T0, T1, T2, T3, T4, T5); -impl_tuple_to_pub_sub!(T0, T1, T2, T3, T4, T5, T6); -impl_tuple_to_pub_sub!(T0, T1, T2, T3, T4, T5, T6, T7); macro_rules! impl_async_receiver_for_tuple { () => { @@ -868,6 +862,7 @@ macro_rules! impl_async_receiver_for_tuple { impl MultipleSender for () { type Item = (); + fn send_all(&self, _item: Self::Item) -> Pin + Send + '_>> { Box::pin(async move{}) } @@ -918,41 +913,6 @@ impl_async_receiver_for_tuple!(); impl_async_receiver_for_tuple!((A, a, p)); impl_async_receiver_for_tuple!((A, a, p), (B, b, q)); impl_async_receiver_for_tuple!((A, a, p), (B, b, q), (C, c, r)); -impl_async_receiver_for_tuple!((T0, v0, p0), (T1, v1, p1), (T2, v2, p2), (T3, v3, p3)); -impl_async_receiver_for_tuple!( - (T0, v0, p0), - (T1, v1, p1), - (T2, v2, p2), - (T3, v3, p3), - (T4, v4, p4) -); -impl_async_receiver_for_tuple!( - (T0, v0, p0), - (T1, v1, p1), - (T2, v2, p2), - (T3, v3, p3), - (T4, v4, p4), - (T5, v5, p5) -); -impl_async_receiver_for_tuple!( - (T0, v0, p0), - (T1, v1, p1), - (T2, v2, p2), - (T3, v3, p3), - (T4, v4, p4), - (T5, v5, p5), - (T6, v6, p6) -); -impl_async_receiver_for_tuple!( - (T0, v0, p0), - (T1, v1, p1), - (T2, v2, p2), - (T3, v3, p3), - (T4, v4, p4), - (T5, v5, p5), - (T6, v6, p6), - (T7, v7, p7) -); #[cfg(test)] mod tests { From 5d30fc2dc568fd29fd5647a0f77747f243d413cf Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Wed, 15 Apr 2026 18:52:57 +0900 Subject: [PATCH 20/60] fix: delete unnecessary imports Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 4 +--- awkernel_async_lib/src/time_interval.rs | 6 +++++- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index ceb593d55..bf68f7955 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -55,7 +55,6 @@ mod performance; use crate::{ dag::{ - self, graph::{ algo::{connected_components, is_cyclic_directed}, direction::Direction, @@ -66,8 +65,7 @@ use crate::{ scheduler::SchedulerType, task::{ perf::{ - get_period_count, get_pub_count, get_sink_count, get_sub_count, increment_period_count, - increment_pub_count, increment_sink_count, increment_sub_count, publish_timestamp_at, subscribe_timestamp_at, + get_period_count, increment_period_count, increment_pub_count, increment_sink_count, increment_sub_count, publish_timestamp_at, subscribe_timestamp_at, update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, }, DagInfo, diff --git a/awkernel_async_lib/src/time_interval.rs b/awkernel_async_lib/src/time_interval.rs index 91ea5286a..8191565f9 100644 --- a/awkernel_async_lib/src/time_interval.rs +++ b/awkernel_async_lib/src/time_interval.rs @@ -106,7 +106,11 @@ pub fn interval_at(start: Time, period: Duration, _dag_id: u32) -> Interval { #[cfg(feature = "need-get-period")] { let index = get_period_count(_dag_id.clone() as usize) as usize; - update_pre_send_outer_timestamp_at(index, start.uptime().as_nanos() as u64, _dag_id.clone()); + update_pre_send_outer_timestamp_at( + index, + start.uptime().as_nanos() as u64, + _dag_id.clone(), + ); } Interval { delay: None, From 59b53544a09a433378733c3ca40d3c6e678ee17f Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 13:01:11 +0900 Subject: [PATCH 21/60] fix: attach cargo fmt 1 Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 22 +++++++++++++++------- 1 file changed, 15 insertions(+), 7 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index bf68f7955..3c762eacb 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -65,7 +65,8 @@ use crate::{ scheduler::SchedulerType, task::{ perf::{ - get_period_count, increment_period_count, increment_pub_count, increment_sink_count, increment_sub_count, publish_timestamp_at, subscribe_timestamp_at, + get_period_count, increment_period_count, increment_pub_count, increment_sink_count, + increment_sub_count, publish_timestamp_at, subscribe_timestamp_at, update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, }, DagInfo, @@ -967,7 +968,8 @@ where let args: <::Subscribers as MultipleReceiver>::Item = subscribers.recv_all().await; - if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { + if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) + { #[cfg(feature = "need-get-period")] { // [end] pubsub communication latency @@ -1033,7 +1035,8 @@ where interval.tick().await; loop { - if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { + if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) + { #[cfg(feature = "need-get-period")] { let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; @@ -1042,7 +1045,8 @@ where crate::task::set_task_period(task_id, Some(index as u32)); } if index != 0 { - let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let release_time = + awkernel_lib::time::Time::now().uptime().as_nanos() as u64; update_pre_send_outer_timestamp_at( index, release_time, @@ -1100,7 +1104,8 @@ where loop { let args: ::Item = subscribers.recv_all().await; - if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) { + if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) + { #[cfg(feature = "need-get-period")] { // [end] pubsub communication latency @@ -1118,11 +1123,14 @@ where } let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; if count_st != 0 { - update_fin_recv_outer_timestamp_at(count_st as usize, timenow, dag_info.dag_id); + update_fin_recv_outer_timestamp_at( + count_st as usize, + timenow, + dag_info.dag_id, + ); } increment_sink_count(dag_info.dag_id.clone() as usize); } - } f(args); } From b77385e6eda99c084db3c3b60ea5605f7b59a8fc Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 16:37:44 +0900 Subject: [PATCH 22/60] fix: delete if-else diversion and focus feature diversion Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 144 ++++++++++++++++----------------- awkernel_async_lib/src/task.rs | 5 -- 2 files changed, 70 insertions(+), 79 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 3c762eacb..686c05c6b 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -968,29 +968,28 @@ where let args: <::Subscribers as MultipleReceiver>::Item = subscribers.recv_all().await; - if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) + #[cfg(feature = "need-get-period")] { - #[cfg(feature = "need-get-period")] - { - // [end] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - let count_st = get_period(&args); - subscribe_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); - - // period count from message to TaskInfo - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(count_st)); - } - let results = f(args); - // [start] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - publish_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); - publishers - .send_all_with_meta(results, 1, count_st as usize, dag_info.node_id) - .await; + // [end] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let count_st = get_period(&args); + subscribe_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); + + // period count from message to TaskInfo + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(count_st)); } - } else { + let results = f(args); + // [start] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + publish_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); + publishers + .send_all_with_meta(results, 1, count_st as usize, dag_info.node_id) + .await; + } + #[cfg(not(feature = "need-get-period"))] + { let results = f(args); publishers.send_all(results).await; } @@ -1035,36 +1034,35 @@ where interval.tick().await; loop { - if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) + #[cfg(feature = "need-get-period")] { - #[cfg(feature = "need-get-period")] - { - let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(index as u32)); - } - if index != 0 { - let release_time = - awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - update_pre_send_outer_timestamp_at( - index, - release_time, - dag_info.dag_id.clone(), - ); - } - let results = f(); - // [start] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - publish_timestamp_at(index, end, 0, dag_info.node_id); - publishers - .send_all_with_meta(results, 0, index, dag_info.node_id) - .await; - - increment_period_count(dag_info.dag_id.clone() as usize); - increment_pub_count(0); + let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(index as u32)); } - } else { + if index != 0 { + let release_time = + awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + update_pre_send_outer_timestamp_at( + index, + release_time, + dag_info.dag_id.clone(), + ); + } + let results = f(); + // [start] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + publish_timestamp_at(index, end, 0, dag_info.node_id); + publishers + .send_all_with_meta(results, 0, index, dag_info.node_id) + .await; + + increment_period_count(dag_info.dag_id.clone() as usize); + increment_pub_count(0); + } + + #[cfg(not(feature = "need-get-period"))] { let results = f(); publishers.send_all(results).await; } @@ -1104,34 +1102,32 @@ where loop { let args: ::Item = subscribers.recv_all().await; - if crate::task::perf::ENABLE_PERIOD_TRACKING.load(core::sync::atomic::Ordering::Relaxed) + #[cfg(feature = "need-get-period")] { - #[cfg(feature = "need-get-period")] - { - // [end] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - let count_st = get_period(&args); - subscribe_timestamp_at(count_st as usize, end, 2, dag_info.node_id.clone()); - increment_pub_count(1); - increment_sub_count(1); - increment_sub_count(2); - - // period count from message to TaskInfo - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(count_st)); - } - let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - if count_st != 0 { - update_fin_recv_outer_timestamp_at( - count_st as usize, - timenow, - dag_info.dag_id, - ); - } - increment_sink_count(dag_info.dag_id.clone() as usize); + // [end] pubsub communication latency + let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let count_st = get_period(&args); + subscribe_timestamp_at(count_st as usize, end, 2, dag_info.node_id.clone()); + increment_pub_count(1); + increment_sub_count(1); + increment_sub_count(2); + + // period count from message to TaskInfo + let cpu_id = awkernel_lib::cpu::cpu_id(); + if let Some(task_id) = crate::task::get_current_task(cpu_id) { + crate::task::set_task_period(task_id, Some(count_st)); + } + let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + if count_st != 0 { + update_fin_recv_outer_timestamp_at( + count_st as usize, + timenow, + dag_info.dag_id, + ); } + increment_sink_count(dag_info.dag_id.clone() as usize); } + f(args); } }; diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 2d1e673ad..02049f1be 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -473,11 +473,6 @@ pub mod perf { use core::ptr::{read_volatile, write_volatile}; use core::sync::atomic::{AtomicBool, AtomicU32, Ordering}; - /// Flag to control whether period tracking is enabled - /// When false (without need-get-period feature), period tracking is disabled to reduce BSS memory - /// When true (with need-get-period feature), period tracking is enabled - pub static ENABLE_PERIOD_TRACKING: AtomicBool = AtomicBool::new(false); - #[derive(Debug, Clone, PartialEq, Eq)] #[repr(u8)] pub enum PerfState { From 85d9042b1cc2a6ff0adcb89ac55d250baf3d7079 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 16:40:15 +0900 Subject: [PATCH 23/60] fix: apply cargo fmt 2 Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 686c05c6b..e7fd72bfe 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -1042,8 +1042,7 @@ where crate::task::set_task_period(task_id, Some(index as u32)); } if index != 0 { - let release_time = - awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; update_pre_send_outer_timestamp_at( index, release_time, @@ -1061,8 +1060,9 @@ where increment_period_count(dag_info.dag_id.clone() as usize); increment_pub_count(0); } - - #[cfg(not(feature = "need-get-period"))] { + + #[cfg(not(feature = "need-get-period"))] + { let results = f(); publishers.send_all(results).await; } @@ -1119,15 +1119,11 @@ where } let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; if count_st != 0 { - update_fin_recv_outer_timestamp_at( - count_st as usize, - timenow, - dag_info.dag_id, - ); + update_fin_recv_outer_timestamp_at(count_st as usize, timenow, dag_info.dag_id); } increment_sink_count(dag_info.dag_id.clone() as usize); } - + f(args); } }; From c88633aa5f02f79c288b2407e6c8b00733bc2c28 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 16:47:48 +0900 Subject: [PATCH 24/60] fix: experimental apply for perf Signed-off-by: nokosaaan --- kernel/Cargo.toml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/kernel/Cargo.toml b/kernel/Cargo.toml index 9368f5904..1ab9349cf 100644 --- a/kernel/Cargo.toml +++ b/kernel/Cargo.toml @@ -92,12 +92,14 @@ x86 = [ "awkernel_drivers/uart_16550", ] rv32 = [ + "perf", "no_std_unwinding", "awkernel_lib/rv32", "dep:ns16550a", "awkernel_drivers/rv32", ] rv64 = [ + "perf", "no_std_unwinding", "awkernel_lib/rv64", "dep:ns16550a", @@ -112,6 +114,7 @@ aarch64 = [ "awkernel_drivers/aarch64", ] raspi = [ + "perf", "aarch64", "awkernel_drivers/raspi", "awkernel_drivers/pl011", @@ -119,6 +122,7 @@ raspi = [ ] raspi5 = [ + "perf", "aarch64", "awkernel_drivers/raspi", "awkernel_drivers/pcie", @@ -129,6 +133,7 @@ raspi5 = [ ] aarch64_virt = [ + "perf", "aarch64", "awkernel_drivers/all_pcie", "awkernel_drivers/pl011", From 8495759b3490f16cce17171f2cb85582f854bbf6 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 16:55:36 +0900 Subject: [PATCH 25/60] fix: experimental apply for perf 2 Signed-off-by: nokosaaan --- kernel/Cargo.toml | 3 --- 1 file changed, 3 deletions(-) diff --git a/kernel/Cargo.toml b/kernel/Cargo.toml index 1ab9349cf..942920387 100644 --- a/kernel/Cargo.toml +++ b/kernel/Cargo.toml @@ -114,7 +114,6 @@ aarch64 = [ "awkernel_drivers/aarch64", ] raspi = [ - "perf", "aarch64", "awkernel_drivers/raspi", "awkernel_drivers/pl011", @@ -122,7 +121,6 @@ raspi = [ ] raspi5 = [ - "perf", "aarch64", "awkernel_drivers/raspi", "awkernel_drivers/pcie", @@ -133,7 +131,6 @@ raspi5 = [ ] aarch64_virt = [ - "perf", "aarch64", "awkernel_drivers/all_pcie", "awkernel_drivers/pl011", From 8e03ef47da1a1e1d4770f83b6fcb6c61e97a54aa Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 17:02:37 +0900 Subject: [PATCH 26/60] fix: delete .clone() which has Copy trait Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index e7fd72bfe..797421b3e 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -1029,7 +1029,7 @@ where Attribute::default(), ); - let mut interval = interval(period, dag_info.dag_id.clone() as u32); + let mut interval = interval(period, dag_info.dag_id as u32); // Consume the first tick here to start the loop's main body without an initial delay. interval.tick().await; From a728ff82a5bce8f26610b81e36b23685f4b6cd24 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 17:16:36 +0900 Subject: [PATCH 27/60] fix: unused imports and unnecessary casting Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 19 ++++++++++--------- awkernel_async_lib/src/pubsub.rs | 1 + awkernel_async_lib/src/task.rs | 21 +++------------------ awkernel_async_lib/src/time_interval.rs | 1 + 4 files changed, 15 insertions(+), 27 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 797421b3e..a5a3e2085 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -63,17 +63,18 @@ use crate::{ visit::{EdgeRef, IntoNodeReferences, NodeRef}, }, scheduler::SchedulerType, - task::{ - perf::{ - get_period_count, increment_period_count, increment_pub_count, increment_sink_count, - increment_sub_count, publish_timestamp_at, subscribe_timestamp_at, - update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, - }, - DagInfo, - }, + task::DagInfo, time_interval::interval, Attribute, MultipleReceiver, MultipleSender, VectorToPublishers, VectorToSubscribers, }; + +#[cfg(feature = "need-get-period")] +use crate::task::perf::{ + get_period_count, increment_period_count, increment_pub_count, increment_sink_count, + increment_sub_count, publish_timestamp_at, subscribe_timestamp_at, + update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, +}; + use alloc::{ borrow::Cow, boxed::Box, @@ -1029,7 +1030,7 @@ where Attribute::default(), ); - let mut interval = interval(period, dag_info.dag_id as u32); + let mut interval = interval(period, dag_info.dag_id); // Consume the first tick here to start the loop's main body without an initial delay. interval.tick().await; diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index a13a7ab6b..55c3bccad 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -52,6 +52,7 @@ use core::{ use futures::Future; use pin_project::pin_project; +#[cfg(feature = "need-get-period")] use crate::task::perf::publish_timestamp_at; /// Data and timestamp. diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 02049f1be..d1494b8b8 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -471,7 +471,9 @@ pub mod perf { use array_macro::array; use awkernel_lib::cpu::NUM_MAX_CPU; use core::ptr::{read_volatile, write_volatile}; - use core::sync::atomic::{AtomicBool, AtomicU32, Ordering}; + use core::sync::atomic::{Ordering, AtomicU32}; + #[cfg(feature = "need-get-period")] + use core::sync::atomic::AtomicBool; #[derive(Debug, Clone, PartialEq, Eq)] #[repr(u8)] @@ -560,23 +562,6 @@ pub mod perf { pub static PUB_COUNT: [AtomicU32; MAX_PUBSUB] = array![_ => AtomicU32::new(0); MAX_PUBSUB]; pub static SUB_COUNT: [AtomicU32; MAX_PUBSUB] = array![_ => AtomicU32::new(0); MAX_PUBSUB]; - pub fn reset_perf_logs() { - for i in 0..MAX_PUBSUB { - PUB_COUNT[i].store(0, Ordering::Relaxed); - SUB_COUNT[i].store(0, Ordering::Relaxed); - } - for i in 0..MAX_DAGS { - PERIOD_COUNT[i].store(0, Ordering::Relaxed); - SINK_COUNT[i].store(0, Ordering::Relaxed); - } - *SEND_OUTER_TIMESTAMP.lock(&mut MCSNode::new()) = None; - *RECV_OUTER_TIMESTAMP.lock(&mut MCSNode::new()) = None; - *ABSOLUTE_DEADLINE.lock(&mut MCSNode::new()) = None; - *RELATIVE_DEADLINE.lock(&mut MCSNode::new()) = None; - *NODE_START.lock(&mut MCSNode::new()) = None; - *NODE_FINISH.lock(&mut MCSNode::new()) = None; - } - pub fn increment_pub_count(pub_id: usize) { assert!(pub_id < MAX_PUBSUB, "Pub ID out of bounds"); PUB_COUNT[pub_id].fetch_add(1, Ordering::Relaxed); diff --git a/awkernel_async_lib/src/time_interval.rs b/awkernel_async_lib/src/time_interval.rs index 8191565f9..b583cf516 100644 --- a/awkernel_async_lib/src/time_interval.rs +++ b/awkernel_async_lib/src/time_interval.rs @@ -29,6 +29,7 @@ //! SOFTWARE. use crate::sleep_task::Sleep; +#[cfg(feature = "need-get-period")] use crate::task::perf::{get_period_count, update_pre_send_outer_timestamp_at}; use alloc::boxed::Box; use awkernel_lib::time::Time; From 6585af5baafd2831f361e173b15d93eb0cd871f8 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 17:22:24 +0900 Subject: [PATCH 28/60] fix: apply cargo fmt 3 Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 4 ++-- awkernel_async_lib/src/task.rs | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index a5a3e2085..f53dab0a3 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -71,8 +71,8 @@ use crate::{ #[cfg(feature = "need-get-period")] use crate::task::perf::{ get_period_count, increment_period_count, increment_pub_count, increment_sink_count, - increment_sub_count, publish_timestamp_at, subscribe_timestamp_at, - update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, + increment_sub_count, publish_timestamp_at, subscribe_timestamp_at, + update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, }; use alloc::{ diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index d1494b8b8..47c83c326 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -471,9 +471,9 @@ pub mod perf { use array_macro::array; use awkernel_lib::cpu::NUM_MAX_CPU; use core::ptr::{read_volatile, write_volatile}; - use core::sync::atomic::{Ordering, AtomicU32}; #[cfg(feature = "need-get-period")] use core::sync::atomic::AtomicBool; + use core::sync::atomic::{AtomicU32, Ordering}; #[derive(Debug, Clone, PartialEq, Eq)] #[repr(u8)] From bc19c6943fd0a0153cfa3103d179c79de237003a Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 17:30:43 +0900 Subject: [PATCH 29/60] fix: delete unnecessary import Signed-off-by: nokosaaan --- awkernel_async_lib/src/task.rs | 2 -- 1 file changed, 2 deletions(-) diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 47c83c326..6cae14695 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -471,8 +471,6 @@ pub mod perf { use array_macro::array; use awkernel_lib::cpu::NUM_MAX_CPU; use core::ptr::{read_volatile, write_volatile}; - #[cfg(feature = "need-get-period")] - use core::sync::atomic::AtomicBool; use core::sync::atomic::{AtomicU32, Ordering}; #[derive(Debug, Clone, PartialEq, Eq)] From adfa4fd998a8a6d76099ca38accaf9edb8310f76 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 18:01:05 +0900 Subject: [PATCH 30/60] fix: delete unnecessary functions and modify kernel/src/main.rs Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 26 +--------- awkernel_async_lib/src/pubsub.rs | 2 - awkernel_async_lib/src/task.rs | 84 ++------------------------------ kernel/src/main.rs | 10 ++++ 4 files changed, 16 insertions(+), 106 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index f53dab0a3..1dd40073c 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -70,8 +70,7 @@ use crate::{ #[cfg(feature = "need-get-period")] use crate::task::perf::{ - get_period_count, increment_period_count, increment_pub_count, increment_sink_count, - increment_sub_count, publish_timestamp_at, subscribe_timestamp_at, + publish_timestamp_at, subscribe_timestamp_at, update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, }; @@ -976,11 +975,6 @@ where let count_st = get_period(&args); subscribe_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); - // period count from message to TaskInfo - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(count_st)); - } let results = f(args); // [start] pubsub communication latency let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; @@ -1038,10 +1032,6 @@ where #[cfg(feature = "need-get-period")] { let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(index as u32)); - } if index != 0 { let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; update_pre_send_outer_timestamp_at( @@ -1057,9 +1047,6 @@ where publishers .send_all_with_meta(results, 0, index, dag_info.node_id) .await; - - increment_period_count(dag_info.dag_id.clone() as usize); - increment_pub_count(0); } #[cfg(not(feature = "need-get-period"))] @@ -1109,20 +1096,11 @@ where let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; let count_st = get_period(&args); subscribe_timestamp_at(count_st as usize, end, 2, dag_info.node_id.clone()); - increment_pub_count(1); - increment_sub_count(1); - increment_sub_count(2); - - // period count from message to TaskInfo - let cpu_id = awkernel_lib::cpu::cpu_id(); - if let Some(task_id) = crate::task::get_current_task(cpu_id) { - crate::task::set_task_period(task_id, Some(count_st)); - } + let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; if count_st != 0 { update_fin_recv_outer_timestamp_at(count_st as usize, timenow, dag_info.dag_id); } - increment_sink_count(dag_info.dag_id.clone() as usize); } f(args); diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 55c3bccad..2ea5b6907 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -393,14 +393,12 @@ where let sender = Sender::new(self, data); sender.await; - r#yield().await; } pub async fn send(&self, data: T) { let sender = Sender::new(self, data); sender.await; - r#yield().await; } } diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 6cae14695..f335ab654 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -158,7 +158,6 @@ pub struct TaskInfo { pub(crate) need_preemption: bool, panicked: bool, pub(crate) dag_info: Option, - pub(crate) current_period: Option, #[cfg(not(feature = "no_preempt"))] thread: Option, @@ -226,16 +225,6 @@ impl TaskInfo { pub fn get_dag_info(&self) -> Option { self.dag_info.clone() } - - #[inline(always)] - pub fn set_current_period(&mut self, p: Option) { - self.current_period = p; - } - - #[inline(always)] - pub fn get_current_period(&self) -> Option { - self.current_period - } } /// State of task. @@ -297,7 +286,6 @@ impl Tasks { need_preemption: false, panicked: false, dag_info, - current_period: None, #[cfg(not(feature = "no_preempt"))] thread: None, @@ -468,10 +456,8 @@ fn get_next_task(execution_ensured: bool) -> Option> { pub mod perf { use crate::task::{self}; use alloc::string::{String, ToString}; - use array_macro::array; use awkernel_lib::cpu::NUM_MAX_CPU; use core::ptr::{read_volatile, write_volatile}; - use core::sync::atomic::{AtomicU32, Ordering}; #[derive(Debug, Clone, PartialEq, Eq)] #[repr(u8)] @@ -544,8 +530,6 @@ pub mod perf { //DAG+1 const MAX_DAGS: usize = 4; - pub static PERIOD_COUNT: [AtomicU32; MAX_DAGS] = array![_ => AtomicU32::new(0); MAX_DAGS]; - pub static SINK_COUNT: [AtomicU32; MAX_DAGS] = array![_ => AtomicU32::new(0); MAX_DAGS]; const MAX_NODES: usize = 20; static NODE_START: Mutex> = Mutex::new(None); @@ -557,48 +541,6 @@ pub mod perf { const MAX_PUBSUB: usize = 3; static PUBLISH: Mutex> = Mutex::new(None); static SUBSCRIBE: Mutex> = Mutex::new(None); - pub static PUB_COUNT: [AtomicU32; MAX_PUBSUB] = array![_ => AtomicU32::new(0); MAX_PUBSUB]; - pub static SUB_COUNT: [AtomicU32; MAX_PUBSUB] = array![_ => AtomicU32::new(0); MAX_PUBSUB]; - - pub fn increment_pub_count(pub_id: usize) { - assert!(pub_id < MAX_PUBSUB, "Pub ID out of bounds"); - PUB_COUNT[pub_id].fetch_add(1, Ordering::Relaxed); - } - - pub fn increment_sub_count(sub_id: usize) { - assert!(sub_id < MAX_PUBSUB, "Sub ID out of bounds"); - SUB_COUNT[sub_id].fetch_add(1, Ordering::Relaxed); - } - - pub fn get_pub_count(pub_id: usize) -> u32 { - assert!(pub_id < MAX_PUBSUB, "Pub ID out of bounds"); - PUB_COUNT[pub_id].load(Ordering::Relaxed) - } - - pub fn get_sub_count(sub_id: usize) -> u32 { - assert!(sub_id < MAX_PUBSUB, "Sub ID out of bounds"); - SUB_COUNT[sub_id].load(Ordering::Relaxed) - } - - pub fn increment_period_count(dag_id: usize) { - assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); - PERIOD_COUNT[dag_id].fetch_add(1, Ordering::Relaxed); - } - - pub fn get_period_count(dag_id: usize) -> u32 { - assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); - PERIOD_COUNT[dag_id].load(Ordering::Relaxed) - } - - pub fn increment_sink_count(dag_id: usize) { - assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); - SINK_COUNT[dag_id].fetch_add(1, Ordering::Relaxed); - } - - pub fn get_sink_count(dag_id: usize) -> u32 { - assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); - SINK_COUNT[dag_id].load(Ordering::Relaxed) - } pub fn update_pre_send_outer_timestamp_at(index: usize, new_timestamp: u64, dag_id: u32) { assert!(index < MAX_LOGS, "Timestamp index out of bounds"); @@ -653,7 +595,7 @@ pub mod perf { } pub fn node_start(node: NodeRecord, start: u64) { - // assert!(index < MAX_LOGS, "Node log index out of bounds"); + assert!(index < MAX_LOGS, "Node log index out of bounds"); assert!( (node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds" @@ -670,7 +612,7 @@ pub mod perf { } pub fn node_finish(node: NodeRecord, finish: u64) { - // assert!(index < MAX_LOGS, "Node log index out of bounds"); + assert!(index < MAX_LOGS, "Node log index out of bounds"); assert!( (node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds" @@ -687,7 +629,7 @@ pub mod perf { } pub fn node_preempt(node: NodeRecord) { - // assert!(index < MAX_LOGS, "Node log index out of bounds"); + assert!(index < MAX_LOGS, "Node log index out of bounds"); assert!( (node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds" @@ -702,7 +644,7 @@ pub mod perf { } pub fn dag_preempt(node: NodeRecord) { - // assert!(index < MAX_LOGS, "Node log index out of bounds"); + assert!(index < MAX_LOGS, "Node log index out of bounds"); assert!( (node.dag_info.dag_id as usize) < MAX_DAGS, "DAG ID out of bounds" @@ -1566,24 +1508,6 @@ pub fn get_scheduler_type_by_task_id(task_id: u32) -> Option { }) } -pub fn set_task_period(task_id: u32, period: Option) { - if let Some(task) = get_task(task_id) { - let mut node = MCSNode::new(); - let mut info = task.info.lock(&mut node); - info.set_current_period(period); - } -} - -pub fn get_task_period(task_id: u32) -> Option { - if let Some(task) = get_task(task_id) { - let mut node = MCSNode::new(); - let info = task.info.lock(&mut node); - info.get_current_period() - } else { - None - } -} - #[inline(always)] pub fn set_need_preemption(task_id: u32, cpu_id: usize) { let mut node = MCSNode::new(); diff --git a/kernel/src/main.rs b/kernel/src/main.rs index 5d02b2aa0..895d3e803 100644 --- a/kernel/src/main.rs +++ b/kernel/src/main.rs @@ -74,7 +74,17 @@ fn main(kernel_info: KernelInfo) { // Enable awkernel_lib::cpu::sleep_cpu() and awkernel_lib::cpu::wakeup_cpu(). unsafe { awkernel_lib::cpu::init_sleep() }; + let mut last_print = awkernel_lib::time::Time::now(); + loop { + if last_print.elapsed().as_secs() >= 40 { + #[cfg(feature = "perf")] + awkernel_async_lib::task::perf::print_timestamp_table(); + // awkernel_async_lib::task::perf::print_node_table(); + // awkernel_async_lib::task::perf::print_pubsub_table(); + + last_print = awkernel_lib::time::Time::now(); + } // handle IRQs { let _irq_enable = awkernel_lib::interrupt::InterruptEnable::new(); From 377d1b15d889198ccafd7a77f051fb9d147cfd52 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 19:13:23 +0900 Subject: [PATCH 31/60] fix: add get_period_count for getting periodic period Signed-off-by: nokosaaan --- awkernel_async_lib/Cargo.toml | 2 +- awkernel_async_lib/src/dag.rs | 3 ++- awkernel_async_lib/src/task.rs | 17 +++++++++++++---- kernel/src/main.rs | 10 ++++++---- 4 files changed, 22 insertions(+), 10 deletions(-) diff --git a/awkernel_async_lib/Cargo.toml b/awkernel_async_lib/Cargo.toml index 961ed2ad7..37f9923d0 100644 --- a/awkernel_async_lib/Cargo.toml +++ b/awkernel_async_lib/Cargo.toml @@ -39,7 +39,7 @@ default-features = false features = ["awkernel"] [features] -default = [] +default = ["need-get-period"] std = ["awkernel_lib/std", "no_preempt"] no_preempt = [] spinlock = ["awkernel_lib/spinlock"] diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 1dd40073c..90aa3a1be 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -70,7 +70,7 @@ use crate::{ #[cfg(feature = "need-get-period")] use crate::task::perf::{ - publish_timestamp_at, subscribe_timestamp_at, + get_period_count, increment_period_count,publish_timestamp_at, subscribe_timestamp_at, update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, }; @@ -1047,6 +1047,7 @@ where publishers .send_all_with_meta(results, 0, index, dag_info.node_id) .await; + increment_period_count(dag_info.dag_id.clone() as usize); } #[cfg(not(feature = "need-get-period"))] diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index f335ab654..a0a138c22 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -458,6 +458,8 @@ pub mod perf { use alloc::string::{String, ToString}; use awkernel_lib::cpu::NUM_MAX_CPU; use core::ptr::{read_volatile, write_volatile}; + use core::sync::atomic::{AtomicU32, Ordering}; + use array_macro::array; #[derive(Debug, Clone, PartialEq, Eq)] #[repr(u8)] @@ -530,6 +532,7 @@ pub mod perf { //DAG+1 const MAX_DAGS: usize = 4; + pub static PERIOD_COUNT: [AtomicU32; MAX_DAGS] = array![_ => AtomicU32::new(0); MAX_DAGS]; const MAX_NODES: usize = 20; static NODE_START: Mutex> = Mutex::new(None); @@ -542,6 +545,16 @@ pub mod perf { static PUBLISH: Mutex> = Mutex::new(None); static SUBSCRIBE: Mutex> = Mutex::new(None); + pub fn increment_period_count(dag_id: usize) { + assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); + PERIOD_COUNT[dag_id].fetch_add(1, Ordering::Relaxed); + } + + pub fn get_period_count(dag_id: usize) -> u32 { + assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); + PERIOD_COUNT[dag_id].load(Ordering::Relaxed) + } + pub fn update_pre_send_outer_timestamp_at(index: usize, new_timestamp: u64, dag_id: u32) { assert!(index < MAX_LOGS, "Timestamp index out of bounds"); @@ -595,7 +608,6 @@ pub mod perf { } pub fn node_start(node: NodeRecord, start: u64) { - assert!(index < MAX_LOGS, "Node log index out of bounds"); assert!( (node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds" @@ -612,7 +624,6 @@ pub mod perf { } pub fn node_finish(node: NodeRecord, finish: u64) { - assert!(index < MAX_LOGS, "Node log index out of bounds"); assert!( (node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds" @@ -629,7 +640,6 @@ pub mod perf { } pub fn node_preempt(node: NodeRecord) { - assert!(index < MAX_LOGS, "Node log index out of bounds"); assert!( (node.dag_info.node_id as usize) < MAX_NODES, "Node ID out of bounds" @@ -644,7 +654,6 @@ pub mod perf { } pub fn dag_preempt(node: NodeRecord) { - assert!(index < MAX_LOGS, "Node log index out of bounds"); assert!( (node.dag_info.dag_id as usize) < MAX_DAGS, "DAG ID out of bounds" diff --git a/kernel/src/main.rs b/kernel/src/main.rs index 895d3e803..7f17cbc18 100644 --- a/kernel/src/main.rs +++ b/kernel/src/main.rs @@ -79,10 +79,12 @@ fn main(kernel_info: KernelInfo) { loop { if last_print.elapsed().as_secs() >= 40 { #[cfg(feature = "perf")] - awkernel_async_lib::task::perf::print_timestamp_table(); - // awkernel_async_lib::task::perf::print_node_table(); - // awkernel_async_lib::task::perf::print_pubsub_table(); - + { + awkernel_async_lib::task::perf::print_timestamp_table(); + // awkernel_async_lib::task::perf::print_node_table(); + // awkernel_async_lib::task::perf::print_pubsub_table(); + } + last_print = awkernel_lib::time::Time::now(); } // handle IRQs From ddd69c2f67c9c0908f3c7ebb47cddeea5a6299ca Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 19:17:06 +0900 Subject: [PATCH 32/60] fix: async_lib/Cargo.toml Signed-off-by: nokosaaan --- awkernel_async_lib/Cargo.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/awkernel_async_lib/Cargo.toml b/awkernel_async_lib/Cargo.toml index 37f9923d0..961ed2ad7 100644 --- a/awkernel_async_lib/Cargo.toml +++ b/awkernel_async_lib/Cargo.toml @@ -39,7 +39,7 @@ default-features = false features = ["awkernel"] [features] -default = ["need-get-period"] +default = [] std = ["awkernel_lib/std", "no_preempt"] no_preempt = [] spinlock = ["awkernel_lib/spinlock"] From 37cae777876fa70ce0111d2d6b729ef4a255c9bf Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 19:18:27 +0900 Subject: [PATCH 33/60] fix: apply cargo fmt 4 Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 2 +- awkernel_async_lib/src/task.rs | 2 +- kernel/src/main.rs | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 90aa3a1be..1f6cab477 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -70,7 +70,7 @@ use crate::{ #[cfg(feature = "need-get-period")] use crate::task::perf::{ - get_period_count, increment_period_count,publish_timestamp_at, subscribe_timestamp_at, + get_period_count, increment_period_count, publish_timestamp_at, subscribe_timestamp_at, update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, }; diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index a0a138c22..faadc2640 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -456,10 +456,10 @@ fn get_next_task(execution_ensured: bool) -> Option> { pub mod perf { use crate::task::{self}; use alloc::string::{String, ToString}; + use array_macro::array; use awkernel_lib::cpu::NUM_MAX_CPU; use core::ptr::{read_volatile, write_volatile}; use core::sync::atomic::{AtomicU32, Ordering}; - use array_macro::array; #[derive(Debug, Clone, PartialEq, Eq)] #[repr(u8)] diff --git a/kernel/src/main.rs b/kernel/src/main.rs index 7f17cbc18..21fb03518 100644 --- a/kernel/src/main.rs +++ b/kernel/src/main.rs @@ -84,7 +84,7 @@ fn main(kernel_info: KernelInfo) { // awkernel_async_lib::task::perf::print_node_table(); // awkernel_async_lib::task::perf::print_pubsub_table(); } - + last_print = awkernel_lib::time::Time::now(); } // handle IRQs From 3ff0804a0dba7a82500a2ce587aca697ff479b31 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 19:39:56 +0900 Subject: [PATCH 34/60] fix: delete NodeRecord Signed-off-by: nokosaaan --- awkernel_async_lib/src/task.rs | 146 +-------------------------------- kernel/src/main.rs | 3 +- 2 files changed, 5 insertions(+), 144 deletions(-) diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index faadc2640..a05632324 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -487,11 +487,6 @@ pub mod perf { } } } - #[derive(Debug, Clone)] - pub struct NodeRecord { - pub period_count: u32, - pub dag_info: task::DagInfo, - } static mut PERF_STATES: [u8; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; @@ -528,20 +523,14 @@ pub mod perf { static RECV_OUTER_TIMESTAMP: Mutex> = Mutex::new(None); static ABSOLUTE_DEADLINE: Mutex> = Mutex::new(None); static RELATIVE_DEADLINE: Mutex> = Mutex::new(None); - static DAG_PREEMPT_COUNT: Mutex> = Mutex::new(None); //DAG+1 const MAX_DAGS: usize = 4; pub static PERIOD_COUNT: [AtomicU32; MAX_DAGS] = array![_ => AtomicU32::new(0); MAX_DAGS]; - const MAX_NODES: usize = 20; - static NODE_START: Mutex> = Mutex::new(None); - static NODE_FINISH: Mutex> = Mutex::new(None); - static NODE_PREEMPT_COUNT: Mutex> = Mutex::new(None); - static NODE_CORE: Mutex> = Mutex::new(None); - //pubsub const MAX_PUBSUB: usize = 3; + const MAX_NODES: usize = 20; static PUBLISH: Mutex> = Mutex::new(None); static SUBSCRIBE: Mutex> = Mutex::new(None); @@ -607,66 +596,6 @@ pub mod perf { } } - pub fn node_start(node: NodeRecord, start: u64) { - assert!( - (node.dag_info.node_id as usize) < MAX_NODES, - "Node ID out of bounds" - ); - - let mut mcs_node = MCSNode::new(); - let mut recorder_opt = NODE_START.lock(&mut mcs_node); - - let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_NODES]; MAX_LOGS]); - - if recorder[node.period_count as usize][node.dag_info.node_id as usize] == 0 { - recorder[node.period_count as usize][node.dag_info.node_id as usize] = start; - } - } - - pub fn node_finish(node: NodeRecord, finish: u64) { - assert!( - (node.dag_info.node_id as usize) < MAX_NODES, - "Node ID out of bounds" - ); - - let mut mcs_node = MCSNode::new(); - let mut recorder_opt = NODE_FINISH.lock(&mut mcs_node); - - let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_NODES]; MAX_LOGS]); - - if recorder[node.period_count as usize][node.dag_info.node_id as usize] == 0 { - recorder[node.period_count as usize][node.dag_info.node_id as usize] = finish; - } - } - - pub fn node_preempt(node: NodeRecord) { - assert!( - (node.dag_info.node_id as usize) < MAX_NODES, - "Node ID out of bounds" - ); - - let mut mcs_node = MCSNode::new(); - let mut recorder_opt = NODE_PREEMPT_COUNT.lock(&mut mcs_node); - - let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_NODES]; MAX_LOGS]); - - recorder[node.period_count as usize][node.dag_info.node_id as usize] += 1; - } - - pub fn dag_preempt(node: NodeRecord) { - assert!( - (node.dag_info.dag_id as usize) < MAX_DAGS, - "DAG ID out of bounds" - ); - - let mut mcs_node = MCSNode::new(); - let mut recorder_opt = DAG_PREEMPT_COUNT.lock(&mut mcs_node); - - let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_DAGS]; MAX_LOGS]); - - recorder[node.period_count as usize][node.dag_info.dag_id as usize] += 1; - } - pub fn publish_timestamp_at(index: usize, new_timestamp: u64, pub_id: u32, node_id: u32) { assert!(index < MAX_LOGS, "Timestamp index out of bounds"); assert!((pub_id as usize) < MAX_PUBSUB, "Publish ID out of bounds"); @@ -701,25 +630,22 @@ pub mod perf { let mut node2 = MCSNode::new(); let mut node3 = MCSNode::new(); let mut node4 = MCSNode::new(); - let mut node5 = MCSNode::new(); let send_outer_opt = SEND_OUTER_TIMESTAMP.lock(&mut node1); let recv_outer_opt = RECV_OUTER_TIMESTAMP.lock(&mut node2); let absolute_deadline_opt = ABSOLUTE_DEADLINE.lock(&mut node3); let relative_deadline_opt = RELATIVE_DEADLINE.lock(&mut node4); - let dag_preempt_opt = DAG_PREEMPT_COUNT.lock(&mut node5); log::info!("--- Timestamp Summary (in nanoseconds) ---"); log::info!( - "{: ^5} | {: ^5} | {: ^14} | {: ^14} | {: ^14} | {: ^14} | {: ^14} | {: ^14}", + "{: ^5} | {: ^5} | {: ^14} | {: ^14} | {: ^14} | {: ^14} | {: ^14}", "Index", "DAG-ID", "Send-Outer", "Recv-Outer", "Latency", "Absolute Deadline", - "Relative Deadline", - "DAG Preemptions" + "Relative Deadline" ); log::info!("-----|--------|----------------|----------------|----------------|--------------------|--------------------|--------------------|--------------------"); @@ -730,13 +656,11 @@ pub mod perf { let fin_recv_outer = recv_outer_opt.as_ref().map_or(0, |arr| arr[i][j]); let absolute_deadline = absolute_deadline_opt.as_ref().map_or(0, |arr| arr[i][j]); let relative_deadline = relative_deadline_opt.as_ref().map_or(0, |arr| arr[i][j]); - let dag_preempt = dag_preempt_opt.as_ref().map_or(0, |arr| arr[i][j]); if pre_send_outer != 0 || fin_recv_outer != 0 || absolute_deadline != 0 || relative_deadline != 0 - || dag_preempt != 0 { let format_ts = |ts: u64| -> String { if ts == 0 { @@ -753,7 +677,7 @@ pub mod perf { }; log::info!( - "{: >5} | {: >5} | {: >14} | {: >14} | {: >14} | {: >20} | {: >20} | {: >20}", + "{: >5} | {: >5} | {: >14} | {: >14} | {: >14} | {: >20} | {: >20}", i, format_ts(j as u64), format_ts(pre_send_outer), @@ -761,7 +685,6 @@ pub mod perf { latency_str, format_ts(absolute_deadline), format_ts(relative_deadline), - format_ts(dag_preempt as u64), ); } } @@ -769,67 +692,6 @@ pub mod perf { log::info!("----------------------------------------------------------"); } - /// Print per-node timing table. - /// Columns: DAG ID | node id | period | start(ns) | end(ns) | duration(ns) | preemptions | core - /// not used now - pub fn print_node_table() { - let mut node1 = MCSNode::new(); - let mut node2 = MCSNode::new(); - let mut node3 = MCSNode::new(); - let mut node4 = MCSNode::new(); - - let node_start_opt = NODE_START.lock(&mut node1); - let node_finish_opt = NODE_FINISH.lock(&mut node2); - let node_preempt_opt = NODE_PREEMPT_COUNT.lock(&mut node3); - let node_core_opt = NODE_CORE.lock(&mut node4); - - log::info!("--- Per-node Timing Summary (in nanoseconds) ---"); - log::info!( - "{:<5} | {:<6} | {:<7} | {:<20} | {:<20} | {:<20} | {:<12} | {:<4}", - "Index", - "DAG-ID", - "NODE-ID", - "start(ns)", - "end(ns)", - "duration(ns)", - "preemptions", - "core" - ); - log::info!("------|--------|---------|----------------------|----------------------|----------------------|-----"); - - for i in 0..MAX_LOGS { - for j in 0..MAX_NODES { - let start = node_start_opt.as_ref().map_or(0, |arr| arr[i][j]); - let finish = node_finish_opt.as_ref().map_or(0, |arr| arr[i][j]); - let preempt_count = node_preempt_opt.as_ref().map_or(0, |arr| arr[i][j]); - let core_id = node_core_opt.as_ref().map_or(0, |arr| arr[i][j]); - - if start != 0 || finish != 0 || preempt_count != 0 { - let format_ts = |ts: u64| -> String { ts.to_string() }; - - let duration = if start != 0 && finish != 0 { - finish.saturating_sub(start).to_string() - } else { - "-".to_string() - }; - - log::info!( - "{:<5} | {:<6} | {:<7} | {:<20} | {:<20} | {:<20} | {:<12} | {:<4}", - i, - 1, // DAG ID (assumed 1 for simplicity) - format_ts(j as u64), - format_ts(start), - format_ts(finish), - duration, - format_ts(preempt_count as u64), - format_ts(core_id as u64), - ); - } - } - } - log::info!("--------------------------------------------------------------"); - } - // For pubsub communication latency pub fn print_pubsub_table() { let mut node1 = MCSNode::new(); diff --git a/kernel/src/main.rs b/kernel/src/main.rs index 21fb03518..c9ddb1e4c 100644 --- a/kernel/src/main.rs +++ b/kernel/src/main.rs @@ -77,11 +77,10 @@ fn main(kernel_info: KernelInfo) { let mut last_print = awkernel_lib::time::Time::now(); loop { - if last_print.elapsed().as_secs() >= 40 { + if last_print.elapsed().as_secs() >= 30 { #[cfg(feature = "perf")] { awkernel_async_lib::task::perf::print_timestamp_table(); - // awkernel_async_lib::task::perf::print_node_table(); // awkernel_async_lib::task::perf::print_pubsub_table(); } From d8e28cd5fc2a6fa3b6a094a1f5f0b622964c202e Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 19:48:15 +0900 Subject: [PATCH 35/60] fix: unify start publish_timestamp_at to pubsub.rs Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 6 ------ awkernel_async_lib/src/pubsub.rs | 1 + 2 files changed, 1 insertion(+), 6 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 1f6cab477..937914d4d 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -976,9 +976,6 @@ where subscribe_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); let results = f(args); - // [start] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - publish_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); publishers .send_all_with_meta(results, 1, count_st as usize, dag_info.node_id) .await; @@ -1041,9 +1038,6 @@ where ); } let results = f(); - // [start] pubsub communication latency - let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - publish_timestamp_at(index, end, 0, dag_info.node_id); publishers .send_all_with_meta(results, 0, index, dag_info.node_id) .await; diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 2ea5b6907..bd788f22b 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -387,6 +387,7 @@ where pub async fn send_with_meta(&self, data: T, _pub_id: u32, _index: usize, _node_id: u32) { #[cfg(feature = "need-get-period")] { + // [start] pubsub communication latency let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; publish_timestamp_at(_index, start, _pub_id, _node_id); } From 2de13a9c4966ac89603a3fc6cbc4cfe0da49ca45 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 19:50:19 +0900 Subject: [PATCH 36/60] fix: delete unused imports Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 937914d4d..284e53e7e 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -70,7 +70,7 @@ use crate::{ #[cfg(feature = "need-get-period")] use crate::task::perf::{ - get_period_count, increment_period_count, publish_timestamp_at, subscribe_timestamp_at, + get_period_count, increment_period_count, subscribe_timestamp_at, update_fin_recv_outer_timestamp_at, update_pre_send_outer_timestamp_at, }; From 9a9d2dae3730248e1c36384f5848df7055b6fba9 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 19:55:54 +0900 Subject: [PATCH 37/60] fix: add dependics in kernel/Cargo.toml for print_timestamp_table Signed-off-by: nokosaaan --- kernel/Cargo.toml | 1 + kernel/src/main.rs | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/kernel/Cargo.toml b/kernel/Cargo.toml index 942920387..9d0b86276 100644 --- a/kernel/Cargo.toml +++ b/kernel/Cargo.toml @@ -78,6 +78,7 @@ optional = true [features] default = ["x86"] perf = ["awkernel_async_lib/perf", "userland/perf"] +need-get-period = ["awkernel_async_lib/need-get-period"] no_std_unwinding = ["dep:unwinding"] debug = ["dep:gimli", "dep:addr2line"] x86 = [ diff --git a/kernel/src/main.rs b/kernel/src/main.rs index c9ddb1e4c..15daa23d4 100644 --- a/kernel/src/main.rs +++ b/kernel/src/main.rs @@ -78,7 +78,7 @@ fn main(kernel_info: KernelInfo) { loop { if last_print.elapsed().as_secs() >= 30 { - #[cfg(feature = "perf")] + #[cfg(feature = "need-get-period")] { awkernel_async_lib::task::perf::print_timestamp_table(); // awkernel_async_lib::task::perf::print_pubsub_table(); From 14f92ca3f89aac42078d0d2bf4f2df0beee1621d Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Fri, 17 Apr 2026 21:31:21 +0900 Subject: [PATCH 38/60] fix: clarify the responsibility between send_all and send_all_with_meta with features Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 11 ++++++----- awkernel_async_lib/src/pubsub.rs | 6 ++++++ 2 files changed, 12 insertions(+), 5 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 284e53e7e..8018356ea 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -133,17 +133,18 @@ impl_tuple_traits!(0 => T1); impl_tuple_traits!(1 => T1, T2); impl_tuple_traits!(2 => T1, T2, T3); +#[cfg(not(feature = "need-get-period"))] +pub trait DagSubscriberItem: TupleSize + Send {} + +#[cfg(not(feature = "need-get-period"))] +impl DagSubscriberItem for T where T: TupleSize + Send {} + #[cfg(feature = "need-get-period")] pub trait DagSubscriberItem: TupleSize + GetPeriod + Send {} #[cfg(feature = "need-get-period")] impl DagSubscriberItem for T where T: TupleSize + GetPeriod + Send {} -#[cfg(not(feature = "need-get-period"))] -pub trait DagSubscriberItem: TupleSize + Send {} - -#[cfg(not(feature = "need-get-period"))] -impl DagSubscriberItem for T where T: TupleSize + Send {} #[cfg(feature = "need-get-period")] pub fn get_period(args: &T) -> u32 { args.get_period() diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index bd788f22b..4077212ff 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -777,8 +777,10 @@ pub trait MultipleReceiver { pub trait MultipleSender { type Item; + #[cfg(not(feature = "need-get-period"))] fn send_all(&self, item: Self::Item) -> Pin + Send + '_>>; + #[cfg(feature = "need-get-period")] fn send_all_with_meta( &self, item: Self::Item, @@ -863,9 +865,11 @@ macro_rules! impl_async_receiver_for_tuple { impl MultipleSender for () { type Item = (); + #[cfg(not(feature = "need-get-period"))] fn send_all(&self, _item: Self::Item) -> Pin + Send + '_>> { Box::pin(async move{}) } + #[cfg(feature = "need-get-period")] fn send_all_with_meta(&self, _item: Self::Item, _pub_id: u32, _index: usize, _node_id: u32) -> Pin + Send + '_>> { Box::pin(async move{}) } @@ -886,6 +890,7 @@ macro_rules! impl_async_receiver_for_tuple { impl<$($T: Clone + Sync + Send + 'static),+> MultipleSender for ($(Publisher<$T>,)+) { type Item = ($($T,)+); + #[cfg(not(feature = "need-get-period"))] fn send_all(&self, item: Self::Item) -> Pin + Send + '_>> { let ($($idx,)+) = self; let ($($idx2,)+) = item; @@ -896,6 +901,7 @@ macro_rules! impl_async_receiver_for_tuple { }) } + #[cfg(feature = "need-get-period")] fn send_all_with_meta(&self, item: Self::Item, pub_id: u32, index: usize, node_id: u32) -> Pin + Send + '_>> { let ($($idx,)+) = self; let ($($idx2,)+) = item; From 968c05859f12f0ac9e0334b2facc0a6f038320df Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Sat, 18 Apr 2026 01:17:05 +0900 Subject: [PATCH 39/60] fix: delete get_period and the logic for passing periodic information has been internalized and solve bootloader error changing const numbers by using Box Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 94 ++++++------- awkernel_async_lib/src/pubsub.rs | 78 +++++++++-- awkernel_async_lib/src/task.rs | 178 ++++++++++++++++++------ awkernel_async_lib/src/time_interval.rs | 1 + 4 files changed, 240 insertions(+), 111 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 8018356ea..396fa656b 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -103,52 +103,21 @@ pub trait TupleSize { const SIZE: usize; } -pub trait GetPeriod { - fn get_period(&self) -> u32; -} - -macro_rules! impl_tuple_traits { - () => { - impl TupleSize for () { - const SIZE: usize = 0; - } - }; +macro_rules! impl_tuple_size { + (@count) => { 0 }; + (@count $_head:ident $($tail:ident)*) => { 1 + impl_tuple_size!(@count $($tail)*) }; - ($last_idx:tt => $($T:ident),+) => { - impl<$($T),+> TupleSize for ($($T,)+) { - const SIZE: usize = $last_idx + 1; - } - - #[cfg(feature = "need-get-period")] - impl<$($T),+> GetPeriod for ($(($T, u32),)+) { - fn get_period(&self) -> u32 { - self.$last_idx .1 - } + ($($T:ident),*) => { + impl<$($T),*> TupleSize for ($($T,)*) { + const SIZE: usize = impl_tuple_size!(@count $($T)*); } }; } -impl_tuple_traits!(); -impl_tuple_traits!(0 => T1); -impl_tuple_traits!(1 => T1, T2); -impl_tuple_traits!(2 => T1, T2, T3); - -#[cfg(not(feature = "need-get-period"))] -pub trait DagSubscriberItem: TupleSize + Send {} - -#[cfg(not(feature = "need-get-period"))] -impl DagSubscriberItem for T where T: TupleSize + Send {} - -#[cfg(feature = "need-get-period")] -pub trait DagSubscriberItem: TupleSize + GetPeriod + Send {} - -#[cfg(feature = "need-get-period")] -impl DagSubscriberItem for T where T: TupleSize + GetPeriod + Send {} - -#[cfg(feature = "need-get-period")] -pub fn get_period(args: &T) -> u32 { - args.get_period() -} +impl_tuple_size!(); +impl_tuple_size!(T1); +impl_tuple_size!(T1, T2); +impl_tuple_size!(T1, T2, T3); #[derive(Clone)] pub enum DagError { @@ -336,8 +305,8 @@ impl Dag { Ret: VectorToPublishers, Ret::Publishers: Send, Args::Subscribers: Send, - ::Item: DagSubscriberItem, - ::Item: TupleSize + Send, + ::Item: TupleSize, + ::Item: TupleSize, { let node_idx = self.add_node_with_topic_edges(&subscribe_topic_names, &publish_topic_names); self.check_subscribe_mismatch::(&subscribe_topic_names, node_idx); @@ -430,7 +399,7 @@ impl Dag { F: Fn(::Item) + Send + 'static, Args: VectorToSubscribers, Args::Subscribers: Send, - ::Item: DagSubscriberItem, + ::Item: TupleSize, { let node_idx = self.add_node_with_topic_edges(&subscribe_topic_names, &Vec::new()); self.set_relative_deadline(node_idx, relative_deadline); @@ -953,8 +922,8 @@ where Ret: VectorToPublishers, Ret::Publishers: Send, Args::Subscribers: Send, - ::Item: DagSubscriberItem, - ::Item: TupleSize + Send, + ::Item: TupleSize, + ::Item: TupleSize, { let future = async move { let publishers = ::create_publishers( @@ -966,14 +935,15 @@ where Args::create_subscribers(subscribe_topic_names, Attribute::default()); loop { - let args: <::Subscribers as MultipleReceiver>::Item = - subscribers.recv_all().await; - #[cfg(feature = "need-get-period")] { + let (args, count_st): ( + <::Subscribers as MultipleReceiver>::Item, + u32, + ) = subscribers.recv_all_with_period().await; + // [end] pubsub communication latency let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - let count_st = get_period(&args); subscribe_timestamp_at(count_st as usize, end, 1, dag_info.node_id.clone()); let results = f(args); @@ -981,8 +951,12 @@ where .send_all_with_meta(results, 1, count_st as usize, dag_info.node_id) .await; } + #[cfg(not(feature = "need-get-period"))] { + let args: <::Subscribers as MultipleReceiver>::Item = + subscribers.recv_all().await; + let results = f(args); publishers.send_all(results).await; } @@ -1031,6 +1005,7 @@ where { let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; if index != 0 { + // [start] cycle deviation index >= 1 let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; update_pre_send_outer_timestamp_at( index, @@ -1077,29 +1052,38 @@ where F: Fn(::Item) + Send + 'static, Args: VectorToSubscribers, Args::Subscribers: Send, - ::Item: DagSubscriberItem, + ::Item: TupleSize, { let future = async move { let subscribers: ::Subscribers = Args::create_subscribers(subscribe_topic_names, Attribute::default()); loop { - let args: ::Item = subscribers.recv_all().await; - #[cfg(feature = "need-get-period")] { + let (args, count_st): ( + ::Item, + u32, + ) = subscribers.recv_all_with_period().await; + // [end] pubsub communication latency let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - let count_st = get_period(&args); subscribe_timestamp_at(count_st as usize, end, 2, dag_info.node_id.clone()); let timenow = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; if count_st != 0 { update_fin_recv_outer_timestamp_at(count_st as usize, timenow, dag_info.dag_id); } + + f(args); } - f(args); + #[cfg(not(feature = "need-get-period"))] + { + let args: ::Item = + subscribers.recv_all().await; + f(args); + } } }; diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 4077212ff..57fbd2946 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -60,6 +60,8 @@ use crate::task::perf::publish_timestamp_at; pub struct Data { pub timestamp: awkernel_lib::time::Time, pub data: T, + #[cfg(feature = "need-get-period")] + pub index: u32, } /// Publisher. @@ -263,6 +265,8 @@ struct Sender<'a, T: 'static + Send> { subscribers: VecDeque>, state: SenderState, timestamp: awkernel_lib::time::Time, + #[cfg(feature = "need-get-period")] + index: u32, } enum SenderState { @@ -279,8 +283,16 @@ impl<'a, T: Send> Sender<'a, T> { subscribers: Default::default(), state: SenderState::Start, timestamp: awkernel_lib::time::Time::now(), + #[cfg(feature = "need-get-period")] + index: 0, } } + + #[cfg(feature = "need-get-period")] + pub(super) fn with_period(mut self, index: u32) -> Self { + self.index = index; + self + } } impl Future for Sender<'_, T> @@ -312,6 +324,8 @@ where if let Err(data) = guard.push(Data { timestamp: awkernel_lib::time::Time::now(), data: data.clone(), + #[cfg(feature = "need-get-period")] + index: *this.index, }) { // If the send buffer is full, then remove the oldest one and store again. guard.pop(); @@ -345,6 +359,8 @@ where match inner.queue.push(Data { timestamp: *this.timestamp, data: data.clone(), + #[cfg(feature = "need-get-period")] + index: *this.index, }) { Ok(_) => { // Wake the subscriber up. @@ -384,21 +400,18 @@ impl Publisher where T: Clone + Sync + Send, { - pub async fn send_with_meta(&self, data: T, _pub_id: u32, _index: usize, _node_id: u32) { - #[cfg(feature = "need-get-period")] - { - // [start] pubsub communication latency - let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - publish_timestamp_at(_index, start, _pub_id, _node_id); - } - + pub async fn send(&self, data: T) { let sender = Sender::new(self, data); sender.await; r#yield().await; } - pub async fn send(&self, data: T) { - let sender = Sender::new(self, data); + #[cfg(feature = "need-get-period")] + pub async fn send_with_meta(&self, data: T, pub_id: u32, index: usize, node_id: u32) { + // [start] pubsub communication latency + let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; + publish_timestamp_at(index, start, pub_id, node_id); + let sender = Sender::new(self, data).with_period(index as u32); sender.await; r#yield().await; } @@ -772,6 +785,11 @@ pub trait MultipleReceiver { type Item; fn recv_all(&self) -> Pin + Send + '_>>; + + #[cfg(feature = "need-get-period")] + fn recv_all_with_period( + &self, + ) -> Pin + Send + '_>>; } pub trait MultipleSender { @@ -860,6 +878,13 @@ macro_rules! impl_async_receiver_for_tuple { fn recv_all(&self) -> Pin + Send + '_>> { Box::pin(async move{}) } + + #[cfg(feature = "need-get-period")] + fn recv_all_with_period( + &self, + ) -> Pin + Send + '_>> { + Box::pin(async move { ((), 0) }) + } } impl MultipleSender for () { @@ -869,8 +894,15 @@ macro_rules! impl_async_receiver_for_tuple { fn send_all(&self, _item: Self::Item) -> Pin + Send + '_>> { Box::pin(async move{}) } + #[cfg(feature = "need-get-period")] - fn send_all_with_meta(&self, _item: Self::Item, _pub_id: u32, _index: usize, _node_id: u32) -> Pin + Send + '_>> { + fn send_all_with_meta( + &self, + _item: Self::Item, + _pub_id: u32, + _index: usize, + _node_id: u32, + ) -> Pin + Send + '_>> { Box::pin(async move{}) } } @@ -885,6 +917,22 @@ macro_rules! impl_async_receiver_for_tuple { ($($idx.recv().await.data,)+) }) } + + #[cfg(feature = "need-get-period")] + fn recv_all_with_period( + &self, + ) -> Pin + Send + '_>> { + let ($($idx,)+) = self; + Box::pin(async move { + let mut _period: u32 = 0; + $( + let item = $idx.recv().await; + _period = item.index; + let $idx2 = item.data; + )+ + (($($idx2,)+), _period) + }) + } } impl<$($T: Clone + Sync + Send + 'static),+> MultipleSender for ($(Publisher<$T>,)+) { @@ -902,7 +950,13 @@ macro_rules! impl_async_receiver_for_tuple { } #[cfg(feature = "need-get-period")] - fn send_all_with_meta(&self, item: Self::Item, pub_id: u32, index: usize, node_id: u32) -> Pin + Send + '_>> { + fn send_all_with_meta( + &self, + item: Self::Item, + pub_id: u32, + index: usize, + node_id: u32, + ) -> Pin + Send + '_>> { let ($($idx,)+) = self; let ($($idx2,)+) = item; Box::pin(async move { diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index a05632324..363202a70 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -455,6 +455,7 @@ fn get_next_task(execution_ensured: bool) -> Option> { #[cfg(feature = "perf")] pub mod perf { use crate::task::{self}; + use alloc::boxed::Box; use alloc::string::{String, ToString}; use array_macro::array; use awkernel_lib::cpu::NUM_MAX_CPU; @@ -517,12 +518,17 @@ pub mod perf { static mut PERF_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; use awkernel_lib::sync::{mcs::MCSNode, mutex::Mutex}; + use alloc::vec::Vec; const MAX_LOGS: usize = 8192; - static SEND_OUTER_TIMESTAMP: Mutex> = Mutex::new(None); - static RECV_OUTER_TIMESTAMP: Mutex> = Mutex::new(None); - static ABSOLUTE_DEADLINE: Mutex> = Mutex::new(None); - static RELATIVE_DEADLINE: Mutex> = Mutex::new(None); + static SEND_OUTER_TIMESTAMP: Mutex>> = + Mutex::new(None); + static RECV_OUTER_TIMESTAMP: Mutex>> = + Mutex::new(None); + static ABSOLUTE_DEADLINE: Mutex>> = + Mutex::new(None); + static RELATIVE_DEADLINE: Mutex>> = + Mutex::new(None); //DAG+1 const MAX_DAGS: usize = 4; @@ -531,8 +537,46 @@ pub mod perf { //pubsub const MAX_PUBSUB: usize = 3; const MAX_NODES: usize = 20; - static PUBLISH: Mutex> = Mutex::new(None); - static SUBSCRIBE: Mutex> = Mutex::new(None); + #[derive(Clone)] + struct PubSubTable { + timestamps: [[[u64; MAX_NODES]; MAX_PUBSUB]; MAX_LOGS], + used_indices: Vec, + } + + impl Default for PubSubTable { + fn default() -> Self { + Self { + timestamps: [[[0; MAX_NODES]; MAX_PUBSUB]; MAX_LOGS], + used_indices: Vec::new(), + } + } + } + + impl PubSubTable { + #[inline(always)] + fn flat_index(index: usize, pub_id: usize, node_id: usize) -> usize { + (index * MAX_PUBSUB * MAX_NODES) + (pub_id * MAX_NODES) + node_id + } + + #[inline(always)] + fn decode_flat_index(flat_index: usize) -> (usize, usize, usize) { + let per_log = MAX_PUBSUB * MAX_NODES; + let index = flat_index / per_log; + let rem = flat_index % per_log; + let pub_id = rem / MAX_NODES; + let node_id = rem % MAX_NODES; + (index, pub_id, node_id) + } + + #[inline(always)] + fn mark_used(&mut self, index: usize, pub_id: usize, node_id: usize) { + self.used_indices + .push(Self::flat_index(index, pub_id, node_id)); + } + } + + static PUBLISH: Mutex>> = Mutex::new(None); + static SUBSCRIBE: Mutex>> = Mutex::new(None); pub fn increment_period_count(dag_id: usize) { assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); @@ -550,7 +594,7 @@ pub mod perf { let mut node = MCSNode::new(); let mut recorder_opt = SEND_OUTER_TIMESTAMP.lock(&mut node); - let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_DAGS]; MAX_LOGS]); + let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); if recorder[index][dag_id as usize] == 0 { recorder[index][dag_id as usize] = new_timestamp; @@ -563,7 +607,7 @@ pub mod perf { let mut node = MCSNode::new(); let mut recorder_opt = RECV_OUTER_TIMESTAMP.lock(&mut node); - let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_DAGS]; MAX_LOGS]); + let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); if (dag_id as usize) < recorder[0].len() { recorder[index][dag_id as usize] = new_timestamp; @@ -576,7 +620,7 @@ pub mod perf { let mut node = MCSNode::new(); let mut recorder_opt = ABSOLUTE_DEADLINE.lock(&mut node); - let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_DAGS]; MAX_LOGS]); + let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); if recorder[index][dag_id as usize] == 0 { recorder[index][dag_id as usize] = deadline; @@ -589,7 +633,7 @@ pub mod perf { let mut node = MCSNode::new(); let mut recorder_opt = RELATIVE_DEADLINE.lock(&mut node); - let recorder = recorder_opt.get_or_insert_with(|| [[0; MAX_DAGS]; MAX_LOGS]); + let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); if recorder[index][dag_id as usize] == 0 { recorder[index][dag_id as usize] = deadline; @@ -600,13 +644,21 @@ pub mod perf { assert!(index < MAX_LOGS, "Timestamp index out of bounds"); assert!((pub_id as usize) < MAX_PUBSUB, "Publish ID out of bounds"); + let node_id_usize = node_id as usize; + if node_id_usize >= MAX_NODES { + log::warn!("Publish node ID out of bounds: {} (max {})", node_id_usize, MAX_NODES); + return; + } + let mut node = MCSNode::new(); let mut recorder_opt = PUBLISH.lock(&mut node); - let recorder = recorder_opt.get_or_insert_with(|| [[[0; MAX_NODES]; MAX_PUBSUB]; MAX_LOGS]); + let recorder = recorder_opt.get_or_insert_with(|| Box::new(PubSubTable::default())); + let pub_id = pub_id as usize; - if recorder[index][pub_id as usize][node_id as usize] == 0 { - recorder[index][pub_id as usize][node_id as usize] = new_timestamp; + if recorder.timestamps[index][pub_id][node_id_usize] == 0 { + recorder.timestamps[index][pub_id][node_id_usize] = new_timestamp; + recorder.mark_used(index, pub_id, node_id_usize); } } @@ -614,13 +666,21 @@ pub mod perf { assert!(index < MAX_LOGS, "Timestamp index out of bounds"); assert!((sub_id as usize) < MAX_PUBSUB, "Subscribe ID out of bounds"); + let node_id_usize = node_id as usize; + if node_id_usize >= MAX_NODES { + log::warn!("Subscribe node ID out of bounds: {} (max {})", node_id_usize, MAX_NODES); + return; + } + let mut node = MCSNode::new(); let mut recorder_opt = SUBSCRIBE.lock(&mut node); - let recorder = recorder_opt.get_or_insert_with(|| [[[0; MAX_NODES]; MAX_PUBSUB]; MAX_LOGS]); + let recorder = recorder_opt.get_or_insert_with(|| Box::new(PubSubTable::default())); + let sub_id = sub_id as usize; - if recorder[index][sub_id as usize][node_id as usize] == 0 { - recorder[index][sub_id as usize][node_id as usize] = new_timestamp; + if recorder.timestamps[index][sub_id][node_id_usize] == 0 { + recorder.timestamps[index][sub_id][node_id_usize] = new_timestamp; + recorder.mark_used(index, sub_id, node_id_usize); } } @@ -652,10 +712,22 @@ pub mod perf { for i in 0..MAX_LOGS { for j in 1..MAX_DAGS { - let pre_send_outer = send_outer_opt.as_ref().map_or(0, |arr| arr[i][j]); - let fin_recv_outer = recv_outer_opt.as_ref().map_or(0, |arr| arr[i][j]); - let absolute_deadline = absolute_deadline_opt.as_ref().map_or(0, |arr| arr[i][j]); - let relative_deadline = relative_deadline_opt.as_ref().map_or(0, |arr| arr[i][j]); + let pre_send_outer = match &*send_outer_opt { + Some(arr) => arr[i][j], + None => 0, + }; + let fin_recv_outer = match &*recv_outer_opt { + Some(arr) => arr[i][j], + None => 0, + }; + let absolute_deadline = match &*absolute_deadline_opt { + Some(arr) => arr[i][j], + None => 0, + }; + let relative_deadline = match &*relative_deadline_opt { + Some(arr) => arr[i][j], + None => 0, + }; if pre_send_outer != 0 || fin_recv_outer != 0 @@ -700,6 +772,16 @@ pub mod perf { let publish_opt = PUBLISH.lock(&mut node1); let subscribe_opt = SUBSCRIBE.lock(&mut node2); + let mut indices = Vec::new(); + if let Some(publish) = publish_opt.as_ref() { + indices.extend_from_slice(&publish.used_indices); + } + if let Some(subscribe) = subscribe_opt.as_ref() { + indices.extend_from_slice(&subscribe.used_indices); + } + indices.sort_unstable(); + indices.dedup(); + log::info!("--- Pub/Sub Timestamp Summary (in nanoseconds) ---"); log::info!( "{: ^5} | {: ^10} | {: ^7} | {: ^14} | {: ^14}", @@ -710,31 +792,39 @@ pub mod perf { "Subscribe Time" ); log::info!("-----|------------|---------|----------------|----------------"); - for i in 0..MAX_LOGS { - for j in 0..MAX_PUBSUB { - for k in 0..MAX_NODES { - let publish_time = publish_opt.as_ref().map_or(0, |arr| arr[i][j][k]); - let subscribe_time = subscribe_opt.as_ref().map_or(0, |arr| arr[i][j][k]); - - if publish_time != 0 || subscribe_time != 0 { - let format_ts = |ts: u64| -> String { - if ts == 0 { - "-".to_string() - } else { - ts.to_string() - } - }; - - log::info!( - "{: >5} | {: >10} | {: >7} | {: >14} | {: >14}", - i, - j, - k, - format_ts(publish_time), - format_ts(subscribe_time), - ); + for flat_index in indices { + let (i, j, k) = PubSubTable::decode_flat_index(flat_index); + // Skip if decoded indices are out of bounds + if i >= MAX_LOGS || j >= MAX_PUBSUB || k >= MAX_NODES { + log::warn!("Decoded index out of bounds: ({}, {}, {})", i, j, k); + continue; + } + let publish_time = match &*publish_opt { + Some(table) => table.timestamps[i][j][k], + None => 0, + }; + let subscribe_time = match &*subscribe_opt { + Some(table) => table.timestamps[i][j][k], + None => 0, + }; + + if publish_time != 0 || subscribe_time != 0 { + let format_ts = |ts: u64| -> String { + if ts == 0 { + "-".to_string() + } else { + ts.to_string() } - } + }; + + log::info!( + "{: >5} | {: >10} | {: >7} | {: >14} | {: >14}", + i, + j, + k, + format_ts(publish_time), + format_ts(subscribe_time), + ); } } log::info!("--------------------------------------------------------------"); diff --git a/awkernel_async_lib/src/time_interval.rs b/awkernel_async_lib/src/time_interval.rs index b583cf516..bb947b048 100644 --- a/awkernel_async_lib/src/time_interval.rs +++ b/awkernel_async_lib/src/time_interval.rs @@ -107,6 +107,7 @@ pub fn interval_at(start: Time, period: Duration, _dag_id: u32) -> Interval { #[cfg(feature = "need-get-period")] { let index = get_period_count(_dag_id.clone() as usize) as usize; + // [start] cycle deviation index == 0 (basis of cycle deviation) update_pre_send_outer_timestamp_at( index, start.uptime().as_nanos() as u64, From efc54b69ea1ead58e78a9a37cf00ba03429e6486 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Sat, 18 Apr 2026 01:17:46 +0900 Subject: [PATCH 40/60] fix: apply cargo fmt 5 Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 6 ++---- awkernel_async_lib/src/pubsub.rs | 4 +--- awkernel_async_lib/src/task.rs | 26 +++++++++++++++----------- 3 files changed, 18 insertions(+), 18 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 396fa656b..6066392d7 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -1061,10 +1061,8 @@ where loop { #[cfg(feature = "need-get-period")] { - let (args, count_st): ( - ::Item, - u32, - ) = subscribers.recv_all_with_period().await; + let (args, count_st): (::Item, u32) = + subscribers.recv_all_with_period().await; // [end] pubsub communication latency let end = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 57fbd2946..dee13893c 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -787,9 +787,7 @@ pub trait MultipleReceiver { fn recv_all(&self) -> Pin + Send + '_>>; #[cfg(feature = "need-get-period")] - fn recv_all_with_period( - &self, - ) -> Pin + Send + '_>>; + fn recv_all_with_period(&self) -> Pin + Send + '_>>; } pub trait MultipleSender { diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 363202a70..5fb9e72bb 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -517,18 +517,14 @@ pub mod perf { static mut IDLE_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut PERF_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; - use awkernel_lib::sync::{mcs::MCSNode, mutex::Mutex}; use alloc::vec::Vec; + use awkernel_lib::sync::{mcs::MCSNode, mutex::Mutex}; const MAX_LOGS: usize = 8192; - static SEND_OUTER_TIMESTAMP: Mutex>> = - Mutex::new(None); - static RECV_OUTER_TIMESTAMP: Mutex>> = - Mutex::new(None); - static ABSOLUTE_DEADLINE: Mutex>> = - Mutex::new(None); - static RELATIVE_DEADLINE: Mutex>> = - Mutex::new(None); + static SEND_OUTER_TIMESTAMP: Mutex>> = Mutex::new(None); + static RECV_OUTER_TIMESTAMP: Mutex>> = Mutex::new(None); + static ABSOLUTE_DEADLINE: Mutex>> = Mutex::new(None); + static RELATIVE_DEADLINE: Mutex>> = Mutex::new(None); //DAG+1 const MAX_DAGS: usize = 4; @@ -646,7 +642,11 @@ pub mod perf { let node_id_usize = node_id as usize; if node_id_usize >= MAX_NODES { - log::warn!("Publish node ID out of bounds: {} (max {})", node_id_usize, MAX_NODES); + log::warn!( + "Publish node ID out of bounds: {} (max {})", + node_id_usize, + MAX_NODES + ); return; } @@ -668,7 +668,11 @@ pub mod perf { let node_id_usize = node_id as usize; if node_id_usize >= MAX_NODES { - log::warn!("Subscribe node ID out of bounds: {} (max {})", node_id_usize, MAX_NODES); + log::warn!( + "Subscribe node ID out of bounds: {} (max {})", + node_id_usize, + MAX_NODES + ); return; } From 64e87b63c00d5f3bb791c1f834c8f088f7906103 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Sat, 18 Apr 2026 01:20:26 +0900 Subject: [PATCH 41/60] fix: apply copilot suggestion in kernel/main.rs Signed-off-by: nokosaaan --- kernel/src/main.rs | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/kernel/src/main.rs b/kernel/src/main.rs index 15daa23d4..ee7dc19dc 100644 --- a/kernel/src/main.rs +++ b/kernel/src/main.rs @@ -74,15 +74,14 @@ fn main(kernel_info: KernelInfo) { // Enable awkernel_lib::cpu::sleep_cpu() and awkernel_lib::cpu::wakeup_cpu(). unsafe { awkernel_lib::cpu::init_sleep() }; + #[cfg(feature = "need-get-period")] let mut last_print = awkernel_lib::time::Time::now(); loop { + #[cfg(feature = "need-get-period")] if last_print.elapsed().as_secs() >= 30 { - #[cfg(feature = "need-get-period")] - { - awkernel_async_lib::task::perf::print_timestamp_table(); - // awkernel_async_lib::task::perf::print_pubsub_table(); - } + awkernel_async_lib::task::perf::print_timestamp_table(); + // awkernel_async_lib::task::perf::print_pubsub_table(); last_print = awkernel_lib::time::Time::now(); } From 12fb54a4a87dc904b8f9de7ae7a6d94db72d5a54 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Sat, 18 Apr 2026 01:39:41 +0900 Subject: [PATCH 42/60] fix: delete unnecessary declare and add dependics to need Signed-off-by: nokosaaan --- awkernel_async_lib/Cargo.toml | 2 +- awkernel_async_lib/src/dag.rs | 3 --- kernel/Cargo.toml | 2 +- 3 files changed, 2 insertions(+), 5 deletions(-) diff --git a/awkernel_async_lib/Cargo.toml b/awkernel_async_lib/Cargo.toml index 961ed2ad7..ac3688d55 100644 --- a/awkernel_async_lib/Cargo.toml +++ b/awkernel_async_lib/Cargo.toml @@ -45,4 +45,4 @@ no_preempt = [] spinlock = ["awkernel_lib/spinlock"] clippy = [] perf = [] -need-get-period = [] +need-get-period = ["perf"] diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 6066392d7..642d581ee 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -922,8 +922,6 @@ where Ret: VectorToPublishers, Ret::Publishers: Send, Args::Subscribers: Send, - ::Item: TupleSize, - ::Item: TupleSize, { let future = async move { let publishers = ::create_publishers( @@ -1052,7 +1050,6 @@ where F: Fn(::Item) + Send + 'static, Args: VectorToSubscribers, Args::Subscribers: Send, - ::Item: TupleSize, { let future = async move { let subscribers: ::Subscribers = diff --git a/kernel/Cargo.toml b/kernel/Cargo.toml index 9d0b86276..efcf539e0 100644 --- a/kernel/Cargo.toml +++ b/kernel/Cargo.toml @@ -78,7 +78,7 @@ optional = true [features] default = ["x86"] perf = ["awkernel_async_lib/perf", "userland/perf"] -need-get-period = ["awkernel_async_lib/need-get-period"] +need-get-period = ["perf", "awkernel_async_lib/need-get-period"] no_std_unwinding = ["dep:unwinding"] debug = ["dep:gimli", "dep:addr2line"] x86 = [ From 0e3156a906d0b8ecd6e78e5f6ce4806645772210 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Fri, 17 Apr 2026 17:00:55 +0000 Subject: [PATCH 43/60] fix(perf): make period-based recording resilient to dag/index overflow Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/27c4a5cf-6c1d-4fd2-a11a-0c3b66b8f566 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com> --- awkernel_async_lib/src/pubsub.rs | 3 +- awkernel_async_lib/src/task.rs | 71 +++++++++++++++++++++++--------- 2 files changed, 54 insertions(+), 20 deletions(-) diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index dee13893c..9698ee14d 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -411,7 +411,8 @@ where // [start] pubsub communication latency let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; publish_timestamp_at(index, start, pub_id, node_id); - let sender = Sender::new(self, data).with_period(index as u32); + let period = u32::try_from(index).unwrap_or(u32::MAX); + let sender = Sender::new(self, data).with_period(period); sender.await; r#yield().await; } diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 5fb9e72bb..8502a4ea4 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -574,70 +574,103 @@ pub mod perf { static PUBLISH: Mutex>> = Mutex::new(None); static SUBSCRIBE: Mutex>> = Mutex::new(None); + #[inline(always)] + fn normalize_log_index(index: usize) -> usize { + index % MAX_LOGS + } + + #[inline(always)] + fn dag_index(dag_id: u32) -> Option { + let dag_idx = dag_id as usize; + if dag_idx < MAX_DAGS { + Some(dag_idx) + } else { + log::warn!("DAG ID out of bounds: {} (max {})", dag_idx, MAX_DAGS - 1); + None + } + } + pub fn increment_period_count(dag_id: usize) { - assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); - PERIOD_COUNT[dag_id].fetch_add(1, Ordering::Relaxed); + if dag_id < MAX_DAGS { + PERIOD_COUNT[dag_id].fetch_add(1, Ordering::Relaxed); + } else { + log::warn!("DAG ID out of bounds: {} (max {})", dag_id, MAX_DAGS - 1); + } } pub fn get_period_count(dag_id: usize) -> u32 { - assert!(dag_id < MAX_DAGS, "DAG ID out of bounds"); - PERIOD_COUNT[dag_id].load(Ordering::Relaxed) + if dag_id < MAX_DAGS { + PERIOD_COUNT[dag_id].load(Ordering::Relaxed) + } else { + log::warn!("DAG ID out of bounds: {} (max {})", dag_id, MAX_DAGS - 1); + 0 + } } pub fn update_pre_send_outer_timestamp_at(index: usize, new_timestamp: u64, dag_id: u32) { - assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + let Some(dag_idx) = dag_index(dag_id) else { + return; + }; + let index = normalize_log_index(index); let mut node = MCSNode::new(); let mut recorder_opt = SEND_OUTER_TIMESTAMP.lock(&mut node); let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); - if recorder[index][dag_id as usize] == 0 { - recorder[index][dag_id as usize] = new_timestamp; + if recorder[index][dag_idx] == 0 { + recorder[index][dag_idx] = new_timestamp; } } pub fn update_fin_recv_outer_timestamp_at(index: usize, new_timestamp: u64, dag_id: u32) { - assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + let Some(dag_idx) = dag_index(dag_id) else { + return; + }; + let index = normalize_log_index(index); let mut node = MCSNode::new(); let mut recorder_opt = RECV_OUTER_TIMESTAMP.lock(&mut node); let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); - if (dag_id as usize) < recorder[0].len() { - recorder[index][dag_id as usize] = new_timestamp; - } + recorder[index][dag_idx] = new_timestamp; } pub fn update_absolute_deadline_timestamp_at(index: usize, deadline: u64, dag_id: u32) { - assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + let Some(dag_idx) = dag_index(dag_id) else { + return; + }; + let index = normalize_log_index(index); let mut node = MCSNode::new(); let mut recorder_opt = ABSOLUTE_DEADLINE.lock(&mut node); let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); - if recorder[index][dag_id as usize] == 0 { - recorder[index][dag_id as usize] = deadline; + if recorder[index][dag_idx] == 0 { + recorder[index][dag_idx] = deadline; } } pub fn update_relative_deadline_timestamp_at(index: usize, deadline: u64, dag_id: u32) { - assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + let Some(dag_idx) = dag_index(dag_id) else { + return; + }; + let index = normalize_log_index(index); let mut node = MCSNode::new(); let mut recorder_opt = RELATIVE_DEADLINE.lock(&mut node); let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); - if recorder[index][dag_id as usize] == 0 { - recorder[index][dag_id as usize] = deadline; + if recorder[index][dag_idx] == 0 { + recorder[index][dag_idx] = deadline; } } pub fn publish_timestamp_at(index: usize, new_timestamp: u64, pub_id: u32, node_id: u32) { - assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + let index = normalize_log_index(index); assert!((pub_id as usize) < MAX_PUBSUB, "Publish ID out of bounds"); let node_id_usize = node_id as usize; @@ -663,7 +696,7 @@ pub mod perf { } pub fn subscribe_timestamp_at(index: usize, new_timestamp: u64, sub_id: u32, node_id: u32) { - assert!(index < MAX_LOGS, "Timestamp index out of bounds"); + let index = normalize_log_index(index); assert!((sub_id as usize) < MAX_PUBSUB, "Subscribe ID out of bounds"); let node_id_usize = node_id as usize; From bf7ba7b19d83ea543a8d3971838be53efab5e5e3 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Fri, 17 Apr 2026 17:04:28 +0000 Subject: [PATCH 44/60] fix(perf): warn when period metadata saturates Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/27c4a5cf-6c1d-4fd2-a11a-0c3b66b8f566 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com> --- awkernel_async_lib/src/pubsub.rs | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 9698ee14d..790657700 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -411,7 +411,16 @@ where // [start] pubsub communication latency let start = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; publish_timestamp_at(index, start, pub_id, node_id); - let period = u32::try_from(index).unwrap_or(u32::MAX); + let period = match u32::try_from(index) { + Ok(period) => period, + Err(_) => { + log::warn!( + "Period index {} exceeds u32::MAX; saturating period metadata", + index + ); + u32::MAX + } + }; let sender = Sender::new(self, data).with_period(period); sender.await; r#yield().await; From 5ff88eb082ced889855f08ec5fbd30b2fc135c49 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Sat, 18 Apr 2026 06:02:40 +0900 Subject: [PATCH 45/60] fix: apply copilot suggestion 1 Signed-off-by: nokosaaan --- awkernel_async_lib/src/task.rs | 3 +++ 1 file changed, 3 insertions(+) diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 8502a4ea4..bea7693b9 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -1065,6 +1065,9 @@ pub mod perf { // Normal task-specific handling update_time_and_state(PerfState::Interrupt); } + } else { + // Default handling if the current task cannot be resolved + update_time_and_state(PerfState::Interrupt); } } else { // Default handling if no task is running From 465f75e1e8dfffaf0938de368160155b1ad5a7e4 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Sat, 18 Apr 2026 06:04:03 +0900 Subject: [PATCH 46/60] fix: apply copilot suggestion 2 Signed-off-by: nokosaaan --- awkernel_async_lib/src/pubsub.rs | 3 --- 1 file changed, 3 deletions(-) diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 790657700..492ebc447 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -803,7 +803,6 @@ pub trait MultipleReceiver { pub trait MultipleSender { type Item; - #[cfg(not(feature = "need-get-period"))] fn send_all(&self, item: Self::Item) -> Pin + Send + '_>>; #[cfg(feature = "need-get-period")] @@ -898,7 +897,6 @@ macro_rules! impl_async_receiver_for_tuple { impl MultipleSender for () { type Item = (); - #[cfg(not(feature = "need-get-period"))] fn send_all(&self, _item: Self::Item) -> Pin + Send + '_>> { Box::pin(async move{}) } @@ -946,7 +944,6 @@ macro_rules! impl_async_receiver_for_tuple { impl<$($T: Clone + Sync + Send + 'static),+> MultipleSender for ($(Publisher<$T>,)+) { type Item = ($($T,)+); - #[cfg(not(feature = "need-get-period"))] fn send_all(&self, item: Self::Item) -> Pin + Send + '_>> { let ($($idx,)+) = self; let ($($idx2,)+) = item; From 74b6d2770e0a99d8e0014ba342d2f66d78cb3075 Mon Sep 17 00:00:00 2001 From: nokosaaan <106376734+nokosaaan@users.noreply.github.com> Date: Sat, 18 Apr 2026 08:20:33 +0900 Subject: [PATCH 47/60] Update awkernel_async_lib/src/pubsub.rs Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- awkernel_async_lib/src/pubsub.rs | 67 ++++++++++++++++++++++++++++++++ 1 file changed, 67 insertions(+) diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 492ebc447..406567f35 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -427,6 +427,73 @@ where } } +#[cfg(all(test, feature = "need-get-period"))] +mod need_get_period_tests { + use super::*; + use core::{ + future::Future, + pin::Pin, + task::{Context, Poll, RawWaker, RawWakerVTable, Waker}, + }; + + fn block_on(future: F) -> F::Output { + fn raw_waker() -> RawWaker { + fn clone(_: *const ()) -> RawWaker { + raw_waker() + } + fn wake(_: *const ()) {} + fn wake_by_ref(_: *const ()) {} + fn drop(_: *const ()) {} + + RawWaker::new( + core::ptr::null(), + &RawWakerVTable::new(clone, wake, wake_by_ref, drop), + ) + } + + let waker = unsafe { Waker::from_raw(raw_waker()) }; + let mut future = Box::pin(future); + + loop { + let mut context = Context::from_waker(&waker); + match Pin::as_mut(&mut future).poll(&mut context) { + Poll::Ready(output) => return output, + Poll::Pending => {} + } + } + } + + #[test] + fn send_with_meta_propagates_period_to_receiver() { + block_on(async { + let (publisher, subscriber) = create_pubsub::(Attribute::default()); + publisher.send_with_meta(42, 1, 7, 99).await; + + let (value, period) = subscriber.recv_with_period().await; + assert_eq!(value, 42); + assert_eq!(period, 7); + }); + } + + #[test] + fn tuple_recv_all_with_period_preserves_each_period() { + block_on(async { + let (publisher1, subscriber1) = create_pubsub::(Attribute::default()); + let (publisher2, subscriber2) = create_pubsub::(Attribute::default()); + + publisher1.send_with_meta(10, 11, 3, 21).await; + publisher2.send_with_meta(20, 12, 5, 22).await; + + let ((value1, period1), (value2, period2)) = + (subscriber1, subscriber2).recv_all_with_period().await; + + assert_eq!(value1, 10); + assert_eq!(period1, 3); + assert_eq!(value2, 20); + assert_eq!(period2, 5); + }); + } +} /// Create an anonymous publisher and an anonymous subscriber. /// This channel works as a channel of multiple producers and multiple consumers. /// From f8589f536cf8938135dc1886cd191a00c704ca2c Mon Sep 17 00:00:00 2001 From: nokosaaan <106376734+nokosaaan@users.noreply.github.com> Date: Sat, 18 Apr 2026 08:20:52 +0900 Subject: [PATCH 48/60] Update awkernel_async_lib/src/pubsub.rs Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- awkernel_async_lib/src/pubsub.rs | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index 406567f35..aa18fafdd 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -997,13 +997,25 @@ macro_rules! impl_async_receiver_for_tuple { ) -> Pin + Send + '_>> { let ($($idx,)+) = self; Box::pin(async move { - let mut _period: u32 = 0; + let mut period: Option = None; $( let item = $idx.recv().await; - _period = item.index; + match period { + Some(expected) => { + assert!( + expected == item.index, + "recv_all_with_period received mismatched periods: expected {}, got {}", + expected, + item.index + ); + } + None => { + period = Some(item.index); + } + } let $idx2 = item.data; )+ - (($($idx2,)+), _period) + (($($idx2,)+), period.expect("recv_all_with_period requires at least one subscriber")) }) } } From 160c9eb95b6150943e87408a705af61d226b3e1f Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Fri, 17 Apr 2026 23:22:48 +0000 Subject: [PATCH 49/60] fix(perf): snapshot and cap timestamp summary output Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/b953688d-3187-46b4-8726-abddc38082fc Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com> --- awkernel_async_lib/src/task.rs | 104 +++++++++++++++++++++------------ 1 file changed, 66 insertions(+), 38 deletions(-) diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index bea7693b9..0c2b85abd 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -727,27 +727,16 @@ pub mod perf { let mut node2 = MCSNode::new(); let mut node3 = MCSNode::new(); let mut node4 = MCSNode::new(); + const MAX_ROWS_TO_PRINT: usize = 256; let send_outer_opt = SEND_OUTER_TIMESTAMP.lock(&mut node1); let recv_outer_opt = RECV_OUTER_TIMESTAMP.lock(&mut node2); let absolute_deadline_opt = ABSOLUTE_DEADLINE.lock(&mut node3); let relative_deadline_opt = RELATIVE_DEADLINE.lock(&mut node4); - log::info!("--- Timestamp Summary (in nanoseconds) ---"); - log::info!( - "{: ^5} | {: ^5} | {: ^14} | {: ^14} | {: ^14} | {: ^14} | {: ^14}", - "Index", - "DAG-ID", - "Send-Outer", - "Recv-Outer", - "Latency", - "Absolute Deadline", - "Relative Deadline" - ); - - log::info!("-----|--------|----------------|----------------|----------------|--------------------|--------------------|--------------------|--------------------"); - - for i in 0..MAX_LOGS { + let mut rows = Vec::new(); + let mut truncated = false; + 'collect_rows: for i in 0..MAX_LOGS { for j in 1..MAX_DAGS { let pre_send_outer = match &*send_outer_opt { Some(arr) => arr[i][j], @@ -771,33 +760,72 @@ pub mod perf { || absolute_deadline != 0 || relative_deadline != 0 { - let format_ts = |ts: u64| -> String { - if ts == 0 { - "-".to_string() - } else { - ts.to_string() - } - }; - - let latency_str = if pre_send_outer != 0 && fin_recv_outer != 0 { - fin_recv_outer.saturating_sub(pre_send_outer).to_string() - } else { - "-".to_string() - }; - - log::info!( - "{: >5} | {: >5} | {: >14} | {: >14} | {: >14} | {: >20} | {: >20}", + if rows.len() >= MAX_ROWS_TO_PRINT { + truncated = true; + break 'collect_rows; + } + rows.push(( i, - format_ts(j as u64), - format_ts(pre_send_outer), - format_ts(fin_recv_outer), - latency_str, - format_ts(absolute_deadline), - format_ts(relative_deadline), - ); + j, + pre_send_outer, + fin_recv_outer, + absolute_deadline, + relative_deadline, + )); } } } + drop(relative_deadline_opt); + drop(absolute_deadline_opt); + drop(recv_outer_opt); + drop(send_outer_opt); + + log::info!("--- Timestamp Summary (in nanoseconds) ---"); + log::info!( + "{: ^5} | {: ^5} | {: ^14} | {: ^14} | {: ^14} | {: ^14} | {: ^14}", + "Index", + "DAG-ID", + "Send-Outer", + "Recv-Outer", + "Latency", + "Absolute Deadline", + "Relative Deadline" + ); + + log::info!("-----|--------|----------------|----------------|----------------|--------------------|--------------------|--------------------|--------------------"); + + for (i, j, pre_send_outer, fin_recv_outer, absolute_deadline, relative_deadline) in rows { + let format_ts = |ts: u64| -> String { + if ts == 0 { + "-".to_string() + } else { + ts.to_string() + } + }; + + let latency_str = if pre_send_outer != 0 && fin_recv_outer != 0 { + fin_recv_outer.saturating_sub(pre_send_outer).to_string() + } else { + "-".to_string() + }; + + log::info!( + "{: >5} | {: >5} | {: >14} | {: >14} | {: >14} | {: >20} | {: >20}", + i, + format_ts(j as u64), + format_ts(pre_send_outer), + format_ts(fin_recv_outer), + latency_str, + format_ts(absolute_deadline), + format_ts(relative_deadline), + ); + } + if truncated { + log::warn!( + "Timestamp Summary truncated to {} rows; call print_timestamp_table() again to continue inspection", + MAX_ROWS_TO_PRINT + ); + } log::info!("----------------------------------------------------------"); } From 2c08c1c2b43479a5d75996d5dc9af9eb27bfae53 Mon Sep 17 00:00:00 2001 From: nokosaaan <106376734+nokosaaan@users.noreply.github.com> Date: Sat, 18 Apr 2026 08:28:18 +0900 Subject: [PATCH 50/60] Update awkernel_async_lib/src/task.rs Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- awkernel_async_lib/src/task.rs | 34 ++++++++++++++++++++++++++-------- 1 file changed, 26 insertions(+), 8 deletions(-) diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 0c2b85abd..daf37d904 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -517,19 +517,37 @@ pub mod perf { static mut IDLE_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; static mut PERF_COUNT: [u64; NUM_MAX_CPU] = [0; NUM_MAX_CPU]; - use alloc::vec::Vec; + use alloc::{collections::BTreeMap, vec::Vec}; use awkernel_lib::sync::{mcs::MCSNode, mutex::Mutex}; const MAX_LOGS: usize = 8192; - static SEND_OUTER_TIMESTAMP: Mutex>> = Mutex::new(None); - static RECV_OUTER_TIMESTAMP: Mutex>> = Mutex::new(None); - static ABSOLUTE_DEADLINE: Mutex>> = Mutex::new(None); - static RELATIVE_DEADLINE: Mutex>> = Mutex::new(None); + type DagTimestampMap = BTreeMap; + type DagTimestampTable = [DagTimestampMap; MAX_LOGS]; - //DAG+1 - const MAX_DAGS: usize = 4; - pub static PERIOD_COUNT: [AtomicU32; MAX_DAGS] = array![_ => AtomicU32::new(0); MAX_DAGS]; + static SEND_OUTER_TIMESTAMP: Mutex>> = Mutex::new(None); + static RECV_OUTER_TIMESTAMP: Mutex>> = Mutex::new(None); + static ABSOLUTE_DEADLINE: Mutex>> = Mutex::new(None); + static RELATIVE_DEADLINE: Mutex>> = Mutex::new(None); + pub static PERIOD_COUNT: Mutex> = Mutex::new(BTreeMap::new()); + + pub fn get_period_count(dag_id: u32) -> u32 { + let mut node = MCSNode::new(); + let period_count = PERIOD_COUNT.lock(&mut node); + period_count + .get(&dag_id) + .map(|count| count.load(core::sync::atomic::Ordering::Relaxed)) + .unwrap_or(0) + } + + pub fn increment_period_count(dag_id: u32) -> u32 { + let mut node = MCSNode::new(); + let mut period_count = PERIOD_COUNT.lock(&mut node); + let count = period_count + .entry(dag_id) + .or_insert_with(|| AtomicU32::new(0)); + count.fetch_add(1, core::sync::atomic::Ordering::Relaxed) + 1 + } //pubsub const MAX_PUBSUB: usize = 3; const MAX_NODES: usize = 20; From 696a2729c4bd3e2d409f00f126725a425ab60e91 Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Mon, 20 Apr 2026 02:04:12 +0900 Subject: [PATCH 51/60] fix: apply cargo fmt 6 Signed-off-by: nokosaaan --- awkernel_async_lib/src/task.rs | 104 ++++++++++++++------------------- 1 file changed, 43 insertions(+), 61 deletions(-) diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index daf37d904..d5495f851 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -457,10 +457,9 @@ pub mod perf { use crate::task::{self}; use alloc::boxed::Box; use alloc::string::{String, ToString}; - use array_macro::array; use awkernel_lib::cpu::NUM_MAX_CPU; use core::ptr::{read_volatile, write_volatile}; - use core::sync::atomic::{AtomicU32, Ordering}; + use core::sync::atomic::AtomicU32; #[derive(Debug, Clone, PartialEq, Eq)] #[repr(u8)] @@ -597,93 +596,57 @@ pub mod perf { index % MAX_LOGS } - #[inline(always)] - fn dag_index(dag_id: u32) -> Option { - let dag_idx = dag_id as usize; - if dag_idx < MAX_DAGS { - Some(dag_idx) - } else { - log::warn!("DAG ID out of bounds: {} (max {})", dag_idx, MAX_DAGS - 1); - None - } - } - - pub fn increment_period_count(dag_id: usize) { - if dag_id < MAX_DAGS { - PERIOD_COUNT[dag_id].fetch_add(1, Ordering::Relaxed); - } else { - log::warn!("DAG ID out of bounds: {} (max {})", dag_id, MAX_DAGS - 1); - } - } - - pub fn get_period_count(dag_id: usize) -> u32 { - if dag_id < MAX_DAGS { - PERIOD_COUNT[dag_id].load(Ordering::Relaxed) - } else { - log::warn!("DAG ID out of bounds: {} (max {})", dag_id, MAX_DAGS - 1); - 0 - } - } - pub fn update_pre_send_outer_timestamp_at(index: usize, new_timestamp: u64, dag_id: u32) { - let Some(dag_idx) = dag_index(dag_id) else { - return; - }; let index = normalize_log_index(index); let mut node = MCSNode::new(); let mut recorder_opt = SEND_OUTER_TIMESTAMP.lock(&mut node); - let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); + let recorder = + recorder_opt.get_or_insert_with(|| Box::new(core::array::from_fn(|_| BTreeMap::new()))); - if recorder[index][dag_idx] == 0 { - recorder[index][dag_idx] = new_timestamp; + if recorder[index].get(&dag_id).copied().unwrap_or(0) == 0 { + recorder[index].insert(dag_id, new_timestamp); } } pub fn update_fin_recv_outer_timestamp_at(index: usize, new_timestamp: u64, dag_id: u32) { - let Some(dag_idx) = dag_index(dag_id) else { - return; - }; let index = normalize_log_index(index); let mut node = MCSNode::new(); let mut recorder_opt = RECV_OUTER_TIMESTAMP.lock(&mut node); - let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); + let recorder = + recorder_opt.get_or_insert_with(|| Box::new(core::array::from_fn(|_| BTreeMap::new()))); - recorder[index][dag_idx] = new_timestamp; + recorder[index].insert(dag_id, new_timestamp); } pub fn update_absolute_deadline_timestamp_at(index: usize, deadline: u64, dag_id: u32) { - let Some(dag_idx) = dag_index(dag_id) else { - return; - }; let index = normalize_log_index(index); let mut node = MCSNode::new(); let mut recorder_opt = ABSOLUTE_DEADLINE.lock(&mut node); - let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); + let recorder = + recorder_opt.get_or_insert_with(|| Box::new(core::array::from_fn(|_| BTreeMap::new()))); - if recorder[index][dag_idx] == 0 { - recorder[index][dag_idx] = deadline; + if recorder[index].get(&dag_id).copied().unwrap_or(0) == 0 { + recorder[index].insert(dag_id, deadline); } } pub fn update_relative_deadline_timestamp_at(index: usize, deadline: u64, dag_id: u32) { - let Some(dag_idx) = dag_index(dag_id) else { - return; - }; let index = normalize_log_index(index); let mut node = MCSNode::new(); let mut recorder_opt = RELATIVE_DEADLINE.lock(&mut node); - let recorder = recorder_opt.get_or_insert_with(|| Box::new([[0; MAX_DAGS]; MAX_LOGS])); + let recorder = + recorder_opt.get_or_insert_with(|| Box::new(core::array::from_fn(|_| BTreeMap::new()))); - if recorder[index][dag_idx] == 0 { - recorder[index][dag_idx] = deadline; + if recorder[index].get(&dag_id).copied().unwrap_or(0) == 0 { + recorder[index].insert(dag_id, deadline); } } @@ -755,21 +718,38 @@ pub mod perf { let mut rows = Vec::new(); let mut truncated = false; 'collect_rows: for i in 0..MAX_LOGS { - for j in 1..MAX_DAGS { + let mut dag_ids = Vec::new(); + if let Some(arr) = &*send_outer_opt { + dag_ids.extend(arr[i].keys().copied()); + } + if let Some(arr) = &*recv_outer_opt { + dag_ids.extend(arr[i].keys().copied()); + } + if let Some(arr) = &*absolute_deadline_opt { + dag_ids.extend(arr[i].keys().copied()); + } + if let Some(arr) = &*relative_deadline_opt { + dag_ids.extend(arr[i].keys().copied()); + } + + dag_ids.sort_unstable(); + dag_ids.dedup(); + + for dag_id in dag_ids { let pre_send_outer = match &*send_outer_opt { - Some(arr) => arr[i][j], + Some(arr) => arr[i].get(&dag_id).copied().unwrap_or(0), None => 0, }; let fin_recv_outer = match &*recv_outer_opt { - Some(arr) => arr[i][j], + Some(arr) => arr[i].get(&dag_id).copied().unwrap_or(0), None => 0, }; let absolute_deadline = match &*absolute_deadline_opt { - Some(arr) => arr[i][j], + Some(arr) => arr[i].get(&dag_id).copied().unwrap_or(0), None => 0, }; let relative_deadline = match &*relative_deadline_opt { - Some(arr) => arr[i][j], + Some(arr) => arr[i].get(&dag_id).copied().unwrap_or(0), None => 0, }; @@ -784,7 +764,7 @@ pub mod perf { } rows.push(( i, - j, + dag_id, pre_send_outer, fin_recv_outer, absolute_deadline, @@ -812,7 +792,9 @@ pub mod perf { log::info!("-----|--------|----------------|----------------|----------------|--------------------|--------------------|--------------------|--------------------"); - for (i, j, pre_send_outer, fin_recv_outer, absolute_deadline, relative_deadline) in rows { + for (i, dag_id, pre_send_outer, fin_recv_outer, absolute_deadline, relative_deadline) in + rows + { let format_ts = |ts: u64| -> String { if ts == 0 { "-".to_string() @@ -830,7 +812,7 @@ pub mod perf { log::info!( "{: >5} | {: >5} | {: >14} | {: >14} | {: >14} | {: >20} | {: >20}", i, - format_ts(j as u64), + format_ts(dag_id as u64), format_ts(pre_send_outer), format_ts(fin_recv_outer), latency_str, From 6545debfd93adb8bf8f7cae92304824e12b9b628 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Sun, 19 Apr 2026 17:22:07 +0000 Subject: [PATCH 52/60] fix(time_interval): pass dag_id as u32 to perf period API Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/5c1de7d3-233c-477e-b87f-e0362c9c9090 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com> --- awkernel_async_lib/src/time_interval.rs | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/awkernel_async_lib/src/time_interval.rs b/awkernel_async_lib/src/time_interval.rs index bb947b048..48bce689d 100644 --- a/awkernel_async_lib/src/time_interval.rs +++ b/awkernel_async_lib/src/time_interval.rs @@ -106,13 +106,9 @@ pub fn interval_at(start: Time, period: Duration, _dag_id: u32) -> Interval { assert!(!period.is_zero(), "`period` must be non-zero."); #[cfg(feature = "need-get-period")] { - let index = get_period_count(_dag_id.clone() as usize) as usize; + let index = get_period_count(_dag_id) as usize; // [start] cycle deviation index == 0 (basis of cycle deviation) - update_pre_send_outer_timestamp_at( - index, - start.uptime().as_nanos() as u64, - _dag_id.clone(), - ); + update_pre_send_outer_timestamp_at(index, start.uptime().as_nanos() as u64, _dag_id); } Interval { delay: None, From 1e8551907e2be3ac30e96b56bce4e8670ae3ac55 Mon Sep 17 00:00:00 2001 From: nokosaaan <106376734+nokosaaan@users.noreply.github.com> Date: Mon, 20 Apr 2026 12:25:23 +0900 Subject: [PATCH 53/60] Update awkernel_async_lib/src/pubsub.rs Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- awkernel_async_lib/src/pubsub.rs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index aa18fafdd..d14b6b627 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -481,8 +481,8 @@ mod need_get_period_tests { let (publisher1, subscriber1) = create_pubsub::(Attribute::default()); let (publisher2, subscriber2) = create_pubsub::(Attribute::default()); - publisher1.send_with_meta(10, 11, 3, 21).await; - publisher2.send_with_meta(20, 12, 5, 22).await; + publisher1.send_with_meta(10, 1, 3, 21).await; + publisher2.send_with_meta(20, 2, 5, 22).await; let ((value1, period1), (value2, period2)) = (subscriber1, subscriber2).recv_all_with_period().await; From ef6f24eebccc8ce38907b5783732f6e4b3176a61 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Mon, 20 Apr 2026 03:34:01 +0000 Subject: [PATCH 54/60] docs(time_interval): update interval example with dag_id argument Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/0f0de978-4786-4b46-83e0-f647f3f1aa35 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com> --- awkernel_async_lib/src/time_interval.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/awkernel_async_lib/src/time_interval.rs b/awkernel_async_lib/src/time_interval.rs index 48bce689d..d3eb054af 100644 --- a/awkernel_async_lib/src/time_interval.rs +++ b/awkernel_async_lib/src/time_interval.rs @@ -88,7 +88,7 @@ pub enum MissedTickBehavior { /// use crate::time_interval::interval; /// use core::time::Duration; /// -/// let mut interval = interval(Duration::from_secs(1)); +/// let mut interval = interval(Duration::from_secs(1), 0); /// let mut ticks = 0; /// while ticks < 5 { /// let tick_time = interval.tick().await; From dd39f3e250f5eaf0632149c2223ad44ee445446e Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Mon, 20 Apr 2026 12:38:15 +0900 Subject: [PATCH 55/60] fix: change pubsub test case Signed-off-by: nokosaaan --- awkernel_async_lib/src/pubsub.rs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index d14b6b627..d15ea5862 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -469,9 +469,9 @@ mod need_get_period_tests { let (publisher, subscriber) = create_pubsub::(Attribute::default()); publisher.send_with_meta(42, 1, 7, 99).await; - let (value, period) = subscriber.recv_with_period().await; - assert_eq!(value, 42); - assert_eq!(period, 7); + let received = subscriber.recv().await; + assert_eq!(received.data, 42); + assert_eq!(received.index, 7); }); } From 9b76322b70ebaafd836690aa11256667e454c95b Mon Sep 17 00:00:00 2001 From: nokosaaan <106376734+nokosaaan@users.noreply.github.com> Date: Mon, 20 Apr 2026 12:40:24 +0900 Subject: [PATCH 56/60] Update awkernel_async_lib/src/task.rs Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- awkernel_async_lib/src/task.rs | 3 +++ 1 file changed, 3 insertions(+) diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index d5495f851..7c56fe0d8 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -1155,6 +1155,9 @@ pub mod perf { // Normal task-specific handling update_time_and_state(PerfState::ContextSwitchMain); } + } else { + // Fallback handling if the current task ID cannot be resolved + update_time_and_state(PerfState::ContextSwitchMain); } } else { // Default handling if no task is running From 786398adbedfb3169323854d1ae5c5e3ed080547 Mon Sep 17 00:00:00 2001 From: nokosaaan <106376734+nokosaaan@users.noreply.github.com> Date: Mon, 20 Apr 2026 12:41:18 +0900 Subject: [PATCH 57/60] Update awkernel_async_lib/src/pubsub.rs Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- awkernel_async_lib/src/pubsub.rs | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/awkernel_async_lib/src/pubsub.rs b/awkernel_async_lib/src/pubsub.rs index d15ea5862..618015650 100644 --- a/awkernel_async_lib/src/pubsub.rs +++ b/awkernel_async_lib/src/pubsub.rs @@ -476,21 +476,20 @@ mod need_get_period_tests { } #[test] - fn tuple_recv_all_with_period_preserves_each_period() { + fn tuple_recv_all_with_period_returns_shared_period() { block_on(async { let (publisher1, subscriber1) = create_pubsub::(Attribute::default()); let (publisher2, subscriber2) = create_pubsub::(Attribute::default()); - publisher1.send_with_meta(10, 1, 3, 21).await; - publisher2.send_with_meta(20, 2, 5, 22).await; + publisher1.send_with_meta(10, 11, 3, 21).await; + publisher2.send_with_meta(20, 12, 3, 22).await; - let ((value1, period1), (value2, period2)) = + let ((value1, value2), period) = (subscriber1, subscriber2).recv_all_with_period().await; assert_eq!(value1, 10); - assert_eq!(period1, 3); assert_eq!(value2, 20); - assert_eq!(period2, 5); + assert_eq!(period, 3); }); } } From 50794a2e93fade809710bbd2bedd956162742aeb Mon Sep 17 00:00:00 2001 From: nokosaaan <106376734+nokosaaan@users.noreply.github.com> Date: Mon, 20 Apr 2026 12:57:59 +0900 Subject: [PATCH 58/60] Update awkernel_async_lib/src/dag.rs Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- awkernel_async_lib/src/dag.rs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index 642d581ee..c248226dc 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -1001,21 +1001,21 @@ where loop { #[cfg(feature = "need-get-period")] { - let index = get_period_count(dag_info.dag_id.clone() as usize) as usize; + let index = get_period_count(dag_info.dag_id) as usize; if index != 0 { // [start] cycle deviation index >= 1 let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; update_pre_send_outer_timestamp_at( index, release_time, - dag_info.dag_id.clone(), + dag_info.dag_id, ); } let results = f(); publishers .send_all_with_meta(results, 0, index, dag_info.node_id) .await; - increment_period_count(dag_info.dag_id.clone() as usize); + increment_period_count(dag_info.dag_id); } #[cfg(not(feature = "need-get-period"))] From 95c8fef2757de4e347850930f4db0da869e4071f Mon Sep 17 00:00:00 2001 From: nokosaaan <106376734+nokosaaan@users.noreply.github.com> Date: Mon, 20 Apr 2026 12:58:23 +0900 Subject: [PATCH 59/60] Update awkernel_async_lib/src/task.rs Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- awkernel_async_lib/src/task.rs | 3 +++ 1 file changed, 3 insertions(+) diff --git a/awkernel_async_lib/src/task.rs b/awkernel_async_lib/src/task.rs index 7c56fe0d8..0cbbfcd0b 100644 --- a/awkernel_async_lib/src/task.rs +++ b/awkernel_async_lib/src/task.rs @@ -1134,6 +1134,9 @@ pub mod perf { // Normal task-specific handling update_time_and_state(PerfState::ContextSwitch); } + } else { + // Default handling if the current task cannot be resolved + update_time_and_state(PerfState::ContextSwitch); } } else { // Default handling if no task is running From c5ed577357719016fb7ca4283109e24eb024283a Mon Sep 17 00:00:00 2001 From: nokosaaan Date: Mon, 20 Apr 2026 14:08:34 +0900 Subject: [PATCH 60/60] fix: apply cargo fmt 7 Signed-off-by: nokosaaan --- awkernel_async_lib/src/dag.rs | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/awkernel_async_lib/src/dag.rs b/awkernel_async_lib/src/dag.rs index c248226dc..956933651 100644 --- a/awkernel_async_lib/src/dag.rs +++ b/awkernel_async_lib/src/dag.rs @@ -1005,11 +1005,7 @@ where if index != 0 { // [start] cycle deviation index >= 1 let release_time = awkernel_lib::time::Time::now().uptime().as_nanos() as u64; - update_pre_send_outer_timestamp_at( - index, - release_time, - dag_info.dag_id, - ); + update_pre_send_outer_timestamp_at(index, release_time, dag_info.dag_id); } let results = f(); publishers