void RobotChasing::calculate_states()
{
vector<double> m_max_ranges = get_max_ranges();
vector<double> m_min_ranges = get_min_ranges();
vector<int> num_states;
for(unsigned int i = 0; i < m_min_ranges.size(); i++)
{
num_states.push_back((m_max_ranges[i] - m_min_ranges[i])/1.0);
num_states[i]++;
}
vector<vector<double> > all_values;
for(unsigned int i = 0; i < m_min_ranges.size(); i++)
{
vector<double> value;
for(unsigned int j = 0; j < num_states[i]; j++)
{
value.push_back(m_min_ranges[i] + (1.0 * (j)));
cout << value[j] << ",";
}
cout << endl;
all_values.push_back(value);
}
vector<vector<double>::iterator> locations;
for(unsigned int i = 0; i < num_states.size(); i++)
{
locations.push_back(all_values[i].begin());
}
bool done = false;
int it = 0;
while(true)
{
int cur_it = num_states.size()-1;
//Check if you're at the end of the last list. If you are, reset that list and increase the previous one.
while(true)
{
if(locations[0] == all_values[0].end())
{
done = true;
break;
}
if(locations[cur_it] == all_values[cur_it].end())
{
locations[cur_it] = all_values[cur_it].begin();
cur_it--;
locations[cur_it]++;
}
else break;
}
if(done) break;
vector<double> s;
for(unsigned int j = 0; j < locations.size(); j++)
{
s.push_back(*locations[j]);
cout << s[j] << ",";
}
cout << endl;
state_to_ind.insert(make_pair(s, it++));
locations.back()++;
}
}
AP_CORE_DECLARE_NONSTD(apr_status_t) ap_byterange_filter(ap_filter_t *f,
apr_bucket_brigade *bb)
{
request_rec *r = f->r;
conn_rec *c = r->connection;
apr_bucket *e;
apr_bucket_brigade *bsend;
apr_bucket_brigade *tmpbb;
apr_off_t range_start;
apr_off_t range_end;
apr_off_t clength = 0;
apr_status_t rv;
int found = 0;
int num_ranges;
char *boundary = NULL;
char *bound_head = NULL;
apr_array_header_t *indexes;
indexes_t *idx;
int i;
int original_status;
int max_ranges = get_max_ranges(r);
/*
* Iterate through the brigade until reaching EOS or a bucket with
* unknown length.
*/
for (e = APR_BRIGADE_FIRST(bb);
(e != APR_BRIGADE_SENTINEL(bb) && !APR_BUCKET_IS_EOS(e)
&& e->length != (apr_size_t)-1);
e = APR_BUCKET_NEXT(e)) {
clength += e->length;
}
/*
* Don't attempt to do byte range work if this brigade doesn't
* contain an EOS, or if any of the buckets has an unknown length;
* this avoids the cases where it is expensive to perform
* byteranging (i.e. may require arbitrary amounts of memory).
*/
if (!APR_BUCKET_IS_EOS(e) || clength <= 0) {
ap_remove_output_filter(f);
return ap_pass_brigade(f->next, bb);
}
original_status = r->status;
num_ranges = ap_set_byterange(r, clength, &indexes);
/* We have nothing to do, get out of the way. */
if (num_ranges == 0 || (max_ranges >= 0 && num_ranges > max_ranges)) {
r->status = original_status;
ap_remove_output_filter(f);
return ap_pass_brigade(f->next, bb);
}
/* this brigade holds what we will be sending */
bsend = apr_brigade_create(r->pool, c->bucket_alloc);
if (num_ranges < 0)
return send_416(f, bsend);
if (num_ranges > 1) {
/* Is ap_make_content_type required here? */
const char *orig_ct = ap_make_content_type(r, r->content_type);
boundary = apr_psprintf(r->pool, "%" APR_UINT64_T_HEX_FMT "%lx",
(apr_uint64_t)r->request_time, c->id);
ap_set_content_type(r, apr_pstrcat(r->pool, "multipart",
use_range_x(r) ? "/x-" : "/",
"byteranges; boundary=",
boundary, NULL));
if (strcasecmp(orig_ct, NO_CONTENT_TYPE)) {
bound_head = apr_pstrcat(r->pool,
CRLF "--", boundary,
CRLF "Content-type: ",
orig_ct,
CRLF "Content-range: bytes ",
NULL);
}
else {
/* if we have no type for the content, do our best */
bound_head = apr_pstrcat(r->pool,
CRLF "--", boundary,
CRLF "Content-range: bytes ",
NULL);
}
ap_xlate_proto_to_ascii(bound_head, strlen(bound_head));
}
tmpbb = apr_brigade_create(r->pool, c->bucket_alloc);
idx = (indexes_t *)indexes->elts;
for (i = 0; i < indexes->nelts; i++, idx++) {
range_start = idx->start;
range_end = idx->end;
rv = copy_brigade_range(bb, tmpbb, range_start, range_end);
if (rv != APR_SUCCESS ) {
ap_log_rerror(APLOG_MARK, APLOG_ERR, rv, r,
"copy_brigade_range() failed [%" APR_OFF_T_FMT
"-%" APR_OFF_T_FMT ",%" APR_OFF_T_FMT "]",
range_start, range_end, clength);
continue;
}
found = 1;
/*
* For single range requests, we must produce Content-Range header.
* Otherwise, we need to produce the multipart boundaries.
*/
if (num_ranges == 1) {
apr_table_setn(r->headers_out, "Content-Range",
apr_psprintf(r->pool, "bytes " BYTERANGE_FMT,
range_start, range_end, clength));
}
else {
char *ts;
e = apr_bucket_pool_create(bound_head, strlen(bound_head),
r->pool, c->bucket_alloc);
APR_BRIGADE_INSERT_TAIL(bsend, e);
ts = apr_psprintf(r->pool, BYTERANGE_FMT CRLF CRLF,
range_start, range_end, clength);
ap_xlate_proto_to_ascii(ts, strlen(ts));
e = apr_bucket_pool_create(ts, strlen(ts), r->pool,
c->bucket_alloc);
APR_BRIGADE_INSERT_TAIL(bsend, e);
}
APR_BRIGADE_CONCAT(bsend, tmpbb);
if (i && !(i & 0x1F)) {
/*
* Every now and then, pass what we have down the filter chain.
* In this case, the content-length filter cannot calculate and
* set the content length and we must remove any Content-Length
* header already present.
*/
apr_table_unset(r->headers_out, "Content-Length");
if ((rv = ap_pass_brigade(f->next, bsend)) != APR_SUCCESS)
return rv;
apr_brigade_cleanup(bsend);
}
}
if (found == 0) {
/* bsend is assumed to be empty if we get here. */
return send_416(f, bsend);
}
if (num_ranges > 1) {
char *end;
/* add the final boundary */
end = apr_pstrcat(r->pool, CRLF "--", boundary, "--" CRLF, NULL);
ap_xlate_proto_to_ascii(end, strlen(end));
e = apr_bucket_pool_create(end, strlen(end), r->pool, c->bucket_alloc);
APR_BRIGADE_INSERT_TAIL(bsend, e);
}
e = apr_bucket_eos_create(c->bucket_alloc);
APR_BRIGADE_INSERT_TAIL(bsend, e);
/* we're done with the original content - all of our data is in bsend. */
apr_brigade_cleanup(bb);
apr_brigade_destroy(tmpbb);
/* send our multipart output */
return ap_pass_brigade(f->next, bsend);
}