static int alloc(struct vidisp_st **stp, const struct vidisp *vd,
struct vidisp_prm *prm, const char *dev,
vidisp_resize_h *resizeh, void *arg)
{
struct vidisp_st *st;
int err;
/* Not used by SDL */
(void)prm;
(void)dev;
if (sdl.open)
return EBUSY;
st = mem_zalloc(sizeof(*st), destructor);
if (!st)
return ENOMEM;
st->vd = vd;
sdl.resizeh = resizeh;
sdl.arg = arg;
err = sdl_open();
if (err)
mem_deref(st);
else
*stp = st;
return err;
}
int main(int argc, char *argv[])
{
int w = 222 * 2;
int h = 222;
int lebuf[w][h];
sdl_open(w, h);
for (int c = 0; c < 22; c++) {
for (int x = 0; x < (w * h); x++)
lebuf[0][x] = c;
sdl_plot(w, h, lebuf);
if (sdl_waitkey())
return 1;
}
sdl_close();
return 0;
}
int main(int argc, char *argv[])
{
char *filename_base;
char filename_table[100];
aero_model_t model;
aero_env_t env;
aero_table_output_t result;
load_aero_model(&model, "");
load_aero_env(&env, "");
int w = 2 * 600 * MEGARES;
int h = w;
int *pix_buf = malloc(w * h * sizeof(int));
if (!pix_buf) {
fprintf(stderr, "Unable to allocate %zu bytes for pix_buf\n",
w * h * sizeof(int));
return 1;
};
if (argc > 2) {
if (strlen(argv[2]) + 10 > sizeof(filename_table)) {
printf("Specify a shorter filename, please (max %zu)\n",
sizeof(filename_table) - 10);
return 1;
}
else
filename_base = argv[2];
}
else {
printf("syntax: %s {w|r} basename\n",argv[0]);
return 1;
}
snprintf(filename_table, sizeof(filename_table), "%s.table",
filename_base);
if (argv[1][0]=='r') {
aero_table_t table;
load_aero_table(&table,filename_table);
aero_table_output_t result;
sdl_open(w, h);
for (int c=0; c<=1; c++)
for (double a=-1; a<=1; a+=0.01)
for (double b=-1; b<=1; b+=0.01) {
if (a*a + b*b > 1.0001)
continue;
if (lookup_aero_table(&result,&table,a,b,c)) {
printf("lookup fail for %.3f, %.3f, %d\n",a,b,c);
continue;
}
double torque = xyz_norm(&result.torque);
if (torque < 0.00015) {
printf("Low torque position found: %.3f, %.3f, %d (%.4f)\n",a,b,c, torque);
quat_t att;
att_of_params(&att,a,b,c);
memset(pix_buf, 0, w * h * sizeof(*pix_buf));
project_o_tron(&result, &model, att, w, h, pix_buf);
sdl_plot(w, h, pix_buf);
if (sdl_waitkey()) return 1;
}
}
close_aero_table(&table);
return 0;
}
if (argv[1][0]=='a') {
aero_table_t table;
load_aero_table(&table,filename_table);
aero_table_output_t result;
sdl_open(w, h);
double a,b;
int c;
sscanf(argv[3],"%lf",&a);
sscanf(argv[4],"%lf",&b);
sscanf(argv[5],"%d",&c);
if (lookup_aero_table(&result,&table,a,b,c)) {
printf("lookup fail for %.3f, %.3f, %d\n",a,b,c);
return 1;
}
double torque = xyz_norm(&result.torque);
printf("Params: %.3f, %.3f, %d (%.4f)\n",a,b,c, torque);
quat_t att;
att_of_params(&att,a,b,c);
memset(pix_buf, 0, w * h * sizeof(*pix_buf));
project_o_tron(&result, &model, att, w, h, pix_buf);
sdl_plot(w, h, pix_buf);
if (sdl_waitkey()) return 1;
close_aero_table(&table);
return 0;
}
FILE UU *table_file = fopen(filename_table, "wb");
const double param_step = 0.02;
int UU o = 0;
double max_torque = 0;
int UU col=1;
int coverage[600][600];
memset(coverage, 0, sizeof(coverage));
memset(pix_buf, 0, w * h * sizeof(*pix_buf));
int param_dim = round(2/param_step + 1);
for (int c=0; c<2; c++)
for (int ia = 0; ia < param_dim; ia ++)
{
for (int ib = 0; ib < param_dim; ib ++)
{
double a,b;
a = 2.0 * ia / (param_dim-1) - 1;
b = 2.0 * ib / (param_dim-1) - 1;
if (a*a + b*b > 1.0001) {
printf("skipping %f, %f\n",a,b);
continue;
}
else printf("@ %f, %f \n",a,b);
quat_t att;
att_of_params(&att,a,b,c);
/*
if (c)
pix_buf[(int)(100*a)+120 + w * ((int)(100*b)+120)] = col;
else
pix_buf[(int)(100*a)+420 + w * ((int)(100*b)+120)] = col;
col%=7;
col++;
*/
// printf("norm = %f\n",quat_norm(&att));
memset(pix_buf, 0, w * h * sizeof(*pix_buf));
project_o_tron(&result, &model, att, w, h, pix_buf);
write_aero_table_entry(table_file, a, b,c, &result);
#ifdef DRAW
/*
// Plot some color squares at the top, as a crude key / legend
for (int i = 0; i < model.n_panels; i++)
for (int y = 0; y < 22; y++)
for (int x = 0; x < 22; x++)
pix_buf[x + 22 * 2 * i +
y * w] = i + 1;
*/
if (!o) {
sdl_open(w, h);
o = 1;
}
sdl_plot(w, h, pix_buf);
if (sdl_poll_key()) goto end;
// if (sdl_waitkey()) goto end;
#endif
double torque =
.5 * env.rho * env.v * env.v *
xyz_norm(&result.torque);
if (torque > max_torque) {
max_torque = torque;
printf
("New max torque, %.2f microNewton meters\n",
max_torque / 1E-6);
// if (torque > 4e-6 && sdl_waitkey()) goto end;
}
}
}
#ifdef DRAW
end:
sdl_waitkey();
sdl_close();
#endif
fclose(table_file);
free(pix_buf);
return 0;
}
