int
MatlabEvaluator::runAnalysis(const Vector &x)
{
// Let's just make a direct call since we have the pointer to OpenSees domain
// This replaces above call to Tcl command; however, in the reset command
// revertToStart() is also called on theTransientIntegrator -- MHS needs to check
if (theOpenSeesDomain->revertToStart() != 0) {
opserr << "ERROR MatlabEvaluator -- error in resetting Domain" << endln;
return -1;
}
// Put random variables into the structural domain according to the RandomVariablePositioners
int rvIndex;
RandomVariablePositionerIter rvPosIter = theReliabilityDomain->getRandomVariablePositioners();
RandomVariablePositioner *theRVPos;
while ((theRVPos = rvPosIter()) != 0) {
rvIndex = theRVPos->getRvIndex();
theRVPos->update(x(rvIndex));
}
// Start a Matlab engine
Engine *ep;
ep = engOpen("\0");
// Execute a Matlab function called 'matlabgfun'
char theMatlabCommand[50];
sprintf(theMatlabCommand,"matlabgfun");
engEvalString(ep, theMatlabCommand);
// Shut down the Matlab engine
engClose(ep);
return 0;
}
int PASCAL WinMain (HINSTANCE hInstance,
HINSTANCE hPrevInstance,
LPSTR lpszCmdLine,
int nCmdShow){
char buffer[BUFSIZE];
mxArray *app;
Engine *ep;
/* 啟動 MATLAB 引擎 */
if (!(ep = engOpen(NULL))){ // 產生一個 MATLAB 引擎物件
MessageBox ((HWND)NULL, (LPSTR)"Can't start MATLAB engine",
(LPSTR)"plotViaMatlab01.c", MB_OK);
exit(-1);
}
/* 切換目錄並執行 plotSine.m */
_getcwd(buffer, BUFSIZE); // 將此程式所在目錄存入字串 buffer
app = mxCreateString(buffer); // 產生 MATLAB 內部的字串變數 app
engPutVariable(ep, "appDir", app); // 將字串變數 app 至入工作空間的變數 appDir
engEvalString(ep, "cd(appDir)"); // 將 MATLAB 的工作目錄切換至字串 appDir 所指定的目錄
engEvalString(ep, "plotSine"); // 執行同目錄下的 plotSine.m
/* 取得 MATLAB 輸出訊息 */
engOutputBuffer(ep, buffer, BUFSIZE); // 設定 buffer 可以接收 MATLAB 的輸出訊息
engEvalString(ep, "whos"); // 在 MATLAB 引擎執行 whos 指令
MessageBox((HWND)NULL, (LPSTR)buffer, (LPSTR) "MATLAB - whos", MB_OK); // 顯示 buffer 的內容
engClose(ep); // 最後關閉 MATLAB 引擎
return(0);
}
int main(int argc, char *argv[]) {
printf("\n");
if (argc < 2) {
printf("not enough arguments\n\n");
return 1;
}
printf("STARTING MATLAB ENGINE\n\n");
Engine *ep = engOpen("");
if (ep == NULL) {
printf("unable to start MATLAB engine\n\n");
return 1;
}
engSetVisible(ep, false);
char out[BUFSIZE];
engOutputBuffer(ep, out, BUFSIZE);
printf("SETTING PATH TO CNS\n\n");
Eval(ep, out, "run(fullfile('%s', 'cns_path'));", argv[1]);
bool ok = RunDemo(ep, out);
printf("PRESS RETURN TO CONTINUE: ");
fgets(out, BUFSIZE, stdin);
printf("\n");
printf("CLOSING MATLAB ENGINE\n\n");
Eval(ep, out, "close all;");
engClose(ep);
return ok ? 0 : 1;
}
JNIEXPORT jint JNICALL Java_JMatLink_engCloseNATIVE__I
(JNIEnv *env, jobject obj, jint engine)
{
int retValI;
// Check if engine pointer is within allowed region
if (( engine < 1 ) || ( engine >= enginePMax ))
{
return 0; // Pointer is out of allowed region
}
if ( engineP[ engine ] != NULL )
{
retValI = engClose(engineP[ engine ]);
delEnginePointer( engine );
if (engine == engOpenMarkerI)
{
// This engine was opened with engOpen() before
engOpenMarkerI = 0;
}
if (debugB) printf("\n engClose \n");
}
else
{
return 0;
}
}
int main(int argc, const char *argv[])
{
Engine *ep;
char buff[10240];
int i;
/* matlab must be in the PATH! */
if (!(ep = engOpen("matlab -nodisplay"))) {
fprintf(stderr, "Can't start MATLAB engine\n");
return -1;
}
engOutputBuffer(ep, buff, 10239);
/* load the mex file */
if(argc<2){
fprintf(stderr, "Error. Give full path to the MEX file as input parameter.\n");
return -1;
}
void *handle = dlopen(argv[1], RTLD_NOW);
if(!handle){
fprintf(stderr, "Error loading MEX file: %s\n", strerror(errno));
return -1;
}
/* grab mexFunction handle */
mexFunction_t mexfunction = (mexFunction_t)dlsym(handle, "mexFunction");
if(!mexfunction){
fprintf(stderr, "MEX file does not contain mexFunction\n");
return -1;
}
/* load input data - for convenience do that using MATLAB engine */
/* NOTE: parameters are MEX-file specific, so one has to modify this*/
/* to fit particular needs */
engEvalString(ep, "load input.mat");
mxArray *arg1 = engGetVariable(ep, "im1");
mxArray *arg2 = engGetVariable(ep, "im2");
mxArray *arg3 = engGetVariable(ep, "szx");
mxArray *arg4 = engGetVariable(ep, "szy");
mxArray *arg5 = engGetVariable(ep, "ngh");
mxArray *pargout[1] = {0};
const mxArray *pargin[5] = {arg1, arg2,arg3, arg4,arg5};
/* execute the mex function */
mexfunction(1, pargout, 5, pargin);
/* print the results using MATLAB engine */
engPutVariable(ep, "result", pargout[0]);
engEvalString(ep, "result");
printf("%s\n", buff);
/* cleanup */
mxDestroyArray(pargout[0]);
engEvalString(ep, "clear all;");
dlclose(handle);
engClose(ep);
return 0;
}
~MatLabEngine( void ) {
engClose( _ep );
_ep = 0;
if ( _matLabLogFileStreamPtr ) {
_matLabLogFileStreamPtr->close();
delete _matLabLogFileStreamPtr;
_matLabLogFileStreamPtr = 0;
}
}
static int
p_closematlab(void)
{
Engine *eng = Meng;
Meng = NULL;
if (Meng)
return engClose(eng);
else
return FALSE;
}
PyObject * mlabraw_close(PyObject *, PyObject *args)
{
PyObject *lHandle;
if (! PyArg_ParseTuple(args, "O:close", &lHandle)) return NULL;
if (engClose((Engine *)PyCObject_AsVoidPtr(lHandle)) != 0) {
PyErr_SetString(mlabraw_error, "Unable to close session");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
EXPORT bool glx_term(glxlink* mod)
{
// close matlab engine
MATLABLINK *matlab = (MATLABLINK*)mod->get_data();
if ( matlab && matlab->engine )
{
if ( matlab->term )
{
mxArray *ans = matlab_exec(matlab,"%s",matlab->term);
if ( ans && mxIsDouble(ans) && (bool)*mxGetPr(ans)==false )
{
gl_error("matlab term failed");
return false;
}
else if ( ans && mxIsChar(ans) )
{
int buflen = (mxGetM(ans) * mxGetN(ans)) + 1;
char *string =(char*)malloc(buflen);
int status_error = mxGetString(ans, string, buflen);
if (status_error == 0)
{
gl_error("'%s'",string);
engClose(matlab->engine)==0;
return false;
}
else
{
gl_error("Did not catch Matlab error");
engClose(matlab->engine)==0;
return false;
}
}
}
if ( window_kill(matlab) ) engClose(matlab->engine)==0;
}
return true;
}
int main(){
Engine *ep;
mxArray *mX = NULL, *mY = NULL;
const size_t N = 1024;
if (!(ep = engOpen(NULL))) {
fprintf(stderr, "\nCan't start MATLAB engine\n");
return EXIT_FAILURE;
}
mX = mxCreateDoubleMatrix(1, N, mxREAL);
mY = mxCreateDoubleMatrix(1, N, mxREAL);
double *x = (double *)mxGetPr(mX);
double *y = (double *)mxGetPr(mY);
for (size_t i=0; i<N; ++i){
x[i] = 2.0*M_PI*i/N;
y[i] = sin(x[i]);
}
engPutVariable(ep, "x", mX);
engPutVariable(ep, "y", mY);
engEvalString(ep, "h = figure;");
engEvalString(ep, "plot(x, y); hold on;");
engEvalString(ep, "plot([0 0],ylim,'k'); plot(xlim,[0 0],'k');");
engEvalString(ep, "title('y = sin(x)');");
engEvalString(ep, "xlabel('x');");
engEvalString(ep, "ylabel('y');");
engEvalString(ep, "grid on; grid minor; box off;");
engEvalString(ep, "print(h,'-dpng','sin.png');");
engEvalString(ep, "close all;");
mxDestroyArray(mX);
mxDestroyArray(mY);
printf("Ok. Press ENTER to exit\n");
getchar();
engClose(ep);
return EXIT_SUCCESS;
}
void engclose(void)
{
bool SUCCESS = true; //success flag
if (NULL == Eng) //if closed
{
msg("eng::noMLB"); //message MATLAB closed
SUCCESS = false;
}
else
{
engClose(Eng);
Eng = NULL;
}
if(SUCCESS)
MLPutSymbol(stdlink, "Null");
else
MLPutSymbol(stdlink, "$Failed");
}
int
main (int argc, char** argv)
{
ros::init (argc, argv, "al_viz_objects_features");
nh_ = new ros::NodeHandle ("~");
sub_entities_ = nh_->subscribe ("/perception/entities", 1, &entitiesCallback);
srv_cl_get_entities_visual_features_
= nh_->serviceClient<al_srvs::GetEntitiesVisualFeatures> ("/get_entities_visual_features", true);
srv_cl_get_entities_visual_features_.waitForExistence ();
srv_cl_get_entities_visual_features_
= nh_->serviceClient<al_srvs::GetEntitiesVisualFeatures> ("/get_entities_visual_features", true);
ep_ = engOpen ("matlab -nodesktop -nosplash -nojvm");
if (ep_ == NULL)
ROS_ERROR("Constructor: engOpen failed");
else
ROS_DEBUG(" Matlab engine is working!");
//in any case surface normals should be calculated
pcl::PointCloud<pcl::Normal>::Ptr pointcloud_normals (new pcl::PointCloud<pcl::Normal>);
pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr tree (new pcl::KdTreeFLANN<pcl::PointXYZ> ());
ne_.setSearchMethod (tree);
ne_.setViewPoint (0, 0, 1.2);//this could be done more informed by getting this information from a topic
ros::Rate r (30);//objects can be refreshed at most @30hz
while (nh_->ok ())
{
if (msg_entities_rcvd_)
{
msg_entities_rcvd_ = false;
vizFeatures ();
}
ros::spinOnce ();
r.sleep ();
}
engClose (ep_);
return 0;
}
int main()
{
Welcome_LSI();
if (Initialize_LSI())
{
printf("Initialization Completed\n\n");
}
else
{
printf("Initialization Failed\n");
return 0;
}
// for (int i = 0; i <= 10 ; ++i) rvsyn[i] = 100*i+77;
// Show_Synonym_LSI();
// Show_Word_LSI(777);
Work_LSI();
printf("Thanks for your searching! See you next time!\n");
fclose(inword);
fclose(inpoems);
engClose(ep);
return 0;
}
int main() {
Engine* engine;
printf("Opening matlab engine...\n");
if (!(engine = engOpen("\0"))) {
fprintf(stderr, "Could not start MATLAB engine!\n");
return EXIT_FAILURE;
}
// mxArray *T = NULL, *result = NULL;
// double time[10] = { 0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0 };
// T = mxCreateDoubleMatrix(1, 10, mxREAL);
// memcpy((void *)mxGetPr(T), (void *)time, sizeof(time));
// engPutVariable(ep, "T", T);
// engEvalString(ep, "D = .5.*(-9.8).*T.^2;");
// engEvalString(ep, "plot(T,D);");
// mxDestroyArray(result);
engClose(engine);
printf("Done!\n");
return EXIT_SUCCESS;
}
//#define BUFSIZE 1000
void AAM_Train::getMeanShape()
{
double threshold=0.002;
//transplate all the shapes to its gradivity
for (int i=0;i<shapeNum;i++)
{
shape[i]->centerPts(2);
}
//normalize shape[0],save as ref
int refInd=4;
//namedWindow("1");
//imshow("1",cvarrToMat(shape[refInd]->hostImage));
//waitKey();
//shape[refInd]->normalize(1);
//if we want to control the complexity, do it here
double *refshape=new double[shape[refInd]->ptsNum*2];
for (int i=0;i<shape[refInd]->ptsNum*2;i++)
{
refshape[i]=shape[refInd]->ptsForMatlab[i]*1.0;
}
shape_scale=normalize(refshape,shape[refInd]->ptsNum);
//align the shape
int width=shape[refInd]->ptsNum;
int height=2;
int arraysize=width*2*sizeof(double);
mxArray *referShape = NULL,*curMatMean=NULL,*newMatMean=NULL, *inputShape=NULL,*result = NULL;
if (!(ep = engOpen("\0"))) {
fprintf(stderr, "\nCan't start MATLAB engine\n");
return;
}
referShape=mxCreateDoubleMatrix(width,height,mxREAL);
curMatMean=mxCreateDoubleMatrix(width,height,mxREAL);
newMatMean=mxCreateDoubleMatrix(width,height,mxREAL);
inputShape=mxCreateDoubleMatrix(width,height,mxREAL);
result=mxCreateDoubleMatrix(width,height,mxREAL);
double *currentMean=new double[width*2];
double *newMean=new double[width*2];
//set the default refer shape
memcpy((void *)mxGetPr(referShape), (void *)refshape, arraysize);
//initialize currentMean to the refer shape
for (int i=0;i<width*2;i++)
{
currentMean[i]=refshape[i];
}
ofstream out3("F:/imgdata/AAM training data/train/refshape.txt",ios::out);
//for (int i=0;i<shapeNum;i++)
{
for(int j=0;j<width;j++)
{
out3<<refshape[j]<<" "<<refshape[width+j]<<endl;
}
}
out3.close();
//char buffer[BUFSIZE+1];
engPutVariable(ep, "referShape", referShape);
engPutVariable(ep, "result", result);
// engEvalString(ep,"save('F:/imgdata/AAM training data/train/refershape.mat','referShape');");
// engPutVariable(ep, "result", newMatMean);
while(1)
{
//set current mean
memcpy((void *)mxGetPr(curMatMean), (void *)currentMean, arraysize);
engPutVariable(ep, "curMatMean", curMatMean);
//allign all the shapes
for (int i=0;i<shapeNum;i++)
{
memcpy((void *)mxGetPr(inputShape), (void *)shape[i]->ptsForMatlab, arraysize);
engPutVariable(ep, "inputShape", inputShape);
engEvalString(ep, "[m,result]=procrustes(curMatMean,inputShape);");
result = engGetVariable(ep,"result");
// delete []shape[i]->ptsForMatlab;
shape[i]->ptsForMatlab=mxGetPr(result);
engEvalString(ep,"save('F:/imgdata/AAM training data/train/result.mat','result','curMatMean','inputShape');");
//shape[i]->scale(shape[i]->scaleParameter,1);//reconver the scale
}
//caculate newMean and allign it to ref and normalize
for (int i=0;i<width*2;i++)
{
newMean[i]=0;
}
for (int i=0;i<width*2;i++)
{
for (int j=0;j<shapeNum;j++)
{
newMean[i]+=shape[j]->ptsForMatlab[i];
}
newMean[i]/=shapeNum;
}
memcpy((void *)mxGetPr(newMatMean), (void *)newMean, arraysize);
engPutVariable(ep, "newMatMean", newMatMean);
engEvalString(ep, "[m,result]=procrustes(referShape,newMatMean);");
//engEvalString(ep,"save('F:/imgdata/AAM training data/train/result.mat','result','referShape','newMatMean');");
//delete []newMean;
newMean=mxGetPr( engGetVariable(ep,"result"));
//normalize newMean
normalize(newMean,width);
ofstream out1("F:/imgdata/AAM training data/train/meanshape_ori.txt",ios::out);
//for (int i=0;i<shapeNum;i++)
{
for(int j=0;j<width;j++)
{
out1<<newMean[j]<<" "<<newMean[width+j]<<endl;
}
}
out1.close();
//caculate the diff of means, if smaller than threshold, stop
double differ=0,n2_newmean=0;
for (int i=0;i<width;i++)
{
differ+=sqrt((newMean[i]-refshape[i])*(newMean[i]-refshape[i])+
(newMean[width+i]-refshape[width+i])*(newMean[width+i]-refshape[width+i]));
// n2_newmean+=sqrt(newMean[i]*newMean[i]+newMean[width+i]*newMean[width+i]);
}
cout<<"current difference: "<<differ/shape_scale<<endl;
if (differ/shape_scale<threshold)
{
//ofstream out("meanshape.txt",ios::out);
//for (int i=0;i<meanShape->ptsNum;i++)
//{
// out<<meanShape->pts[i][0]<<" "<<meanShape->pts[i][1]<<endl;
//}
//out.close();
//save the new mean
meanShape->getVertex(newMean,width,1,1);
meanShape->scale(shape_scale,1);
break;
}
//oldmean=newmean
for (int i=0;i<width*2;i++)
{
currentMean[i]=newMean[i];
}
}
//rescale all the shapes
engClose(ep);
//for (int i=0;i<shapeNum;i++)
//{
// shape[i]->scale(scaleParameter,2);//scale to normal size,only for traning data
//}
//tangent space if needed
ofstream out("F:/imgdata/AAM training data/train/allignedshape.txt",ios::out);
for (int i=0;i<shapeNum;i++)
{
for(int j=0;j<width;j++)
{
out<<shape[i]->ptsForMatlab[j]<<" "<<shape[i]->ptsForMatlab[width+j]<<endl;
}
}
out.close();
ofstream out1("F:/imgdata/AAM training data/train/meanshape.txt",ios::out);
//for (int i=0;i<shapeNum;i++)
{
for(int j=0;j<width;j++)
{
out1<<meanShape->ptsForMatlab[j]<<" "<<meanShape->ptsForMatlab[width+j]<<endl;
}
}
out1.close();
//delete []currentMean;
//delete []newMean;
//delete []refshape;
}
static int
server(char **argv, char *pname[2], int p[2])
{
Engine *ep;
FILE *f;
char buf[4096], buf1[4096], *msg, *s, *t;
int rc;
#if 0/*def SERVER_DEBUG*/
printf("Server got\tpname[0] = \"%s\"\nand\t\tpname[1] = \"%s\"\n",
pname[0], pname[1]);
if (*argv) {
int i;
printf("Args for MATLAB to interpret:\n");
for(i = 0; argv[i]; i++)
printf("\t\"%s\"\n", argv[i]);
}
#endif
if (exists(pname[0], 1) || exists(pname[1], 1))
return 1;
if (mkfifo(pname[0], 0600))
return mkfifo_fail(pname[0]);
if (mkfifo(pname[1], 0600)) {
unlink(pname[0]);
return mkfifo_fail(pname[1]);
}
s = *argv;
//if(s){ printf("%s\n",s); fflush(stdout);}
ep = engOpen(s ? s : "matlab -logfile engine.log");
if (!ep) {
Squawk("could not start MATLAB\n");
return 1;
}
/*DEBUG*/engOutputBuffer(ep, mbuf, sizeof(mbuf)-1);
if (s)
while(s = *++argv)
engEvalString(ep, s);
if (p[1] >= 0) {
close(p[0]);
write(p[1], "OK\n", 3);
close(p[1]);
}
rc = 1;
for(;;) {
f = fopen(pname[0], "r");
if (!f)
break;
s = fgets(buf, sizeof(buf), f);
if (!s) {
fclose(f);
break;
}
trim(s);
if (!*s) {
Squawk("server: empty parameters_file name\n");\
bailout:
fclose(f);
break;
}
if (!strcmp(s,"quit")) {
rc = 0;
goto bailout;
}
t = fgets(buf1, sizeof(buf1), f);
fclose(f);
if (!t) {
Squawk("server expected 2 lines from \"%s\"; only got 1.\n",
pname[0]);
break;
}
trim(t);
msg = process(ep, s, t) ? "evaluation error" : "results_file written";
f = fopen(pname[1],"w");
if (!f) {
Squawk("Could not open pipe2 file \"%s\"\n", pname[1]);
break;
}
fprintf(f, "%s\n", msg);
fclose(f);
}
engClose(ep);
unlink(pname[0]);
unlink(pname[1]);
return rc;
}
int main()
{
Engine *ep;
mxArray *T = NULL, *result = NULL;
char buffer[BUFSIZE+1];
// double time[10] = { 0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0 };
double time[6] = {
1.2, 0.4,
2.1, 0.8,
1.9, 0.1,
};
/*
* Call engOpen with a NULL string. This starts a MATLAB process
* on the current host using the command "matlab".
*/
if (!(ep = engOpen(""))) {
fprintf(stderr, "\nCan't start MATLAB engine\n");
return EXIT_FAILURE;
}
/*
* PART I
*
* For the first half of this demonstration, we will send data
* to MATLAB, analyze the data, and plot the result.
*/
/*
* Create a variable for our data
*/
// T = mxCreateDoubleMatrix(3, 2, mxREAL);
// memcpy((void *)mxGetPr(T), (void *)time, sizeof(time));
// /*
// * Place the variable T into the MATLAB workspace
// */
// engPutVariable(ep, "T", T);
std::string data_path = "X.csv";
std::string cmd = std::string("X = csvread('" + data_path + "');");
engEvalString(ep,cmd.c_str());
// engEvalString(ep, "X = csvread('X.csv');");
engEvalString(ep, "X = X(:,1:end-1);");
// /*
// * Evaluate a function of time, distance = (1/2)g.*t.^2
// * (g is the acceleration due to gravity)
// */
// engEvalString(ep, "D = .5.*(-9.8).*T.^2;");
// /*
// * Plot the result
// */
// engEvalString(ep, "plot(T,D);");
// engEvalString(ep, "title('Position vs. Time for a falling object');");
// engEvalString(ep, "xlabel('Time (seconds)');");
// engEvalString(ep, "ylabel('Position (meters)');");
engEvalString(ep, "[~,newX] = princomp(X);");
// engEvalString(ep, "newT = T';");
engEvalString(ep, "csvwrite('newX.csv',newX);");
// /*
// * use fgetc() to make sure that we pause long enough to be
// * able to see the plot
// */
// printf("Hit return to continue\n\n");
// fgetc(stdin);
/*
* We're done for Part I! Free memory, close MATLAB figure.
*/
printf("Done for Part I.\n");
mxDestroyArray(T);
engEvalString(ep, "close;");
/*
* We're done! Free memory, close MATLAB engine and exit.
*/
printf("Done!\n");
engClose(ep);
return EXIT_SUCCESS;
}
TMatlab::~TMatlab(){
#ifdef HAVE_MATLAB
if (fEngine) engClose((Engine*)fEngine);
if (fOutputBuffer) delete [] fOutputBuffer;
#endif
}
void MainWindow::RunAdamsSim()
{
ButtonAdamsSim->setStyleSheet("QPushButton {border-radius: 2px;padding: 0.2em 0.2em 0.3em 0.2em;border: 1px solid rgb(100, 100,100);background: QLinearGradient( x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #34f32d, stop: 1 #000000);color: white;}");
std::ostringstream ossStringLHip, ossStringRHip, ossStringLKnee, ossStringRKnee, ossStringTimeLeft, ossStringTimeRight,
ossPeriod, ossCycles, ossDelay;
vector <double> vTimeLeftLeg, vTimeRightLeg;
vector <double> vHipR, vHipL, vKneeR, vKneeL;
ossPeriod <<"period="<<lineEditPeriod->text().toStdString();
ossCycles <<"cycles="<<lineEditCycles->text().toStdString();
ossDelay <<"delay="<<lineEditDelay->text().toStdString();
// Getting Time Values
//GetTimeValues(vTimeValues);
pHipRight->GetSamples(vTimeRightLeg);
pHipLeft->GetSamples(vTimeLeftLeg);
GetRobotObjectSampledValues(pHipLeft, vHipL);
GetRobotObjectSampledValues(pHipRight, vHipR);
GetRobotObjectSampledValues(pKneeLeft, vKneeL);
GetRobotObjectSampledValues(pKneeRight, vKneeR);
//pHipLeft->ExportMarkers(vTimeValues, vHipL);
pHipLeft->GetValues(vTimeLeftLeg, vHipL);
pHipRight->GetValues(vTimeRightLeg, vHipR);
pKneeLeft->GetValues(vTimeLeftLeg, vKneeL);
pKneeRight->GetValues(vTimeRightLeg, vKneeR);
// Making string for left hip
ossStringLHip << "vHipL=[";
std::copy(vHipL.begin(), vHipL.end()-1, std::ostream_iterator <double>(ossStringLHip, " "));
ossStringLHip << vHipL.back();
ossStringLHip << "];";
std::cout<<ossStringLHip.str()<<std::endl;
// Making string for left hip
ossStringRHip << "vHipR=[";
std::copy(vHipR.begin(), vHipR.end()-1, std::ostream_iterator <double>(ossStringRHip, " "));
ossStringRHip << vHipR.back();
ossStringRHip << "];";
// Making string for left knee
ossStringLKnee << "vKneeL=[";
std::copy(vKneeL.begin(), vKneeL.end()-1, std::ostream_iterator <double>(ossStringLKnee, " "));
ossStringLKnee << vKneeL.back();
ossStringLKnee << "];";
// Making string for right knee
ossStringRKnee << "vKneeR=[";
std::copy(vKneeR.begin(), vKneeR.end()-1, std::ostream_iterator <double>(ossStringRKnee, " "));
ossStringRKnee << vKneeR.back();
ossStringRKnee << "];";
// Making string for time values for Left Leg
ossStringTimeLeft << "vTimeL=[";
std::copy(vTimeLeftLeg.begin(), vTimeLeftLeg.end()-1, std::ostream_iterator <double>(ossStringTimeLeft, " "));
ossStringTimeLeft << vTimeLeftLeg.back();
ossStringTimeLeft << "];";
std::cout<<ossStringTimeLeft.str()<<std::endl;
// Making string for time values for Right Leg
ossStringTimeRight << "vTimeR=[";
std::copy(vTimeRightLeg.begin(), vTimeRightLeg.end()-1, std::ostream_iterator <double>(ossStringTimeRight, " "));
ossStringTimeRight << vTimeRightLeg.back();
ossStringTimeRight << "];";
std::cout<<ossStringTimeRight.str()<<std::endl;
Engine* m_matlabEngine;
// Opening Matlab Engine
m_matlabEngine=engOpen("\0");
// Clearing
engEvalString(m_matlabEngine, "clear;");
engEvalString(m_matlabEngine, ossStringLHip.str().c_str());
engEvalString(m_matlabEngine, ossStringTimeLeft.str().c_str());
engEvalString(m_matlabEngine, ossStringTimeRight.str().c_str());
engEvalString(m_matlabEngine, ossStringRHip.str().c_str());
engEvalString(m_matlabEngine, ossStringRKnee.str().c_str());
engEvalString(m_matlabEngine, ossStringLKnee.str().c_str());
engEvalString(m_matlabEngine, ossPeriod.str().c_str());
engEvalString(m_matlabEngine, ossCycles.str().c_str());
engEvalString(m_matlabEngine, ossDelay.str().c_str());
QString runEval(QString("run('%1');").arg("C:/Users/Zahid/GUI/RobotSim2/test_final_m2.m"));
engEvalString(m_matlabEngine, "cd('C:/Users/Zahid/GUI/RobotSim2');");
//engEvalString(m_matlabEngine, "Controls_Plant_2705_1");
//engEvalString(m_matlabEngine, "open('test_final_model');");
//engEvalString(m_matlabEngine, "sim('test_final_model');");
engEvalString(m_matlabEngine, runEval.toUtf8().constData());
engClose(m_matlabEngine);
ButtonAdamsSim->setStyleSheet("QPushButton {border-radius: 2px;padding: 0.2em 0.2em 0.3em 0.2em;border: 1px solid rgb(100, 100,100);background: QLinearGradient( x1: 0, y1: 0.02, x2: 0, y2: 1.2, stop: 0 #220, stop: 1 #ffffff);color: white;}");
}
void Uav::unInitializeMatlabEngine()
{
engClose(matlabEngine);
matlabEngine = nullptr;
}
int main(int argc, char* argv[]) {
cout<<"beta ="<<beta<<endl;
if (argc < 6) {
cout
<< "invalid format: <tasksets><hyperperiod length><computation utilization><interval> <seed>"
<< endl;
exit(1);
}
#if(MATLAB_ENABLE)
ep =engOpen(NULL);
if(ep==0)
{
cout<<"connection with matlab engine failed"<<endl;
}
#endif
#if (RT_ENABLE)
struct sched_param param;
signal(SIGINT, int_handler);
freq_set(CORE,"performance");
cpu_set_t mask;
CPU_ZERO(&mask);
CPU_SET(1,&mask);
cout<<"setting affinity to processor "<<CORE<<endl;
if(sched_setaffinity(0,CPU_COUNT(&mask),&mask)==-1)
{
perror("sched_setscheduler failed");
exit(-1);
}
param.sched_priority = MY_PRIORITY; //priority for the scheduler
if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) { //scheduler has cooporative scheduling
perror("sched_setscheduler failed");
exit(-1);
}
//lock memory
if(mlockall(MCL_CURRENT | MCL_FUTURE)==-1)
{
perror("mlockall failed");
exit(-2);
}
stack_prefault();
#endif
corrected_threshold = corrected_temperature(THRESHOLD);
cout<<"beta "<<beta<<" corrected threshold "<<corrected_threshold<<endl;
// exit(1);
int iter = atoi(argv[1]);
int hyperperiod = atoi(argv[2]);
int comp_util = atoi(argv[3]);
int sched_interval=atoi(argv[4]);
seed = atoi(argv[5]);
string task_file;
if (argc == 7) {
task_file = argv[6];
}
srand(seed);
vector<task> tasks;
vector<schedule> edf;
vector<task> scaled_tasks;
vector<double> speeds;
vector<schedule> edf2;
vector<task> discrete_scaled;
vector<schedule> edf3;
vector<schedule> edl2;
vector<schedule> i_schedule;
vector<schedule> opt;
vector<schedule> opt_exact;
vector<float> possible_speeds;
vector<double> h_speed;
vector<double> s_speed;
vector<double> m_speed;
vector<double> i_speed;
vector<double> i_speed_temp;
vector<slack> slacks;
vector<schedule> edl;
vector<task> scaled_max_first;
vector<task> scaled_static;
vector<task> scaled_matlab;
vector<schedule> edf_max_first;
vector<schedule> edf_static;
vector<schedule> edf_matlab;
for (int z = 0; z < iter; z++) {
thermal_optimal = 0;
// generate_tasksets(&tasks,1,hyperperiod,50,100);
if (argc == 6) {
// generate_tasksets(&tasks, 1, hyperperiod, comp_util, comp_util);
} else {
read_tasksets(&tasks, task_file);
}
int_pointer=&tasks;
#if(OPT_ENABLE)
call_gams();
store_opt(&tasks);
#endif
double t_util;
// edf_schedule(&tasks, &edf);
// consolidate_schedule(&edf, &tasks);
thermal_optimal = 1;
// compute_profile(&edf, &tasks, t_util);
// edl_schedule2(&edl2, &edf);
// consolidate_schedule(&edl2, &tasks);
// populate_slacks(&slacks, &edf);
// edl_schedule(&edl, &edf, &tasks, &slacks);
// consolidate_schedule(&edl, &tasks);
#if(INST_ENABLE)
cout<<"entering optimize instances"<<endl;
vector<int>slack;
optimize_instances(&i_speed,&tasks,&i_schedule,&edl, &edl2,MIN_SPEED,MAX_SPEED,&i_speed_temp,&slack);
cout<<"exiting optimize instances"<<endl;
cout<<"printing optimal schedule"<<endl;
for(unsigned int i=0;i<i_schedule.size();i++)
{
cout<<"task "<<i_schedule[i].task_id<<" start "<<i_schedule[i].start<<" end "<<i_schedule[i].end
<<" speed "<<i_speed[i]<<" power "<<tasks[i_schedule[i].task_id].power*pow(i_speed[i],3.0)<<
" slack "<<slack[i]<<" deadline "<<(i_schedule[i].start/tasks[i_schedule[i].task_id].period+1)*tasks[i_schedule[i].task_id].period<<endl;
}
verify(&i_schedule,&tasks,&i_speed);
#endif
#if(SLACK_ENABLE)
verify(&edl, &tasks);
opt_schedule_exact(&opt_exact, &tasks);
opt_schedule(&opt, &tasks, &edl);
#endif
#if(MAX_ENABLE)
vector<float_task>ft;
vector<long_task>ltasks;
vector<long_schedule>lschedule;
vector<long_schedule>lschedule2;
vector<long_schedule>lschedule3;
vector<float_schedule>wsch;
vector<float_schedule>wsch2;
vector<float_schedule>wsch3;
vector<float_schedule>fedf;
vector<schedule>o_sch;
vector<interval_s>intervals;
// cout<<"generating task set "<<endl;
float thermal_util=0.98;
float computation_util=1.0;
int num_tasks=rand() % (11) + 10;
// generate_taskset(&ft, 1000, num_tasks,computation_util, thermal_util);
// w2fq_task_convert(<asks, &ft);
// generate_intervals_gps(&intervals, <asks);/
// w2fq_schedule(&lschedule, <asks,&intervals,0);
// edf_schedule(&ft,&fedf);
// w2fq_schedule_convert(&wsch, &lschedule);
//cout<<" printing float schedule "<<endl;
// compute_profile(&wsch, &ft, 1);
// compute_profile(&fedf, &ft, 4);
// instance_override(&ft);
// dynamic_instance_schedule(&lschedule2, <asks,&intervals,1);
// w2fq_schedule_convert(&wsch2, &lschedule2);
// compute_profile(&wsch2, &ft, 2);
// dynamic_instance_schedule(&lschedule3, <asks,&intervals,2);
// w2fq_schedule_convert(&wsch3, &lschedule3);
// compute_profile(&wsch3, &ft, 3);
ft.clear();
ltasks.clear();
lschedule.clear();
fedf.clear();
wsch.clear();
float power;
power=rand()/(float)RAND_MAX*20.00;
power=power+18.00;
cout<<power<<endl;
float comp_util=1.5;//0.6;
ofstream taskfile("taskset_file");
int ** matrix;
matrix = new int *[20];
for(unsigned int i=0;i<20;i++)
{
matrix[i] =new int[20];
}
resource_matrix(matrix,20,0.5);
stringstream command;
generate_taskset_multi(&ft, 100, 15,2.0);
gams_include(&ft, matrix);
ofstream tasksetfile("taskset");
for(unsigned int i=0;i<ft.size();i++)
{
tasksetfile<<"task"<<i<<"\t"<<ft[i].computation_time<<"\t"<<ft[i].period<<"\t"<<ft[i].power<<endl;
}
tasksetfile.close();
vector<instance>inst;
vector<interval>speed_intervals;
vector<long_schedule>lsch;
generate_intervals_multi(&speed_intervals, "instanceassign_speed.put");
for(unsigned int i=0;i<speed_intervals.size();i++)
{
cout<<"start "<<speed_intervals[i].start<<" end "<<speed_intervals[i].end<<endl;
for(unsigned int j=0;j<speed_intervals[i].get_size();j++)
{
cout<<"task "<<speed_intervals[i].exec[j].task<<"|"<<speed_intervals[i].exec[j].exec<<"|"<<speed_intervals[i].exec[j].core<<endl;
}
}
//exit(1);
instance_override_speed(&ft, &inst);
w2fq_task_convert(<asks, &ft);
dynamic_instance_schedule_speed(&lsch, <asks, &speed_intervals, &inst,0);
// vector<long_schedule>lsch2;
// dynamic_instance_schedule_speed(&lsch2, <asks, &speed_intervals, &inst,0);
float scaled_power[CORE];
double avg_power;
generate_power_trace(&lsch, "power_profile_scaled", hyperperiod, scaled_power);
multi_simulate("power_profile_scaled", "multi.flp",0,avg_power);
// dynamic_instance_schedule
exit(1);
float comps[CORE];
for(unsigned int i=0;i<speed_intervals.size();i++)
{
for(unsigned int j=0;j<CORE;j++)
{
comps[j]=0;
}
for(unsigned int j=0;j<speed_intervals[i].get_size();j++)
{
comps[speed_intervals[i].exec[j].core]=comps[speed_intervals[i].exec[j].core]+
speed_intervals[i].exec[j].exec;
}
cout<<speed_intervals[i].start<<"|"<<speed_intervals[i].end<<"|"<<comps[0]<<"|"<<comps[1]<<"|"<<comps[2]<<endl;
}
exit(1);
float bins[BIN_LENGTH]={0.5,0.6,0.7,0.8,0.9,1.0,1.1};
int bin_count[BIN_LENGTH]={0,0,0,0,0,0,0};
int task_num=0;
bool tutil_incomplete=true;
while(comp_util<3.0)//1.0)
{
cout<<"generating for computil"<<comp_util<<endl;
tutil_incomplete=true;
for(unsigned int b=0;b<BIN_LENGTH;b++)
{
bin_count[b]=0;
}
while(tutil_incomplete)
{
//cout<<" task num "<<task_num<<endl;
//generate_taskset(&ft, 100, 10, comp_util);
generate_taskset_multi(&ft, 100, 15,comp_util);
float avg_power=0.00;
float real_cutil=0.00;
for(unsigned int i=0;i<ft.size();i++)
{
avg_power=avg_power+ft[i].computation_time/ft[i].period*ft[i].power;
real_cutil=real_cutil+ft[i].computation_time/ft[i].period;
}
float tutil=avg_power/(beta*corrected_threshold);//UTIL_POWER;
bool accept=false;
for(unsigned int b=0;b<BIN_LENGTH;b++)
{
if(tutil> bins[b] && tutil<(bins[b]+0.1) && bin_count[b]<10)
{
accept=true;
bin_count[b]=bin_count[b]+1;
}
}
if(accept)
{
/*if(tutil<0.6 && comp_util>0.75)
{
ofstream tasksetfile("taskset");
for(unsigned int i=0;i<ft.size();i++)
{
tasksetfile<<"task"<<i<<"\t"<<ft[i].computation_time<<"\t"<<ft[i].period<<"\t"<<ft[i].power<<endl;
}
taskfile<<real_cutil<<"\t"<<tutil<<endl;
//w2fq_task_convert(<asks, &ft);
//generate_intervals_gps(&intervals, <asks);
//w2fq_schedule(&lschedule, <asks,&intervals,0);
//edf_schedule(&ft,&fedf);
//w2fq_schedule_convert(&wsch, &lschedule);
//cout<<" printing float schedule "<<endl;
//compute_profile(&wsch, &ft, 1);
//compute_profile(&fedf, &ft, 4);
//command<<"mkdir results_uni/"<<task_num<<";";
//command<<"cp profile_float results_uni/"<<task_num<<"/.;";
//command<<"cp profile_default results_uni/"<<task_num<<"/.;";
//command<<"cp taskset results_uni/"<<task_num<<"/.";
//system(command.str().c_str());
//command.str("");
tasksetfile.close();
//exit(1);
}*/
//cout<<"checkpoint 1 "<<endl;
gams_include(&ft, matrix);
//cout<<"checkpoint 2 "<<endl;
system("cd gams_files; ~rehan/gams/gams lower_bound.gms");
system("cd gams_files; ~rehan/gams/gams task_assign.gms");
command<<"mkdir results/"<<task_num<<";";
command<<"cp gams_files/results.put results/"<<task_num<<"/.;";
command<<"cp gams_files/taskassign.put results/"<<task_num<<"/.;";
command<<"cp gams_files/taskassign_assign.put results/"<<task_num<<"/.;";
command<<"cp gams_files/task_assign.lst results/"<<task_num<<"/.;";
command<<"cp gams_files/lower_bound.lst results/"<<task_num<<"/.;";
command<<"cp gams_files/taskset.put results/"<<task_num<<"/.";
system(command.str().c_str());
command.str("");
//cin.get();
//exit(1);
task_num=task_num+1;
tutil_incomplete=false;
for(unsigned int b=0;b<BIN_LENGTH;b++)
{
if(bin_count[b]<10)
{
tutil_incomplete=true;
}
}
//exit(1);
}
intervals.clear();
lschedule.clear();
ltasks.clear();
fedf.clear();
wsch.clear();
ft.clear();//only ft needs to be cleared for multicore simulation
}
//comp_util=comp_util+0.0025;//0.01;
comp_util=comp_util+0.01;//0.01;
}
exit(1);
/*
int task_num=0;
while(comp_util<3.0)
{
for(unsigned int m=0;m<10;m++)
{
generate_taskset_multi(&ft, 100, 15,comp_util);
float avg_power=0.00;
float real_cutil=0.00;
for(unsigned int i=0;i<ft.size();i++)
{
avg_power=avg_power+ft[i].computation_time/ft[i].period*ft[i].power;
real_cutil=real_cutil+ft[i].computation_time/ft[i].period;
}
float tutil=avg_power/UTIL_POWER;
if(tutil>0.5 && tutil<1.2)
{
taskfile<<real_cutil<<"\t"<<tutil<<endl;
cout<<"checkpoint 1 "<<endl;
gams_include(&ft, matrix);
cout<<"checkpoint 2 "<<endl;
system("cd gams_files; ~rehan/gams/gams lower_bound.gms");
system("cd gams_files; ~rehan/gams/gams task_assign.gms");
command<<"mkdir results/"<<task_num<<";";
command<<"cp gams_files/results.put results/"<<atoi(argv[5])<<"/.;";
command<<"cp gams_files/taskassign.put results/"<<atoi(argv[5])<<"/.;";
command<<"cp gams_files/taskassign_assign.put results/"<<atoi(argv[5])<<"/.;";
command<<"cp gams_files/task_assign.lst results/"<<atoi(argv[5])<<"/.;";
command<<"cp gams_files/lower_bound.lst results/"<<atoi(argv[5])<<"/.;";
command<<"cp gams_files/taskset.put results/"<<atoi(argv[5])<<"/.";
system(command.str().c_str());
command.str("");
task_num=task_num+1;
}
ft.clear();
}
comp_util=comp_util+0.001;
}
/*
exit(1);
// generate_taskset_multi(&ft, 100, 8,2.5, power);
//read_taskset_multi(&ft, "gams_folder/taskset.put");
float cutil=0;
float tutil=0;
for(unsigned int i=0;i<ft.size();i++)
{
cout<<"task "<<i<<" computation time "<<ft[i].computation_time<<" period "
<<ft[i].period<<" power "<<ft[i].power<<" comp util "<<ft[i].computation_time/ft[i].period
<<" thermal util "<<ft[i].computation_time*ft[i].power/(ft[i].period*beta*corrected_threshold)<<endl;
cutil=cutil+ft[i].computation_time/ft[i].period;
tutil=tutil+ft[i].computation_time*ft[i].power/(ft[i].period*beta*corrected_threshold);
}
cout<<" computation utilization "<<cutil<<" thermal utilization "<<tutil<<endl;
int int_size=gams_include(&ft, matrix);
populate_beta();
for(unsigned int i=0;i<CORE;i++)
{
for(unsigned int j=0;j<CORE;j++)
{
cout<<beta_multi[i][j]<<"\t";
}
cout<<endl;
}
system("cd gams_files; ~rehan/gams/gams task_assign.gms");//
//system("cd gams_files; ~rehan/gams/gams instance_assign.gms");//
//vector<trace>ttrace;
// read_ttrace("hotspot_files/thermal_profile", &ttrace);
intervals.clear();
vector<mprofile>prof;
generate_intervals_multi(&intervals,"gams_files/taskassign.put", &ft);
vector<long_schedule>multi_sch;
ltasks.clear();
w2fq_task_convert(<asks, &ft);
multi_schedule(&multi_sch,&intervals, <asks);
long hyperperiod=compute_lcm(<asks);
float avg_power[CORE];
generate_power_trace(&multi_sch, "power_profile", hyperperiod, avg_power);
generate_power_profile(&prof,&multi_sch, hyperperiod);
cout<<"power profile length "<<prof.size()<<endl;
double average_power;
for(unsigned int i=0;i<ltasks.size();i++)
{
average_power=average_power+(((double)ltasks[i].computation_time)/((double)ltasks[i].period))*ltasks[i].power;
}
//compute_profile_multi(&multi_sch, <asks);
//exit(1);
// multi_simulate("power_profile", "multi.flp",0,average_power);
exit(1);
multi_sch.clear();
intervals.clear();
generate_intervals_multi(&intervals,"gams_files/instanceassign.put", &ft);
multi_schedule(&multi_sch,&intervals, <asks);
generate_power_trace(&multi_sch, "power_profile", hyperperiod, avg_power);
//multi_simulate("power_profile", "multi.flp",1);
// exit(1);
system(command.str().c_str());
for(unsigned int i=0;i<intervals.size();i++)
{
cout<<" start "<<intervals[i].start<<" end "<<intervals[i].end<<endl;
for(unsigned int k=0;k<CORE;k++)
{
cout<<" core"<<k<<": ";
int total=0;
float average_power=0;
for(unsigned int j=0;j<ft.size();j++)
{
cout<<intervals[i].computations[j][k]<<" ";
total=total+intervals[i].computations[j][k];
average_power=average_power+((float)intervals[i].computations[j][k])*ft[j].power/((float)(intervals[i].end-intervals[i].start));
}
assert(total<=(intervals[i].end-intervals[i].start));
cout<<" total "<<total<<" average power "<<average_power<< endl;
}
}
cout<<endl<<endl;
for(unsigned int i=0;i<multi_sch.size();i++)
{
// cout<<"task "<<multi_sch[i].task_id<<" start "<<multi_sch[i].start<<" end "<<multi_sch[i].end<<" core "<<multi_sch[i].core<<endl;
}
//avg_power=(float*)malloc(sizeof(float)*CORE);
cout<<" printing average power"<<endl;
for(unsigned int i=0;i<CORE;i++)
{
cout<<"core"<<i<<" average power "<<avg_power[i]<<endl;
}
total_comps(&multi_sch,<asks,&intervals);
// exit(1);
// void w2fq_schedule(vector<long_schedule>*sch, vector<long_task>*tasks, vector<interval>*intervals, int core)
/* while(computation_util<=1.0)
{
thermal_util=0.99;
while(thermal_util<=1.0)
{
generate_taskset(&ft, 1000, computation_util, thermal_util);
w2fq_task_convert(<asks, &ft);
w2fq_schedule(&lschedule, <asks);
edf_schedule(&ft,&fedf);
w2fq_schedule_convert(&wsch, &lschedule);
//cout<<" printing float schedule "<<endl;
compute_profile(&wsch, &ft, 1);
compute_profile(&fedf, &ft, 2);
ft.clear();
ltasks.clear();
lschedule.clear();
fedf.clear();
wsch.clear();
thermal_util=thermal_util+0.001;
}
computation_util=computation_util+0.01;
}
*/
/*
// t_util=optimize_maxfirst(&h_speed,&tasks,0.75,1.2);
timespec start_time,end_time;
clock_gettime(1,&start_time);
t_util=optimize_maxmin(&h_speed,&tasks,MIN_SPEED,MAX_SPEED);
clock_gettime(1,&end_time);
scale(&scaled_max_first,&tasks,&h_speed);
edf_schedule(&scaled_max_first,&edf_max_first);
thermal_optimal=4;
compute_profile(&edf_max_first, &scaled_max_first,t_util);
float max_first_time=time_diff(&start_time,&end_time);
slacks.clear();
opt.clear();
opt_exact.clear();
edl.clear();
populate_slacks(&slacks, &edf_max_first);
edl_schedule(&edl, &edf_max_first, &scaled_max_first, &slacks);
consolidate_schedule(&edl, &scaled_max_first);
clock_gettime(1,&start_time);
//opt_schedule(&opt, &scaled_max_first, &edl);
clock_gettime(1,&end_time);
// opt_schedule_exact(&opt_exact, &scaled_max_first);
// cout<<" schedule size "<<opt_exact.size()<<endl;
// run_schedule(&opt,&scaled_max_first);
// cout<<"TIME to find the optimal schedule "<<time_diff(&start_time,&end_time)<<"ms"<< " Maxfirst time" << max_first_time<<" Hyperperiod "<<tasksets[0].hyperperiod<<" tasks "<< tasks.size()<<endl;
float max_speeds[tasks.size()];
for(unsigned int i=0;i<tasks.size();i++)
{
max_speeds[i]=((float)tasks[i].computation_time)/((float)scaled_max_first[i].computation_time);
}
vector<schedule>o_sch2;
//run_dynamic(&scaled_max_first,max_speeds);
vector<instance>dyn_inst;
dynamic_instances(&scaled_max_first,max_speeds ,&dyn_inst);
vector<instance>dyn_inst2;
for(unsigned int i=0;i<dyn_inst.size();i++)
{
dyn_inst2.push_back(dyn_inst[i]);
}
double tutil=0;
scheduler(&o_sch,&scaled_max_first,&dyn_inst,max_speeds,sched_interval);
compute_profile_dynamic(&o_sch, &tasks,tutil,"");
scheduler2(&o_sch2,&scaled_max_first,&dyn_inst2, max_speeds, sched_interval);
compute_profile_dynamic(&o_sch2, &tasks,tutil,"window");
/* for(unsigned int i=0;i<o_sch2.size();i++)
{
cout<<"task "<<o_sch2[i].task_id<<" start "<<o_sch2[i].start<<" end "<<o_sch2[i].end<<" speed "<<o_sch2[i].speed<<endl;
}
*/
#endif
#if(STATIC_ENABLE)
t_util=optimize_static(&s_speed,&tasks,MIN_SPEED,MAX_SPEED);
scale(&scaled_static,&tasks,&s_speed);
edf_schedule(&scaled_static,&edf_static);
thermal_optimal=5;
compute_profile(&edf_static, &scaled_static,t_util);
#endif
#if(MATLAB_ENABLE)
t_util=optimize_matlab(&m_speed,&tasks,MIN_SPEED,MAX_SPEED);
scale(&scaled_matlab,&tasks,&m_speed);
edf_schedule(&scaled_matlab,&edf_matlab);
thermal_optimal=6;
compute_profile(&edf_matlab, &scaled_matlab,t_util);
#endif
#if(NOCONS_ENABLE)
speed_scale(&scaled_tasks,&speeds,&tasks,1.0);
edf_schedule(&scaled_tasks,&edf2);
thermal_optimal=7;
compute_profile(&edf2,&scaled_tasks,t_util);
#endif
#if(SPEED_DEBUG)
for(int i=0;i<tasks.size();i++)
{
cout<<"matlab: "<<m_speed[i]<<" max first:"<<h_speed[i]<<" static speed:<<"<<s_speed[i]<<" nocons speed:"<< speeds[i]<<endl;
}
#endif
#if(ENABLE_PRINTS)
cout<<"max first taskset"<<endl;
for(int i=0;i<scaled_max_first.size();i++)
{
cout<<"task "<<i<<" computation time:"<<scaled_max_first[i].computation_time<<" period:"<<scaled_max_first[i].period<<" power:"<<scaled_max_first[i].power<<endl;
}
cout<<"static speed taskset"<<endl;
for(int i=0;i<scaled_max_first.size();i++)
{
cout<<"task "<<i<<" computation time:"<<scaled_static[i].computation_time<<" period:"<<scaled_static[i].period<<" power:"<<scaled_static[i].power<<endl;
}
#endif
#if(ENABLE_PRINTS)
for(unsigned int i=0;i<speeds.size();i++)
{
cout<<"speed for task: "<<i<<"|"<<speeds[i]<<endl;
}
#endif
for (unsigned int i = 0; i < tasks.size(); i++) {
// tasks[i].stat_stream->clear();
// tasks[i].stat_stream->close();
// util1=util1+(float)tasks[i].computation_time/(float)tasks[i].period;
// util2=util2+(float)scaled_tasks[i].computation_time/(float)scaled_tasks[i].period;
// util3=util3+(float)discrete_scaled[i].computation_time/(float)discrete_scaled[i].period;
}
#if(ENABLE_PRINTS)
// cout<<"util "<<util1<<"|"<<util2<<"|"<<util3<<endl;
// cout<<"globally optimal power"<<g_power<<endl;
//cout<<"computed thermally optimal schedule"<<endl;
#endif
tasks.clear();
edf.clear();
scaled_tasks.clear();
speeds.clear();
edf2.clear();
discrete_scaled.clear();
edf3.clear();
possible_speeds.clear();
tasksets.clear();
opt.clear();
possible_speeds.clear();
slacks.clear();
h_speed.clear();
s_speed.clear();
m_speed.clear();
i_speed.clear();
i_speed_temp.clear();
scaled_max_first.clear();
scaled_static.clear();
scaled_matlab.clear();
edf_max_first.clear();
edf_static.clear();
edf_matlab.clear();
edl2.clear();
edl.clear();
i_schedule.clear();
o_sch.clear();
}
#if(MATLAB_ENABLE)
engClose(ep);
#endif
}
// Closes the MATLAB engine
IGL_INLINE void igl::mlclose(Engine** mlengine)
{
engClose(*mlengine);
*mlengine = 0;
}
int PASCAL WinMain (HINSTANCE hInstance,
HINSTANCE hPrevInstance,
LPSTR lpszCmdLine,
int nCmdShow)
{
Engine *ep;
mxArray *T = NULL, *a = NULL, *d = NULL;
char buffer[BUFSIZE+1];
double *Dreal, *Dimag;
double time[10] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 };
/*
* Start the MATLAB engine
*/
if (!(ep = engOpen(NULL))) {
MessageBox ((HWND)NULL, (LPSTR)"Can't start MATLAB engine",
(LPSTR) "Engwindemo.c", MB_OK);
exit(-1);
}
/*
* PART I
*
* For the first half of this demonstration, we will send data
* to MATLAB, analyze the data, and plot the result.
*/
/*
* Create a variable from our data
*/
T = mxCreateDoubleMatrix(1, 10, mxREAL);
memcpy((char *) mxGetPr(T), (char *) time, 10*sizeof(double));
/*
* Place the variable T into the MATLAB workspace
*/
engPutVariable(ep, "T", T);
/*
* Evaluate a function of time, distance = (1/2)g.*t.^2
* (g is the acceleration due to gravity)
*/
engEvalString(ep, "D = .5.*(-9.8).*T.^2;");
/*
* Plot the result
*/
engEvalString(ep, "plot(T,D);");
engEvalString(ep, "title('Position vs. Time for a falling object');");
engEvalString(ep, "xlabel('Time (seconds)');");
engEvalString(ep, "ylabel('Position (meters)');");
/*
* PART II
*
* For the second half of this demonstration, we will create another mxArray
* put it into MATLAB and calculate its eigen values
*
*/
a = mxCreateDoubleMatrix(3, 2, mxREAL);
memcpy((char *) mxGetPr(a), (char *) Areal, 6*sizeof(double));
engPutVariable(ep, "A", a);
/*
* Calculate the eigen value
*/
engEvalString(ep, "d = eig(A*A')");
/*
* Use engOutputBuffer to capture MATLAB output. Ensure first that
* the buffer is always NULL terminated.
*/
buffer[BUFSIZE] = '\0';
engOutputBuffer(ep, buffer, BUFSIZE);
/*
* the evaluate string returns the result into the
* output buffer.
*/
engEvalString(ep, "whos");
MessageBox ((HWND)NULL, (LPSTR)buffer, (LPSTR) "MATLAB - whos", MB_OK);
/*
* Get the eigen value mxArray
*/
d = engGetVariable(ep, "d");
engClose(ep);
if (d == NULL) {
MessageBox ((HWND)NULL, (LPSTR)"Get Array Failed", (LPSTR)"Engwindemo.c", MB_OK);
}
else {
Dreal = mxGetPr(d);
Dimag = mxGetPi(d);
if (Dimag)
sprintf(buffer,"Eigenval 2: %g+%gi",Dreal[1],Dimag[1]);
else
sprintf(buffer,"Eigenval 2: %g",Dreal[1]);
MessageBox ((HWND)NULL, (LPSTR)buffer, (LPSTR)"Engwindemo.c", MB_OK);
mxDestroyArray(d);
}
/*
* We're done! Free memory, close MATLAB engine and exit.
*/
mxDestroyArray(T);
mxDestroyArray(a);
return(0);
}
int main() {
//SPECIFY PARMETERS, SEE CONFIG.H FILE FOR ENUM OPTIONS
Configurations config;
//Algorithm for solving for h
config.algorithm_solve_h = NEWTON_BRUTE_FORCE;
//Total time in years
config.total_time = 20;
// Initial time step in seconds
config.initial_time_step = 30000;//12592000;
// Injection stop
config.injection_time = 100;
// Pressure update interval in years
config.pressure_update_injection = 2;
config.pressure_update_migration = 5;
// Permeability type
config.perm_type = PERM_CONSTANT;
// Name of formation
config.formation_name = UTSIRA;
// Parameter beta for the Corey permeability function
config.beta = 0.4;
//////////////////////////////////////////////////////////////////////////
if (config.formation_name == UTSIRA){
config.formation = "utsira";
config.formation_dir = "Utsira";
} else if(config.formation_name == JOHANSEN){
config.formation = "johansen";
config.formation_dir = "Johansen";
} else {
printf("ERROR: No data for this formation");
}
//Initialize some variables
int nx, ny, nz;
float dt, dz;
float t, tf;
int year = 60*60*24*365;
// Device properties
cudaSetDevice(0);
int device;
cudaGetDevice(&device);
cudaDeviceProp p;
cudaGetDeviceProperties(&p, device);
printf("Device name: %s\n", p.name);
// Set directory path of output and input files
size_t buff_size= 100;
char buffer[buff_size];
const char* path;
readlink("/proc/self/exe", buffer, buff_size);
printf("PATH %s", buffer);
char* output_dir_path = "FullyIntegratedVESimulatorMATLAB/SimulationData/ResultData/";
char* input_dir_path = "FullyIntegratedVESimulatorMATLAB/SimulationData/FormationData/";
std::cout << "Trying to open " << input_dir_path << std::endl;
std::cout << "Output will end up in " << output_dir_path << std::endl;
// Filename strings
char dir_input[300];
char filename_input[300];
char dir_output[300];
strcpy(dir_input, input_dir_path);
strcat(dir_input, config.formation_dir);
strcat(dir_input, "/");
strcpy(dir_output, output_dir_path);
strcat(dir_output, config.formation_dir);
strcat(dir_output, "/");
strcpy(filename_input, dir_input);
strcat (filename_input, "dimensions.mat");
// Output txt files with results
FILE* matlab_file_h;
FILE* matlab_file_coarse_satu;
FILE* matlab_file_volume;
// Create output files for coarse saturation, interface height and volume
// Files are stored in the directory
createOutputFiles(matlab_file_h, matlab_file_coarse_satu, matlab_file_volume, dir_output);
readDimensionsFromMATLABFile(filename_input, nx, ny, nz);
InitialConditions IC(nx, ny, 5);
printf("nx: %i, ny: %i nz: %i dt: %.10f", nx, ny, nz, dt);
// Cpu pointers to store formation data from MATLAB
CpuPtr_2D H(nx, ny, 0, true);
CpuPtr_2D top_surface(nx, ny, 0, true);
CpuPtr_2D h(nx, ny, 0, true);
CpuPtr_2D normal_z(nx, ny, 0, true);
CpuPtr_3D perm3D(nx, ny, nz + 1, 0, true);
CpuPtr_3D poro3D(nx, ny, nz + 1, 0, true);
CpuPtr_2D pv(nx, ny, 0, true);
CpuPtr_2D flux_north(nx, ny, IC.border, true);
CpuPtr_2D flux_east(nx, ny, IC.border, true);
CpuPtr_2D source(nx, ny, 0, true);
CpuPtr_2D grav_north(nx, ny, 0, true);
CpuPtr_2D grav_east(nx, ny, 0, true);
CpuPtr_2D K_face_north(nx, ny, 0, true);
CpuPtr_2D K_face_east(nx, ny, 0, true);
CpuPtr_2D active_east(nx, ny, 0, true);
CpuPtr_2D active_north(nx, ny, 0, true);
CpuPtr_2D volume(nx, ny, 0,true);
strcpy(filename_input, dir_input);
strcat (filename_input, "data.mat");
readFormationDataFromMATLABFile(filename_input, H.getPtr(), top_surface.getPtr(),
h.getPtr(), normal_z.getPtr(), perm3D.getPtr(), poro3D.getPtr(),
pv.getPtr(), flux_north.getPtr(), flux_east.getPtr(),
grav_north.getPtr(), grav_east.getPtr(), K_face_north.getPtr(),
K_face_east.getPtr(), dz);
strcpy(filename_input, dir_input);
strcat (filename_input, "active_cells.mat");
readActiveCellsFromMATLABFile(filename_input, active_east.getPtr(), active_north.getPtr());
//readDtTableFromMATLABFile(filename, dt_table, size_dt_table);
Engine *ep;
if (!(ep = engOpen(""))) {
fprintf(stderr, "\nCan't start MATLAB engine\n");
return EXIT_FAILURE;
}
startMatlabEngine(ep, config.formation_dir);
// Create double precision array for the data exchange between the GPU program and the MATLAB program
mxArray *h_matrix = NULL, *flux_east_matrix = NULL, *flux_north_matrix=NULL;
mxArray *source_matrix = NULL, *open_well = NULL;
open_well = mxCreateLogicalScalar(true);
engPutVariable(ep, "open_well", open_well);
double * h_matlab_matrix;
h_matlab_matrix = new double[nx*ny];
h_matrix = mxCreateDoubleMatrix(nx, ny, mxREAL);
flux_east_matrix = mxCreateDoubleMatrix(nx+2*IC.border,ny+2*IC.border,mxREAL);
flux_north_matrix = mxCreateDoubleMatrix(nx+2*IC.border,ny+2*IC.border,mxREAL);
source_matrix = mxCreateDoubleMatrix(nx, ny, mxREAL);
// Cpu Pointer to store the results
CpuPtr_2D zeros(nx, ny, 0, true);
//Initial Conditions
IC.dz = dz;
IC.createnIntervalsTable(H);
IC.createScalingParameterTable(H, config.beta);
IC.createInitialCoarseSatu(H, h);
IC.computeAllGridBlocks();
IC.createDtVec();
// Create mask for sparse grid on GPU
std::vector<int> active_block_indexes;
std::vector<int> active_block_indexes_flux;
int n_active_blocks = 0;
int n_active_blocks_flux = 0;
createGridMask(H, IC.grid, IC.block, nx, ny, active_block_indexes,
n_active_blocks);
createGridMaskFlux(H, IC.grid_flux, IC.block_flux, nx, ny, active_block_indexes_flux,
n_active_blocks_flux);
// Print grid mask properties
printf("\n nBlocks: %i nActiveBlocks: %i fraction: %.5f\n", IC.grid.x * IC.grid.y,
n_active_blocks, (float) n_active_blocks / (IC.grid.x * IC.grid.y));
printf("nBlocks: %i nActiveBlocks: %i fraction: %.5f\n", IC.grid_flux.x * IC.grid_flux.y,
n_active_blocks_flux, (float) n_active_blocks_flux / (IC.grid_flux.x * IC.grid_flux.y));
printf("dz: %.3f\n", IC.dz);
dim3 new_sparse_grid(n_active_blocks, 1, 1);
dim3 new_sparse_grid_flux(n_active_blocks_flux, 1, 1);
CommonArgs common_args;
CoarseMobIntegrationKernelArgs coarse_mob_int_args;
CoarsePermIntegrationKernelArgs coarse_perm_int_args;
FluxKernelArgs flux_kernel_args;
TimeIntegrationKernelArgs time_int_kernel_args;
TimestepReductionKernelArgs time_red_kernel_args;
SolveForhProblemCellsKernelArgs solve_problem_cells_args;
printf("Cuda error 0.5: %s\n", cudaGetErrorString(cudaGetLastError()));
initAllocate(&common_args, &coarse_perm_int_args, &coarse_mob_int_args,
&flux_kernel_args, &time_int_kernel_args, &time_red_kernel_args, &solve_problem_cells_args);
h.convertToDoublePointer(h_matlab_matrix);
memcpy((void *)mxGetPr(h_matrix), (void *)h_matlab_matrix, sizeof(double)*nx*ny);
engPutVariable(ep, "h_matrix", h_matrix);
printf("Cuda error 1: %s\n", cudaGetErrorString(cudaGetLastError()));
// Allocate and set data on the GPU
GpuPtr_3D perm3D_device(nx, ny, nz + 1, 0, perm3D.getPtr());
GpuPtr_2D Lambda_c_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D Lambda_b_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D dLambda_c_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D dLambda_b_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D scaling_parameter_C_device(nx, ny, 0, IC.scaling_parameter.getPtr());
GpuPtr_2D K_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D H_device(nx, ny, 0, H.getPtr());
GpuPtr_2D h_device(nx, ny, 0, h.getPtr());
GpuPtr_2D top_surface_device(nx, ny, 0, top_surface.getPtr());
GpuPtr_2D z_diff_east_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D z_diff_north_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D nInterval_device(nx, ny, 0, IC.nIntervals.getPtr());
GpuPtr_2D U_x_device(nx, ny, IC.border, flux_east.getPtr());
GpuPtr_2D U_y_device(nx, ny, IC.border, flux_north.getPtr());
GpuPtr_2D source_device(nx, ny, 0, source.getPtr());
GpuPtr_2D K_face_east_device(nx, ny, 0, K_face_east.getPtr());
GpuPtr_2D K_face_north_device(nx, ny, 0, K_face_north.getPtr());
GpuPtr_2D grav_east_device(nx, ny, 0, grav_east.getPtr());
GpuPtr_2D grav_north_device(nx, ny, 0, grav_north.getPtr());
GpuPtr_2D normal_z_device(nx, ny, 0, normal_z.getPtr());
GpuPtr_2D R_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D pv_device(nx, ny, 0, pv.getPtr());
GpuPtr_2D output_test_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D active_east_device(nx, ny, 0, active_east.getPtr());
GpuPtr_2D active_north_device(nx, ny, 0, active_north.getPtr());
GpuPtr_2D vol_old_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D vol_new_device(nx, ny, 0, zeros.getPtr());
GpuPtr_2D coarse_satu_device(nx, ny, 0, IC.initial_coarse_satu_c.getPtr());
GpuPtr_1D global_dt_device(3, IC.global_time_data);
GpuPtr_1D dt_vector_device(IC.nElements, IC.dt_vector);
GpuPtrInt_1D active_block_indexes_device(n_active_blocks,
&active_block_indexes[0]);
GpuPtrInt_1D active_block_indexes_flux_device(n_active_blocks_flux,
&active_block_indexes_flux[0]);
cudaCheckError();
setCommonArgs(&common_args, IC.p_ci, IC.delta_rho, IC.g, IC.mu_c, IC.mu_b,
IC.s_c_res, IC.s_b_res, IC.lambda_end_point_c, IC.lambda_end_point_b,
active_east_device.getRawPtr(), active_north_device.getRawPtr(),
H_device.getRawPtr(), pv_device.getRawPtr(),
nx, ny, IC.border);
setupGPU(&common_args);
setCoarsePermIntegrationKernelArgs(&coarse_perm_int_args,
K_device.getRawPtr(), perm3D_device.getRawPtr(),
nInterval_device.getRawPtr(), IC.dz);
callCoarsePermIntegrationKernel(IC.grid, IC.block, &coarse_perm_int_args);
setCoarseMobIntegrationKernelArgs(&coarse_mob_int_args,
Lambda_c_device.getRawPtr(), Lambda_b_device.getRawPtr(),
dLambda_c_device.getRawPtr(), dLambda_b_device.getRawPtr(),
h_device.getRawPtr(), perm3D_device.getRawPtr(),
K_device.getRawPtr(), nInterval_device.getRawPtr(),
scaling_parameter_C_device.getRawPtr(),
active_block_indexes_device.getRawPtr(), IC.p_ci, IC.dz, config.perm_type);
setFluxKernelArgs(&flux_kernel_args,
Lambda_c_device.getRawPtr(),Lambda_b_device.getRawPtr(),
dLambda_c_device.getRawPtr(), dLambda_b_device.getRawPtr(),
U_x_device.getRawPtr(), U_y_device.getRawPtr(), source_device.getRawPtr(),
h_device.getRawPtr(),top_surface_device.getRawPtr(),
normal_z_device.getRawPtr(),
K_face_east_device.getRawPtr(), K_face_north_device.getRawPtr(),
grav_east_device.getRawPtr(), grav_north_device.getRawPtr(),
R_device.getRawPtr(), dt_vector_device.getRawPtr(), active_block_indexes_flux_device.getRawPtr(),
output_test_device.getRawPtr());
setTimestepReductionKernelArgs(&time_red_kernel_args, TIME_THREADS, IC.nElements, global_dt_device.getRawPtr(),
IC.cfl_scale, dt_vector_device.getRawPtr());
//CUDPP
CUDPPHandle plan;
unsigned int* d_isValid;
int* d_in;
int* d_out;
size_t* d_numValid = NULL;
size_t numValidElements;
unsigned int numElements=nx*ny;
cudaCheckError();
cudaMalloc((void**) &d_isValid, sizeof(unsigned int)*numElements);
cudaMalloc((void**) &d_in, sizeof(int)*numElements);
cudaMalloc((void**) &d_out, sizeof(int)*numElements);
cudaMalloc((void**) &d_numValid, sizeof(size_t));
cudaCheckError();
CUDPPHandle theCudpp;
cudppCreate(&theCudpp);
setUpCUDPP(theCudpp, plan, nx, ny, d_isValid, d_in, d_out, numElements);
printf("\nCudaMemcpy error: %s", cudaGetErrorString(cudaGetLastError()));
cudaCheckError();
setTimeIntegrationKernelArgs(&time_int_kernel_args, global_dt_device.getRawPtr(),
IC.integral_res,pv_device.getRawPtr(), h_device.getRawPtr(),
R_device.getRawPtr(),coarse_satu_device.getRawPtr(),
scaling_parameter_C_device.getRawPtr(),
vol_old_device.getRawPtr(), vol_new_device.getRawPtr(),
d_isValid, d_in);
cudaCheckError();
setSolveForhProblemCellsKernelArgs(&solve_problem_cells_args, h_device.getRawPtr(),
coarse_satu_device.getRawPtr(), scaling_parameter_C_device.getRawPtr(),
d_out, IC.integral_res, d_numValid);
cudaCheckError();
//Compute start volume
callCoarseMobIntegrationKernel(new_sparse_grid, IC.block, IC.grid.x, &coarse_mob_int_args);
callFluxKernel(new_sparse_grid_flux, IC.block_flux, IC.grid_flux.x, &flux_kernel_args);
callTimeIntegration(new_sparse_grid, IC.block, IC.grid.x, &time_int_kernel_args);
cudaCheckError();
vol_old_device.download(volume.getPtr(), 0, 0, nx, ny);
float total_volume_old = computeTotalVolume(volume, nx, ny);
t = 0;
double t2 = 0;
tf = IC.global_time_data[2];
int iter_outer_loop = 0;
int iter_inner_loop = 0;
int iter_total = 0;
int iter_total_lim = 5000;
float time = 0;
float injected = 0;
int table_index = 1;
double time_start = getWallTime();
double time_start_iter;
double total_time_gpu = 0;
while (time < config.total_time && iter_total < iter_total_lim){
t = 0;
iter_inner_loop = 0;
h_device.download(h.getPtr(), 0, 0, nx, ny);
h.convertToDoublePointer(h_matlab_matrix);
memcpy((void *)mxGetPr(h_matrix), (void *)h_matlab_matrix, sizeof(double)*nx*ny);
engPutVariable(ep, "h_matrix", h_matrix);
if (time >= config.injection_time){
open_well = mxCreateLogicalScalar(false);
engPutVariable(ep, "open_well", open_well);
IC.global_time_data[2] = 31536000*config.pressure_update_migration;
tf = IC.global_time_data[2];
cudaMemcpy(global_dt_device.getRawPtr(), IC.global_time_data, sizeof(float)*3, cudaMemcpyHostToDevice);
}
// MATLAB call
engEvalString(ep, "[source, east_flux, north_flux] = pressureFunctionToRunfromCpp(h_matrix, variables, open_well);");
// Get variables from MATLABs pressure solver
flux_east_matrix = engGetVariable(ep, "east_flux");
flux_north_matrix = engGetVariable(ep, "north_flux");
source_matrix = engGetVariable(ep, "source");
memcpy((void *)flux_east.getPtr(), (void *)mxGetPr(flux_east_matrix), sizeof(float)*(nx+2*IC.border)*(ny+2*IC.border));
memcpy((void *)flux_north.getPtr(), (void *)mxGetPr(flux_north_matrix), sizeof(float)*(nx+2*IC.border)*(ny+2*IC.border));
memcpy((void *)source.getPtr(), (void *)mxGetPr(source_matrix), sizeof(float)*nx*ny);
source_device.upload(source.getPtr(), 0, 0, nx, ny);
U_x_device.upload(flux_east.getPtr(), 0, 0, nx+2*IC.border, ny+2*IC.border);
U_y_device.upload(flux_north.getPtr(), 0, 0,nx+2*IC.border, ny+2*IC.border);
time_start_iter = getWallTime();
while (t < tf && iter_total < iter_total_lim){
cudaCheckError();
callCoarseMobIntegrationKernel(new_sparse_grid, IC.block, IC.grid.x, &coarse_mob_int_args);
cudaCheckError();
callFluxKernel(new_sparse_grid_flux, IC.block_flux, IC.grid_flux.x, &flux_kernel_args);
cudaCheckError();
callTimestepReductionKernel(TIME_THREADS, &time_red_kernel_args);
cudaCheckError();
// Set the initial time step
if (iter_total < 1 && iter_inner_loop == 0){
IC.global_time_data[0] = config.initial_time_step;
IC.global_time_data[1] += config.initial_time_step;
cudaMemcpy(global_dt_device.getRawPtr(), IC.global_time_data, sizeof(float)*3, cudaMemcpyHostToDevice);
}
//For precomputed time step insertion
/*
IC.global_time_data[0] = (float)dt_table[table_index];
IC.global_time_data[1] += (float)dt_table[table_index];
cudaMemcpy(global_dt_device.getRawPtr(), IC.global_time_data, sizeof(float)*3, cudaMemcpyHostToDevice);
*/
cudaCheckError();
if (config.algorithm_solve_h == BRUTE_FORCE)
callTimeIntegration(new_sparse_grid, IC.block, IC.grid.x, &time_int_kernel_args);
else if (config.algorithm_solve_h == NEWTON_BRUTE_FORCE){
callTimeIntegrationNewton(new_sparse_grid, IC.block, IC.grid.x, &time_int_kernel_args);
cudppCompact(plan, d_out, d_numValid, d_in, d_isValid, numElements);
callSolveForhProblemCells(IC.grid_pc, IC.block_pc, &solve_problem_cells_args);
} else if (config.algorithm_solve_h == NEWTON_BISECTION){
callTimeIntegrationNewton(new_sparse_grid, IC.block, IC.grid.x, &time_int_kernel_args);
cudppCompact(plan, d_out, d_numValid, d_in, d_isValid, numElements);
callSolveForhProblemCellsBisection(IC.grid_pc, IC.block_pc, &solve_problem_cells_args);
}
cudaCheckError();
cudaMemcpy(IC.global_time_data, global_dt_device.getRawPtr(), sizeof(float)*3, cudaMemcpyDeviceToHost);
cudaCheckError();
// Keep track of injected volume, insert injection coordinate and rate
injected += IC.global_time_data[0]*source(50,50);
t += IC.global_time_data[0];
//table_index++;
iter_inner_loop++;
iter_total++;
}
total_time_gpu += getWallTime() - time_start_iter;
printf("Total time in years: %.3f time in this round %.3f timestep %.3f GPU time %.3f time per iter %.8f \n", time, t, IC.global_time_data[0], getWallTime() - time_start_iter, (getWallTime() - time_start_iter)/iter_inner_loop);
time += t/(year);
iter_outer_loop++;
}
printf("Elapsed time program: %.5f gpu part: %.5f", getWallTime() - time_start, total_time_gpu);
engClose(ep);
h_device.download(zeros.getPtr(), 0, 0, nx, ny);
zeros.printToFile(matlab_file_h);
coarse_satu_device.download(zeros.getPtr(), 0, 0, nx, ny);
// Divide by the formation thickness H to get the actual coarse satu
for (int i = 0; i < nx; i++){
for (int j = 0; j < ny; j++){
if (H(i,j) != 0)
zeros(i,j) = zeros(i,j)/H(i,j);
}
}
zeros.printToFile(matlab_file_coarse_satu);
vol_new_device.download(zeros.getPtr(), 0, 0, nx, ny);
zeros.printToFile(matlab_file_volume);
float total_volume_new = computeTotalVolume(zeros, nx, ny);
printf("total volume new %.2f total volume old %.2f injected %.1f injected fraction %.10f",
total_volume_new, total_volume_old, injected, (total_volume_new-injected)/(injected));
printf("volume fraction %.10f",(total_volume_new-total_volume_old)/(total_volume_old));
printf("\nCudaMemcpy error: %s", cudaGetErrorString(cudaGetLastError()));
printf("FINITO precise time %.6f iter_total %i", time, iter_total);
}
void DrawPic::drawPic(vector<double> edgeOldSfr,vector<double> edgeNewSfr,vector<double> allOldSfr,vector<double> allNewSfr) {
double edgeOldSfrArray[9];
double edgeNewSfrArray[9];
double allOldSfrArray[9];
double allNewSfrArray[9];
vector<double>::iterator iter = edgeOldSfr.begin();
int i=0;
while(iter!=edgeOldSfr.end()) {
edgeOldSfrArray[i] = *iter++;
i++;
}
iter = edgeNewSfr.begin();
i=0;
while(iter!=edgeNewSfr.end()) {
edgeNewSfrArray[i] = *iter++;
i++;
}
iter = allOldSfr.begin();
i=0;
while(iter!=allOldSfr.end()) {
allOldSfrArray[i] = *iter++;
i++;
}
iter = allNewSfr.begin();
i=0;
while(iter!=allNewSfr.end()) {
allNewSfrArray[i] = *iter++;
i++;
}
Engine* m_pEngine;
mxArray *_edgey1 = NULL;
mxArray *_edgey2 = NULL;
mxArray *_ally1 = NULL;
mxArray *_ally2 = NULL;
m_pEngine = engOpen(NULL);
if( m_pEngine == NULL ) {
cout<<"error!"<<endl;
exit(-1);
}
//double y1[9] = {0, 2.827/9 , 10.2687/9 , 15.465/9 , 19.3475/9 , 23.769/9 , 26.688/9 , 32.155/9 , 36.284/9};
//double y2[9] = {0, 3.292/9 , 8.2671/9 ,16.416/9 , 22.601/9 , 25.7154/9 , 29.183/9 , 34.855/9 , 40.9438/9};
engEvalString(m_pEngine, "x = 0:10:80;");
_edgey1 = mxCreateDoubleMatrix(1, 9, mxREAL);
_edgey2 = mxCreateDoubleMatrix(1, 9, mxREAL);
_ally1 = mxCreateDoubleMatrix(1, 9, mxREAL);
_ally2 = mxCreateDoubleMatrix(1, 9, mxREAL);
memcpy((void *)mxGetPr(_edgey1), (void *)edgeOldSfrArray, sizeof(edgeOldSfrArray));
memcpy((void *)mxGetPr(_edgey2), (void *)edgeNewSfrArray, sizeof(edgeNewSfrArray));
memcpy((void *)mxGetPr(_ally1), (void *)allOldSfrArray, sizeof(allOldSfrArray));
memcpy((void *)mxGetPr(_ally2), (void *)allNewSfrArray, sizeof(allNewSfrArray));
engPutVariable(m_pEngine, "edgeOldSfr", _edgey1);
engPutVariable(m_pEngine, "edgeNewSfr", _edgey2);
engPutVariable(m_pEngine, "allOldSfr", _ally1);
engPutVariable(m_pEngine, "allNewSfr", _ally2);
//engEvalString(m_pEngine,"y1 = [0 2.827/9 10.2687/9 15.465/9 19.3475/9 23.769/9 26.688/9 32.155/9 36.284/9]");
//engEvalString(m_pEngine,"y2 = [0 3.292/9 8.2671/9 16.416/9 22.601/9 25.7154/9 29.183/9 34.855/9 40.9438/9]");
engEvalString(m_pEngine,"subplot(2,1,1);");
engEvalString(m_pEngine, "plot(x,edgeOldSfr,x,edgeNewSfr,'o-.');");
engEvalString(m_pEngine, "xlabel('小区用户数(个)','FontSize',12);");
engEvalString(m_pEngine, "ylabel('小区边缘用户吞吐量(Mb/s)','FontSize',12);");
engEvalString(m_pEngine, "legend('固定SFR','D-SFR','FontSize',12,2);");
engEvalString(m_pEngine,"subplot(2,1,2);");
engEvalString(m_pEngine,"plot(x,allOldSfr,x,allNewSfr,'o-.');");
engEvalString(m_pEngine,"xlabel('小区用户数(个)','FontSize',12);");
engEvalString(m_pEngine, "ylabel('小区吞吐量(Mb/s)','FontSize',12);");
engEvalString(m_pEngine, "legend('固定SFR','D-SFR','FontSize',12,2);");
MessageBox(NULL,_T("已经得到固定软频率复用和动态软频率复用仿真结果"),_T("通知"),MB_OK);
engClose(m_pEngine);
}
void tomat::close()
{
engClose(ep);
}
int main()
{
Engine *ep;
mxArray *T = NULL, *result = NULL;
char buffer[BUFSIZE+1];
double time[10] = { 0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0 };
/*
* Call engOpen with a NULL string. This starts a MATLAB process
* on the current host using the command "matlab".
*/
if (!(ep = engOpen(""))) {
fprintf(stderr, "\nCan't start MATLAB engine\n");
return EXIT_FAILURE;
}
/*
* PART I
*
* For the first half of this demonstration, we will send data
* to MATLAB, analyze the data, and plot the result.
*/
/*
* Create a variable for our data
*/
T = mxCreateDoubleMatrix(1, 10, mxREAL);
memcpy((void *)mxGetPr(T), (void *)time, sizeof(time));
/*
* Place the variable T into the MATLAB workspace
*/
engPutVariable(ep, "T", T);
/*
* Evaluate a function of time, distance = (1/2)g.*t.^2
* (g is the acceleration due to gravity)
*/
engEvalString(ep, "D = .5.*(-9.8).*T.^2;");
/*
* Plot the result
*/
engEvalString(ep, "plot(T,D);");
engEvalString(ep, "title('Position vs. Time for a falling object');");
engEvalString(ep, "xlabel('Time (seconds)');");
engEvalString(ep, "ylabel('Position (meters)');");
/*
* use fgetc() to make sure that we pause long enough to be
* able to see the plot
*/
printf("Hit return to continue\n\n");
fgetc(stdin);
/*
* We're done for Part I! Free memory, close MATLAB figure.
*/
printf("Done for Part I.\n");
mxDestroyArray(T);
engEvalString(ep, "close;");
/*
* PART II
*
* For the second half of this demonstration, we will request
* a MATLAB string, which should define a variable X. MATLAB
* will evaluate the string and create the variable. We
* will then recover the variable, and determine its type.
*/
/*
* Use engOutputBuffer to capture MATLAB output, so we can
* echo it back. Ensure first that the buffer is always NULL
* terminated.
*/
buffer[BUFSIZE] = '\0';
engOutputBuffer(ep, buffer, BUFSIZE);
while (result == NULL) {
char str[BUFSIZE+1];
/*
* Get a string input from the user
*/
printf("Enter a MATLAB command to evaluate. This command should\n");
printf("create a variable X. This program will then determine\n");
printf("what kind of variable you created.\n");
printf("For example: X = 1:5\n");
printf(">> ");
fgets(str, BUFSIZE, stdin);
/*
* Evaluate input with engEvalString
*/
engEvalString(ep, str);
/*
* Echo the output from the command.
*/
printf("%s", buffer);
/*
* Get result of computation
*/
printf("\nRetrieving X...\n");
if ((result = engGetVariable(ep,"X")) == NULL)
printf("Oops! You didn't create a variable X.\n\n");
else {
printf("X is class %s\t\n", mxGetClassName(result));
}
}
/*
* We're done! Free memory, close MATLAB engine and exit.
*/
printf("Done!\n");
mxDestroyArray(result);
engClose(ep);
return EXIT_SUCCESS;
}
MatlabPlotter::~MatlabPlotter()
{
engClose((Engine*)engine_);
}
void agent_close() {
engEvalString(ep, "close;");
engClose(ep);
}
/* Function: main
*
* Description: Main function to extract frames from 2 video files and runs the
* rest of the program using them. Takes at least 10 commandline arguments,
* in the order:
* <number of camera pairs>
* <pair 1 camera 1 filename>
* <pair 1 camera 1 frame number>
* <pair 1 camera 2 filename>
* <pair 1 camera 2 frame number>
* <pair 1 view name>
* <pair 1 camera coefficients filename>
* ...
* <TPS smoothing parameter>
* <feature detector>
* <output directory>
*
* Parameters:
* argc: number of commandline arguments
* argv: string array of commandline arguments
*
* Returns: 0 on success, 1 on error.
*/
int main (int argc, char *argv[])
{
// check for minimum number of commandline arguments
if (argc < 11)
{
printf("Usage:\nvideos\n\t<number of camera pairs>\n\t<pair 1 camera 1 filename>\n\t<pair 1 camera 1 frame number>\n\t<pair 1 camera 2 filename>\n\t<pair 1 camera 2 frame number>\n\t<pair 1 view name>\n\t<pair 1 camera coefficients filename>\n\t...\n\t<TPS smoothing parameter>\n\t<feature detector>\n\t<output directory>\n");
exit(1);
}
// get the number of camera pairs
int numCameraPairs = atoi(argv[1]);
if (numCameraPairs <= 0)
{
printf("Invalid number of camera pairs.\n");
exit(1);
}
// number of commandline arguments should be numCameraPairs*6 + 5
if (argc != numCameraPairs*6 + 5)
{
printf("Usage:\nvideos\n\t<number of camera pairs>\n\t<pair 1 camera 1 filename>\n\t<pair 1 camera 1 frame number>\n\t<pair 1 camera 2 filename>\n\t<pair 1 camera 2 frame number>\n\t<pair 1 view name>\n\t<pair 1 camera coefficients filename>\n\t...\n\t<TPS smoothing parameter>\n\t<feature detector>\n\t<output directory>\n");
exit(1);
}
// allocate memory to store information for camera pairs
char **camera1Filenames = (char **)malloc(numCameraPairs * sizeof(char *));
int *camera1Frames = (int *)malloc(numCameraPairs * sizeof(int));
if (camera1Filenames == NULL || camera1Frames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
char **camera2Filenames = (char **)malloc(numCameraPairs * sizeof(char *));
int *camera2Frames = (int *)malloc(numCameraPairs * sizeof(int));
if (camera2Filenames == NULL || camera2Frames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
char **cameraNames = (char **)malloc(numCameraPairs * sizeof(char *));
if (cameraNames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
char **cameraCoefficientsFilenames = (char **)malloc(numCameraPairs * sizeof(char *));
if (cameraCoefficientsFilenames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
int argIndex = 2;
for (int i = 0; i < numCameraPairs; i++)
{
camera1Filenames[i] = argv[argIndex];
camera1Frames[i] = atoi(argv[argIndex+1]);
camera2Filenames[i] = argv[argIndex+2];
camera2Frames[i] = atoi(argv[argIndex+3]);
cameraNames[i] = argv[argIndex+4];
cameraCoefficientsFilenames[i] = argv[argIndex+5];
// make sure input video frames are valid
if (camera1Frames[i] <= 0)
{
printf("Invalid frame number for pair %d camera 1.\n", i+1);
exit(1);
}
if (camera2Frames[i] <= 0)
{
printf("Invalid frame number for pair %d camera 1.\n", i+1);
exit(1);
}
// make sure input filenames are valid
if (!fileExists(camera1Filenames[i]))
{
printf("Could not open pair %d camera 1 video file.\n", i+1);
exit(1);
}
if (!fileExists(camera2Filenames[i]))
{
printf("Could not open pair %d camera 2 video file.\n", i+1);
exit(1);
}
if (!fileExists(cameraCoefficientsFilenames[i]))
{
printf("Could not open pair %d camera coefficients file.\n", i+1);
exit(1);
}
argIndex += 6;
}
double regularization = atof(argv[argIndex]);
char *featureDetector = argv[argIndex+1];
char *outputDirectory = argv[argIndex+2];
// make sure input feature dectector is recognized
if (strcasecmp(featureDetector, FAST_FEATURE_DETECTOR) &&
strcasecmp(featureDetector, GFTT_FEATURE_DETECTOR) &&
strcasecmp(featureDetector, SURF_FEATURE_DETECTOR) &&
strcasecmp(featureDetector, SIFT_FEATURE_DETECTOR) &&
strcasecmp(featureDetector, SPEEDSIFT_FEATURE_DETECTOR))
{
printf("Feature Detector not recognized. Please select from the following:\n\t%s\n\t%s\n\t%s\n\t%s\n\t%s\n",
FAST_FEATURE_DETECTOR,
GFTT_FEATURE_DETECTOR,
SURF_FEATURE_DETECTOR,
SIFT_FEATURE_DETECTOR,
SPEEDSIFT_FEATURE_DETECTOR);
exit(1);
}
// make sure regularization parameter for TPS is valid
if (regularization <= 0.0 || regularization == HUGE_VAL)
{
printf("Invalid smoothing parameter value.\n");
exit(1);
}
// if output directory doesn't end with '/' char, append '/' to the string.
// this is so we can later append a filename to the directory when we want
// to write the file to that directory
if (outputDirectory[strlen(outputDirectory)-1] != '/')
{
strcat(outputDirectory, "/");
}
DIR *dir = opendir(outputDirectory);
// if output directory does not exist, create it with correct permissions
if (dir == NULL)
{
printf("Output directory does not exist.\n");
if (mkdir(outputDirectory, S_IRWXO | S_IRWXG | S_IRWXU))
{
printf("Could not create output directory.\n");
exit(1);
}
else
{
printf("Created output directory.\n");
}
}
else
{
closedir(dir);
}
// string for the MATLAB commands
char command[500];
Engine *matlabEngine;
// open MATLAB engine
if (!(matlabEngine = engOpen("\0")))
{
printf("Can't start MATLAB engine\n");
exit(1);
}
// create MATLAB arrays to retrieve values from MATLAB workspace
mxArray **c1ImageData = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
mxArray **c1ImageDimensions = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
mxArray **c1ImagePaddedWidths = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
if (c1ImageData == NULL || c1ImageDimensions == NULL || c1ImagePaddedWidths == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
mxArray **c2ImageData = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
mxArray **c2ImageDimensions = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
mxArray **c2ImagePaddedWidths = (mxArray **)malloc(numCameraPairs * sizeof(mxArray *));
if (c2ImageData == NULL || c2ImageDimensions == NULL || c2ImagePaddedWidths == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
// create IplImage arrays for camera 1 and 2 images for all camera pairs
IplImage **c1Images = (IplImage **)malloc(numCameraPairs * sizeof(IplImage *));
IplImage **c2Images = (IplImage **)malloc(numCameraPairs * sizeof(IplImage *));
if (c1Images == NULL || c2Images == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
// for each camera pair, get the specified frames from cameras 1 and 2, using
// MATLAB functions
for (int i = 0; i < numCameraPairs; i++)
{
char video1Extension[6];
// get the video file extension for the first video file
if (getVideoFileExtension(camera1Filenames[i], video1Extension) == INVALID_VIDEO_FILE_EXTENSION_ERROR)
{
printf("Video files must be of extension .mrf or .cine.\n");
exit(1);
}
// call appropriate MATLAB function depending on whether video file is .cine
// or .mrf to extract the frame as a MATLAB image. If neither, error.
if ((strcasecmp(video1Extension, ".cine") == 0) || (strcasecmp(video1Extension, ".cin") == 0))
{
sprintf(command, "c1 = cineRead('%s', %d);", camera1Filenames[i], camera1Frames[i]);
engEvalString(matlabEngine, command);
}
else if (strcasecmp(video1Extension, ".mrf") == 0)
{
sprintf(command, "c1 = mrfRead('%s', %d);", camera1Filenames[i], camera1Frames[i]);
engEvalString(matlabEngine, command);
}
else
{
printf("Videos must be of extension .mrf or .cine.\n");
exit(1);
}
char video2Extension[6];
// get the video file extension for the second video file
if (getVideoFileExtension(camera2Filenames[i], video2Extension) == INVALID_VIDEO_FILE_EXTENSION_ERROR)
{
printf("Video files must be of extension .mrf or .cine.\n");
exit(1);
}
// call appropriate MATLAB function depending on whether video file is .cine
// or .mrf to extract the frame as a MATLAB image. If neither, error.
if ((strcasecmp(video2Extension, ".cine") == 0) || (strcasecmp(video2Extension, ".cin") == 0))
{
sprintf(command, "c2 = cineRead('%s', %d);", camera2Filenames[i], camera2Frames[i]);
engEvalString(matlabEngine, command);
}
else if (strcasecmp(video2Extension, ".mrf") == 0)
{
sprintf(command, "c2 = mrfRead('%s', %d);", camera2Filenames[i], camera2Frames[i]);
engEvalString(matlabEngine, command);
}
else
{
printf("Videos must be of extension .mrf or .cine.\n");
exit(1);
}
// call MATLAB function convert_image_matlab2cv_gs on MATLAB images to convert
// them into a format that will be compatible with the IplImages of OpenCV
sprintf(command, "[c1_img c1_dim c1_padded_width] = convert_image_matlab2cv_gs(c1);");
engEvalString(matlabEngine, command);
sprintf(command, "[c2_img c2_dim c2_padded_width] = convert_image_matlab2cv_gs(c2);");
engEvalString(matlabEngine, command);
// retrieve the image data, image dimensions, and image padded width variables
// from MATLAB for both camera images
c1ImageData[i] = engGetVariable(matlabEngine, "c1_img");
c1ImageDimensions[i] = engGetVariable(matlabEngine, "c1_dim");
c1ImagePaddedWidths[i] = engGetVariable(matlabEngine, "c1_padded_width");
c2ImageData[i] = engGetVariable(matlabEngine, "c2_img");
c2ImageDimensions[i] = engGetVariable(matlabEngine, "c2_dim");
c2ImagePaddedWidths[i] = engGetVariable(matlabEngine, "c2_padded_width");
if (c1ImageData[i] == NULL ||
c1ImageDimensions[i] == NULL ||
c1ImagePaddedWidths[i] == NULL)
{
printf("Could not retrieve all necessary information for pair %d camera 1 frame %d from MATLAB.\n", i+1, camera1Frames[i]);
exit(1);
}
if (c2ImageData[i] == NULL ||
c2ImageDimensions[i] == NULL ||
c2ImagePaddedWidths[i] == NULL)
{
printf("Could not retrieve all necessary information for pair %d camera 2 frame %d from MATLAB.\n", i+1, camera2Frames[i]);
exit(1);
}
int c1Status, c2Status;
ImageInfo c1ImageInfo, c2ImageInfo;
// extract the image information from the MATLAB variables in the form of
// mxArrays, and store in ImageInfo structs
c1Status = getInputImageInfo(&c1ImageInfo, c1ImageData[i], c1ImageDimensions[i], c1ImagePaddedWidths[i]);
c2Status = getInputImageInfo(&c2ImageInfo, c2ImageData[i], c2ImageDimensions[i], c2ImagePaddedWidths[i]);
if (c1Status == IMAGE_INFO_DATA_ERROR)
{
printf("Pair %d camera 1: Images must have two dimensions.\n", i+1);
exit(1);
}
if (c2Status == IMAGE_INFO_DATA_ERROR)
{
printf("Pair %d camera 2: Images must have two dimensions.\n", i+1);
exit(1);
}
if (c1Status == IMAGE_INFO_DIMENSIONS_ERROR)
{
printf("Pair %d camera 1: Image dimension vectors must contain two elements: [width, height].\n", i+1);
exit(1);
}
if (c2Status == IMAGE_INFO_DIMENSIONS_ERROR)
{
printf("Pair %d camera 2: Image dimension vectors must contain two elements: [width, height].\n", i+1);
exit(1);
}
if (c1Status == IMAGE_INFO_PADDED_WIDTH_ERROR)
{
printf("Pair %d camera 1: Padded image widths must be scalars.\n", i+1);
exit(1);
}
if (c2Status == IMAGE_INFO_PADDED_WIDTH_ERROR)
{
printf("Pair %d camera 2: Padded image widths must be scalars.\n", i+1);
exit(1);
}
if (c1Status == IMAGE_DEPTH_ERROR)
{
printf("Pair %d camera 1: Images must be represented by 8 or 16-bit integers.\n", i+1);
exit(1);
}
if (c2Status == IMAGE_DEPTH_ERROR)
{
printf("Pair %d camera 2: Images must be represented by 8 or 16-bit integers.\n", i+1);
exit(1);
}
// create IplImages using values in ImageInfo structs
c1Status = createIplImageFromImageInfo(&(c1Images[i]), c1ImageInfo);
c2Status = createIplImageFromImageInfo(&(c2Images[i]), c2ImageInfo);
if (c1Status == OUT_OF_MEMORY_ERROR ||
c2Status == OUT_OF_MEMORY_ERROR)
{
printf("Out of memory error.\n");
exit(1);
}
// flip the images over the y-axis to compensate for the differences in axial
// labels between MATLAB and OpenCV (camera coefficients would not correctly
// correspond to image otherwise)
cvFlip(c1Images[i], NULL, 1);
cvFlip(c2Images[i], NULL, 1);
}
char errorMessage[500];
int numContours;
char **contourNames;
CvPoint3D32f **features3D;
char **validFeatureIndicator;
int *numFeaturesInContours;
char contoursFilename[MAX_FILENAME_LENGTH];
// for each camera pair, run features and triangulation
for (int i = 0; i < numCameraPairs; i++)
{
// create the output 2D features filename as "frame<frame number>_features2D_<camera name>.txt"
char features2DFilename[MAX_FILENAME_LENGTH];
sprintf(features2DFilename, "%sframe%d_features2D_%s.txt", outputDirectory, camera1Frames[i], cameraNames[i]);
// create the output contours filename as "frame<frame number>_contours_<camera name>.txt"
char tempContoursFilename[MAX_FILENAME_LENGTH];
sprintf(tempContoursFilename, "%sframe%d_contours_%s.txt", outputDirectory, camera1Frames[i], cameraNames[i]);
printf("Camera pair for %s view:\n", cameraNames[i]);
// run the features program to extract matching 2D features from the 2
// images within user defined contour
if (features(c1Images[i], c2Images[i], features2DFilename, tempContoursFilename, featureDetector, errorMessage))
{
printf("Features: %s\n", errorMessage);
exit(1);
}
// we only need to save the contour(s) for the first camera pair, as that
// is the one we will use to create the meshes, and we only use the contours
// with the same name(s) in subsequent camera pairs
if (i == 0)
{
strcpy(contoursFilename, tempContoursFilename);
// get the contour names of the contours selected in features function for
// output file naming and contour matching in other camera pairs
int status = readContourNamesFromInputFile(&numContours, &contourNames, contoursFilename);
if (status == INPUT_FILE_OPEN_ERROR)
{
printf("Could not open contour vertices file.\n");
exit(1);
}
if (status == INCORRECT_INPUT_FILE_FORMAT_ERROR)
{
printf("Contour vertices file has incorrect format.\n");
exit(1);
}
if (status == OUT_OF_MEMORY_ERROR)
{
printf("Out of memory error.\n");
exit(1);
}
// allocate memory for 3D features
features3D = (CvPoint3D32f **)malloc(numContours * sizeof(CvPoint3D32f *));
validFeatureIndicator = (char **)malloc(numContours * sizeof(char *));
numFeaturesInContours = (int *)malloc(numContours * sizeof(int));
if (features3D == NULL || numFeaturesInContours == NULL || validFeatureIndicator == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
for (int j = 0; j < numContours; j++)
{
features3D[j] = (CvPoint3D32f *)malloc(MAX_FEATURES_IN_CONTOUR * sizeof(CvPoint3D32f));
validFeatureIndicator[j] = (char *)malloc(MAX_FEATURES_IN_CONTOUR * sizeof(char));
if (features3D[j] == NULL || validFeatureIndicator[j] == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
numFeaturesInContours[j] = 0;
}
}
// create the output 3D features filename as "frame<frame number>_features3D_<camera name>.txt"
char features3DFilename[MAX_FILENAME_LENGTH];
sprintf(features3DFilename, "%sframe%d_features3D_%s.txt", outputDirectory, camera1Frames[i], cameraNames[i]);
// triangulate the matching 2D features between cameras to find the 3D coordinates
// of the features, and remove invalid features
if (triangulation(cameraCoefficientsFilenames[i], features2DFilename, features3DFilename, c1Images[i], errorMessage))
{
printf("Triangulation: %s\n", errorMessage);
exit(1);
}
// if features from triangulation lie within contours that have the same
// names as those defined for the first camera pair, add them to the
// 3D features array for mesh creation
int status = read3DFeaturesFromFileForMatchingContours(features3DFilename, features3D, numFeaturesInContours, numContours, contourNames);
if (status == INPUT_FILE_OPEN_ERROR)
{
printf("Could not open 3D features file.\n");
exit(1);
}
if (status == INVALID_NUM_CONTOURS_ERROR)
{
printf("At least 1 contour region required.\n");
exit(1);
}
if (status == INCORRECT_INPUT_FILE_FORMAT_ERROR)
{
printf("3D features file has incorrect format.\n");
exit(1);
}
}
// for each contour (defined for the first camera pair), perform RANSAC on
// the cumulative 3D features from all camera pairs that lie within the contour
for (int i = 0; i < numContours; i++)
{
memset(validFeatureIndicator[i], 1, numFeaturesInContours[i] * sizeof(char));
// perform RANSAC to remove points that lie too far off a best-fit surface
if (ransac(features3D[i], validFeatureIndicator[i], numFeaturesInContours[i], errorMessage))
{
printf("RANSAC: %s\n", errorMessage);
exit(1);
}
int numValidFeatures = 0;
for (int j = 0; j < numFeaturesInContours[i]; j++)
{
if (validFeatureIndicator[i][j])
{
numValidFeatures++;
}
}
printf("Total valid features after RANSAC for contour %s: %d\n", contourNames[i], numValidFeatures);
}
// create the output 3D features filename for all camera pairs as
// "frame<frame number>_features3D.txt", and write the result of RANSAC to
// the file
char features3DFilename[MAX_FILENAME_LENGTH];
sprintf(features3DFilename, "%sframe%d_features3D.txt", outputDirectory, camera1Frames[0]);
int status = write3DFeaturesToFile(features3D, validFeatureIndicator, numFeaturesInContours, contourNames, numContours, features3DFilename);
if (status == OUTPUT_FILE_OPEN_ERROR)
{
sprintf(errorMessage, "Could not open output file.");
return 1;
}
char **meshFilenames = (char **)malloc(numContours * sizeof(char *));
if (meshFilenames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
// for each contour, create a different mesh output file
for (int i = 0; i < numContours; i++)
{
meshFilenames[i] = (char *)malloc(MAX_FILENAME_LENGTH * sizeof(char));
if (meshFilenames[i] == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
// create the output mesh filename as "frame<frame number>_mesh_<contour name>_<camera name>.txt"
sprintf(meshFilenames[i], "%sframe%d_mesh_%s.txt", outputDirectory, camera1Frames[0], contourNames[i]);
}
// create the wing meshes from the triangulated 3D points and the user-selected
// contours, and write each mesh to a different file for each contour
if (mesh(features3DFilename, contoursFilename, cameraCoefficientsFilenames[0], meshFilenames, numContours, regularization, errorMessage))
{
printf("Mesh: %s\n", errorMessage);
exit(1);
}
// we only calculate the flow of a wing mesh if there is a mesh file with the
// same contour name in the output directory for the previous video frame
char **flowFilenames = (char **)malloc(numContours * sizeof(char *));
if (flowFilenames == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
for (int i = 0; i < numContours; i++)
{
flowFilenames[i] = NULL;
}
int numFilesInDirectory;
char **filenamesInDirectory = (char **)malloc(MAX_FILES_IN_DIRECTORY * sizeof(char *));
if (filenamesInDirectory == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
for (int i = 0; i < MAX_FILES_IN_DIRECTORY; i++)
{
filenamesInDirectory[i] = (char *)malloc(MAX_FILENAME_LENGTH * sizeof(char));
if (filenamesInDirectory[i] == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
}
// get all files in the output directory
getAllFilenamesInDirectory(outputDirectory, &numFilesInDirectory, filenamesInDirectory);
// for each contour check if previous frame mesh file for same contour exists
// in output directory
for (int i = 0; i < numContours; i++)
{
// set substring indicating match to be "frame<previous frame number>_mesh_<contour name>.txt"
char filenameToMatch[MAX_FILENAME_LENGTH];
sprintf(filenameToMatch, "frame%d_mesh_%s.txt", camera1Frames[0]-1, contourNames[i]);
// try to find a filename from the output directory that contains the
// substring indicating a match for a previous frame mesh for the same
// contour
int fileExists = getIndexOfMatchingString(filenamesInDirectory, numFilesInDirectory, filenameToMatch);
// if filename was found, create a flow output file for current contour
// and call flow to calculate the flow between previous contour mesh and
// current contour mesh
if (fileExists != -1)
{
flowFilenames[i] = (char *)malloc(MAX_FILENAME_LENGTH * sizeof(char));
if (flowFilenames[i] == NULL)
{
printf("Out of memory error.\n");
exit(1);
}
// create the output flow filename as "frame<frame number>_flow_<contour name>_<camera name>.txt"
sprintf(flowFilenames[i], "%sframe%d_flow_%s.txt", outputDirectory, camera1Frames[0], contourNames[i]);
// add the output directory name to the beginning of the previous mesh
// filename
char prevFrameMeshFile[MAX_FILENAME_LENGTH];
sprintf(prevFrameMeshFile, "%s%s", outputDirectory, filenameToMatch);
// call flow to find the flow between the previous mesh file and the
// current mesh file for each mesh point current contour
if (flow(prevFrameMeshFile, meshFilenames[i], flowFilenames[i], errorMessage))
{
printf("Flow: %s\n", errorMessage);
exit(1);
}
}
else
{
printf("Mesh points file for previous frame not found for contour %s. Unable to calculate flow.\n", contourNames[i]);
}
}
sprintf(command, "hold on;");
engEvalString(matlabEngine, command);
// for each contour, display MATLAB 3D plot of the mesh, as well as the flow
// for the mesh, if applicable
for (int i = 0; i < numContours; i++)
{
if (flowFilenames[i] != NULL)
{
sprintf(command, "flows = load('%s');", flowFilenames[i]);
engEvalString(matlabEngine, command);
// plot the flows of the mesh points
sprintf(command, "quiver3(flows(:,1), flows(:,2), flows(:,3), flows(:,4), flows(:,5), flows(:,6), 4, 'r-');");
engEvalString(matlabEngine, command);
}
sprintf(command, "mesh = importdata('%s', ' ', 1);", meshFilenames[i]);
engEvalString(matlabEngine, command);
// plot the mesh points
sprintf(command, "plot3(mesh.data(:,1), mesh.data(:,2), mesh.data(:,3), 'b.');");
engEvalString(matlabEngine, command);
}
// reverse the z and y coordinates in the display
sprintf(command, "set(gca,'zdir','reverse','ydir','reverse');");
engEvalString(matlabEngine, command);
// scale the axes to be equal
sprintf(command, "axis equal");
engEvalString(matlabEngine, command);
// wait for the user to hit enter
printf("Hit return to continue.\n");
fgetc(stdin);
// close MATLAB engine
engClose(matlabEngine);
// cleanup
free(camera1Filenames);
free(camera1Frames);
free(camera2Filenames);
free(camera2Frames);
free(cameraNames);
free(cameraCoefficientsFilenames);
for (int i = 0; i < numCameraPairs; i++)
{
mxDestroyArray(c1ImageData[i]);
mxDestroyArray(c1ImageDimensions[i]);
mxDestroyArray(c1ImagePaddedWidths[i]);
mxDestroyArray(c2ImageData[i]);
mxDestroyArray(c2ImageDimensions[i]);
mxDestroyArray(c2ImagePaddedWidths[i]);
free(c1Images[i]->imageData);
cvReleaseImageHeader(&c1Images[i]);
free(c2Images[i]->imageData);
cvReleaseImageHeader(&c2Images[i]);
}
free(c1ImageData);
free(c1ImageDimensions);
free(c1ImagePaddedWidths);
free(c2ImageData);
free(c2ImageDimensions);
free(c2ImagePaddedWidths);
free(c1Images);
free(c2Images);
for (int i = 0; i < MAX_FILES_IN_DIRECTORY; i++)
{
free(filenamesInDirectory[i]);
}
free(filenamesInDirectory);
for (int i = 0; i < numContours; i++)
{
free(contourNames[i]);
free(features3D[i]);
free(validFeatureIndicator[i]);
free(meshFilenames[i]);
if (flowFilenames[i] != NULL)
{
free(flowFilenames[i]);
}
}
free(contourNames);
free(features3D);
free(validFeatureIndicator);
free(numFeaturesInContours);
free(meshFilenames);
free(flowFilenames);
exit(0);
}
