// The constructor uses the appropriate settings in the config file to
// properly set up the sensor model for the specified "phase" of the LGMD
// input signal.
SensorModel::SensorModel(const std::string& lgmd_phase)
: m_sigma(0.0f), m_name(lgmd_phase)
{
const range<float> lgmd_range =
get_conf(locust_model(), "spike_range", make_range(0.0f, 800.0f)) ;
// Get the LGMD ranges for the columns of the sensor model
m_lgmd_ranges = string_to_deque<float>(
conf<std::string>(lgmd_phase + "_lgmd_ranges", "0 800")) ;
if (m_lgmd_ranges.size() < 2) { // crappy configuration!
m_lgmd_ranges.clear() ;
m_lgmd_ranges.push_back(lgmd_range.min()) ;
m_lgmd_ranges.push_back(lgmd_range.max()) ;
}
sort(m_lgmd_ranges.begin(), m_lgmd_ranges.end()) ;
if (m_lgmd_ranges.front() > lgmd_range.min())
m_lgmd_ranges.push_front(lgmd_range.min()) ;
if (m_lgmd_ranges.back() < lgmd_range.max())
m_lgmd_ranges.push_back(lgmd_range.max()) ;
// Figure out how many rows and columns the sensor model's probability
// table has and allocate space for the required number of elements.
// Initialize the probability table using a uniform distribution.
const int C = m_lgmd_ranges.size() - 1 ;
const int R = column_size() ;
const int N = R * C ;
m_prob.reserve(N) ;
std::fill_n(std::back_inserter(m_prob), N, 1.0f/N) ;
// Apply Gabbiani model to obtain causal probabilities and Gaussian
// blur neighbouring bins in each row.
update(clamp(conf(lgmd_phase + "_sigma", 1.0f),
0.1f, static_cast<float>(row_size()))) ;
}
// Quick helper to return a label for the current range of probability
// values used for scaling the texels used to represent the sensor
// model's probabilities.
static std::string prob_label(const range<float>& prob_range)
{
std::ostringstream str ;
str << "P-range: ["
<< prob_range.min() << ", " << prob_range.max() << ']' ;
return str.str() ;
}
void MipsELFFile<ELFT>::createRelocationReferences(const Elf_Sym *symbol,
ArrayRef<uint8_t> symContent,
ArrayRef<uint8_t> secContent,
range<Elf_Rel_Iter> rels) {
const auto value = this->getSymbolValue(symbol);
for (Elf_Rel_Iter rit = rels.begin(), eit = rels.end(); rit != eit; ++rit) {
if (rit->r_offset < value || value + symContent.size() <= rit->r_offset)
continue;
auto r = new (this->_readerStorage) MipsELFReference<ELFT>(value, *rit);
this->addReferenceToSymbol(r, symbol);
this->_references.push_back(r);
auto addend = readAddend(*rit, secContent);
auto pairRelType = getPairRelocation(*rit);
if (pairRelType != llvm::ELF::R_MIPS_NONE) {
addend <<= 16;
auto mit = findMatchingRelocation(pairRelType, rit, eit);
if (mit != eit)
addend += int16_t(readAddend(*mit, secContent));
else
// FIXME (simon): Show detailed warning.
llvm::errs() << "lld warning: cannot matching LO16 relocation\n";
}
this->_references.back()->setAddend(addend);
}
}
void operator()(const range& r) const{
for (int i = r.begin(); i != r.end(); ++i) {
if (compareWord(word, words[i])) {
cout << words[i] << endl;
}
}
}
void jacobi_kernel_wrapper(range const & y_range, size_t n, vector<double> & dst, vector<double> const & src) {
for(size_t y = y_range.begin(); y < y_range.end(); ++y) {
double * dst_ptr = &dst[y * n];
const double * src_ptr = &src[y * n];
jacobi_kernel( dst_ptr, src_ptr, n );
}
}
double_block_type::double_block_type(const range &bounds,
const offset_multiplier &ls)
: bounds_(bounds), ls_(ls) {
if (bounds.has_low() || bounds.has_high())
if (ls.has_offset() || ls.has_multiplier())
throw std::invalid_argument("Block type cannot have both a bound and"
"an offset/multiplier.");
}
void jacobi_kernel_wrap(
range const & r,
crs_matrix<double> const & A,
std::vector<double> & x_dst, std::vector<double> const & x_src, std::vector<double> const & b)
{
for(std::size_t row = r.begin(); row < r.end(); ++row)
{
jacobi_kernel_nonuniform(A, x_dst, x_src, b, row);
}
}
void database::del(range key)
{
assert(_db);
struct slice sk;
sk.data = const_cast<char*>(key.begin());
sk.len = key.size();
::db_remove(_db, &sk);
}
inline bool is_mergeable (const range<iter1_t> &src1,
const range<iter2_t> &src2, compare comp )
{ //---------------------------- begin ------------------------------------
typedef typename iterator_traits<iter1_t>::value_type type1 ;
typedef typename iterator_traits<iter2_t>::value_type type2 ;
static_assert ( std::is_same<type1, type2>::value,
"Incompatible iterators\n");
//---------------------------- begin --------------------------------------
return comp ( *(src2.front()), *(src1.back()));
};
__forceinline NodeRef operator() (const PrimRef* prims, const range<size_t>& set, const FastAllocator::CachedAllocator& alloc) const
{
size_t n = set.size();
size_t items = Primitive::blocks(n);
size_t start = set.begin();
Primitive* accel = (Primitive*) alloc.malloc1(items*sizeof(Primitive),BVH::byteAlignment);
typename BVH::NodeRef node = BVH::encodeLeaf((char*)accel,items);
for (size_t i=0; i<items; i++) {
accel[i].fill(prims,start,set.end(),bvh->scene);
}
return node;
}
inline range<Iter2_t> init_move ( const range<Iter2_t> & dest,
const range<Iter1_t> & src)
{ //------------- static checking ------------------------------------------
typedef typename iterator_traits<Iter1_t>::value_type type1 ;
typedef typename iterator_traits<Iter2_t>::value_type type2 ;
static_assert ( std::is_same<type1, type2>::value,
"Incompatible iterators\n");
//------------------------------- begin ----------------------------------
if ( src.size() == 0 ) return range<Iter2_t>(dest.first, dest.first);
init_move(dest.first ,src.first, src.last );
return range<Iter2_t>(dest.first, dest.first + src.size()) ;
};
void OffsetRange(range& ioRange, cell inOffset, SplitType what, int split, int shift)
{
bool wasSpecial = false;
if (shift < 0 && what != noSplit)
if (what == hSplit)
{
if (abs(ioRange.left) >= split && abs(ioRange.right) <= split - shift)
ioRange.Set(0, 0, 0, 0);
else if (abs(ioRange.left) >= split && abs(ioRange.left) <= split - shift)
{
if (ioRange.left < 0)
ioRange.left = -split;
else
ioRange.left = split;
OffsetCell(ioRange.BotRight(), inOffset, what, split, shift);
wasSpecial = true;
}
else if (abs(ioRange.right) >= split && abs(ioRange.right) <= split - shift)
{
if (ioRange.right < 0)
ioRange.right = -split + 1;
else
ioRange.right = split - 1;
OffsetCell(ioRange.TopLeft(), inOffset, what, split, shift);
wasSpecial = true;
}
}
else if (what == vSplit)
{
if (abs(ioRange.top) >= split && abs(ioRange.bottom) <= split - shift)
ioRange.Set(0, 0, 0, 0);
else if (abs(ioRange.top) >= split && abs(ioRange.top) <= split - shift)
{
if (ioRange.top < 0)
ioRange.top = -split;
else
ioRange.top = split;
OffsetCell(ioRange.BotRight(), inOffset, what, split, shift);
wasSpecial = true;
}
else if (abs(ioRange.bottom) >= split && abs(ioRange.bottom) <= split - shift)
{
if (ioRange.bottom < 0)
ioRange.bottom = -split + 1;
else
ioRange.bottom = split - 1;
OffsetCell(ioRange.TopLeft(), inOffset, what, split, shift);
wasSpecial = true;
}
}
if (!wasSpecial)
{
OffsetCell(ioRange.TopLeft(), inOffset, what, split, shift);
OffsetCell(ioRange.BotRight(), inOffset, what, split, shift);
}
} /* OffsetRange */
void generic_par_for_wg(range<Dimensions> k_range,
range<Dimensions> workgroup_size) {
queue my_queue;
// the product of all Dimensions e.g. 10*10*10 for {10,10,10}
auto linr_size = k_range.size(), linwg_size = workgroup_size.size();
// these will simply have the group, local and global linear ids assigned to
// them
auto group_lin = buffer<int>(linr_size / linwg_size);
auto loc_lin = buffer<int>(linr_size);
auto gl_lin = buffer<int>(linr_size);
my_queue.submit([&](handler &cgh) {
auto group_lin_acc = group_lin.get_access<access::mode::write>(cgh);
auto loc_lin_acc = loc_lin.get_access<access::mode::write>(cgh);
auto gl_lin_acc = gl_lin.get_access<access::mode::read_write>(cgh);
cgh.parallel_for_work_group<kernel_name>(
nd_range<Dimensions>(k_range, workgroup_size),
[=](group<Dimensions> group) {
group_lin_acc[group.get_linear_id()] = group.get_linear_id();
group.parallel_for_work_item([=](h_item<Dimensions> tile) {
loc_lin_acc[tile.get_global_linear_id()] =
tile.get_local_linear_id();
gl_lin_acc[tile.get_global_linear_id()] =
tile.get_global_linear_id();
});
});
});
auto loc_lin_out = loc_lin.get_access<access::mode::read>();
auto group_lin_out = group_lin.get_access<access::mode::read>();
auto gl_lin_out = gl_lin.get_access<access::mode::read>();
for (int i = 0; i < linr_size / linwg_size; ++i) {
BOOST_CHECK(group_lin_out[i] == i); // group id
}
for (int i = 0; i < linr_size; ++i) {
BOOST_CHECK(gl_lin_out[i] == i); // w1 global id
BOOST_CHECK(loc_lin_out[i] == loc_lin_out[i] % linwg_size); // local id
}
/* We must wait for for the queue to finish as none of buffer's destruction
is blocking.
*/
my_queue.wait();
}
void database::add(range key, range data)
{
assert(_db);
struct slice sk, sv;
sk.data = const_cast<char*>(key.begin());
sk.len = key.size();
sv.data = const_cast<char*>(data.begin());
sv.len = data.size();
if (::db_add(_db, &sk, &sv) == 0)
{
throw exception("error adding to ness backend");
}
}
[[nodiscard]]
inline size_t read(std::istream& Stream, const range<char*>& Buffer)
{
{
const auto Exceptions = Stream.exceptions();
Stream.exceptions(Exceptions & ~(Stream.failbit | Stream.eofbit));
SCOPE_EXIT{ Stream.exceptions(Exceptions); };
Stream.read(Buffer.data(), Buffer.size());
if (!Stream.bad() && Stream.eof())
Stream.clear();
}
return Stream.gcount();
}
void compare (Distances distances, Reference const & reference_)
{
auto reference = range::view (reference_);
while (!empty (reference)) {
BOOST_CHECK (!empty (distances));
if (empty (distances))
return;
auto d = chop_in_place (distances);
auto r = chop_in_place (reference);
BOOST_CHECK_EQUAL (first (d), first (r));
BOOST_CHECK_EQUAL (second (d), second (r));
}
BOOST_CHECK (empty (distances));
}
rect<R> intersection_with(rect<U> const r) const {
auto const& a = *this;
auto const& b = r;
range<T> const ax(a.left, a.right);
range<T> const ay(a.top, a.bottom);
range<U> const bx(b.left, b.right);
range<U> const by(b.top, b.bottom);
auto const ix = ax.intersection_with(bx);
auto const iy = ay.intersection_with(by);
return rect<R>(
ix.first, iy.first, ix.last, iy.last
);
}
// assume start < end
// assume s <= start < end <= e
// return true if one or more than one item in [start, end) has been inserted
bool conflict(int start, int end) {
if (inserted) return true;
if (start == s && end == e) {
if (l == nullptr && r == nullptr) return inserted;
}
if (end <= p) {
return l == nullptr ? false : l->conflict(start, end);
}
else if (start < p && end > p) {
return (l == nullptr ? false : l->conflict(start, p)) ||
(r == nullptr ? false : r->conflict(p, end));
}
else // (start >= p) {
return r == nullptr ? false : r->conflict(start, end);
}
/// \brief Adds a transition for a range of surrogate symbols for the specified state
static void add_surrogate_transition(const range<int>& surrogateRange, int currentState, int targetState, ndfa* nfa) {
// If the range is out of the range of valid surrogate characters then clip it
if (surrogateRange.lower() >= 0x110000) return;
if (surrogateRange.upper() > 0x110000) {
add_surrogate_transition(range<int>(surrogateRange.lower(), 0x110000), currentState, targetState, nfa);
return;
}
// Work out the range as surrogate pairs
pair<int, int> surrogateLower = surrogate_pair(surrogateRange.lower());
pair<int, int> surrogateHigher = surrogate_pair(surrogateRange.upper()-1);
// Action depends on whether or not there are 1, 2 or more 'upper' characters
if (surrogateLower.first == surrogateHigher.first) {
// Transit to a state if we match the 'upper' code point
int tmpState = nfa->add_state();
nfa->add_transition(currentState, range<int>(surrogateLower.first, surrogateLower.first+1), tmpState);
// Transit to the final state if we match any of the lower symbols
nfa->add_transition(tmpState, range<int>(surrogateLower.second, surrogateHigher.second+1), targetState);
} else {
// Transit to a new state for the lower set of symbols
int tmpState1 = nfa->add_state();
nfa->add_transition(currentState, range<int>(surrogateLower.first, surrogateLower.first+1), tmpState1);
// Transit to the final state for all the 'lower' symbols
nfa->add_transition(tmpState1, range<int>(surrogateLower.second, 0xdc00), targetState);
// ... do the same for the 'upper' set of symbols
int tmpState2 = nfa->add_state();
nfa->add_transition(currentState, range<int>(surrogateHigher.first, surrogateHigher.first+1), tmpState2);
// Transit to the final state for all the 'lower' symbols
nfa->add_transition(tmpState2, range<int>(0xd800, surrogateHigher.second+1), targetState);
// If there's a middle range, then add transitions for that as well
if (surrogateHigher.first-1 > surrogateLower.first) {
// Transit for all of the remaining 'higher' symbols
int tmpState3 = nfa->add_state();
nfa->add_transition(currentState, range<int>(surrogateLower.first+1, surrogateHigher.first), tmpState3);
// Accept for any 'lower' symbol
nfa->add_transition(tmpState3, range<int>(0xdc00, 0xe000), targetState);
}
}
}
void escape_line(range const& line) {
auto begin = line.begin();
auto end = begin;
while (end != line.end()) {
if (*end == '<') {
stream_ << range(begin, end) << "<";
begin = ++end;
}
else if (*end == '>') {
stream_ << range(begin, end) << ">";
begin = ++end;
}
else ++end;
}
if (begin != end) stream_ << range(begin, end);
}
void accessor<BufferT>::set(const range& blk, uint32_t offset, const std::vector<type>& v) {
if(!blk.is_valid() || offset + v.size() > blk.count || !is_mapped()) return;
const uint32_t idx = map_start_ == 0 ? blk.start + offset : offset, count = uint32_t(v.size());
buffer_ptr_->mapped_copy(v, idx, count);
enqueue_flush(range(idx, uint32_t(v.size())));
}
void accessor<BufferT>::set(const range& blk, uint32_t offset, uint32_t count, const type* p) {
if(!blk.is_valid() || offset + count > blk.count || !is_mapped()) return;
const uint32_t idx = map_start_ == 0 ? blk.start + offset : offset;
buffer_ptr_->mapped_copy(p, idx, count);
enqueue_flush(range(idx, count));
}
void accessor<BufferT>::set(const range& blk, uint32_t offset, const type& i) {
if(!blk.is_valid() || offset >= blk.count || !is_mapped()) return;
const auto idx = map_start_ == 0 ? blk.start + offset : offset;
buffer_ptr_->operator[](idx) = i;
enqueue_flush(range(idx, 1));
}
std::string database::get(range key)
{
assert(_db);
struct slice sk, sv;
sk.data = const_cast<char*>(key.begin());
sk.len = key.size();
if (::db_get(_db, &sk, &sv) == 0)
{
throw exception("error reading from ness backend");
}
// copy the data out
std::string result(sv.data, sv.len);
::free(sv.data);
return result;
}
// This method regenerates the sensor model's probabilities using the
// Gabbiani LGMD model and the given standard deviation for the Gaussian
// blurring operation for bins near the ones actually "pointed to" by the
// [TTI, LGMD] pairs returned by the Gabbiani model.
//
// DEVNOTE: The sigma provided to this function is actually added to the
// m_sigma member variable. This allows client behaviours to increment or
// decrement the current sigma value rather than provide an actual sigma.
// The very first sigma will be read from the config file (see
// constructor).
void SensorModel::update(float dsigma)
{
AutoMutex M(m_mutex) ;
// Record new standard deviation
const float R = row_size() ;
m_sigma = clamp(m_sigma + dsigma, 0.1f, R) ;
// Begin with a uniform distribution for each state
const int N = m_prob.size() ;
std::fill_n(m_prob.begin(), N, 1/R) ;
// Apply Gabbiani LGMD model to generate causal likelihoods
const float step = row_step()/4.0f ;
const range<float> tti = conf(m_name + "_tti_range", Params::tti_range()) ;
for (float t = tti.min(); t <= tti.max(); t += step)
update_row(t, GabbianiModel::spike_rate(t), m_sigma) ;
}
virtual std::size_t take (const range& data)
{
detail::dummy_input_take_impl ();
typename range::value_type zero (
sound::sample_traits<
typename sound::sample_type<range>::type
>::zero_value ());
fill_frames (data, zero);
return data.size ();
}
range<const byte*> write(const range<const byte*>& buf){
AIO_PRE_CONDITION(!finished);
AIO_PRE_CONDITION(zstream.avail_in == 0);
crc = crc32(buf, crc);
zstream.next_in = (Bytef*)buf.begin();
zstream.avail_in = uInt(buf.size());
for(;zstream.avail_in != 0;){
if (zstream.avail_out ==0 )
new_buffer_();
switch (deflate(&zstream, Z_NO_FLUSH)){
case Z_OK:
case Z_BUF_ERROR:
break;
default:
AIO_THROW(deflate_exception)("deflate with Z_NO_FLUSH failed");
}
}
return range<const byte*>(buf.end(), buf.end());
}
// assume start < end
// assume s <= start < end <= e
void insert(int start, int end) {
if (s == start && e == end) {
inserted = true;
return;
}
if (end <= p) {
if (l == nullptr) l = new range(s, p);
l->insert(start, end);
}
else if (start < p && end > p) {
if (l == nullptr) l = new range(s, p);
if (r == nullptr) r = new range(p, e);
l->insert(start, p);
r->insert(p, end);
}
else if (start >= p) {
if (r == nullptr) r = new range(p, e);
r->insert(start, end);
}
}
inline bool
operator == (range<char const*> const &value, range<char const*> const &other) {
if (value.size() == other.size()) {
return value.empty() ? true : strncmp(value.begin(), other.begin(), value.size()) == 0;
}
return false;
}
template <typename Iter, typename Other> inline bool
operator == (range<Iter> const &value, range<Other> const &other) {
if (value.size() == other.size()) {
return value.empty() ? true : std::equal(value.begin(), value.end(), other.begin());
}
return false;
}
