//---------------------------------------------------------------------------
//Returns if the test was successful
bool TestRavindran::Execute()
{
std::clog << "Starting TestRavindranLinux for '"
<< this->GetNewick() << "'\n";
if (GetComplexity() > 1000000) return false;
//Write parameters to file
{
std::ofstream file("theta.txt");
file << GetTheta();
}
{
//Older version expects a /n at end
std::ofstream file("phylogeny.txt");
file << GetNewick() << "\n\n";
}
#ifdef WIN32
const std::string exe_filename = "../Exes/phy_prob_12.exe";
const std::string full_command = "../Exes/phy_prob_12.exe";
#else
const std::string exe_filename = "../Exes/phy_prob_linux";
const std::string full_command = "./../Exes/phy_prob_linux";
#endif
return Test::Execute(
exe_filename,
full_command,
"expected_probability.txt");
}
bool Sector::Intersects(const Vector2D& position) const {
Vector2D l(this->GetPosition() - position);
if(l.GetLength() > GetRadius()) return false;
if(Math::IsEqual(l.GetLength(), 0.0)) return true;
Vector2D sF = Vector2D::GetFacingVector(this->GetArcCenter(), this->GetPosition());
Vector2D sF_n(sF.Normalize());
Vector2D P_to_S(l.Normalize());
double angle = std::acos(Vector2D::DotProduct(sF_n, P_to_S));
return (angle <= GetTheta() / 2.0);
}
//---------------------------------------------------------------------------
///Just call the executable TestTwoDigitNewickDebug
///with the parameters
bool TestManyDigitNewickDebug::Execute()
{
#ifndef WIN32
const std::string exe_filename = "../Exes/TestManyDigitNewickUbuntuDebug";
#else
const std::string exe_filename = "../Exes/TestManyDigitNewickWinDebug.exe";
#endif
const std::string command_full =
#ifndef WIN32
std::string("./") +
#endif
exe_filename
+ " "
+ boost::lexical_cast<std::string>(GetTheta())
+ " \""
+ GetNewick()
+ "\"";
const std::string output_filename = "Result_probability.txt";
return Test::Execute(exe_filename,command_full,output_filename);
}
//---------------------------------------------------------------------------
///Just call the executable ProjectRampalMain_Endversion2
///with the parameters
bool TestEndversion2::Execute()
{
#ifndef WIN32
const std::string exe_filename = "../Exes/ProjectRampalMain_Endversion2";
#else
const std::string exe_filename = "../Exes/ProjectRampal.exe";
#endif
const std::string command_full =
#ifndef WIN32
std::string("./") +
#endif
exe_filename
+ " "
+ boost::lexical_cast<std::string>(GetTheta())
+ " \""
+ GetNewick()
+ "\"";
const std::string output_filename = "Result_probability.txt";
return Test::Execute(exe_filename,command_full,output_filename);
}
jdouble JNICALL Java_ardrone_ARDrone_getTheta(JNIEnv *env, jclass cls)
{
return GetTheta();
}
void Sector::CalculateArea() {
_area = 0.5 * (GetRadius() * GetRadius() * GetTheta());
}
void PathPlanner(void)
{
if(QueryTankSM()!=DISABLED)
{
static float CurrentPosition[3] = {0,0,0};
static float CurrentWallLine[2];
static int CurrentWallAngle;
static ActivityState_t CurrentGoal;
ES_Event ThinkTankEvent;
ES_Event GameMonitorEvent;
srand(ES_Timer_GetTime());
if( CurrentGoal != QueryActivityControlSM())
{
//printf("clearing checkpoints\n\r");
wigglecounter = 0;
BinCheckPoints = 0;
WallCheckPoints = 0;
// GOOD?
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
CurrentGoal = QueryActivityControlSM();
} else
{
//ES_Event TankEvent;
//CurrentGoal = QueryActivityControlSM();
CurrentWallLine[0]= GetWallSlope();
CurrentWallLine[1]= GetWallIntercept();
CurrentWallAngle = GetWallAngle();
UpdateCurrentPosition();
CurrentPosition[X_COORDINATE] = GetX();
CurrentPosition[Y_COORDINATE] = GetY();
CurrentPosition[THETA] = GetTheta();
//UpdateWallPoints(); // before getting staging points for wall
switch (CurrentGoal)
{
//ES_Event ActionEvent;
case RASTER :
{
static char i;
//ThinkTankEvent.EventType = GO_COMMAND;
//ThinkTankEvent.EventParam = 100;
//Calibration test code
/*
if (i < 5)
{
ThinkTankEvent.EventType = GO_COMMAND;
ThinkTankEvent.EventParam = STEP_DISTANCE;
i++;
} else if (i<6)
{
ThinkTankEvent.EventType = TURN_COMMAND;
ThinkTankEvent.EventParam = 1080;
i++;
} else if (i<7)
{
ThinkTankEvent.EventType = TURN_COMMAND;
ThinkTankEvent.EventParam = -1080;
i++;
} else
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
i=0;
}
*/
// go forward thrice, turn randomly once, unless threatened by wall, then flee for safety.
if (CurrentLocationIsSafe( CurrentPosition[0], CurrentPosition[1], CurrentPosition[2], CurrentWallAngle) == True) //our current location is a safe one
{
if (i < 3)
{
if (SafeToTravel((float)STEP_DISTANCE/100.,CurrentPosition[0],CurrentPosition[1],CurrentPosition[2], CurrentWallAngle) == True)
{
ThinkTankEvent.EventType = GO_COMMAND;
ThinkTankEvent.EventParam = STEP_DISTANCE;
//SetMotorTimer(STEP_DISTANCE);
} else
{
ThinkTankEvent.EventType = TURN_COMMAND;
ThinkTankEvent.EventParam = (rand()%360) - 180;
//SetMotorTimer(angle);
}
i++;
} else if (i<4)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
i++;
} else
{
ThinkTankEvent.EventType = TURN_COMMAND;
ThinkTankEvent.EventParam = (rand()%360) - 180;
//SetMotorTimer(angle);
i = 0;
}
} else
{
//go to safe point
ThinkTankEvent = GenerateNextStep_EscapeWallPath(CurrentPosition,CurrentWallAngle);
}
}
break;
case CONTROL_LEFT_WALL :
//printf("Wall Third Point is x: %d y: %d \n\r", PushPointX(),PushPointY());
/*
if(GetSeparationDistance( -- parameters for push point -- ) < 6)
{
WallCheckPoints = 2;
}
*/
if (WallCheckPoints < 1)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = WallFirstPointX();
GoalPoint[1] = WallFirstPointY();
//NextGoalPoint[0] = WallStagingPointX(LEFT);
//NextGoalPoint[1] = WallStagingPointY(LEFT);
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_POSITION_FOUND);
} else if (WallCheckPoints < 2)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = WallStagingPointX(LEFT);
GoalPoint[1] = WallStagingPointY(LEFT);
//NextGoalPoint[0] = PushPointX();
//NextGoalPoint[1] = PushPointY();
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_POSITION_FOUND);
} else if (WallCheckPoints < 3)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = PushPointX();
GoalPoint[1] = PushPointY();
// change this!!
//NextGoalPoint[0] = PushPointX();
//NextGoalPoint[1] = PushPointY();
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_POSITION_FOUND);
} else
{
// THINK THROUGH THIS
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_TENTH_SECOND;
//CurrentGoal = STAY_PUT (will start process over again)
//WallCheckPointThree = False;
}
break;
case CONTROL_RIGHT_WALL :
//printf("Wall Third Point is x: %d y: %d \n\r", PushPointX(),PushPointY());
/*
if(GetSeparationDistance( -- parameters for staging point -- ) < 8)
{
WallCheckPoints = 2;
}
*/
if (WallCheckPoints < 1)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = WallFirstPointX();
GoalPoint[1] = WallFirstPointY();
//NextGoalPoint[0] = WallStagingPointX(LEFT);
//NextGoalPoint[1] = WallStagingPointY(LEFT);
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_POSITION_FOUND);
} else if (WallCheckPoints < 2)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = WallStagingPointX(RIGHT);
GoalPoint[1] = WallStagingPointY(RIGHT);
//NextGoalPoint[0] = PushPointX();
//NextGoalPoint[1] = PushPointY();
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_POSITION_FOUND);
} else if (WallCheckPoints < 3)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = PushPointX();
GoalPoint[1] = PushPointY();
// change this!!
//NextGoalPoint[0] = PushPointX();
//NextGoalPoint[1] = PushPointY();
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_POSITION_FOUND);
} else
{
// THINK THROUGH THIS
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_TENTH_SECOND;
//CurrentGoal = STAY_PUT (will start process over again)
//WallCheckPointThree = False;
}
break;
case DEPOSIT_IN_BIN_ONE :
if (BinCheckPoints < 1)
{
ThinkTankEvent = GenerateNextStep_RadialPath(CurrentPosition,RADIUS_OF_SAFETY-2*HALF_BOT_LENGTH,WAIT_FOR_POSITION_FOUND);
} else if (BinCheckPoints < 2)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = StagingPointForBinOneX;
GoalPoint[1] = StagingPointForBinOneY;
//NextGoalPoint[0] = BinOneDepositX;
//NextGoalPoint[1] = BinOneDepositY;
GameMonitorEvent.EventType = START_AVERAGING;
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_POSITION_FOUND);
} else if (BinCheckPoints < 3)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
BinCheckPoints++;
} else if (BinCheckPoints < 4)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
BinCheckPoints++;
} else if (BinCheckPoints < 5)
{
GameMonitorEvent.EventType = STOP_AVERAGING;
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_TENTH_SECOND;
BinCheckPoints++;
} else if (BinCheckPoints < 6)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = DepositPointForBinOneX;
GoalPoint[1] = DepositPointForBinOneY;
//UpdateCurrentPosition();
//CurrentPosition[X_COORDINATE] = GetX();
//CurrentPosition[Y_COORDINATE] = GetY();
//CurrentPosition[THETA] = GetTheta();
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_A_TENTH_SECOND); /* checkpoint */
} else
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_TENTH_SECOND;
Drive(GENTLE_FORWARD);
}
break;
case DEPOSIT_IN_BIN_TWO :
if (BinCheckPoints < 1)
{
ThinkTankEvent = GenerateNextStep_RadialPath(CurrentPosition,RADIUS_OF_SAFETY-2*HALF_BOT_LENGTH,WAIT_FOR_POSITION_FOUND);
} else if (BinCheckPoints < 2)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = StagingPointForBinTwoX;
GoalPoint[1] = StagingPointForBinTwoY;
//NextGoalPoint[0] = BinOneDepositX;
//NextGoalPoint[1] = BinOneDepositY;
GameMonitorEvent.EventType = START_AVERAGING;
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_POSITION_FOUND);
} else if (BinCheckPoints < 3)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
BinCheckPoints++;
} else if (BinCheckPoints < 4)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
BinCheckPoints++;
} else if (BinCheckPoints < 5)
{
GameMonitorEvent.EventType = STOP_AVERAGING;
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_TENTH_SECOND;
BinCheckPoints++;
} else if (BinCheckPoints < 6)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = DepositPointForBinTwoX;
GoalPoint[1] = DepositPointForBinTwoY;
//UpdateCurrentPosition();
//CurrentPosition[X_COORDINATE] = GetX();
//CurrentPosition[Y_COORDINATE] = GetY();
//CurrentPosition[THETA] = GetTheta();
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_A_TENTH_SECOND); /* checkpoint */
} else
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_TENTH_SECOND;
Drive(GENTLE_FORWARD);
}
break;
case DEPOSIT_IN_BIN_THREE :
if (BinCheckPoints < 1)
{
ThinkTankEvent = GenerateNextStep_RadialPath(CurrentPosition,RADIUS_OF_SAFETY-2*HALF_BOT_LENGTH,WAIT_FOR_POSITION_FOUND);
} else if (BinCheckPoints < 2)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = StagingPointForBinThreeX;
GoalPoint[1] = StagingPointForBinThreeY;
//NextGoalPoint[0] = BinOneDepositX;
//NextGoalPoint[1] = BinOneDepositY;
GameMonitorEvent.EventType = START_AVERAGING;
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_POSITION_FOUND);
} else if (BinCheckPoints < 3)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
BinCheckPoints++;
} else if (BinCheckPoints < 4)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
BinCheckPoints++;
} else if (BinCheckPoints < 5)
{
GameMonitorEvent.EventType = STOP_AVERAGING;
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_TENTH_SECOND;
BinCheckPoints++;
} else if (BinCheckPoints < 6)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = DepositPointForBinThreeX;
GoalPoint[1] = DepositPointForBinThreeY;
//UpdateCurrentPosition();
//CurrentPosition[X_COORDINATE] = GetX();
//CurrentPosition[Y_COORDINATE] = GetY();
//CurrentPosition[THETA] = GetTheta();
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_A_TENTH_SECOND); /* checkpoint */
} else if (BinCheckPoints < 7)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_TENTH_SECOND;
Drive(GENTLE_FORWARD);
wigglecounter++;
if (30 < wigglecounter)
{
ES_Event DummyEvent;
DummyEvent.EventType = DEPOSIT_COMMAND;
DummyEvent.EventParam = 1;
ES_PostList00(DummyEvent);
//printf("dpt tmr end - DUMP\n\r");
BinCheckPoints++;
wigglecounter = 0;
}
} else
{
static int done_wiggling;
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_WIGGLE_TIME;
if(done_wiggling < 22)
{
if (wigglecounter == 0)
{
float param = 50;
Drive(0);
Rotate(param);//*GENTLE_FORWARD);
puts("-");
ThinkTankEvent.EventParam = 3*WAIT_FOR_A_TENTH_SECOND; // 4?
} else if (wigglecounter == 1)
{
float param = -75;
puts("+");
Drive(0);
Rotate(param);//GENTLE_FORWARD);
} else if(wigglecounter == 2)
{
float param = 50;
Drive(0);
Rotate(param);//*GENTLE_FORWARD);
puts("-");
ThinkTankEvent.EventParam = 3*WAIT_FOR_A_TENTH_SECOND;
} else if(wigglecounter == 3)
{
float param = -75;
puts("+");
Drive(0);
Rotate(param);//GENTLE_FORWARD);
wigglecounter = 0;
}
} else if (done_wiggling == 6)
{
ES_Event DummyEvent;
Drive(0);
DummyEvent.EventType = DEPOSIT_COMPLETE;
DummyEvent.EventParam = 1;
//ES_PostList02(DummyEvent);
}
wigglecounter++;
done_wiggling++;
}
break;
case DEPOSIT_IN_BIN_FOUR :
if (BinCheckPoints < 1)
{
ThinkTankEvent = GenerateNextStep_RadialPath(CurrentPosition,RADIUS_OF_SAFETY-2*HALF_BOT_LENGTH,WAIT_FOR_POSITION_FOUND);
} else if (BinCheckPoints < 2)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = StagingPointForBinFourX;
GoalPoint[1] = StagingPointForBinFourY;
//NextGoalPoint[0] = BinOneDepositX;
//NextGoalPoint[1] = BinOneDepositY;
GameMonitorEvent.EventType = START_AVERAGING;
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_POSITION_FOUND);
} else if (BinCheckPoints < 3)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
BinCheckPoints++;
} else if (BinCheckPoints < 4)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_POSITION_FOUND;
BinCheckPoints++;
} else if (BinCheckPoints < 5)
{
GameMonitorEvent.EventType = STOP_AVERAGING;
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_TENTH_SECOND;
BinCheckPoints++;
} else if (BinCheckPoints < 6)
{
float GoalPoint[2];
//float NextGoalPoint[2];
GoalPoint[0] = DepositPointForBinFourX;
GoalPoint[1] = DepositPointForBinFourY;
//UpdateCurrentPosition();
//CurrentPosition[X_COORDINATE] = GetX();
//CurrentPosition[Y_COORDINATE] = GetY();
//CurrentPosition[THETA] = GetTheta();
ThinkTankEvent = GenerateNextStep_GoalPoint(CurrentPosition,GoalPoint,WAIT_FOR_A_TENTH_SECOND); /* checkpoint */
} else if (BinCheckPoints < 7)
{
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_TENTH_SECOND;
Drive(GENTLE_FORWARD);
wigglecounter++;
if (30 < wigglecounter)
{
ES_Event DummyEvent;
DummyEvent.EventType = DEPOSIT_COMMAND;
DummyEvent.EventParam = 1;
ES_PostList00(DummyEvent);
//printf("dpt tmr end - DUMP\n\r");
BinCheckPoints++;
wigglecounter = 0;
}
} else
{
static int done_wiggling;
ThinkTankEvent.EventType = WAIT_COMMAND;
ThinkTankEvent.EventParam = WAIT_FOR_A_WIGGLE_TIME;
if(done_wiggling < 22)
{
if (wigglecounter == 0)
{
float param = 50;
Drive(0);
Rotate(param);//*GENTLE_FORWARD);
puts("-");
ThinkTankEvent.EventParam = 3*WAIT_FOR_A_TENTH_SECOND; // 4?
} else if (wigglecounter == 1)
{
float param = -75;
puts("+");
Drive(0);
Rotate(param);//GENTLE_FORWARD);
} else if(wigglecounter == 2)
{
float param = 50;
Drive(0);
Rotate(param);//*GENTLE_FORWARD);
puts("-");
ThinkTankEvent.EventParam = 3*WAIT_FOR_A_TENTH_SECOND;
} else if(wigglecounter == 3)
{
float param = -75;
puts("+");
Drive(0);
Rotate(param);//GENTLE_FORWARD);
wigglecounter = 0;
}
} else if (done_wiggling == 6)
{
ES_Event DummyEvent;
Drive(0);
DummyEvent.EventType = DEPOSIT_COMPLETE;
DummyEvent.EventParam = 1;
//ES_PostList02(DummyEvent);
}
wigglecounter++;
done_wiggling++;
}
break;
}
}
/*
switch(ThinkTankEvent.EventType)
{
case(TURN_COMMAND) :
printf("Current Event is TURN_COMMAND\n\r");
break;
case(GO_COMMAND) :
printf("Current Event is GO_COMMAND\n\r");
break;
case(WAIT_COMMAND) :
printf("Current Event is WAIT_COMMAND\n\r");
break;
case(ARRIVED) :
printf("Current Event is whimsical.\n\r");
default:
printf("epic fail\n\r");
}
*/
if(QueryTankSM()!=DISABLED)
ES_PostList00(ThinkTankEvent);
ES_PostList04(ThinkTankEvent);
ES_PostList03(GameMonitorEvent);
printf("We're at X = %f, Y= %f, and Theta = %f, Wall is at %d\n\r", CurrentPosition[0],CurrentPosition[1],CurrentPosition[2],CurrentWallAngle);
//ES_PostList02(TankEvent);
//printf("event param = %f",ThinkTankEvent.EventParam);
}
}
void CPRS::DispCycle(void)
{
if(!m_fsm.IsInProgress(C_DISP_PRS_START, C_DISP_PRS_END))
return;
if(m_fsm.TmLimit(20000))
{
m_fsm.Set(C_ERROR, ER_DISP_PRS_TIME_OVER);
return;
}
switch(m_fsm.Get())
{
case C_DISP_PRS_START:
if(m_fsm.Once())
{
m_tmCycle.Reset();
m_bStopCycle = FALSE;
m_nCnt = 0;
g_io.SetDO(oDisTopQcReset, TRUE);
}
else
{
if(!m_fsm.Delay(100))
break;
g_io.SetDO(oDisTopQcReset, FALSE);
m_fsm.Set(C_DISP_PRS_MOVE);
}
break;
case C_DISP_PRS_MOVE:
if(m_bStopCycle)
{
m_fsm.Set(C_IDLE);
break;
}
if(!g_Disp.m_pMtX->IsRdy() || !g_Disp.m_pMtY->IsRdy())
break;
if(m_fsm.Once())
{
POINT2D ptXY = g_Disp.GetPRSPos(m_nCnt);
g_Disp.m_pMtX->PMove(DISPENSER::P_DISPX_PRS, ptXY.x);
g_Disp.m_pMtY->PMove(DISPENSER::P_DISPY_PRS, ptXY.y);
}
else
{
if(!m_fsm.Delay(100))
break;
g_pNV->SetDDm(viDispTopWrComp, 0);
g_Disp.m_trigTopVi.StartTrigOneShot();
m_fsm.Set(C_DISP_PRS_WAIT_COMP);
}
break;
case C_DISP_PRS_WAIT_COMP:
if(g_io.AOn(iViDispTopPrsFail))
{
m_fsm.Set(C_ERROR, ER_DISP_TOP_VI_FAIL);
break;
}
if(m_fsm.TmLimit(5000))
{
m_fsm.Set(C_ERROR, ER_DISP_TOP_VI_TIME_OVER);
break;
}
if(0 == (int)g_pNV->GetDDm(viDispTopWrComp))
break;
if((10 < g_pNV->GetDDm(viDispTopX)) || (10 < g_pNV->GetDDm(viDispTopY)))
{
m_fsm.Set(C_ERROR, ER_DISP_TOP_VI_FAIL);
break;
}
g_Disp.m_viVal[m_nCnt].x = g_pNV->GetDDm(viDispTopX);
g_Disp.m_viVal[m_nCnt].y = g_pNV->GetDDm(viDispTopY);
if(3 <= m_nCnt)
{
m_fsm.Set(C_DISP_PRS_END);
}
else
{
m_nCnt++;
m_fsm.Set(C_DISP_PRS_MOVE);
}
break;
case C_DISP_PRS_INIT:
if(!g_Disp.MoveZInit())
break;
m_fsm.Set(C_DISP_PRS_START);
break;
case C_DISP_PRS_END:
{
POINT2D ptPRS[4];
ptPRS[L_BTM].x = g_pNV->m_pNv->_prsCoord._coord[L_BTM]._dX;
ptPRS[L_BTM].y = g_pNV->m_pNv->_prsCoord._coord[L_BTM]._dY;
ptPRS[R_BTM].x = g_pNV->m_pNv->_prsCoord._coord[R_BTM]._dX;
ptPRS[R_BTM].y = g_pNV->m_pNv->_prsCoord._coord[R_BTM]._dY;
double dAdj = (ptPRS[R_BTM].x + g_Disp.m_viVal[R_BTM].x) - (ptPRS[L_BTM].x + g_Disp.m_viVal[L_BTM].x);
double dOpp = (ptPRS[R_BTM].y + g_Disp.m_viVal[R_BTM].y) - (ptPRS[L_BTM].y + g_Disp.m_viVal[L_BTM].y);
g_Disp.m_dGlassTheta = GetTheta(dAdj, dOpp);
if(GST_DISP_PRS == g_pNV->GetNDm(procState))
g_pNV->SetNDm(procState, GST_PP_PRS);
double dCycleTime = m_tmCycle.Elapsed() / 1000.0;
g_pNV->SetDDm(dispPRSTime, dCycleTime);
m_fsm.Set(C_IDLE);
}
break;
}
}//--------------------------------------------------------------
//---------------------------------------------------------------------------
///Just call the executable TestTwoDigitNewickRelease
///with the parameters
bool TestTwoDigitNewickRelease::Execute()
{
#ifndef WIN32
const std::string exe_filename = "../Exes/TestTwoDigitNewickUbuntuRelease";
#else
const std::string exe_filename = "../Exes/TestTwoDigitNewickWinRelease.exe";
#endif
const std::string command_full =
#ifndef WIN32
std::string("./") +
#endif
exe_filename
+ " "
+ boost::lexical_cast<std::string>(GetTheta())
+ " \""
+ GetNewick()
+ "\"";
const std::string output_filename = "Result_probability.txt";
return Test::Execute(exe_filename,command_full,output_filename);
/*
std::clog << "Starting TestTwoDigitNewickRelease for '"
<< this->GetNewick() << "'\n";
const std::string filename
#ifndef WIN32
= "../../../Tools/ToolTestTwoDigitNewick-build-desktop/TestTwoDigitNewickUbuntuRelease";
#else
= "../../../Tools/ToolTestTwoDigitNewick/release/TestNewickVectorWinRelease.exe";
#endif
assert(FileExists(filename));
if (!FileExists(filename))
{
std::cerr << "File '" << filename << "' not found\n";
}
const std::string command =
#ifndef WIN32
std::string("./") +
#endif
filename
+ " "
+ boost::lexical_cast<std::string>(GetTheta())
+ " \""
+ GetNewick()
+ "\"";
const Stopwatch s;
const int sys_error = std::system(command.c_str());
if (sys_error == 0)
{
m_time = s.elapsed();
const std::string result_filename = "Result_probability.txt";
assert(FileExists(result_filename));
m_probability = ReadDoubleFromFile(result_filename);
return true;
}
else
{
m_time = 0;
m_probability = 0.0;
return false;
}
*/
}
G4VSolid const* PlacedParallelepiped::ConvertToGeant4() const {
return new G4Para(GetLabel(), GetX(), GetY(), GetZ(), GetAlpha(), GetTheta(),
GetPhi());
}
void reco( Double_t dcut , Long64_t nwanted, TString fname )
{
// attache dictionaries before file
gSystem->Load("./lib/libLucasDict.so");
TFile fin ( fname );
TTree *Lcal = (TTree*)fin.Get("Lcal");
if (Lcal == 0) return;
pTracks = 0;
pHits = 0;
Lcal->SetBranchAddress("vX", &vX );
Lcal->SetBranchAddress("vY", &vY );
Lcal->SetBranchAddress("vZ", &vZ );
Lcal->SetBranchAddress("numPrim", &numPrim );
Lcal->SetBranchAddress("numHits", &numHits );
Lcal->SetBranchAddress("Etot", Etot );
Lcal->SetBranchAddress("Emax", &Emax );
Lcal->SetBranchAddress("Tracks", &pTracks );
Lcal->SetBranchAddress("Hits", &pHits );
Int_t Nbins = 300;
Double_t Xlo= 2.5;
Double_t Xup= 1502.5;
//
TFile *out = new TFile("reco-plots-rot0-uncor.root","RECREATE");
//
TF1 *res1 = new TF1("res1","sqrt([0]*[0]/x+[1]*[1])",1.,1601.);
res1->SetParNames("a","b");
TF1 *cfun1 = new TF1("cfun1","1.+[0]*exp(-[1]*x*x)+[2]/(x*x+[3])",-45.,45.);
cfun1->SetParNames("A1","W1","A2","W2");
TF1 *cfun2 = new TF1("cfun2","1.+ [0]/(x*x+[1])",-45.,45.);
cfun2->SetParNames("A2","W2");
//
TProfile *hpr1 = new TProfile("hpr1"," ;E_{beam} [GeV]; E_{vis} [GeV]",Nbins,Xlo,Xup,0.,1000.,"S");
TH1D *sigeove = new TH1D("sigeove"," ;E_{beam} [GeV]; #sigma_{E}/E",Nbins,Xlo,Xup);
TH1D *rmseove = new TH1D("rmseove"," ;E_{beam} [GeV]; RMS_{E}/E",Nbins,Xlo,Xup);
TH1D *dErec[NSAMP_MAX];
TH1D *euse = new TH1D ( "euse"," ; E_{used} [GeV] ; Number of events",600, 0., 6. );
TH1D *edep[NSAMP_MAX];
TH1D *dphi[NSAMP_MAX], *Qmax[NSAMP_MAX];
// TProfile *dgap[NSAMP_MAX];
TH2D *dgap[NSAMP_MAX];
TH1D *dtheta[NSAMP_MAX];
double qmax[NSAMP_MAX];
TProfile *phioff = new TProfile("phioff","#phi offset;1/P [GeV^{-1}];<#Delta#Phi> [rad]",500,0.,0.25,-TWO_PI,TWO_PI,"E");
for( int ih=0; ih<NSAMP_MAX; ih++){
TString nam1("dphi");
TString nam2("edep");
TString nam3("dErec");
TString nam4("dgap");
TString nam5("dtheta");
TString nam6("Qmax");
nam1 += ih;
nam2 += ih;
nam3 += ih;
nam4 += ih;
nam5 += ih;
nam6 += ih;
dphi[ih] = new TH1D(nam1,"; #Delta#Phi [rad]; Number of events", 300, -0.3, 0.3 );
dtheta[ih] = new TH1D(nam5,"; #Delta#theta [rad]; Number of events", 200, -0.002, 0.002 );
edep[ih] = new TH1D(nam2," ; E_{VIS} [GeV] ; Number of events",500,Elo[ih],Eup[ih]);
dErec[ih] = new TH1D( nam3 ," ; #DeltaE [GeV]; Number of events",60, -25., 25. );
// dgap[ih] = new TProfile(nam4,"; distance from the gap [mm]; <E_{VIS}>/E_{VIS}",900,-45.,45.,0.,1000.,"E");
dgap[ih] = new TH2D(nam4,"; distance from the gap [mm]; <E_{VIS}>/E_{VIS}",900,-45.,45.,100,0.5,1.5);
Qmax[ih] = new TH1D(nam6,"; Q_{max} pC; number of events ",40,0.,20.);
// dErec[ih]->SetBit(TH1::kCanRebin);
// edep[ih]->SetBit(TH1::kCanRebin);
// dphi[ih]->SetBit(TH1::kCanRebin);
}
//
//
std::vector < myHit > hits_P; // list of hits z > 0
std::vector < myHit > hits_N; // z < 0
//
cout << " Energy saturation at "<< E_MAX << " [MeV] " << endl;
cout << " Energy treshold at "<< E_MIN << " [MeV] " << endl;
Long64_t nentries = Lcal->GetEntries();
#ifdef si500
Double_t p0 = 6.13e-4; // si 500
Double_t p1 = 1.71e-2;;
#else
#ifdef rot3_hh
Double_t p0 = 1.771e-3; // si=320
Double_t p1 = 1.122e-2;
#else
Double_t p0 = 2.145e-3; // si=320
Double_t p1 = 1.131e-2;
#endif
#endif
Double_t C_fac = 0.01138;
/* Double_t g0 = 1.006e-2;
Double_t g1 = 2.367e-7;
Double_t g2 = -7.476e-10;
*/
// Long64_t nskip = 0;
nentries = ( nwanted > 0 && nwanted < nentries ) ? nwanted : nentries ;
cout << " Nentries "<< nentries << endl;
for (Long64_t jentry=0; jentry< nentries ;jentry++) {
Double_t theta_rec1 = 0., phi_rec1=0. ;
Double_t theta_rec2 = 0., phi_rec2=0. ;
Double_t e_use1 = 0., e_use2=0. ;
Double_t e_vis1 = 0., e_vis2=0. ;
hits_N.clear();
hits_P.clear();
e_vis2 = 0.;
Lcal->GetEntry(jentry);
if ( Etot[1] <= 0.) continue;
//
double E_gen=0., theta_gen=0., phi_gen=0.;
int numtr = pTracks->size();
for ( int it=0; it< numtr; it++){
Track_t track = (*pTracks)[it];
E_gen = sqrt( track.pX*track.pX + track.pY*track.pY + track.pZ*track.pZ )/1000.;
theta_gen = atan ( sqrt( track.pX*track.pX + track.pY*track.pY)/fabs(track.pZ));
phi_gen = atan2 ( track.pY , track.pX);
phi_gen = ( phi_gen > 0. ) ? phi_gen : phi_gen + TWO_PI;
}
//
if ( theta_gen < 0.041 || theta_gen > 0.068 ){ continue;}
//
int sample=0;
switch( (int)E_gen ){
case 5:
sample = 0;
break;
case 15:
sample = 1;
break;
case 25:
sample = 2;
break;
case 50:
sample = 3;
break;
case 100:
sample = 4;
break;
case 150:
sample = 5;
break;
case 200:
sample = 6;
break;
case 250:
sample = 7;
break;
case 500:
sample = 8;
break;
case 1500:
sample = 9;
break;
default:
cout<< "uknown case " << (int)E_gen << endl;
}
//
// Fill the list of hits
//
int nHits = pHits->size();
qmax[sample] = 0.;
for ( Int_t ih=0; ih<nHits ; ih++) {
// Int_t layer = (cellID[ih] >> 16) & 0xff ;
//
Hit_t hit = (*pHits)[ih];
double ehit = ( hit.eHit > E_MAX ) ? E_MAX : hit.eHit ;
if ( ehit < E_MIN ) continue ;
if ( qmax[sample] < ehit ) qmax[sample]=ehit;
//
// Double_t rCell = sqrt( hit.xCell*hit.xCell+hit.yCell*hit.yCell);
Double_t rCell = sqrt( hit.xHit*hit.xHit + hit.yHit*hit.yHit);
Double_t phiCell = atan2( hit.yCell, hit.xCell );
if ( hit.zCell < 0. ) {
hits_N.push_back ( myHit( ehit, rCell, phiCell, hit.zCell) );
}
else {
hits_P.push_back ( myHit( ehit, rCell, phiCell, hit.zCell) );
}
} // end hit loop
//
// sort hits in descending order
//
// cout<< " accepted " << nskip << " " << hits_P.size()<< " " << hits_N.size() << endl;
if ( hits_N.begin() != hits_N.end() ) {
std::sort ( hits_N.begin(), hits_N.end(), SortByEnergy );
theta_rec1 = GetTheta ( hits_N );
phi_rec1 = GetPhi ( hits_N );
e_vis1 = GetEnergy( theta_rec1, hits_N );
}
if ( hits_P.begin() != hits_P.end() ) {
std::sort ( hits_P.begin(), hits_P.end(), SortByEnergy );
theta_rec2 = GetTheta( hits_P );
phi_rec2 = GetPhi ( hits_P );
#ifdef rot3_hh
double dist = GetDistance( theta_rec2, phi_rec2, 3.75);
#else
double dist = GetDistance( theta_rec2, phi_rec2, 0.);
#endif
// if ( CheckSector( phi_rec2 ) )continue;
if ( fabs(dist) < dcut ) continue;
double avrEvis = p0 + p1*E_gen;
e_vis2 = GetEnergy( hits_P )/1000.;
// e_vis2 *= GetCorrection( sample, dist);
dgap[sample]->Fill( dist, avrEvis/e_vis2, 1. );
}
//
// fill histograms
//
C_fac = (e_vis2 - p0)/p1;
Double_t delta_phi = phi_gen - (phi_rec2 + PHI_OFFSET[sample]);
Double_t pT = 1./(E_gen*sin(theta_rec2));
Double_t E_rec = C_fac ;
// double delta = p1*p1 - 4.*p2*(p0-e_vis2);
// if( delta >= 0. ) E_rec = (-p1+sqrt(delta))/(2.*p2);
Qmax[sample]->Fill( qmax[sample]*E2Q );
dtheta[sample] -> Fill ( theta_rec2 - theta_gen );
dphi[sample]-> Fill ( delta_phi);
phioff->Fill( pT , delta_phi );
if ( e_vis2 > 0. ) {
edep [sample]-> Fill ( e_vis2 );
hpr1->Fill(E_gen,e_vis2,1.);
dErec[sample] -> Fill ( ( E_rec - E_gen));
euse -> Fill ( e_use2 );
}
if ( e_use1 > 0.) euse -> Fill ( e_use1 );
//
//
// end of event
//
}
// final operations with histograms
//
int binum[NSAMP_MAX] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
int ii = 1;
for ( int ib=1; ib < hpr1->GetNbinsX()+1; ib++ ){
double binc = hpr1->GetBinContent(ib);
if( binc > 0.){
binum[ii] = ib;
cout << "bin: " << ii << "\t value: " << binc << endl;
ii++;
}
}
//
//
for ( int ih=0;ih<NSAMP_MAX;ih++){
if( edep[ih]->Integral() > 0. ) {
cout<< " fitting ih: " << ih << "\t"<<ebeam[ih] << endl;
edep[ih]->Fit("gaus","QS0");
TF1 *f = edep[ih]->GetFunction("gaus");
double mean = f->GetParameter(1);
double rmse = f->GetParameter(2);
double ratio = rmse/mean;
double e1 = f->GetParError(1);
double e2 = f->GetParError(2);
double err = sqrt(e1*e1/(mean*mean)+e2*e2/(rmse*rmse))*ratio;
cout << "<E> " << mean << " sigma "<< rmse << endl;
sigeove->SetBinContent( binum[ih], ratio );
sigeove->SetBinError( binum[ih], err );
//
mean = edep[ih]->GetMean();
rmse = edep[ih]->GetRMS();
e1 = edep[ih]->GetMeanError();
e2 = edep[ih]->GetRMSError();
ratio = rmse/mean;
err = sqrt(e1*e1/(mean*mean)+e2*e2/(rmse*rmse))*ratio;
rmseove->SetBinContent( binum[ih], ratio);
rmseove->SetBinError( binum[ih],2.*err);
dErec[ih]->Fit("gaus","QW");
}
}
sigeove->Fit("res1");
rmseove->Fit("res1");
//
//
Double_t P0[NSAMP_MAX],P1[NSAMP_MAX],P2[NSAMP_MAX],P3[NSAMP_MAX];
for ( int ih=0; ih<NSAMP_MAX; ih++){
P0[ih] = 0.;
P1[ih] = 0.;
P2[ih] = 0.;
P3[ih] = 0.;
}
for( int ih=0; ih<NSAMP_MAX; ih++){
if( dphi[ih]->Integral() > 0. ) {
cout<< " Fitting gap: "<< ih <<"\t E= "<<ebeam[ih]<<endl;
dphi[ih]->Fit("gaus","QS0");
dtheta[ih]->Fit("gaus","QS0");
dgap[ih]->Fit("cfun2","QW");
TF1 *f=dgap[ih]->GetFunction("cfun2");
// P0[ih]=f->GetParameter(0);
// P1[ih]=f->GetParameter(1);
P2[ih]=f->GetParameter(0);
P3[ih]=f->GetParameter(1);
dgap[ih]->GetYaxis()->SetRangeUser(0.9, 2.5);
}
}
//
cout << "const double a1[NSAMP_MAX] = {" ;
for (int ih=0;ih<9;ih++) printf("%5.3e%1s",P0[ih],", ");
cout<<endl;
cout << "const double w1[NSAMP_MAX] = {" ;
for (int ih=0;ih<9;ih++) printf("%5.3e%1s",P1[ih],", ");
cout<<endl;
cout << "const double a2[NSAMP_MAX] = {" ;
for (int ih=0;ih<9;ih++) printf("%5.3e%1s",P2[ih],", ");
cout<<endl;
cout << "const double w2[NSAMP_MAX] = {" ;
for (int ih=0;ih<9;ih++) printf("%5.3e%1s",P3[ih],", ");
cout<<endl;
/*
hpr1->Write();
phioff->Write();
sigeove->Write();
rmseove->Write();
*/
out->Write();
// out->Close();
}
