From 7db7f7998fb89198b3d9d925e948a16f46fdd965 Mon Sep 17 00:00:00 2001 From: Daniel Borkmann Date: Fri, 8 Apr 2011 11:20:04 +0200 Subject: [PATCH] added wrapper, added rbtree --- src/Makefile | 3 +- src/include/nao.h | 19 +++ src/nao.h | 3 + src/rbtree.c | 400 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ src/rbtree.h | 172 +++++++++++++++++++++++ 5 files changed, 596 insertions(+), 1 deletion(-) create mode 100644 src/include/nao.h create mode 100644 src/rbtree.c create mode 100644 src/rbtree.h diff --git a/src/Makefile b/src/Makefile index 8fbd4629..5f47299c 100644 --- a/src/Makefile +++ b/src/Makefile @@ -11,7 +11,8 @@ CFLAGS += -g -O2 -Iinclude/nao/ target = libnaohtwk -OBJS = tlsf.o strlcpy.o xmalloc.o mmap_v4l.o notifier.o urcu.o urcu-asm.o +OBJS = tlsf.o strlcpy.o xmalloc.o mmap_v4l.o notifier.o urcu.o \ + urcu-asm.o rbtree.o all: $(OBJS) $(CC) -shared -Wl,-soname,$(target).so.1 -o $(target).so.1.0.1 $(OBJS) diff --git a/src/include/nao.h b/src/include/nao.h new file mode 100644 index 00000000..7ca0c66d --- /dev/null +++ b/src/include/nao.h @@ -0,0 +1,19 @@ +/* + * nao-ulib + * Copyright 2011 Daniel Borkmann + * Subject to the GPL. + * Nao-Team HTWK, + * Faculty of Computer Science, Mathematics and Natural Sciences, + * Leipzig University of Applied Sciences (HTWK Leipzig) + */ + +#ifndef NAO_WRAPPER_H +#define NAO_WRAPPER_H + +#ifndef CODE_IS_GPL +#error "Your code is not GPL licensed! You cannot use this lib!" +#endif + +#include "../nao.h" + +#endif /* NAO_WRAPPER_H */ diff --git a/src/nao.h b/src/nao.h index dcac09d8..ce08dc37 100644 --- a/src/nao.h +++ b/src/nao.h @@ -24,10 +24,13 @@ #include "bithacks.h" #include "mmap_v4l.h" #include "die.h" +#include "sort.h" #include "i2c.h" +#include "rbtree.h" #include "mtrand.h" #include "naonet.h" #include "notifier.h" +#include "rbtree.h" #include "psched.h" #include "rs232.h" #include "signals.h" diff --git a/src/rbtree.c b/src/rbtree.c new file mode 100644 index 00000000..45fb9a19 --- /dev/null +++ b/src/rbtree.c @@ -0,0 +1,400 @@ +/* + * nao-ulib + * Copyright 2011 Daniel Borkmann + * Subject to the GPL. + * Nao-Team HTWK, + * Faculty of Computer Science, Mathematics and Natural Sciences, + * Leipzig University of Applied Sciences (HTWK Leipzig) + */ + +/* + * Red Black Trees + * (C) 1999 Andrea Arcangeli + * (C) 2002 David Woodhouse + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * linux/lib/rbtree.c + */ + +#include + +#include "rbtree.h" + +static void __rb_rotate_left(struct rb_node *node, struct rb_root *root) +{ + struct rb_node *right = node->rb_right; + struct rb_node *parent = rb_parent(node); + + if ((node->rb_right = right->rb_left)) + rb_set_parent(right->rb_left, node); + right->rb_left = node; + + rb_set_parent(right, parent); + + if (parent) + { + if (node == parent->rb_left) + parent->rb_left = right; + else + parent->rb_right = right; + } + else + root->rb_node = right; + rb_set_parent(node, right); +} + +static void __rb_rotate_right(struct rb_node *node, struct rb_root *root) +{ + struct rb_node *left = node->rb_left; + struct rb_node *parent = rb_parent(node); + + if ((node->rb_left = left->rb_right)) + rb_set_parent(left->rb_right, node); + left->rb_right = node; + + rb_set_parent(left, parent); + + if (parent) + { + if (node == parent->rb_right) + parent->rb_right = left; + else + parent->rb_left = left; + } + else + root->rb_node = left; + rb_set_parent(node, left); +} + +void rb_insert_color(struct rb_node *node, struct rb_root *root) +{ + struct rb_node *parent, *gparent; + + while ((parent = rb_parent(node)) && rb_is_red(parent)) + { + gparent = rb_parent(parent); + + if (parent == gparent->rb_left) + { + { + register struct rb_node *uncle = gparent->rb_right; + if (uncle && rb_is_red(uncle)) + { + rb_set_black(uncle); + rb_set_black(parent); + rb_set_red(gparent); + node = gparent; + continue; + } + } + + if (parent->rb_right == node) + { + register struct rb_node *tmp; + __rb_rotate_left(parent, root); + tmp = parent; + parent = node; + node = tmp; + } + + rb_set_black(parent); + rb_set_red(gparent); + __rb_rotate_right(gparent, root); + } else { + { + register struct rb_node *uncle = gparent->rb_left; + if (uncle && rb_is_red(uncle)) + { + rb_set_black(uncle); + rb_set_black(parent); + rb_set_red(gparent); + node = gparent; + continue; + } + } + + if (parent->rb_left == node) + { + register struct rb_node *tmp; + __rb_rotate_right(parent, root); + tmp = parent; + parent = node; + node = tmp; + } + + rb_set_black(parent); + rb_set_red(gparent); + __rb_rotate_left(gparent, root); + } + } + + rb_set_black(root->rb_node); +} + +static void __rb_erase_color(struct rb_node *node, struct rb_node *parent, + struct rb_root *root) +{ + struct rb_node *other; + + while ((!node || rb_is_black(node)) && node != root->rb_node) + { + if (parent->rb_left == node) + { + other = parent->rb_right; + if (rb_is_red(other)) + { + rb_set_black(other); + rb_set_red(parent); + __rb_rotate_left(parent, root); + other = parent->rb_right; + } + if ((!other->rb_left || rb_is_black(other->rb_left)) && + (!other->rb_right || rb_is_black(other->rb_right))) + { + rb_set_red(other); + node = parent; + parent = rb_parent(node); + } + else + { + if (!other->rb_right || rb_is_black(other->rb_right)) + { + struct rb_node *o_left; + if ((o_left = other->rb_left)) + rb_set_black(o_left); + rb_set_red(other); + __rb_rotate_right(other, root); + other = parent->rb_right; + } + rb_set_color(other, rb_color(parent)); + rb_set_black(parent); + if (other->rb_right) + rb_set_black(other->rb_right); + __rb_rotate_left(parent, root); + node = root->rb_node; + break; + } + } + else + { + other = parent->rb_left; + if (rb_is_red(other)) + { + rb_set_black(other); + rb_set_red(parent); + __rb_rotate_right(parent, root); + other = parent->rb_left; + } + if ((!other->rb_left || rb_is_black(other->rb_left)) && + (!other->rb_right || rb_is_black(other->rb_right))) + { + rb_set_red(other); + node = parent; + parent = rb_parent(node); + } + else + { + if (!other->rb_left || rb_is_black(other->rb_left)) + { + register struct rb_node *o_right; + if ((o_right = other->rb_right)) + rb_set_black(o_right); + rb_set_red(other); + __rb_rotate_left(other, root); + other = parent->rb_left; + } + rb_set_color(other, rb_color(parent)); + rb_set_black(parent); + if (other->rb_left) + rb_set_black(other->rb_left); + __rb_rotate_right(parent, root); + node = root->rb_node; + break; + } + } + } + if (node) + rb_set_black(node); +} + +void rb_erase(struct rb_node *node, struct rb_root *root) +{ + struct rb_node *child, *parent; + int color; + + if (!node->rb_left) + child = node->rb_right; + else if (!node->rb_right) + child = node->rb_left; + else + { + struct rb_node *old = node, *left; + + node = node->rb_right; + while ((left = node->rb_left) != NULL) + node = left; + child = node->rb_right; + parent = rb_parent(node); + color = rb_color(node); + + if (child) + rb_set_parent(child, parent); + if (parent == old) { + parent->rb_right = child; + parent = node; + } else + parent->rb_left = child; + + node->rb_parent_color = old->rb_parent_color; + node->rb_right = old->rb_right; + node->rb_left = old->rb_left; + + if (rb_parent(old)) + { + if (rb_parent(old)->rb_left == old) + rb_parent(old)->rb_left = node; + else + rb_parent(old)->rb_right = node; + } else + root->rb_node = node; + + rb_set_parent(old->rb_left, node); + if (old->rb_right) + rb_set_parent(old->rb_right, node); + goto color; + } + + parent = rb_parent(node); + color = rb_color(node); + + if (child) + rb_set_parent(child, parent); + if (parent) + { + if (parent->rb_left == node) + parent->rb_left = child; + else + parent->rb_right = child; + } + else + root->rb_node = child; + + color: + if (color == RB_BLACK) + __rb_erase_color(child, parent, root); +} + +/* + * This function returns the first node (in sort order) of the tree. + */ +struct rb_node *rb_first(struct rb_root *root) +{ + struct rb_node *n; + + n = root->rb_node; + if (!n) + return NULL; + while (n->rb_left) + n = n->rb_left; + return n; +} + +struct rb_node *rb_last(struct rb_root *root) +{ + struct rb_node *n; + + n = root->rb_node; + if (!n) + return NULL; + while (n->rb_right) + n = n->rb_right; + return n; +} + +struct rb_node *rb_next(struct rb_node *node) +{ + struct rb_node *parent; + + if (rb_parent(node) == node) + return NULL; + + /* If we have a right-hand child, go down and then left as far + as we can. */ + if (node->rb_right) { + node = node->rb_right; + while (node->rb_left) + node=node->rb_left; + return node; + } + + /* No right-hand children. Everything down and left is + smaller than us, so any 'next' node must be in the general + direction of our parent. Go up the tree; any time the + ancestor is a right-hand child of its parent, keep going + up. First time it's a left-hand child of its parent, said + parent is our 'next' node. */ + while ((parent = rb_parent(node)) && node == parent->rb_right) + node = parent; + + return parent; +} + +struct rb_node *rb_prev(struct rb_node *node) +{ + struct rb_node *parent; + + if (rb_parent(node) == node) + return NULL; + + /* If we have a left-hand child, go down and then right as far + as we can. */ + if (node->rb_left) { + node = node->rb_left; + while (node->rb_right) + node=node->rb_right; + return node; + } + + /* No left-hand children. Go up till we find an ancestor which + is a right-hand child of its parent */ + while ((parent = rb_parent(node)) && node == parent->rb_left) + node = parent; + + return parent; +} + +void rb_replace_node(struct rb_node *victim, struct rb_node *new, + struct rb_root *root) +{ + struct rb_node *parent = rb_parent(victim); + + /* Set the surrounding nodes to point to the replacement */ + if (parent) { + if (victim == parent->rb_left) + parent->rb_left = new; + else + parent->rb_right = new; + } else { + root->rb_node = new; + } + if (victim->rb_left) + rb_set_parent(victim->rb_left, new); + if (victim->rb_right) + rb_set_parent(victim->rb_right, new); + + /* Copy the pointers/colour from the victim to the replacement */ + *new = *victim; +} diff --git a/src/rbtree.h b/src/rbtree.h new file mode 100644 index 00000000..2c2ac38f --- /dev/null +++ b/src/rbtree.h @@ -0,0 +1,172 @@ +/* + * nao-ulib + * Copyright 2011 Daniel Borkmann + * Subject to the GPL. + * Nao-Team HTWK, + * Faculty of Computer Science, Mathematics and Natural Sciences, + * Leipzig University of Applied Sciences (HTWK Leipzig) + */ + +/* + * Red Black Trees + * (C) 1999 Andrea Arcangeli + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * linux/include/linux/rbtree.h + * + * To use rbtrees you'll have to implement your own insert and search cores. + * This will avoid us to use callbacks and to drop drammatically performances. + * I know it's not the cleaner way, but in C (not in C++) to get + * performances and genericity... + * + * Some example of insert and search follows here. The search is a plain + * normal search over an ordered tree. The insert instead must be implemented + * int two steps: as first thing the code must insert the element in + * order as a red leaf in the tree, then the support library function + * rb_insert_color() must be called. Such function will do the + * not trivial work to rebalance the rbtree if necessary. + * + ----------------------------------------------------------------------- + static inline struct page * rb_search_page_cache(struct inode * inode, + unsigned long offset) + { + struct rb_node * n = inode->i_rb_page_cache.rb_node; + struct page * page; + + while (n) + { + page = rb_entry(n, struct page, rb_page_cache); + + if (offset < page->offset) + n = n->rb_left; + else if (offset > page->offset) + n = n->rb_right; + else + return page; + } + return NULL; + } + + static inline struct page * __rb_insert_page_cache(struct inode * inode, + unsigned long offset, + struct rb_node * node) + { + struct rb_node ** p = &inode->i_rb_page_cache.rb_node; + struct rb_node * parent = NULL; + struct page * page; + + while (*p) + { + parent = *p; + page = rb_entry(parent, struct page, rb_page_cache); + + if (offset < page->offset) + p = &(*p)->rb_left; + else if (offset > page->offset) + p = &(*p)->rb_right; + else + return page; + } + + rb_link_node(node, parent, p); + + return NULL; + } + + static inline struct page * rb_insert_page_cache(struct inode * inode, + unsigned long offset, + struct rb_node * node) + { + struct page * ret; + if ((ret = __rb_insert_page_cache(inode, offset, node))) + goto out; + rb_insert_color(node, &inode->i_rb_page_cache); + out: + return ret; + } + ----------------------------------------------------------------------- + */ + +#ifndef RBTREE_H +#define RBTREE_H + +struct rb_node +{ + unsigned long rb_parent_color; +#define RB_RED 0 +#define RB_BLACK 1 + struct rb_node *rb_right; + struct rb_node *rb_left; +} __attribute__((aligned(sizeof(long)))); +/* The alignment might seem pointless, but allegedly CRIS needs it */ + +struct rb_root +{ + struct rb_node *rb_node; +}; + +#define rb_parent(r) ((struct rb_node *)((r)->rb_parent_color & ~3)) +#define rb_color(r) ((r)->rb_parent_color & 1) +#define rb_is_red(r) (!rb_color(r)) +#define rb_is_black(r) rb_color(r) +#define rb_set_red(r) do { (r)->rb_parent_color &= ~1; } while (0) +#define rb_set_black(r) do { (r)->rb_parent_color |= 1; } while (0) + +static inline void rb_set_parent(struct rb_node *rb, struct rb_node *p) +{ + rb->rb_parent_color = (rb->rb_parent_color & 3) | (unsigned long)p; +} +static inline void rb_set_color(struct rb_node *rb, int color) +{ + rb->rb_parent_color = (rb->rb_parent_color & ~1) | color; +} + +#define offsetof(TYPE, MEMBER) ((size_t) &((TYPE *)0)->MEMBER) + +#define container_of(ptr, type, member) ({ \ + const typeof( ((type *)0)->member ) *__mptr = (ptr); \ + (type *)( (char *)__mptr - offsetof(type,member) );}) + +#define RB_ROOT (struct rb_root) { NULL, } +#define rb_entry(ptr, type, member) container_of(ptr, type, member) + +#define RB_EMPTY_ROOT(root) ((root)->rb_node == NULL) +#define RB_EMPTY_NODE(node) (rb_parent(node) == node) +#define RB_CLEAR_NODE(node) (rb_set_parent(node, node)) + +extern void rb_insert_color(struct rb_node *, struct rb_root *); +extern void rb_erase(struct rb_node *, struct rb_root *); + +/* Find logical next and previous nodes in a tree */ +extern struct rb_node *rb_next(struct rb_node *); +extern struct rb_node *rb_prev(struct rb_node *); +extern struct rb_node *rb_first(struct rb_root *); +extern struct rb_node *rb_last(struct rb_root *); + +/* Fast replacement of a single node without remove/rebalance/add/rebalance */ +extern void rb_replace_node(struct rb_node *victim, struct rb_node *new, + struct rb_root *root); + +static inline void rb_link_node(struct rb_node * node, struct rb_node * parent, + struct rb_node ** rb_link) +{ + node->rb_parent_color = (unsigned long )parent; + node->rb_left = node->rb_right = NULL; + + *rb_link = node; +} + +#endif /* RBTREE_H */ -- 2.11.4.GIT