main(int argc, char *argv[])
{
float array,temp,*inputs,foo,*sorting;
int length,i;
// checking for four command line arguments
switch (argc)
{
case 2:
fprintf( stderr,"Error: Please also provide output filenames\n");
return(1);
case 5:
break; // have input file and output files; all is OK
default:
fprintf( stderr,"Error: Please provide ONE input and THREE output filenames respectively as command line arguments\n");
return(1);
}
ifstream inputf(argv[1]); //Pointer to the input filepath
ofstream outputf1(argv[2]),outputf2(argv[3]),outputf3(argv[4]); //Pointer to the output filepath
DSP1 D function;
// make sure the input file opens
if((inputf)==NULL)
{
fprintf(stderr,"Error opening input file file. Check permissions.\n");
return(1);
}
// make sure the output files open
if((outputf1)==NULL)
{
fprintf(stderr,"Error opening output file one. Check permissions.\n");
return(1);
}
if((outputf2)==NULL)
{
fprintf(stderr,"Error opening output file two. Check permissions.\n");
return(1);
}
if((outputf3)==NULL)
{
fprintf(stderr,"Error opening output file three. Check permissions.\n");
return(1);
}
length = 0;
while (!inputf.eof())
{
inputf >> foo;
length +=1;
}
inputs = new float[length];
inputf.clear();
inputf.seekg(0, std::ios_base::beg);
for ( i=0;i<length;i++)
{
inputf >> array;
inputs[i] = array;
}
function.storearray (inputs, length);
temp = function.max();
outputf1 << "The max is: " << temp << "\n";
temp = function.min();
outputf1 << "The min is: " << temp << "\n";
temp = function.avg();
outputf1 << "The average is: " << temp << "\n";
temp = function.var();
outputf1 << "The variance is: " << temp << "\n";
temp = function.standev();
outputf1 << "The standard deviation is: " << temp << "\n";
outputf3 << "The sorted list is as follows: \n\n";
function.sort();
for (i=0; i < length ; i ++)
{
outputf2 << "\n" << sorting[i] ;
}
return(0);
}
// Insert a function in the trajectory
robFunction::Errno robTrajectory::Insert( robFunction* function,
double ti, double tf ){
// Test that the initial time and final time are coherent
if( (ti < 0) || (tf < 0) || (tf <= ti) ){
CMN_LOG_RUN_ERROR << CMN_LOG_DETAILS
<< ": " << ti << " must be less than " << tf << "."
<< std::endl;
return robFunction::EFAILURE;
}
// Test that the function exists
if( function == NULL ) {
CMN_LOG_RUN_ERROR << CMN_LOG_DETAILS
<< ": Function is NULL"
<< std::endl;
return robFunction::EFAILURE;
}
// Ensure that the domain of the function matches the domain of the trajectory
if( (function->Domain()!=Domain()) || (function->Codomain()!=Codomain()) ){
CMN_LOG_RUN_ERROR << CMN_LOG_DETAILS
<< ": Spaces do not match."
<< std::endl;
return robFunction::EFAILURE;
}
// Ensure that the function is defined for ti
robVariable inputi( ti );
if( function->GetContext( inputi ) != robFunction::CDEFINED ){
CMN_LOG_RUN_ERROR << CMN_LOG_DETAILS
<< ": Function is undefined for initial time " << ti
<< std::endl;
return robFunction::EFAILURE;
}
// Ensure that the function is defined for tf
robVariable inputf( tf );
if( function->GetContext( inputf ) != robFunction::CDEFINED ){
CMN_LOG_RUN_ERROR << CMN_LOG_DETAILS
<< ": Function is undefined for final time " << tf
<< std::endl;
return robFunction::EFAILURE;
}
// Create the motion segment
robTrajectory::Segment segment( ti, tf, function );
// Is this the first segment? If yes, then we can't blend. Thus insert the
// segment as is.
if( segments.size() == 0 ){
segments.push_back( segment );
return robFunction::ESUCCESS;
}
// Create a blender to blend the last segment and the new segment
robTrajectory::Segment blender = GenerateBlender( segments.back(), segment );
// now we must adjust the time of both segments...
segments.back().tf = blender.ti; // adjust the final time of the last segment
// to the start time of the blending segment
segment.ti = blender.tf; // adjust the initial time of the new segment
// to the final time of the blending segment
segments.push_back( blender ); // insert the blending segment
segments.push_back( segment ); // insert the motion segment
return robFunction::ESUCCESS;
}
int encode_op(char *opcode, char *op_data)
{
int rd,rs,rt,imm,funct,shaft,target;
char tmp[256];
const char *fi = "%s %d";
const char *fg = "%s %%g%d";
const char *ff = "%s %%f%d";
const char *fl = "%s %s";
const char *fgi = "%s %%g%d, %d";
const char *fgl = "%s %%g%d, %s";
const char *fgg = "%s %%g%d, %%g%d";
const char *fggl = "%s %%g%d, %%g%d, %s";
const char *fggi = "%s %%g%d, %%g%d, %d";
const char *fggg = "%s %%g%d, %%g%d, %%g%d";
const char *fff = "%s %%f%d, %%f%d";
const char *fgf = "%s %%g%d, %%f%d";
const char *ffg = "%s %%f%d, %%g%d";
const char *fffl = "%s %%f%d, %%f%d, %s";
const char *ffff = "%s %%f%d, %%f%d, %%f%d";
const char *ffgi = "%s %%f%d, %%g%d, %d";
const char *ffgg = "%s %%f%d, %%g%d, %%g%d";
char lname[256];
shaft = funct = target = 0;
if(strcmp(opcode, "mvhi") == 0){
if(sscanf(op_data, fgi, tmp, &rs, &imm) == 3)
return mvhi(rs,0,imm);
}
if(strcmp(opcode, "mvlo") == 0){
if(sscanf(op_data, fgi, tmp, &rs, &imm) == 3)
return mvlo(rs,0,imm);
}
if(strcmp(opcode, "add") == 0){
if(sscanf(op_data, fggg, tmp, &rd, &rs,&rt) == 4)
return add(rs,rt,rd,0);
}
if(strcmp(opcode, "nor") == 0){
if(sscanf(op_data, fggg, tmp, &rd, &rs,&rt) == 4)
return nor(rs,rt,rd,0);
}
if(strcmp(opcode, "sub") == 0){
if(sscanf(op_data, fggg, tmp, &rd, &rs,&rt) == 4)
return sub(rs,rt,rd,0);
}
if(strcmp(opcode, "mul") == 0){
if(sscanf(op_data, fggg, tmp, &rd, &rs,&rt) == 4)
return mul(rs,rt,rd,0);
}
if(strcmp(opcode, "addi") == 0){
if(sscanf(op_data, fggi, tmp, &rt, &rs, &imm) == 4)
return addi(rs,rt,imm);
}
if(strcmp(opcode, "subi") == 0){
if(sscanf(op_data, fggi, tmp, &rt, &rs, &imm) == 4)
return subi(rs,rt,imm);
}
if(strcmp(opcode, "muli") == 0){
if(sscanf(op_data, fggi, tmp, &rt, &rs, &imm) == 4)
return muli(rs,rt,imm);
}
if(strcmp(opcode, "input") == 0){
if(sscanf(op_data, fg, tmp, &rd) == 2)
return input(0,0,rd,0);
}
if(strcmp(opcode, "inputw") == 0){
if(sscanf(op_data, fg, tmp, &rd) == 2)
return inputw(0,0,rd,0);
}
if(strcmp(opcode, "inputf") == 0){
if(sscanf(op_data, ff, tmp, &rd) == 2)
return inputf(0,0,rd,0);
}
if(strcmp(opcode, "output") == 0){
if(sscanf(op_data, fg, tmp, &rs) == 2)
return output(rs,0,0,0);
}
if(strcmp(opcode, "outputw") == 0){
if(sscanf(op_data, fg, tmp, &rs) == 2)
return outputw(rs,0,0,0);
}
if(strcmp(opcode, "outputf") == 0){
if(sscanf(op_data, ff, tmp, &rs) == 2)
return outputf(rs,0,0,0);
}
if(strcmp(opcode, "and") == 0){
if(sscanf(op_data, fggg, tmp, &rd, &rs,&rt) == 4)
return _and(rs,rt,rd,0);
}
if(strcmp(opcode, "or") == 0){
if(sscanf(op_data, fggg, tmp, &rd, &rs,&rt) == 4)
return _or(rs,rt,rd,0);
}
if(strcmp(opcode, "sll") == 0){
if(sscanf(op_data, fggg, tmp, &rd, &rs,&rt) == 4)
return sll(rs,rt,rd,0);
}
if(strcmp(opcode, "srl") == 0){
if(sscanf(op_data, fggg, tmp, &rd, &rs,&rt) == 4)
return srl(rs,rt,rd,0);
}
if(strcmp(opcode, "slli") == 0){
if(sscanf(op_data, fggi, tmp, &rt, &rs, &imm) == 4)
return slli(rs,rt,imm);
}
if(strcmp(opcode, "srli") == 0){
if(sscanf(op_data, fggi, tmp, &rt, &rs, &imm) == 4)
return srli(rs,rt,imm);
}
if(strcmp(opcode, "b") == 0){
if(sscanf(op_data, fg, tmp, &rs) == 2)
return b(rs,0,0,0);
}
if(strcmp(opcode, "jmp") == 0){
if(sscanf(op_data, fl, tmp, lname) == 2) {
strcpy(label_name[label_cnt],lname);
return jmp(label_cnt++);
}
}
if(strcmp(opcode, "jeq") == 0){
if(sscanf(op_data, fggl, tmp, &rs, &rt, lname) == 4) {
strcpy(label_name[label_cnt],lname);
return jeq(rs,rt,label_cnt++);
}
}
if(strcmp(opcode, "jne") == 0){
if(sscanf(op_data, fggl, tmp, &rs, &rt, lname) == 4) {
strcpy(label_name[label_cnt],lname);
return jne(rs,rt,label_cnt++);
}
}
if(strcmp(opcode, "jlt") == 0){
if(sscanf(op_data, fggl, tmp, &rs, &rt, lname) == 4) {
strcpy(label_name[label_cnt],lname);
return jlt(rs,rt,label_cnt++);
}
}
if(strcmp(opcode, "jle") == 0){
if(sscanf(op_data, fggl, tmp, &rs, &rt, lname) == 4) {
strcpy(label_name[label_cnt],lname);
return jle(rs,rt,label_cnt++);
}
}
if(strcmp(opcode, "call") == 0){
if(sscanf(op_data, fl, tmp, lname) == 2) {
strcpy(label_name[label_cnt],lname);
return call(label_cnt++);
}
}
if(strcmp(opcode, "callR") == 0){
if(sscanf(op_data, fg, tmp, &rs) == 2)
return callr(rs,0,0,0);
}
if(strcmp(opcode, "return") == 0){
return _return(0);
}
if(strcmp(opcode, "ld") == 0){
if(sscanf(op_data, fggg, tmp, &rd, &rs,&rt) == 4)
return ld(rs,rt,rd,0);
}
if(strcmp(opcode, "ldi") == 0){
if(sscanf(op_data, fggi, tmp, &rt, &rs, &imm) == 4)
return ldi(rs,rt,imm);
}
if(strcmp(opcode, "ldlr") == 0){
if(sscanf(op_data, fgi, tmp, &rs, &imm) == 3)
return ldlr(rs,0,imm);
}
if(strcmp(opcode, "fld") == 0){
if(sscanf(op_data, ffgg, tmp, &rd, &rs,&rt) == 4)
return fld(rs,rt,rd,0);
}
if(strcmp(opcode, "st") == 0){
if(sscanf(op_data, fggg, tmp, &rd, &rs,&rt) == 4)
return st(rs,rt,rd,0);
}
if(strcmp(opcode, "sti") == 0){
if(sscanf(op_data, fggi, tmp, &rt, &rs, &imm) == 4)
return sti(rs,rt,imm);
}
if(strcmp(opcode, "stlr") == 0){
if(sscanf(op_data, fgi, tmp, &rs, &imm) == 3)
return stlr(rs,0,imm);
}
if(strcmp(opcode, "fst") == 0){
if(sscanf(op_data, ffgg, tmp, &rd, &rs,&rt) == 4)
return fst(rs,rt,rd,0);
}
if(strcmp(opcode, "fadd") == 0){
if(sscanf(op_data, ffff, tmp, &rd, &rs, &rt) == 4)
return fadd(rs,rt,rd,0);
}
if(strcmp(opcode, "fsub") == 0){
if(sscanf(op_data, ffff, tmp, &rd, &rs, &rt) == 4)
return fsub(rs,rt,rd,0);
}
if(strcmp(opcode, "fmul") == 0){
if(sscanf(op_data, ffff, tmp, &rd, &rs, &rt) == 4)
return fmul(rs,rt,rd,0);
}
if(strcmp(opcode, "fdiv") == 0){
if(sscanf(op_data, ffff, tmp, &rd, &rs, &rt) == 4)
return fdiv(rs,rt,rd,0);
}
if(strcmp(opcode, "fsqrt") == 0){
if(sscanf(op_data, fff, tmp, &rd, &rs) == 3)
return fsqrt(rs,0,rd,0);
}
if(strcmp(opcode, "fabs") == 0){
if(sscanf(op_data, fff, tmp, &rd, &rs) == 3)
return _fabs(rs,0,rd,0);
}
if(strcmp(opcode, "fmov") == 0){
if(sscanf(op_data, fff, tmp, &rd, &rs) == 3)
return fmov(rs,0,rd,0);
}
if(strcmp(opcode, "fneg") == 0){
if(sscanf(op_data, fff, tmp, &rd, &rs) == 3)
return fneg(rs,0,rd,0);
}
if(strcmp(opcode, "fldi") == 0){
if(sscanf(op_data, ffgi, tmp, &rt, &rs, &imm) == 4)
return fldi(rs,rt,imm);
}
if(strcmp(opcode, "fsti") == 0){
if(sscanf(op_data, ffgi, tmp, &rt, &rs, &imm) == 4)
return fsti(rs,rt,imm);
}
if(strcmp(opcode, "fjeq") == 0){
if(sscanf(op_data, fffl, tmp, &rs, &rt, lname) == 4) {
strcpy(label_name[label_cnt],lname);
return fjeq(rs,rt,label_cnt++);
}
}
if(strcmp(opcode, "fjlt") == 0){
if(sscanf(op_data, fffl, tmp, &rs, &rt, lname) == 4) {
strcpy(label_name[label_cnt],lname);
return fjlt(rs,rt,label_cnt++);
}
}
if(strcmp(opcode, "halt") == 0){
return halt(0,0,0,0);
}
if(strcmp(opcode, "setL") == 0){
if(sscanf(op_data, fgl, tmp, &rd, lname) == 3) {
strcpy(label_name[label_cnt],lname);
return setl(0,rd,label_cnt++);
}
}
if(strcmp(opcode, "padd") == 0){
if(sscanf(op_data, fgi, tmp, &rt, &imm) == 3) {
return padd(0,rt,imm);
}
}
if(strcmp(opcode, "link") == 0){
if(sscanf(op_data, fi, tmp, &imm) == 2) {
return link(0,0,imm);
}
}
if(strcmp(opcode, "movlr") == 0){
return movlr(0,0,0,0);
}
if(strcmp(opcode, "btmplr") == 0){
return btmplr(0,0,0,0);
}
/*
if(strcmp(opcode, "padd") == 0){
if(sscanf(op_data, fgg, tmp, &rd, &rt) == 3) {
return padd(0,rt,d,0);
}
}
*/
return -1;
}
