///
/// read back software version
/// to check communication with device
///
void CoriFlow::Device_Init( void ) {
#ifdef __CORIFLOW_DEBUG
std::cout << "[CoriFlow::Device_Init] -- DEBUG: Called." << std::endl;
#endif
char buffer[1000];
comHandler_->SendCommand( ":0703047161716610" );
usleep( uDelay_ );
comHandler_->ReceiveString( buffer );
usleep( uDelay_ );
StripBuffer( buffer );
std::string temp = ToUnit(buffer);
// std::cout<<"status = "<<temp<<std::endl;
if (!temp.compare("nils")) {
std::cerr << " [CoriFlow::Device_Init] ** ERROR: Device communication problem." << std::endl;
isCommunication_ = false;
return;
}
isCommunication_ = true;
}
//旋转卡壳求包围点的最小面积（周长）的矩形，p是凸包，n是凸包点数
pair<Type,Type> Rotating_Calipers(Point *p,int n){
p[n] = p[0];
Type min_area = 1e99,min_c = 1e99;//最小的矩形面积和矩形周长
int l = 1,r = 1,u = 1;
for(int i = 0;i<n;i++){
Vector v = ToUnit(p[i+1]-p[i]);
while(sign(Dot(v,p[r%n]-p[i])-Dot(v,p[(r+1)%n]-p[i]))<0) r++;
while(u<r||sign(Cross(v,p[u%n]-p[i])-Cross(v,p[(u+1)%n]-p[i]))<0) u++;
while(l<u||sign(Dot(v,p[l%n]-p[i])-Dot(v,p[(l+1)%n]-p[i]))>0) l++;
Type w = Dot(v,p[r%n]-p[i])-Dot(v,p[l%n]-p[i]);
Type h = DistanceToLine(p[u%n],Line(p[i],p[i+1]));
min_area = min(min_area,w*h);
min_c = min(min_c,2*(w+h));
}
return MP(min_area,min_c);
}
std::string CoriFlow::getTag( void ) const {
#ifdef __CORIFLOW_DEBUG
std::cout << "[CoriFlow::test] -- DEBUG: Called." << std::endl;
#endif
char buffer[1000];
usleep( uDelay_ );
comHandler_->SendCommand( ":0703047161716610" );
usleep( uDelay_ );
comHandler_->ReceiveString( buffer );
StripBuffer( buffer );
return ToUnit(buffer);
}
