bool ADbg::setDebugFile(const char * NewFilename) {
bool result;
result = unsetDebugFile();
if (result) {
result = false;
#ifdef WIN32
hFile = CreateFileA(NewFilename, GENERIC_WRITE, FILE_SHARE_WRITE|FILE_SHARE_READ, NULL, OPEN_ALWAYS, FILE_ATTRIBUTE_NORMAL, NULL );
if (hFile != INVALID_HANDLE_VALUE) {
SetFilePointer( hFile, 0, 0, FILE_END );
result = true;
#else
hFile = fopen(NewFilename, "w+");
if (hFile != NULL) {
fseek(hFile, 0, SEEK_END);
#endif
OutPut(-1,"Debug hFile Opening succeeded");
}
else
OutPut(-1,"Debug hFile %s Opening failed",NewFilename);
}
return result;
}
bool ADbg::unsetDebugFile() {
bool result = (hFile == NULL);
#ifdef WIN32
if (hFile != NULL) {
result = (CloseHandle(hFile) != 0);
#else
if (hFile != NULL) {
result = (fclose(hFile) == 0);
#endif
if (result) {
OutPut(-1,"Debug hFile Closing succeeded");
hFile = NULL;
}
}
return result;
}
#endif // defined(DEBUG)
END_LIBEBML_NAMESPACE
int main() {
MatrixGraph graph;
int i, j, s, t;
char select;
do {
printf("输入生成图的类型(0:无向图，1：有向图)：");
scanf("%d", &graph.graphType);
printf("输入图的顶点数量和边数量(n,m)：");
scanf("%d,%d", &graph.vertexNum,&graph.edgeNum);
for(i=0;i<graph.vertexNum;i++)
for(j=0;j<graph.vertexNum;j++)
graph.edges[i][j] = MAXVALUE;
Create(&graph);
printf("邻接矩阵数据如下：\n");
OutPut(&graph);
Prim(graph);
printf("图遍历完毕，是否要继续？Y/N: \n");
getchar();
scanf("%c", &select);
}while(select !='N' && select != 'n');
return 0;
}
void BackTrack()
{
int k;
x[1] = 0; //初始化为0
k = 1;
while (k >= 1) //循环
{
x[k] += 1; //先放在第一个位置
while ((x[k] <= n) && !(Place(k))) //如果不能放
x[k] += 1; //放在下一个位置
if (x[k] <= n) //放置完成
{
if (k == n) //如果已经放完了n个皇后
{
sum++; //处理次数，输出
OutPut();
}
else //没有处理完，让k自加，处理下一个皇后
{
k++;
x[k] = 0;
}
} //x[k] > n，说明没有合适的位置了
else
k--; //回溯回去，回到第k-1步
}
}
void Main()
{
double accele_x_bias = 0.0, accele_y_bias = 0.0;
double jyro_x_bias = 0.0, jyro_y_bias = 0.0;
double accele_x = 0.0, accele_y = 0.0, accele_z = 0.0;
double jyro_x = 0.0, jyro_y = 0.0;
double theta_x = 0.0, theta_y = 0.0;
double roll = 0.0, pitch = 0.0;
int i = 0;
SetUp();
for(i = 0; i < 100; i ++){
accele_x_bias += ADC_Read(ANAROG_PIN_ACCELE_X);
accele_y_bias += ADC_Read(ANAROG_PIN_ACCELE_Y);
jyro_x_bias += ADC_Read(ANAROG_PIN_JYRO_X);
jyro_y_bias += ADC_Read(ANAROG_PIN_JYRO_Y);
}
accele_x_bias /= 100.0;
accele_y_bias /= 100.0;
jyro_x_bias /= 100.0;
jyro_y_bias /= 100.0;
while(1){
TMR0 = 0;
accele_x = (ADC_read(ANAROG_PIN_ACCELE_X) - accele_x_bias) * ACCELE_COEFFICIENT;
accele_y = (ADC_read(ANAROG_PIN_ACCELE_Y) - accele_y_bias) * ACCELE_COEFFICIENT;
accele_z = (ADC_read(ANAROG_PIN_ACCELE_Z) - ACCELE_Z_BIAS) * ACCELE_COEFFICIENT;
jyro_x = (ADC_read(ANAROG_PIN_JYRO_X) - jyro_x_bias) * JYRO_COEFFICIENT;
jyro_y = (ADC_read(ANAROG_PIN_JYRO_Y) - jyro_y_bias) * JYRO_COEFFICIENT;
theta_x = atan(accele_x / sqrt(accele_y * accele_y + accele_z * accele_z)) * (180.0 / PI);
theta_y = atan(accele_y / sqrt(accele_x * accele_x + accele_z * accele_z)) * (180.0 / PI);
roll += (jyro_x * DT) - (W * roll * DT) + (W * theta_x * DT); //相補フィルタ
pitch += (jyro_y * DT) - (W * pitch * DT) + (W * theta_y * DT);
if(-0.15 < roll && roll < 0.15)
roll = 0.0;
if(-0.15 < pitch && pitch < 0.15)
pitch = 0.0;
#if DEBUG_MODE
#if ACCELE_CHECK_MODE
accele_x = ADC_read(ANAROG_PIN_ACCELE_X);
accele_y = ADC_read(ANAROG_PIN_ACCELE_Y);
accele_z = ADC_read(ANAROG_PIN_ACCELE_Z);
AcceleCheck(accele_x, accele_y, accele_z);
#else
Debug(roll, pitch);
#endif
#else
OutPut(pitch - roll, pitch + roll); //right, left
#endif
}
}
ADbg::ADbg(int level)
:my_level(level)
,my_time_included(false)
,my_use_file(false)
,my_debug_output(true)
,hFile(NULL)
{
prefix[0] = '\0';
OutPut(-1,"ADbg Creation at debug level = %d (0x%08X)",my_level,this);
}
int main() {
ListGraph graph;
printf("输入生成图的类型(0：无向图，1：有向图): ");
scanf("%d" , &graph.graphType);
printf("输入顶点数量和边数量：");
scanf("%d,%d", &graph.vertexNum, &graph.edgeNum);
printf("输入构成各边的两个顶点及权值(用逗号隔开):\n");
Create(&graph);
printf("输出的邻接表：\n");
OutPut(&graph);
return 0;
}
void BackTrack1(int t)
{
//如果t>n说明已经完成一次放置
if (t > n)
{
sum++;
OutPut();
}
else
{
for (int i = 1; i <= n; ++i)
{
x[t] = i;
if (Place(t)) //可以放在i位置处，则继续搜索
BackTrack1(t + 1);
}
}
}
void Main()
{
double accele_x_bias = 0.0, accele_y_bias = 0.0;
double jyro_x_bias = 0.0, jyro_y_bias = 0.0;
double accele_x[2] = {0.0, 0.0};
double accele_y[2] = {0.0, 0.0};
double accele_z[2] = {0.0, 0.0};
double jyro_x = 0.0, jyro_y = 0.0;
double theta_x = 0.0, theta_y = 0.0;
double roll = 0.0, pitch = 0.0;
int i = 0;
SetUp();
for(i = 0; i < 100; i ++){
accele_x_bias += ADC_Read(ANAROG_PIN_ACCELE_X);
accele_y_bias += ADC_Read(ANAROG_PIN_ACCELE_Y);
jyro_x_bias += ADC_Read(ANAROG_PIN_JYRO_X);
jyro_y_bias += ADC_Read(ANAROG_PIN_JYRO_Y);
}
accele_x_bias /= 100.0;
accele_y_bias /= 100.0;
jyro_x_bias /= 100.0;
jyro_y_bias /= 100.0;
while(1){
do{
Output(0.0, 0.0);
Delay_ms(1);
}while(ARM_STATE == 0);
accele_x[1] = accele_x[0];
accele_y[1] = accele_y[0];
accele_z[1] = accele_z[0];
TMR0 = 0;
accele_x[0] = (ADC_read(ANAROG_PIN_ACCELE_X) - accele_x_bias) * ACCELE_COEFFICIENT;
accele_y[0] = (ADC_read(ANAROG_PIN_ACCELE_Y) - accele_y_bias) * ACCELE_COEFFICIENT;
accele_z[0] = (ADC_read(ANAROG_PIN_ACCELE_Z) - ACCELE_Z_BIAS) * ACCELE_COEFFICIENT;
jyro_x = (ADC_read(ANAROG_PIN_JYRO_X) - jyro_x_bias) * JYRO_COEFFICIENT;
jyro_y = (ADC_read(ANAROG_PIN_JYRO_Y) - jyro_y_bias) * JYRO_COEFFICIENT;
accele_x[0] = accele_x[1] * 0.9 + accele_x[0] * 0.1; //加重平均
accele_y[0] = accele_y[1] * 0.9 + accele_y[0] * 0.1;
accele_z[0] = accele_z[1] * 0.9 + accele_z[0] * 0.1;
theta_x = atan(accele_x[0] / sqrt(accele_y[0] * accele_y[0] + accele_z[0] * accele_z[0])) * (180.0 / PI);
theta_y = atan(accele_y[0] / sqrt(accele_x[0] * accele_x[0] + accele_z[0] * accele_z[0])) * (180.0 / PI);
roll += (jyro_x * DT) - (W * roll * DT) + (W * theta_x * DT); //相補フィルタ
pitch += (jyro_y * DT) - (W * pitch * DT) + (W * theta_y * DT);
if(-0.1 < roll && roll < 0.1)
roll = 0.0;
if(-0.1 < pitch && pitch < 0.1)
pitch = 0.0;
#if DEBUG_MODE
#if ACCELE_CHECK_MODE
accele_x[0] = ADC_read(ANAROG_PIN_ACCELE_X);
accele_y[0] = ADC_read(ANAROG_PIN_ACCELE_Y);
accele_z[0] = ADC_read(ANAROG_PIN_ACCELE_Z);
AcceleCheck(accele_x[0], accele_y[0], accele_z[0]);
#else
Debug(roll, pitch);
#endif
#else
OutPut(-pitch + roll * 0.5, -pitch - roll * 0.5); //right, left
#endif
}
}
void CheckForVariables(char * program)
{
int index=0;
int numberOfInteger=0, totIntMem=0;
int numberOfBool=0, totBoolMem=0;
int numberOfChar=0, totCharMem=0;
int numberOfFloat=0, totFloatMem=0;
int numberOfDouble=0, totDoubleMem=0;
bool test= false;
while( program[index] != NULL)
{
switch(program[index])
{
case '/' : index++;
switch( program[index] )
{
case '/' : index++;
while( program[index] != '\n')
{
index++;
}
break;
case '*' : index++;
while( (test != true) && (program[index] != NULL) )
{
switch( program[index] )
{
case '*' : index++;
switch( program[index] )
{
case '/' : index++;
test= true;
break;
}
break;
}
index++;
}//end test while loop
}
index--; //had to decriment because while loop causes a skip over 1 extra char
break;
case 'i' : numberOfInteger += TestForIntegers(index, program); break;
case 'b' : numberOfBool+= TestForBool(index, program); break;
case 'c' : numberOfChar+= TestForChar(index, program); break;
case 'f' : numberOfFloat+= TestForFloat(index, program); break;
case 'd' : numberOfDouble+= TestForDouble(index, program); break;
}
cout<<"Prosessing\n";
index++;
}
totIntMem= numberOfInteger * sizeof(int);
totBoolMem= numberOfBool * sizeof(bool);
totCharMem= numberOfChar * sizeof(char);
totFloatMem= numberOfFloat * sizeof(float);
totDoubleMem= numberOfDouble * sizeof(double);
OutPut(totBoolMem, numberOfBool, sizeof(bool), "bool");
OutPut(totIntMem, numberOfInteger, sizeof(int), "int");
OutPut(totCharMem, numberOfChar, sizeof(char), "char");
OutPut(totDoubleMem, numberOfDouble, sizeof(double), "double");
OutPut(totFloatMem, numberOfFloat, sizeof(float), "float");
delete(program);
return;
}
ADbg::~ADbg()
{
unsetDebugFile();
OutPut(-1,"ADbg Deletion (0x%08X)",this);
}
