Mat LRTV::compute() { int max_iter = 30; for(int iter = 0; iter < max_iter; ++iter) { cout << "=====================" << endl; cout << "Iter = " << (iter + 1) << endl; sub_1(); sub_2(); sub_3(); // when to stop needs further consideration if( iter >= 5 && norm(U_, U_last_) / norm(U_last_) < 1.5e-3 ) { break; } cout << "relative error = " << 1.0* norm(U_, U_last_) / norm(U_last_) << endl; U_.copyTo(U_last_); cout << "PSNR = " << PSNR(I_, U_, mask_) << endl; cout << endl; } return U_; }
void substring_1(char *host, char * str) { CLIENT *clnt; double *result_1; //char * sub_1_arg; #ifndef DEBUG clnt = clnt_create (host, SUBSTRING, SUB, "tcp"); if (clnt == NULL) { clnt_pcreateerror (host); exit (1); } #endif /* DEBUG */ result_1 = sub_1(&str, clnt); if (result_1 == (double *) NULL) { clnt_perror (clnt, "call failed"); } printf("number of occurences: %e",*result_1); #ifndef DEBUG clnt_destroy (clnt); #endif /* DEBUG */ }
TEST(CanAcceptanceFilter, Basic_test) { uavcan::GlobalDataTypeRegistry::instance().reset(); uavcan::DefaultDataTypeRegistrator<uavcan::equipment::camera_gimbal::AngularCommand> _reg1; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::Sideslip> _reg2; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::TrueAirspeed> _reg3; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::AngleOfAttack> _reg4; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::ahrs::Solution> _reg5; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::StaticPressure> _reg6; uavcan::DefaultDataTypeRegistrator<uavcan::protocol::file::BeginFirmwareUpdate> _reg7; SystemClockDriver clock_driver; CanDriverMock can_driver(1, clock_driver); TestNode node(can_driver, clock_driver, 24); uavcan::Subscriber<uavcan::equipment::camera_gimbal::AngularCommand, SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand>::ExtendedBinder> sub_1(node); uavcan::Subscriber<uavcan::equipment::air_data::Sideslip, SubscriptionListener<uavcan::equipment::air_data::Sideslip>::ExtendedBinder> sub_2(node); uavcan::Subscriber<uavcan::equipment::air_data::TrueAirspeed, SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed>::ExtendedBinder> sub_3(node); uavcan::Subscriber<uavcan::equipment::air_data::AngleOfAttack, SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack>::ExtendedBinder> sub_4(node); uavcan::Subscriber<uavcan::equipment::ahrs::Solution, SubscriptionListener<uavcan::equipment::ahrs::Solution>::ExtendedBinder> sub_5(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6_1(node); uavcan::ServiceServer<uavcan::protocol::file::BeginFirmwareUpdate> server(node); SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand> listener_1; SubscriptionListener<uavcan::equipment::air_data::Sideslip> listener_2; SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed> listener_3; SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack> listener_4; SubscriptionListener<uavcan::equipment::ahrs::Solution> listener_5; SubscriptionListener<uavcan::equipment::air_data::StaticPressure> listener_6; sub_1.start(listener_1.bindExtended()); sub_2.start(listener_2.bindExtended()); sub_3.start(listener_3.bindExtended()); sub_4.start(listener_4.bindExtended()); sub_5.start(listener_5.bindExtended()); sub_6.start(listener_6.bindExtended()); sub_6_1.start(listener_6.bindExtended()); server.start(writeServiceServerCallback); std::cout << "Subscribers are initialized ..." << std::endl; uavcan::CanAcceptanceFilterConfigurator anon_test_configuration(node); int configure_filters_assert = anon_test_configuration.configureFilters(); if (configure_filters_assert == 0) { std::cout << "Filters are configured with anonymous configuration..." << std::endl; } const auto& configure_array = anon_test_configuration.getConfiguration(); uint32_t configure_array_size = configure_array.getSize(); ASSERT_EQ(configure_filters_assert, 0); ASSERT_EQ(configure_array_size, 4); for (uint16_t i = 0; i<configure_array_size; i++) { std::cout << "config.ID [" << i << "]= " << configure_array.getByIndex(i)->id << std::endl; std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl; } ASSERT_EQ(configure_array.getByIndex(0)->id, 0); ASSERT_EQ(configure_array.getByIndex(0)->mask, 255); ASSERT_EQ(configure_array.getByIndex(1)->id, 256000); ASSERT_EQ(configure_array.getByIndex(1)->mask, 16771968); ASSERT_EQ(configure_array.getByIndex(2)->id, 6272); ASSERT_EQ(configure_array.getByIndex(2)->mask, 32640); ASSERT_EQ(configure_array.getByIndex(3)->id, 262144); ASSERT_EQ(configure_array.getByIndex(3)->mask, 16771200); uavcan::CanAcceptanceFilterConfigurator no_anon_test_confiruration(node); configure_filters_assert = no_anon_test_confiruration.configureFilters (uavcan::CanAcceptanceFilterConfigurator::IgnoreAnonymousMessages); if (configure_filters_assert == 0) { std::cout << "Filters are configured without anonymous configuration..." << std::endl; } const auto& configure_array_2 = no_anon_test_confiruration.getConfiguration(); configure_array_size = configure_array_2.getSize(); ASSERT_EQ(configure_filters_assert, 0); ASSERT_EQ(configure_array_size, 4); for (uint16_t i = 0; i<configure_array_size; i++) { std::cout << "config.ID [" << i << "]= " << configure_array.getByIndex(i)->id << std::endl; std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl; } ASSERT_EQ(configure_array_2.getByIndex(0)->id, 6272); ASSERT_EQ(configure_array_2.getByIndex(0)->mask, 32640); ASSERT_EQ(configure_array_2.getByIndex(1)->id, 262144); ASSERT_EQ(configure_array_2.getByIndex(1)->mask, 16776320); ASSERT_EQ(configure_array_2.getByIndex(2)->id, 256000); ASSERT_EQ(configure_array_2.getByIndex(2)->mask, 16771968); ASSERT_EQ(configure_array_2.getByIndex(3)->id, 262144); ASSERT_EQ(configure_array_2.getByIndex(3)->mask, 16771968); }
TEST(CanAcceptanceFilter, Basic_test) { uavcan::GlobalDataTypeRegistry::instance().reset(); uavcan::DefaultDataTypeRegistrator<uavcan::equipment::camera_gimbal::AngularCommand> _reg1; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::Sideslip> _reg2; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::TrueAirspeed> _reg3; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::AngleOfAttack> _reg4; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::ahrs::AHRS> _reg5; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::StaticPressure> _reg6; uavcan::DefaultDataTypeRegistrator<uavcan::protocol::file::BeginFirmwareUpdate> _reg7; SystemClockDriver clock_driver; CanDriverMock can_driver(1, clock_driver); TestNode node(can_driver, clock_driver, 24); uavcan::Subscriber<uavcan::equipment::camera_gimbal::AngularCommand, SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand>::ExtendedBinder> sub_1(node); uavcan::Subscriber<uavcan::equipment::air_data::Sideslip, SubscriptionListener<uavcan::equipment::air_data::Sideslip>::ExtendedBinder> sub_2(node); uavcan::Subscriber<uavcan::equipment::air_data::TrueAirspeed, SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed>::ExtendedBinder> sub_3(node); uavcan::Subscriber<uavcan::equipment::air_data::AngleOfAttack, SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack>::ExtendedBinder> sub_4(node); uavcan::Subscriber<uavcan::equipment::ahrs::AHRS, SubscriptionListener<uavcan::equipment::ahrs::AHRS>::ExtendedBinder> sub_5(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6_1(node); uavcan::ServiceServer<uavcan::protocol::file::BeginFirmwareUpdate> server(node); SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand> listener_1; SubscriptionListener<uavcan::equipment::air_data::Sideslip> listener_2; SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed> listener_3; SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack> listener_4; SubscriptionListener<uavcan::equipment::ahrs::AHRS> listener_5; SubscriptionListener<uavcan::equipment::air_data::StaticPressure> listener_6; sub_1.start(listener_1.bindExtended()); sub_2.start(listener_2.bindExtended()); sub_3.start(listener_3.bindExtended()); sub_4.start(listener_4.bindExtended()); sub_5.start(listener_5.bindExtended()); sub_6.start(listener_6.bindExtended()); sub_6_1.start(listener_6.bindExtended()); server.start(writeServiceServerCallback); std::cout << "Subscribers are initialized ..." << std::endl; uavcan::CanAcceptanceFilterConfigurator test_configurator(node); int configure_filters_assert = test_configurator.configureFilters(); if (configure_filters_assert == 0) { std::cout << "Filters are configured ..." << std::endl; } const auto& configure_array = test_configurator.getConfiguration(); uint32_t configure_array_size = configure_array.getSize(); ASSERT_EQ(configure_filters_assert, 0); ASSERT_EQ(configure_array_size, 4); for (uint16_t i = 0; i<configure_array_size; i++) { std::cout << "config.ID [" << i << "]= " << configure_array.getByIndex(i)->id << std::endl; std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl; } ASSERT_EQ(configure_array.getByIndex(0)->id, 268435456); ASSERT_EQ(configure_array.getByIndex(0)->mask, 469762048); ASSERT_EQ(configure_array.getByIndex(1)->id, 363069440); ASSERT_EQ(configure_array.getByIndex(1)->mask, 536739840); ASSERT_EQ(configure_array.getByIndex(2)->id, 16777216); ASSERT_EQ(configure_array.getByIndex(2)->mask, 124452864); ASSERT_EQ(configure_array.getByIndex(3)->id, 18874368); ASSERT_EQ(configure_array.getByIndex(3)->mask, 133169152); }
void main(int argc, char *argv[]) { CLIENT *cliente; int *return_value; float *f_return_value; char *servidor; if (argc < 5){ fprintf(stderr, "Usage:\n%s <server> <operation> <number 1> <number 2>\n", argv[0]); fprintf(stderr, "Example:\n%s localhost add 2 5\n", argv[0]); exit (1); } servidor = argv[1]; // Generating handle to call server. if ((cliente=clnt_create(servidor, CALCULATOR, CALCULATORVERS, "tcp")) == (CLIENT *) NULL) { clnt_pcreateerror(servidor); exit(2); } if (strcmp(argv[2], "add") == 0) { return_value = add_1(atoi(argv[3]), atoi(argv[4]), cliente); if (! *return_value) { fprintf(stderr, "error: couldn't add\n"); exit(1); } else{ printf("Return value = %d\n", *return_value); } exit(0); } else if (strcmp(argv[2], "sub") == 0) { return_value = sub_1(atoi(argv[3]), atoi(argv[4]), cliente); if (! *return_value) { fprintf(stderr, "error: couldn't sub\n"); exit(1); } else{ printf("Return value = %d\n", *return_value); } exit(0); } else if (strcmp(argv[2], "times") == 0) { return_value = times_1(atoi(argv[3]), atoi(argv[4]), cliente); if (! *return_value) { fprintf(stderr, "error: couldn't times\n"); exit(1); } else{ printf("Return value = %d\n", *return_value); } exit(0); } else if (strcmp(argv[2], "divide") == 0) { f_return_value = divide_1(atoi(argv[3]), atoi(argv[4]), cliente); if (! *f_return_value) { fprintf(stderr, "error: couldn't divide\n"); exit(1); } else{ printf("Return value = %.3f\n", *f_return_value); } exit(0); } else{ fprintf(stderr, "Avaiable operations: add, sub, times, divide\n"); } clnt_destroy(cliente); }