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while (!obstacle && timer<TURN_TIME) { timer++; } } ReleaseLegs(); RealignLegs(); if (obstacle) { Smessage("BACKWARD"); AcquireLegs(); OnRevSyncEx (BOTH_LEGS, WALK_SPEED, 0, RESET_NONE); while (obstacle) Wait(50); ReleaseLegs(); RealignLegs(); } if (direction==FORWARD) direction = 1-2*Random(2); else direction = FORWARD; } } In this multitask program, the main task simply calls the Biped_init subroutine and exits. This leaves space for all other concurrent tasks in the program that contain the statement Follows(main). The concurrent tasks are as follows: Sight: Reads the Ultrasonic Sensor continuously and shares information about obstacles using the global variable obstacle, the output of the hysteresis cycle filter. Walk: Contains the loop corresponding to the main loop in the single-thread program. The robot goes straight until it sees an obstacle. It then backs up until the obstacle fades away, turns randomly, and then starts the loop again. AlignRightLeg and AlignLeftLeg: This time, the legs are reset in separate tasks, so that the duties can be accomplished simultaneously, thus saving time. As mentioned before, some of these tasks share the same resources. In particular, Walk shares the motors with AlignRightLeg and AlignLeftLeg. To avoid conflicts, when one of these tasks wants to use the motors, it must first acquire the corresponding mutex, use the motors inside the critical section, and release the mutex when done. For example, the Walk task calls the AcquireLegs() and ReleaseLegs() functions (see Listing 5-6) to enclose the critical section where it uses the motors. In Listing 5-8, you can see the code of one of the alignment tasks (the code for the other leg is similar and thus omitted). Listing 5-8. The Code of the Task to Realign the Right Leg Position task AlignRightLeg () { Follows(main); long right_count; while (true)

SMS is an old standard, so it s vulnerable to new tricks. An iPhone vulnerability in 2009 posed a risk to a potentially large number of phones, and there isn t any guarantee that someone won t find a vulnerability in Android.

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The only way to find out for certain if storage is a bottleneck before a server goes into production is to do some benchmarking One thing I find common in most shops these days is that fact that benchmarking is far from a common practice People tend to slap things together, throw them into production, and wait to see if anyone screams If you want to make the leap to being Mr Right, then you will be wise to benchmark some of the more important processes in your shop That way, when someone says, This is slow, you can quickly reference the latest benchmark to determine if it really is slow or if it is just perception.

{ while (!Rreset) Wait(100); Acquire (Rmotor); right_count = abs(MotorRotationCount (RIGHT_LEG) % FULL_STEP); if (right_count<HALF_STEP) OnRev (RIGHT_LEG, ALIGN_SPEED); else OnFwd (RIGHT_LEG, ALIGN_SPEED); while (right_count>0) { right_count = abs(MotorRotationCount (RIGHT_LEG) % FULL_STEP); } Off(RIGHT_LEG); Release (Rmotor); Rreset = false; Wait(10); } } These realignment tasks run forever, and they would try to realign the legs continuously, conflicting with the Walk task. So, they must be kept quiet until realignment is required. To accomplish this and also to avoid any unwanted behavior, use the mutex-like Lreset and Rreset Boolean variables.

In addition, SMS is not encrypted and not a recommended way to send sensitive data. You may be able to add some encryption using third-party apps, but e-mail and password-protected web sites are probably a safer bet. Check with your workplace to see what their policy is for business-related SMS.

Lmotor mutexes, because they discipline a larger-scale mechanism: mutexes are used to avoid low-level

The first question you need to ask you SAN administrator when troubleshooting possible SAN performance issues is, What is the expected I/O throughput for our SAN Get whatever details you can, and then go back to your cube and start gathering your own metrics Then compare to see if the expected throughput is close enough to the observed If not, now you can go back to the SAN administrator with some actual facts Believe me, that will get you a lot more traction than making a blanket statement such as, We would like to have some space on the SAN carved out in RAID 10 for our tempdb Unless you have proof that there is a performance issue, your SAN administrator is not going to be compelled to start carving out different RAID levels, even if you know what works best for SQL Server.

conflicts, while these Boolean variables prevent the tasks from becoming stuck waiting for one another.

Summary

When you want to reset, say, the right leg, you must set the Rreset variable to true, unblocking the realignment task. In fact, the AlignRightLeg task hangs at the while (!Rreset) Wait(100) statement until the RealignLegs function sets Rreset to true (see Listing 5-6). Once free to do its duty, the task acquires the right leg mutex and aligns the leg as described before. When the realignment is completed, the Rreset variable is set to false, so that at the next loop iteration the task will stop, waiting for the Rreset variable to be set to true again. Finally, the Sight task implements, in its last lines, the hysteresis cycle described in the previous paragraph (see Listing 5-9).

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