/*!
*/
void SpectralDistribution::normalize() noexcept
{
ZISC_ASSERT(!isAllZero(), "The intensities are all zero.");
const Float k = zisc::invert(compensatedSum());
for (uint i = 0; i < size(); ++i) {
const Float v = k * get(i);
set(i, v);
}
}
QImage* setMaskMap(IplImage* ocvImage, IplImage* mask)
{
int height = ocvImage->height;
int width = ocvImage->width;
QImage *retImage = new QImage( width, height, QImage::Format_RGB32 );
int R, G, B;
for(int y = 0; y < height; y++)
{
for(int x = 0; x < width; x++)
{
CvScalar color1 = cvGet2D(ocvImage, y, x);
CvScalar color2 = cvGet2D(mask, y, x);
if(ocvImage->nChannels == 3)
{
R = 0.6 * color1.val[2] + 0.4 * color2.val[2];
G = 0.6 * color1.val[1] + 0.4 * color2.val[1];
B = 0.6 * color1.val[0] + 0.4 * color2.val[0];
}
if(x > 0 && x < width-1 && y > 0 && y < height-1 && (color2.val[2] != 0 || color2.val[1] != 0 || color2.val[0] != 0))
{
CvScalar color3 = cvGet2D(mask, y, x-1);
CvScalar color4 = cvGet2D(mask, y, x+1);
CvScalar color5 = cvGet2D(mask, y-1, x);
CvScalar color6 = cvGet2D(mask, y+1, x);
if(isAllZero(color3) || isAllZero(color4) || isAllZero(color5) || isAllZero(color6))
{
R = 255;
G = 255;
B = 0;
}
}
retImage->setPixel(x, y, qRgb(R, G, B));
}
}
return retImage;
}
int WaitUntilMoveEnd(RobotArm *robot){
int checkTerm = 10;
int presVel[NUM_XEL];
int fingerLoad[NUM_FINGER];
int goalPos[NUM_XEL], presPos[NUM_XEL];
while(1){
_sleep(33);
robot->GetPresVelocity(presVel);
robot->GetGoalPosition(goalPos);
robot->GetPresPosition(presPos);
int maxSub = compareMaxSubPos(goalPos, presPos);
//robot->GetFingerLoad(fingerLoad);
if(isAllZero(presVel) == 1 || maxSub < 10)
return 1;
}
return 1;
}
void updateBondCounters(HSP *sp, SFLAdaptor *bond) {
char procFileName[256];
snprintf(procFileName, 256, "/proc/net/bonding/%s", bond->deviceName);
FILE *procFile = fopen(procFileName, "r");
if(procFile) {
// limit the number of chars we will read from each line
// (there can be more than this - fgets will chop for us)
#define MAX_PROC_LINE_CHARS 240
char line[MAX_PROC_LINE_CHARS];
SFLAdaptor *currentSlave = NULL;
HSPAdaptorNIO *slave_nio = NULL;
HSPAdaptorNIO *bond_nio = (HSPAdaptorNIO *)bond->userData;
HSPAdaptorNIO *aggregator_slave_nio = NULL;
bond_nio->lacp.attachedAggID = bond->ifIndex;
uint32_t aggID = 0;
// make sure we don't hold on to stale data - may need
// to pick up actorSystemID from a slave port.
memset(bond_nio->lacp.actorSystemID, 0, 6);
memset(bond_nio->lacp.partnerSystemID, 0, 6);
int readingMaster = YES; // bond master data comes first
int gotActorID = NO;
while(fgets(line, MAX_PROC_LINE_CHARS, procFile)) {
char buf_var[MAX_PROC_LINE_CHARS];
char buf_val[MAX_PROC_LINE_CHARS];
// buf_var is up to first ':', buf_val is the rest
if(sscanf(line, "%[^:]:%[^\n]", buf_var, buf_val) == 2) {
char *tok_var = trimWhitespace(buf_var);
char *tok_val = trimWhitespace(buf_val);
if(readingMaster) {
if(my_strequal(tok_var, "MII Status")) {
if(my_strequal(tok_val, "up")) {
bond_nio->lacp.portState.v.actorAdmin = 2; // dot3adAggPortActorAdminState
bond_nio->lacp.portState.v.actorOper = 2;
bond_nio->lacp.portState.v.partnerAdmin = 2;
bond_nio->lacp.portState.v.partnerOper = 2;
}
else {
bond_nio->lacp.portState.all = 0;
}
}
if(my_strequal(tok_var, "System Identification")) {
if(debug) {
myLog(LOG_INFO, "updateBondCounters: %s system identification %s",
bond->deviceName,
tok_val);
}
char sys_mac[MAX_PROC_LINE_CHARS];
uint64_t code;
if(sscanf(tok_val, "%"SCNu64" %s", &code, sys_mac) == 2) {
if(hexToBinary((u_char *)sys_mac,bond_nio->lacp.actorSystemID, 6) != 6) {
myLog(LOG_ERR, "updateBondCounters: system mac read error: %s", sys_mac);
}
else if(!isAllZero(bond_nio->lacp.actorSystemID, 6)) {
gotActorID = YES;
}
}
}
if(my_strequal(tok_var, "Partner Mac Address")) {
if(debug) {
myLog(LOG_INFO, "updateBondCounters: %s partner mac is %s",
bond->deviceName,
tok_val);
}
if(hexToBinary((u_char *)tok_val,bond_nio->lacp.partnerSystemID, 6) != 6) {
myLog(LOG_ERR, "updateBondCounters: partner mac read error: %s", tok_val);
}
}
if(my_strequal(tok_var, "Aggregator ID")) {
aggID = strtol(tok_val, NULL, 0);
if(debug) {
myLog(LOG_INFO, "updateBondCounters: %s aggID %u", bond->deviceName, aggID);
}
}
}
// initially the data is for the bond, but subsequently
// we get info about each slave. So we started with
// (readingMaster=YES,currentSlave=NULL), and now we
// detect transitions to slave data:
if(my_strequal(tok_var, "Slave Interface")) {
readingMaster = NO;
currentSlave = adaptorListGet(sp->adaptorList, trimWhitespace(tok_val));
slave_nio = currentSlave ? (HSPAdaptorNIO *)currentSlave->userData : NULL;
if(debug) {
myLog(LOG_INFO, "updateBondCounters: bond %s slave %s %s",
bond->deviceName,
tok_val,
currentSlave ? "found" : "not found");
}
if(slave_nio) {
// initialize from bond
slave_nio->lacp.attachedAggID = bond->ifIndex;
memcpy(slave_nio->lacp.partnerSystemID, bond_nio->lacp.partnerSystemID, 6);
memcpy(slave_nio->lacp.actorSystemID, bond_nio->lacp.actorSystemID, 6);
// make sure the parent is going to export separate
// counters if the slave is going to (because it was
// marked as a switchPort):
if(slave_nio->switchPort) {
bond_nio->switchPort = YES;
}
// and vice-versa
if(bond_nio->switchPort) {
slave_nio->switchPort = YES;
}
}
}
if(readingMaster == NO && slave_nio) {
if(my_strequal(tok_var, "MII Status")) {
if(my_strequal(tok_val, "up")) {
slave_nio->lacp.portState.v.actorAdmin = 2; // dot3adAggPortActorAdminState
slave_nio->lacp.portState.v.actorOper = 2;
slave_nio->lacp.portState.v.partnerAdmin = 2;
slave_nio->lacp.portState.v.partnerOper = 2;
}
else {
slave_nio->lacp.portState.all = 0;
}
}
if(my_strequal(tok_var, "Permanent HW addr")) {
if(!gotActorID) {
// Still looking for our actorSystemID, so capture this here in case we
// decide below that it is the one we want. Note that this mac may not be the
// same as the mac associated with this port that we read back in readInterfaces.c.
if(hexToBinary((u_char *)tok_val,slave_nio->lacp.actorSystemID, 6) != 6) {
myLog(LOG_ERR, "updateBondCounters: permanent HW addr read error: %s", tok_val);
}
}
}
if(my_strequal(tok_var, "Aggregator ID")) {
uint32_t slave_aggID = strtol(tok_val, NULL, 0);
if(slave_aggID == aggID) {
// remember that is the slave port that has the same aggregator ID as the bond
aggregator_slave_nio = slave_nio;
}
}
}
}
}
if(aggregator_slave_nio && !gotActorID) {
// go back and fill in the actorSystemID on all the slave ports
shareActorIDFromSlave(sp, bond_nio, aggregator_slave_nio);
}
fclose(procFile);
}
}
