void CLinearMapping::_init()
{
setType("linear");
setName("linear mapping");
variance = 1.0;
setVerbosity(2);
}
void CMlpMapping::_init()
{
setType("mlp");
setName("multi-layer perceptron");
variance = 1.0;
setVerbosity(2);
}
void popVerbosity()
{
if (vstack.empty()) {
errorQuda("popVerbosity() called with empty stack");
}
setVerbosity(vstack.top());
vstack.pop();
}
ContextdPluginLogger::ContextdPluginLogger() : AbstractContextdPlugin("Contextd_Logger"), minP(ContextdPluginNotifyEvent::NOTIFY_INFO)
{
openlog("Contextd_Logger", LOG_NDELAY, LOG_DAEMON);
#ifndef NDEBUG
setVerbosity(ContextdPluginNotifyEvent::NOTIFY_DEBUG);
#endif
}
/**
* main
*/
int main(int argc, char *argv[]) {
int rc = -1;
int c;
OPENPTS_FSM_CONTEXT *ctx;
char *input_filename = NULL;
char *output_filename = NULL;
/* logging/NLS */
initCatalog();
while ((c = getopt(argc, argv, "do:h")) != EOF) {
switch (c) {
case 'd':
setVerbosity(1);
break;
case 'o':
output_filename = optarg;
break;
case 'h':
/* fall through */
default:
usage();
return -1;
}
}
argc -= optind;
argv += optind;
input_filename = argv[0];
/* Read UML(XML) file */
if (input_filename == NULL) {
ERROR(NLS(MS_OPENPTS, OPENPTS_UML2DOT_MISSING_XML_FILE, "ERROR missing XMLfile\n"));
usage();
return -1;
}
/* read UML(XML) */
ctx = newFsmContext();
rc = readUmlModel(ctx, argv[0]);
if (rc != 0) {
LOG(LOG_ERR, "ERROR\n");
goto error;
}
/* Gen DOT file */
rc = writeDotModel(ctx, output_filename);
if (rc != 0) {
LOG(LOG_ERR, "ERROR\n");
goto error;
}
error:
freeFsmContext(ctx);
return rc;
}
void pushVerbosity(QudaVerbosity verbosity)
{
vstack.push(getVerbosity());
setVerbosity(verbosity);
if (vstack.size() > 10) {
warningQuda("Verbosity stack contains %u elements. Is there a missing popVerbosity() somewhere?",
static_cast<unsigned int>(vstack.size()));
}
}
static PyObject* module_verbose(PyObject* self, PyObject* args, PyObject* kwargs)
{
int _verbose = 0;
static char *kwlist[] = {"verbosity", NULL};
if (!PyArg_ParseTupleAndKeywords(args, kwargs, "i", kwlist, &_verbose))
return NULL;
setVerbosity(_verbose);
return Py_BuildValue("s", 0);
}
bool Debug::setVerbosityString(const char *verb_str)
{
bool check_fails = checkVerbosityString(verb_str);
if (check_fails) {
return true; // error
}
if (string(verb_str) == "none") {
setVerbosity(No_Verb);
} else if (string(verb_str) == "low") {
setVerbosity(Low_Verb);
} else if (string(verb_str) == "med") {
setVerbosity(Med_Verb);
} else if (string(verb_str) == "high") {
setVerbosity(High_Verb);
} else {
cerr << "Error: unrecognized verbosity (use none, low, med, high): " << verb_str << endl;
return true; // error
}
return false; // no error
}
CMlpMapping::CMlpMapping(CMatrix* pXin, CMatrix* pyOut, unsigned int nhidden, int verbos)
:
CMapModel(pXin->getCols(), pyOut->getCols(), pXin->getRows()),
COptimisable(),
pX(pXin), py(pyOut), hiddenDim(nhidden)
{
DIMENSIONMATCH(pX->getRows()==py->getRows());
_init();
setVerbosity(verbos);
initStoreage();
initVals();
}
CLinearMapping::CLinearMapping(CMatrix* inData,
CMatrix* targetData,
const string linearMappingInfoFile,
const string linearMappingInfoVariable,
int verbos) :
CMapModel(inData->getCols(), targetData->getCols(), inData->getRows()), COptimisable(),
pX(inData), py(targetData)
{
_init();
setVerbosity(verbos);
readMatlabFile(linearMappingInfoFile, linearMappingInfoVariable);
}
CLinearMapping::CLinearMapping(CMatrix* pXin, CMatrix* pyOut, int verbos)
:
CMapModel(pXin->getCols(), pyOut->getCols(), pXin->getRows()),
COptimisable(),
pX(pXin), py(pyOut)
{
DIMENSIONMATCH(pX->getRows()==py->getRows());
_init();
setVerbosity(verbos);
initStoreage();
initVals();
}
ILOSTLBEGIN
CPLEXSolver::CPLEXSolver() {
DBG("Create a CPLEX solver %s\n", "");
var_counter = 0;
_verbosity = 0;
cplextime = 0.0;
has_been_added = false;
optimstatus = IloAlgorithm::Unknown;
env = new IloEnv();
model = new IloModel(*env);
cplex = new IloCplex(*model);
variables = new IloNumVarArray(*env);
setVerbosity(_verbosity); // Default to no verbose output
}
void ListModel::applyParams(SolverParams ¶ms) {
LOG_I("Applying custom parameters");
if (ls.getNbPhases() == 0) {
auto phase = ls.createPhase();
if(params.iterLimit != -1)
phase.setIterationLimit(static_cast<long long>(params.iterLimit));
if(params.timeLimit != -1.0)
phase.setTimeLimit(static_cast<int>(params.timeLimit));
auto param = ls.getParam();
param.setNbThreads(params.threadCount);
param.setSeed(params.seed);
param.setVerbosity(params.verbosityLevel);
if (params.traceobj) {
int timeBetweenDisplays = static_cast<int>(ceil(MSECS_BETWEEN_TRACES_LONG / 1000.0));
param.setTimeBetweenDisplays(timeBetweenDisplays);
}
}
}
GurobiSolver::GurobiSolver(){
_verbosity = 0;
has_been_added = false;
optimstatus = -1;
/* GRBModel takes a copy of env, so to change parameters of the env we
need to use model->getEnv() and modify that. */
try {
env = new GRBEnv();
model = new GRBModel(*env);
variables = new vector<GRBVar>;
setVerbosity(_verbosity); // Default to no output
} catch (GRBException e) {
std::cout << "Gurobi execption while initialising number: " << e.getErrorCode() << std::endl;
std::cout << e.getMessage() << std::endl;
exit(1);
}
}
void LegendManager::procDirectDebugInstruction(StringBuilder *input) {
char* str = input->position(0);
uint8_t temp_byte = 0;
if (*(str) != 0) {
temp_byte = atoi((char*) str+1);
}
StringBuilder parse_mule;
switch (*(str)) {
case 'v':
parse_mule.concat(str);
local_log.concatf("parse_mule split (%s) into %d positions.\n", str, parse_mule.split(","));
parse_mule.drop_position(0);
if (temp_byte < 17) {
if (parse_mule.count() > 0) {
int temp_int = parse_mule.position_as_int(0);
iius[temp_byte].setVerbosity(temp_int);
}
local_log.concatf("Verbosity on IIU %d is %d.\n", temp_byte, iius[temp_byte].getVerbosity());
}
break;
case 'i':
if (1 == temp_byte) {
local_log.concatf("The IIU preallocated measurements are stored at %p.\n", (uintptr_t) __prealloc);
}
else if (2 == temp_byte) {
if (operating_legend) {
operating_legend->printDebug(&local_log);
}
}
else {
int8_t old_verbosity = getVerbosity();
if (temp_byte && (temp_byte < 7)) setVerbosity(temp_byte);
printDebug(&local_log);
if (temp_byte && (temp_byte < 7)) setVerbosity(old_verbosity);
}
break;
case '-':
if (operating_legend) {
operating_legend->copy_frame();
local_log.concat("Frame copied.\n");
operating_legend->printDataset(&local_log);
}
break;
case '+':
if (temp_byte < 17) {
iius[temp_byte].dumpPointers(&local_log);
}
break;
// IMU DEBUG //////////////////////////////////////////////////////////////////
case 'c':
if (temp_byte < 17) {
iius[temp_byte].printDebug(&local_log);
}
break;
// IMU STATE CONTROL //////////////////////////////////////////////////////////
case 'g':
if (255 == temp_byte) {
local_log.concat("Syncing all IIUs...\n");
for (uint8_t i = 0; i < 17; i++) {
iius[i].sync();
}
}
else if (temp_byte < 17) {
iius[temp_byte].sync();
local_log.concatf("Syncing IIU %d.\n", temp_byte);
}
break;
case 's':
parse_mule.concat(str);
parse_mule.split(",");
parse_mule.drop_position(0);
if (parse_mule.count() > 0) {
int temp_int = parse_mule.position_as_int(0);
if (255 == temp_byte) {
for (uint8_t i = 0; i < 17; i++) {
iius[i].setOperatingState(temp_int);
}
}
else if (temp_byte < 17) {
local_log.concatf("Setting the state of IMU %d to %d\n", temp_byte, temp_int);
iius[temp_byte].setOperatingState(temp_int);
}
}
break;
case 'k':
if ((temp_byte < 6) && (temp_byte >= 0)) {
ManuvrMsg *event = Kernel::returnEvent(DIGITABULUM_MSG_IMU_INIT);
event->addArg((uint8_t) temp_byte); // Set the desired init stage.
event->priority(0);
raiseEvent(event);
local_log.concatf("Broadcasting IMU_INIT for stage %u...\n", temp_byte);
}
else {
local_log.concatf("Illegal INIT stage: %u\n", temp_byte);
}
break;
case 'r':
if (255 == temp_byte) {
local_log.concat("Reseting all IIUs...\n");
for (uint8_t i = 0; i < 17; i++) {
iius[i].reset();
}
}
else if (temp_byte < 17) {
local_log.concatf("Resetting IIU %d.\n", temp_byte);
iius[temp_byte].reset();
}
break;
case 'T':
case 't':
if (temp_byte < 17) {
ManuvrMsg *event = Kernel::returnEvent((*(str) == 'T') ? DIGITABULUM_MSG_IMU_DOUBLE_TAP : DIGITABULUM_MSG_IMU_TAP);
event->setOriginator((EventReceiver*) this);
event->addArg((uint8_t) temp_byte);
Kernel::staticRaiseEvent(event);
local_log.concatf("Sent %stap event for IMU %d.\n", ((*(str) == 'T') ? "double ":""), temp_byte);
}
break;
case 'q':
if (temp_byte < 17) {
ManuvrMsg *event = Kernel::returnEvent(DIGITABULUM_MSG_IMU_QUAT_CRUNCH);
event->specific_target = (EventReceiver*) this;
event->addArg((uint8_t) temp_byte);
Kernel::staticRaiseEvent(event);
local_log.concatf("Running quat on IIU %d.\n", temp_byte);
}
break;
// IMU DATA ///////////////////////////////////////////////////////////////////
case 'j':
switch (*(str+1)) {
case '0':
reflection_acc.x = -1;
reflection_acc.y = 1;
reflection_acc.z = -1;
reflection_gyr.set(-1, 1, -1);
reflection_mag.x = 1;
reflection_mag.y = 1;
reflection_mag.z = -1;
break;
case 'm':
if (*(str+2) == 'x') reflection_mag.x *= -1;
else if (*(str+2) == 'y') reflection_mag.y *= -1;
else if (*(str+2) == 'z') reflection_mag.z *= -1;
break;
case 'a':
if (*(str+2) == 'x') reflection_acc.x *= -1;
else if (*(str+2) == 'y') reflection_acc.y *= -1;
else if (*(str+2) == 'z') reflection_acc.z *= -1;
break;
case 'g':
if (*(str+2) == 'x') reflection_gyr.x *= -1;
else if (*(str+2) == 'y') reflection_gyr.y *= -1;
else if (*(str+2) == 'z') reflection_gyr.z *= -1;
break;
}
local_log.concatf("Reflection vectors\n\tMag (%d, %d, %d)\n\tAcc (%d, %d, %d)\n\tGyr (%d, %d, %d)\n", reflection_mag.x, reflection_mag.y, reflection_mag.z, reflection_acc.x, reflection_acc.y, reflection_acc.z, reflection_gyr.x, reflection_gyr.y, reflection_gyr.z);
break;
case '[':
case ']':
if (255 == temp_byte) {
local_log.concatf("%sabling spherical abberation correction on all IIUs.\n", ((*(str) == ']') ? "En":"Dis"));
for (uint8_t i = 0; i < 17; i++) {
iius[i].correctSphericalAbberation((*(str) == ']'));
}
}
else if (temp_byte < 17) {
iius[temp_byte].correctSphericalAbberation((*(str) == ']'));
local_log.concatf("%sabling spherical abberation correction on IIU %d.\n", ((*(str) == ']') ? "En":"Dis"), temp_byte);
}
break;
case 'u':
case 'U':
if (255 == temp_byte) {
local_log.concatf("%sabling (clean-mag-is-zero) on all IIUs.\n", ((*(str) == 'U') ? "En":"Dis"));
for (uint8_t i = 0; i < 17; i++) {
iius[i].cleanMagZero((*(str) == 'U'));
}
}
else if (temp_byte < 17) {
iius[temp_byte].cleanMagZero((*(str) == 'U'));
local_log.concatf("%sabling (clean-mag-is-zero) on IIU %d.\n", ((*(str) == 'U') ? "En":"Dis"), temp_byte);
}
break;
case 'w':
case 'W':
if (255 == temp_byte) {
local_log.concatf("%sabling mag data scrutiny on all IIUs.\n", ((*(str) == 'Z') ? "En":"Dis"));
for (uint8_t i = 0; i < 17; i++) {
iius[i].dropObviousBadMag((*(str) == 'Z'));
}
}
else if (temp_byte < 17) {
iius[temp_byte].dropObviousBadMag((*(str) == 'Z'));
local_log.concatf("%sabling mag data scrutiny on IIU %d.\n", ((*(str) == 'Z') ? "En":"Dis"), temp_byte);
}
break;
case 'z':
case 'Z':
if (255 == temp_byte) {
local_log.concatf("%sabling autoscale on all IIUs.\n", ((*(str) == 'Z') ? "En":"Dis"));
for (uint8_t i = 0; i < 17; i++) {
iius[i].enableAutoscale((*(str) == 'Z'));
}
}
else if (temp_byte < 17) {
iius[temp_byte].enableAutoscale((*(str) == 'Z'));
local_log.concatf("%sabling autoscale on IIU %d.\n", ((*(str) == 'Z') ? "En":"Dis"), temp_byte);
}
break;
case 'n':
case 'N':
if (255 == temp_byte) {
local_log.concatf("%sabling range-binding on all IIUs.\n", ((*(str) == 'N') ? "En":"Dis"));
for (uint8_t i = 0; i < 17; i++) {
iius[i].rangeBind((*(str) == 'N'));
}
}
else if (temp_byte < 17) {
iius[temp_byte].rangeBind((*(str) == 'N'));
local_log.concatf("%sabling range-binding on IIU %d.\n", ((*(str) == 'N') ? "En":"Dis"), temp_byte);
}
break;
case 'h':
case 'H':
if (255 == temp_byte) {
local_log.concatf("%sabling quats on all IIUs.\n", ((*(str) == 'H') ? "En":"Dis"));
for (uint8_t i = 0; i < 17; i++) {
iius[i].processQuats((*(str) == 'H'));
}
}
else if (temp_byte < 17) {
iius[temp_byte].processQuats((*(str) == 'H'));
local_log.concatf("%sabling quats on IIU %d.\n", ((*(str) == 'H') ? "En":"Dis"), temp_byte);
}
break;
case 'x':
case 'X':
if (255 == temp_byte) {
local_log.concatf("%sabling gyro error compensation on all IIUs.\n", ((*(str) == 'X') ? "En":"Dis"));
for (uint8_t i = 0; i < 17; i++) {
iius[i].nullGyroError((*(str) == 'X'));
}
}
else if (temp_byte < 17) {
iius[temp_byte].nullGyroError((*(str) == 'X'));
local_log.concatf("%sabling gyro error compensation on IIU %d.\n", ((*(str) == 'X') ? "En":"Dis"), temp_byte);
}
break;
case 'm':
case 'M':
if (255 == temp_byte) {
local_log.concatf("%sabling gravity nullification on all IIUs.\n", ((*(str) == 'M') ? "En":"Dis"));
for (uint8_t i = 0; i < 17; i++) {
iius[i].nullifyGravity((*(str) == 'M'));
}
}
else if (temp_byte < 17) {
iius[temp_byte].nullifyGravity((*(str) == 'M'));
local_log.concatf("%sabling gravity nullification on IIU %d.\n", ((*(str) == 'M') ? "En":"Dis"), temp_byte);
}
break;
case 'y':
case 'Y':
if (255 == temp_byte) {
local_log.concatf("%sabling bearing nullification on all IIUs.\n", ((*(str) == 'Y') ? "En":"Dis"));
for (uint8_t i = 0; i < 17; i++) {
iius[i].nullifyBearing((*(str) == 'Y'));
}
}
else if (temp_byte < 17) {
iius[temp_byte].nullifyBearing((*(str) == 'Y'));
local_log.concatf("%sabling bearing nullification on IIU %d.\n", ((*(str) == 'Y') ? "En":"Dis"), temp_byte);
}
break;
case 'Q':
local_log.concatf("Madgwick iterations to %d on all IIUs.\n", temp_byte);
for (uint8_t i = 0; i < 17; i++) {
iius[i].madgwickIterations(temp_byte);
}
break;
case ',':
IIU::max_quats_per_event = temp_byte;
local_log.concatf("IIU class now runs a maximum of %u quats per event.\n", IIU::max_quats_per_event);
break;
case 'b':
for (uint8_t i = 0; i < 17; i++) {
iius[i].beta = (float)temp_byte * 0.1;
}
local_log.concatf("Beta value is now %f.\n", (double) (temp_byte * 0.1f));
break;
case 'L':
for (uint8_t i = 0; i < 17; i++) {
iius[i].setSampleRateProfile(temp_byte);
}
local_log.concatf("Moving to sample rate profile %d.\n", temp_byte);
break;
case 'o':
for (uint8_t i = 0; i < 17; i++) {
iius[i].setGyroBaseFiler(temp_byte);
}
local_log.concatf("Setting GYR base filter to %d.\n", temp_byte);
break;
case 'O':
for (uint8_t i = 0; i < 17; i++) {
iius[i].setAccelBaseFiler(temp_byte);
}
local_log.concatf("Setting ACC base filter to %d.\n", temp_byte);
break;
case 'a':
if (255 == temp_byte) {
refreshIMU();
}
else if (17 > temp_byte) {
refreshIMU(temp_byte);
}
break;
case 'd':
switch (temp_byte) {
case 255:
event_legend_frame_ready.fireNow(); // Fire a single frame transmission.
local_log.concat("We are manually firing the IMU frame broadcasts schedule.\n");
break;
case 254:
event_legend_frame_ready.enableSchedule(true); // Enable the periodic read.
local_log.concat("Enabled frame broadcasts.\n");
break;
#if defined(__MANUVR_DEBUG)
case 253:
event_legend_frame_ready.printDebug(&local_log);
break;
#endif
case 252:
send_map_event();
local_log.concat("We are manually firing the IMU frame broadcasts schedule.\n");
break;
default:
if (temp_byte) {
event_legend_frame_ready.alterSchedulePeriod(temp_byte*10);
local_log.concatf("Set periodic frame broadcast to once every %dms.\n", temp_byte*10);
}
else {
event_legend_frame_ready.enableSchedule(false); // Disable the periodic read.
local_log.concat("Disabled frame broadcasts.\n");
}
break;
}
break;
case 'f':
switch (temp_byte) {
case 255:
event_iiu_read.fireNow();
local_log.concat("We are manually firing the IMU read schedule.\n");
break;
case 254:
event_iiu_read.enableSchedule(true);
local_log.concat("Enabled periodic readback.\n");
break;
default:
if (temp_byte) {
event_iiu_read.alterSchedulePeriod(temp_byte*10);
local_log.concatf("Set periodic read schedule to once every %dms.\n", temp_byte*10);
}
else {
event_iiu_read.enableSchedule(false); // Disable the periodic read.
local_log.concat("Disabled periodic readback.\n");
}
break;
}
break;
case 'p':
{
parse_mule.concat(str);
parse_mule.split(",");
parse_mule.drop_position(0);
uint8_t start = (temp_byte < 17) ? temp_byte : 0;
uint8_t stop = (temp_byte < 17) ? temp_byte+1 : 17;
int temp_int = (parse_mule.count() > 0) ? parse_mule.position_as_int(0) : 255;
for (uint8_t i = start; i < stop; i++) {
if (255 != temp_int) { // The user wants to make a change..
iius[i].enableProfiling(temp_int ? true:false);
}
local_log.concatf("Profiling IIU %d: %sabled.\n", i, (iius[i].enableProfiling() ? "en":"dis"));
}
}
break;
case 'e':
if (temp_byte < 17) {
iius[temp_byte].dumpPreformedElements(&local_log);
}
break;
default:
EventReceiver::procDirectDebugInstruction(input);
break;
}
flushLocalLog();
}
int main(int argc, char* argv[]) {
bool correctInput=true;
for(int i=1;i<argc;++i) {
if(argv[i][0] == '-') {
int j=1;
while(argv[i][j] != '\0') {
switch(argv[i][j++]) {
case 'h': printHelp(0); //This will exit the program
break;
case 'v': setVerbosity(VERBOSE); //Print more info
break;
case 'd': setVerbosity(DEBUG); //Implies verbose too
PRINT(DEBUG,"Setting verbosity to debug\n");
break;
case 's': setVerbosity(SILENT); //Print nothing but critical errors
break;
default: correctInput = false;
PRINT(CRITICAL,"Unknown parameter -%c\n",argv[i][j]);
break;
}
}
}
else {
if(first == NULL) {
PRINT(VERBOSE,"Trying to read file %s... ",argv[i]);
graphFile = fopen(argv[i], "r");
if(graphFile == NULL) {
PRINT(VERBOSE, "failed\n");
PRINT(CRITICAL, "Failed to open %s: %s\n",argv[i], strerror(errno));
exit(errno);
}
else {
PRINT(VERBOSE, "done\n");
parseGraphFile(graphFile);
PRINT(DEBUG,"Done parsing graph\n");
fclose(graphFile);
}
}
else {
PRINT(ALERT,"Only one file can be supplied per run.\n Ignoring %s\n",argv[i]);
}
}
if(!correctInput) {
printHelp(1);
}
}
//If the graph was read correctly, solve it!
if(entrypoint != NULL) {
PRINT(VERBOSE, "Traveling graph from %c:\n", entrypoint->id);
travelGraph();
}
else {
PRINT(CRITICAL,"No graph file found (or reading it failed)\n");
printHelp(2);
}
//Clean up memory
freeAllNodes(first);
return 0;
}
