bool Font::BeginLoad(Deserializer& source)
{
// In headless mode, do not actually load, just return success
Graphics* graphics = GetSubsystem<Graphics>();
if (!graphics)
return true;
fontType_ = FONT_NONE;
faces_.Clear();
fontDataSize_ = source.GetSize();
if (fontDataSize_)
{
fontData_ = new unsigned char[fontDataSize_];
if (source.Read(&fontData_[0], fontDataSize_) != fontDataSize_)
return false;
}
else
{
fontData_.Reset();
return false;
}
String ext = GetExtension(GetName());
if (ext == ".ttf" || ext == ".otf" || ext == ".woff")
{
fontType_ = FONT_FREETYPE;
LoadParameters();
}
else if (ext == ".xml" || ext == ".fnt" || ext == ".sdf")
fontType_ = FONT_BITMAP;
sdfFont_ = ext == ".sdf";
SetMemoryUse(fontDataSize_);
return true;
}
/**
* \brief Initialize the Shooter object.
*
* Create member objects, initialize default values, read parameters from the param file.
*
* \param parameters shooter parameter file path and name.
* \param logging_enabled true if logging is enabled.
*/
void Shooter::Initialize(char * parameters, bool logging_enabled) {
// Initialize public member variables
encoder_enabled_ = false;
shooter_enabled_ = false;
pitch_enabled_ = false;
// Initialize private member objects
shooter_controller_ = NULL;
pitch_controller_ = NULL;
encoder_ = NULL;
timer_ = NULL;
log_ = NULL;
parameters_ = NULL;
// Initialize private parameters
invert_multiplier_ = 0.0;
shooter_normal_speed_ratio_ = 1.0;
pitch_normal_speed_ratio_ = 1.0;
pitch_turbo_speed_ratio_ = 1.0;
auto_far_speed_ratio_ = 1.0;
auto_medium_speed_ratio_ = 1.0;
auto_near_speed_ratio_ = 1.0;
auto_medium_encoder_threshold_ = 50;
auto_far_encoder_threshold_ = 100;
auto_medium_time_threshold_ = 0.5;
auto_far_time_threshold_ = 1.0;
encoder_threshold_ = 10;
pitch_up_direction_ = 1.0;
pitch_down_direction_ = -1.0;
shoot_forward_direction_ = 1.0;
shoot_backward_direction_ = -1.0;
time_threshold_ = 0.1;
encoder_max_limit_ = -1;
encoder_min_limit_ = -1;
shooter_min_power_speed_ = 0.4;
shooter_power_adjustment_ratio_ = 0.006;
angle_linear_fit_gradient_ = 1.0;
angle_linear_fit_constant_ = 0.0;
fulcrum_clear_encoder_count_ = 0;
// Initialize private member variables
encoder_count_ = 0;
log_enabled_ = false;
robot_state_ = kDisabled;
ignore_encoder_limits_ = false;
// Create a new data log object
log_ = new DataLog("shooter.log");
// Enable logging if specified
if (log_ != NULL && log_->file_opened_) {
log_enabled_ = logging_enabled;
}
else {
log_enabled_ = false;
}
// Create a timer object
timer_ = new Timer();
// Attempt to read the parameters file
strncpy(parameters_file_, parameters, sizeof(parameters_file_));
LoadParameters();
}
/*!
This is main function.
*/
int main(int argc, char **argv)
{
AK8963PRMS prms;
int retValue = 0;
AKMD_PATNO pat;
int16 outbit;
/* Show the version info of this software. */
Disp_StartMessage();
#if ENABLE_AKMDEBUG
/* Register signal handler */
signal(SIGINT, signal_handler);
#endif
#if ENABLE_FORMATION
RegisterFormClass(&s_formClass);
#endif
/* Open device driver. */
if (AKD_InitDevice() != AKD_SUCCESS) {
retValue = ERROR_INITDEVICE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Parse command-line options */
if (OptParse(argc, argv, &pat, &outbit) == 0) {
retValue = ERROR_OPTPARSE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Initialize parameters structure. */
InitAK8963PRMS(&prms);
/* Put argument to PRMS. */
prms.m_layout = pat;
prms.m_outbit = outbit;
/* Read Fuse ROM */
if (ReadAK8963FUSEROM(&prms) != AKRET_PROC_SUCCEED) {
retValue = ERROR_FUSEROM;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Here is the Main Loop */
if (g_opmode) {
/*** Console Mode *********************************************/
while (AKD_TRUE) {
/* Select operation */
switch (Menu_Main()) {
case MODE_FctShipmntTestBody:
FctShipmntTest_Body(&prms);
break;
case MODE_MeasureSNG:
/* Read Parameters from file. */
if (LoadParameters(&prms) == 0) {
SetDefaultPRMS(&prms);
}
/* Reset flag */
g_stopRequest = 0;
/* Measurement routine */
MeasureSNGLoop(&prms);
/* Write Parameters to file. */
SaveParameters(&prms);
break;
case MODE_Quit:
goto THE_END_OF_MAIN_FUNCTION;
break;
default:
AKMDEBUG(DBG_LEVEL0, "Unknown operation mode.\n");
break;
}
}
} else {
/*** Daemon Mode *********************************************/
while (g_mainQuit == AKD_FALSE) {
int st = 0;
/* Wait until device driver is opened. */
if (AKD_GetOpenStatus(&st) != AKD_SUCCESS) {
retValue = ERROR_GETOPEN_STAT;
goto THE_END_OF_MAIN_FUNCTION;
}
if (st == 0) {
ALOGI("Suspended.");
} else {
ALOGI("Compass Opened.");
/* Read Parameters from file. */
if (LoadParameters(&prms) == 0) {
SetDefaultPRMS(&prms);
}
/* Reset flag */
g_stopRequest = 0;
/* Start measurement thread. */
if (startClone(&prms) == 0) {
retValue = ERROR_STARTCLONE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Wait until device driver is closed. */
if (AKD_GetCloseStatus(&st) != AKD_SUCCESS) {
retValue = ERROR_GETCLOSE_STAT;
g_mainQuit = AKD_TRUE;
}
/* Wait thread completion. */
g_stopRequest = 1;
pthread_join(s_thread, NULL);
ALOGI("Compass Closed.");
/* Write Parameters to file. */
SaveParameters(&prms);
}
}
}
THE_END_OF_MAIN_FUNCTION:
/* Close device driver. */
AKD_DeinitDevice();
/* Show the last message. */
Disp_EndMessage(retValue);
return retValue;
}
bool Texture3D::Load(Deserializer& source)
{
PROFILE(LoadTexture3D);
// In headless mode, do not actually load the texture, just return success
if (!graphics_)
return true;
// If device is lost, retry later
if (graphics_->IsDeviceLost())
{
LOGWARNING("Texture load while device is lost");
dataPending_ = true;
return true;
}
// If over the texture budget, see if materials can be freed to allow textures to be freed
CheckTextureBudget(GetTypeStatic());
// Before actually loading the texture, get optional parameters from an XML description file
LoadParameters();
String texPath, texName, texExt;
SplitPath(GetName(), texPath, texName, texExt);
SharedPtr<XMLFile> xml(new XMLFile(context_));
if (!xml->Load(source))
return false;
XMLElement textureElem = xml->GetRoot();
XMLElement volumeElem = textureElem.GetChild("volume");
XMLElement colorlutElem = textureElem.GetChild("colorlut");
if (volumeElem)
{
String name = volumeElem.GetAttribute("name");
String volumeTexPath, volumeTexName, volumeTexExt;
SplitPath(name, volumeTexPath, volumeTexName, volumeTexExt);
// If path is empty, add the XML file path
if (volumeTexPath.Empty())
name = texPath + name;
SharedPtr<Image> image(GetSubsystem<ResourceCache>()->GetResource<Image>(name));
return Load(image);
}
else if (colorlutElem)
{
String name = colorlutElem.GetAttribute("name");
String colorlutTexPath, colorlutTexName, colorlutTexExt;
SplitPath(name, colorlutTexPath, colorlutTexName, colorlutTexExt);
// If path is empty, add the XML file path
if (colorlutTexPath.Empty())
name = texPath + name;
SharedPtr<File> file = GetSubsystem<ResourceCache>()->GetFile(name);
SharedPtr<Image> image(new Image(context_));
if (!image->LoadColorLUT(*(file.Get())))
return false;
return Load(image);
}
return false;
}
void GibbsTrackingFilter< ItkQBallImageType >::GenerateData()
{
TimeProbe preClock; preClock.Start();
// check if input is qball or tensor image and generate qball if necessary
if (m_QBallImage.IsNull() && m_TensorImage.IsNotNull())
{
TensorImageToQBallImageFilter<float,float>::Pointer filter = TensorImageToQBallImageFilter<float,float>::New();
filter->SetInput( m_TensorImage );
filter->Update();
m_QBallImage = filter->GetOutput();
}
else if (m_DuplicateImage) // generate local working copy of QBall image (if not disabled)
{
typedef itk::ImageDuplicator< ItkQBallImageType > DuplicateFilterType;
typename DuplicateFilterType::Pointer duplicator = DuplicateFilterType::New();
duplicator->SetInputImage( m_QBallImage );
duplicator->Update();
m_QBallImage = duplicator->GetOutput();
}
// perform mean subtraction on odfs
typedef ImageRegionIterator< ItkQBallImageType > InputIteratorType;
InputIteratorType it(m_QBallImage, m_QBallImage->GetLargestPossibleRegion() );
it.GoToBegin();
while (!it.IsAtEnd())
{
itk::OrientationDistributionFunction<float, QBALL_ODFSIZE> odf(it.Get().GetDataPointer());
float mean = odf.GetMeanValue();
odf -= mean;
it.Set(odf.GetDataPointer());
++it;
}
// check if mask image is given if it needs resampling
PrepareMaskImage();
// load parameter file
LoadParameters();
// prepare parameters
float minSpacing;
if(m_QBallImage->GetSpacing()[0]<m_QBallImage->GetSpacing()[1] && m_QBallImage->GetSpacing()[0]<m_QBallImage->GetSpacing()[2])
minSpacing = m_QBallImage->GetSpacing()[0];
else if (m_QBallImage->GetSpacing()[1] < m_QBallImage->GetSpacing()[2])
minSpacing = m_QBallImage->GetSpacing()[1];
else
minSpacing = m_QBallImage->GetSpacing()[2];
if(m_ParticleLength == 0)
m_ParticleLength = 1.5*minSpacing;
if(m_ParticleWidth == 0)
m_ParticleWidth = 0.5*minSpacing;
if(m_ParticleWeight == 0)
EstimateParticleWeight();
float alpha = log(m_EndTemperature/m_StartTemperature);
m_Steps = m_Iterations/10000;
if (m_Steps<10)
m_Steps = 10;
if (m_Steps>m_Iterations)
{
MITK_INFO << "GibbsTrackingFilter: not enough iterations!";
m_AbortTracking = true;
}
if (m_CurvatureThreshold < mitk::eps)
m_CurvatureThreshold = 0;
unsigned long singleIts = (unsigned long)((1.0*m_Iterations) / (1.0*m_Steps));
// seed random generators
Statistics::MersenneTwisterRandomVariateGenerator::Pointer randGen = Statistics::MersenneTwisterRandomVariateGenerator::New();
if (m_RandomSeed>-1)
randGen->SetSeed(m_RandomSeed);
else
randGen->SetSeed();
// load sphere interpolator to evaluate the ODFs
SphereInterpolator* interpolator = new SphereInterpolator(m_LutPath);
// handle lookup table not found cases
if( !interpolator->IsInValidState() )
{
m_IsInValidState = false;
m_AbortTracking = true;
m_BuildFibers = false;
mitkThrow() << "Unable to load lookup tables.";
}
// initialize the actual tracking components (ParticleGrid, Metropolis Hastings Sampler and Energy Computer)
ParticleGrid* particleGrid;
GibbsEnergyComputer* encomp;
MetropolisHastingsSampler* sampler;
try{
particleGrid = new ParticleGrid(m_MaskImage, m_ParticleLength, m_ParticleGridCellCapacity);
encomp = new GibbsEnergyComputer(m_QBallImage, m_MaskImage, particleGrid, interpolator, randGen);
encomp->SetParameters(m_ParticleWeight,m_ParticleWidth,m_ConnectionPotential*m_ParticleLength*m_ParticleLength,m_CurvatureThreshold,m_InexBalance,m_ParticlePotential);
sampler = new MetropolisHastingsSampler(particleGrid, encomp, randGen, m_CurvatureThreshold);
}
catch(...)
{
MITK_ERROR << "Particle grid allocation failed. Not enough memory? Try to increase the particle length.";
m_IsInValidState = false;
m_AbortTracking = true;
m_BuildFibers = false;
return;
}
MITK_INFO << "----------------------------------------";
MITK_INFO << "Iterations: " << m_Iterations;
MITK_INFO << "Steps: " << m_Steps;
MITK_INFO << "Particle length: " << m_ParticleLength;
MITK_INFO << "Particle width: " << m_ParticleWidth;
MITK_INFO << "Particle weight: " << m_ParticleWeight;
MITK_INFO << "Start temperature: " << m_StartTemperature;
MITK_INFO << "End temperature: " << m_EndTemperature;
MITK_INFO << "In/Ex balance: " << m_InexBalance;
MITK_INFO << "Min. fiber length: " << m_MinFiberLength;
MITK_INFO << "Curvature threshold: " << m_CurvatureThreshold;
MITK_INFO << "Random seed: " << m_RandomSeed;
MITK_INFO << "----------------------------------------";
// main loop
preClock.Stop();
TimeProbe clock; clock.Start();
m_NumAcceptedFibers = 0;
unsigned long counter = 1;
boost::progress_display disp(m_Steps*singleIts);
if (!m_AbortTracking)
for( m_CurrentStep = 1; m_CurrentStep <= m_Steps; m_CurrentStep++ )
{
// update temperatur for simulated annealing process
float temperature = m_StartTemperature * exp(alpha*(((1.0)*m_CurrentStep)/((1.0)*m_Steps)));
sampler->SetTemperature(temperature);
for (unsigned long i=0; i<singleIts; i++)
{
++disp;
if (m_AbortTracking)
break;
sampler->MakeProposal();
if (m_BuildFibers || (i==singleIts-1 && m_CurrentStep==m_Steps))
{
m_ProposalAcceptance = (float)sampler->GetNumAcceptedProposals()/counter;
m_NumParticles = particleGrid->m_NumParticles;
m_NumConnections = particleGrid->m_NumConnections;
FiberBuilder fiberBuilder(particleGrid, m_MaskImage);
m_FiberPolyData = fiberBuilder.iterate(m_MinFiberLength);
m_NumAcceptedFibers = m_FiberPolyData->GetNumberOfLines();
m_BuildFibers = false;
}
counter++;
}
m_ProposalAcceptance = (float)sampler->GetNumAcceptedProposals()/counter;
m_NumParticles = particleGrid->m_NumParticles;
m_NumConnections = particleGrid->m_NumConnections;
if (m_AbortTracking)
break;
}
if (m_AbortTracking)
{
FiberBuilder fiberBuilder(particleGrid, m_MaskImage);
m_FiberPolyData = fiberBuilder.iterate(m_MinFiberLength);
m_NumAcceptedFibers = m_FiberPolyData->GetNumberOfLines();
}
clock.Stop();
delete sampler;
delete encomp;
delete interpolator;
delete particleGrid;
m_AbortTracking = true;
m_BuildFibers = false;
int h = clock.GetTotal()/3600;
int m = ((int)clock.GetTotal()%3600)/60;
int s = (int)clock.GetTotal()%60;
MITK_INFO << "GibbsTrackingFilter: finished gibbs tracking in " << h << "h, " << m << "m and " << s << "s";
m = (int)preClock.GetTotal()/60;
s = (int)preClock.GetTotal()%60;
MITK_INFO << "GibbsTrackingFilter: preparation of the data took " << m << "m and " << s << "s";
MITK_INFO << "GibbsTrackingFilter: " << m_NumAcceptedFibers << " fibers accepted";
// sampler->PrintProposalTimes();
SaveParameters();
}
int main(int argc, char const *argv[]) {
Eigen::setNbThreads(NumCores);
#ifdef MKL
mkl_set_num_threads(NumCores);
#endif
INFO("Eigen3 uses " << Eigen::nbThreads() << " threads.");
int L;
RealType J12ratio;
int OBC;
int N;
RealType Uin, phi;
std::vector<RealType> Vin;
LoadParameters( "conf.h5", L, J12ratio, OBC, N, Uin, Vin, phi);
HDF5IO file("BSSH.h5");
// const int L = 5;
// const bool OBC = true;
// const RealType J12ratio = 0.010e0;
INFO("Build Lattice - ");
std::vector<ComplexType> J;
if ( OBC ){
J = std::vector<ComplexType>(L - 1, ComplexType(1.0, 0.0));
for (size_t cnt = 0; cnt < L-1; cnt+=2) {
J.at(cnt) *= J12ratio;
}
} else{
J = std::vector<ComplexType>(L, ComplexType(1.0, 0.0));
for (size_t cnt = 0; cnt < L; cnt+=2) {
J.at(cnt) *= J12ratio;
}
if ( std::abs(phi) > 1.0e-10 ){
J.at(L-1) *= exp( ComplexType(0.0e0, 1.0e0) * phi );
// INFO(exp( ComplexType(0.0e0, 1.0e0) * phi ));
}
}
for ( auto &val : J ){
INFO_NONEWLINE(val << " ");
}
INFO("");
const std::vector< Node<ComplexType>* > lattice = NN_1D_Chain(L, J, OBC);
file.saveNumber("1DChain", "L", L);
file.saveNumber("1DChain", "U", Uin);
file.saveStdVector("1DChain", "J", J);
for ( auto < : lattice ){
if ( !(lt->VerifySite()) ) RUNTIME_ERROR("Wrong lattice setup!");
}
INFO("DONE!");
INFO("Build Basis - ");
// int N1 = (L+1)/2;
Basis B1(L, N);
B1.Boson();
// std::vector< std::vector<int> > st = B1.getBStates();
// std::vector< RealType > tg = B1.getBTags();
// for (size_t cnt = 0; cnt < tg.size(); cnt++) {
// INFO_NONEWLINE( std::setw(3) << cnt << " - ");
// for (auto &j : st.at(cnt)){
// INFO_NONEWLINE(j << " ");
// }
// INFO("- " << tg.at(cnt));
// }
file.saveNumber("1DChain", "N", N);
// file.saveStdVector("Basis", "States", st);
// file.saveStdVector("Basis", "Tags", tg);
INFO("DONE!");
INFO_NONEWLINE("Build Hamiltonian - ");
std::vector<Basis> Bases;
Bases.push_back(B1);
Hamiltonian<ComplexType> ham( Bases );
std::vector< std::vector<ComplexType> > Vloc;
std::vector<ComplexType> Vtmp;//(L, 1.0);
for ( RealType &val : Vin ){
Vtmp.push_back((ComplexType)val);
}
Vloc.push_back(Vtmp);
std::vector< std::vector<ComplexType> > Uloc;
// std::vector<ComplexType> Utmp(L, ComplexType(10.0e0, 0.0e0) );
std::vector<ComplexType> Utmp(L, (ComplexType)Uin);
Uloc.push_back(Utmp);
ham.BuildLocalHamiltonian(Vloc, Uloc, Bases);
ham.BuildHoppingHamiltonian(Bases, lattice);
ham.BuildTotalHamiltonian();
INFO("DONE!");
INFO_NONEWLINE("Diagonalize Hamiltonian - ");
std::vector<RealType> Val;
Hamiltonian<ComplexType>::VectorType Vec;
ham.eigh(Val, Vec);
INFO("GS energy = " << Val.at(0));
file.saveVector("GS", "EVec", Vec);
file.saveStdVector("GS", "EVal", Val);
INFO("DONE!");
std::vector<ComplexType> Nbi = Ni( Bases, Vec );
for (auto &n : Nbi ){
INFO( n << " " );
}
ComplexMatrixType Nij = NiNj( Bases, Vec );
INFO(Nij);
INFO(Nij.diagonal());
file.saveStdVector("Obs", "Nb", Nbi);
file.saveMatrix("Obs", "Nij", Nij);
return 0;
}
void CommandlineInterface(vector<string> Arguments) {
bool InputArgument = false;
vector<string> ParameterFiles;
for (int i=0; i < int(Arguments.size()); i++) {
if (Arguments[i].compare("inputfilelist") == 0) {
if (int(Arguments.size()) >= i+2) {
InputArgument = true;
SetInputParametersFile(Arguments[i+1].data());
}
} if (Arguments[i].compare("parameterfile") == 0) {
if (int(Arguments.size()) >= i+2) {
ParameterFiles.push_back(Arguments[i+1].data());
i++;
}
}
}
if (!InputArgument) {
SetInputParametersFile(COMMANDLINE_INPUT_FILE);
}
LoadParameters();
for(int i=0; i < int(ParameterFiles.size()); i++) {
LoadParameterFile(ParameterFiles[i]);
}
for (int i=0; i < int(Arguments.size()); i++) {
if (Arguments[i].compare("resetparameter") == 0) {
if (int(Arguments.size()) >= i+3) {
string ParameterName = Arguments[i+1];
findandreplace(ParameterName,"_"," ");
SetParameter(ParameterName.data(),Arguments[i+2].data());
}
}
}
ClearParameterDependance("CLEAR ALL PARAMETER DEPENDANCE");
if (Initialize() != SUCCESS) {
return;
}
LoadFIGMODELParameters();
ClearParameterDependance("CLEAR ALL PARAMETER DEPENDANCE");
for (int i=0; i < int(Arguments.size()); i++) {
if (Arguments[i].compare("stringcode") == 0) {
if (int(Arguments.size()) < i+3) {
cout << "Insufficient arguments" << endl;
FErrorFile() << "Insufficient arguments" << endl;
FlushErrorFile();
} else {
CreateStringCode(Arguments[i+1],Arguments[i+2]);
i += 2;
}
} else if (Arguments[i].compare("LoadCentralSystem") == 0 || Arguments[i].compare("LoadDecentralSystem") == 0) {
if (int(Arguments.size()) < i+2) {
cout << "Insufficient arguments" << endl;
FErrorFile() << "Insufficient arguments" << endl;
FlushErrorFile();
} else {
LoadDatabaseFile(Arguments[i+1].data());
}
} else if (Arguments[i].compare("ProcessDatabase") == 0) {
ProcessDatabase();
} else if (Arguments[i].compare("metabolites") == 0) {
if (int(Arguments.size()) < i+2) {
cout << "Insufficient arguments" << endl;
FErrorFile() << "Insufficient arguments" << endl;
FlushErrorFile();
} else {
SetParameter("metabolites to optimize",Arguments[i+1].data());
}
} else if (Arguments[i].compare("WebGCM") == 0) {
if (int(Arguments.size()) < i+3) {
cout << "Insufficient arguments" << endl;
FErrorFile() << "Insufficient arguments" << endl;
FlushErrorFile();
} else {
RunWebGCM(Arguments[i+1].data(),Arguments[i+2].data());
}
} else if (Arguments[i].compare("ProcessMolfiles") == 0) {
if (int(Arguments.size()) < i+3) {
cout << "Insufficient arguments" << endl;
FErrorFile() << "Insufficient arguments" << endl;
FlushErrorFile();
} else {
ProcessMolfileDirectory(Arguments[i+1].data(),Arguments[i+2].data());
}
} else if (Arguments[i].compare("ProcessMolfileList") == 0) {
ProcessMolfiles();
}
}
}
/**
* \brief Initialize the DriveTrain object.
*
* Create member objects, initialize default values, read parameters from the param file.
*
* \param parameters drive train parameter file path and name.
* \param logging_enabled true if logging is enabled.
*/
void DriveTrain::Initialize(const char * parameters, bool logging_enabled) {
// Initialize public member variables
gyro_enabled_ = false;
accelerometer_enabled_ = false;
// Initialize private member objects
robot_drive_ = NULL;
left_controller_ = NULL;
right_controller_ = NULL;
gyro_ = NULL;
accelerometer_ = NULL;
timer_ = NULL;
acceleration_timer_ = NULL;
log_ = NULL;
parameters_ = NULL;
// Initialize private parameters
invert_multiplier_ = 0.0;
normal_linear_speed_ratio_ = 1.0;
turbo_linear_speed_ratio_ = 1.0;
normal_turning_speed_ratio_ = 1.0;
turbo_turning_speed_ratio_ = 1.0;
auto_far_linear_speed_ratio_ = 1.0;
auto_medium_linear_speed_ratio_ = 1.0;
auto_near_linear_speed_ratio_ = 1.0;
auto_far_turning_speed_ratio_ = 1.0;
auto_medium_turning_speed_ratio_ = 1.0;
auto_near_turning_speed_ratio_ = 1.0;
auto_medium_time_threshold_ = 0.5;
auto_far_time_threshold_ = 1.0;
auto_medium_distance_threshold_ = 2.0;
auto_far_distance_threshold_ = 5.0;
auto_medium_heading_threshold_ = 15.0;
auto_far_heading_threshold_ = 25.0;
distance_threshold_ = 0.5;
heading_threshold_ = 3.0;
time_threshold_ = 0.1;
forward_direction_ = 1.0;
backward_direction_ = -1.0;
left_direction_ = -1.0;
right_direction_ = 1.0;
left_motor_inverted_ = 0;
right_motor_inverted_ = 0;
accelerometer_axis_ = 0;
maximum_linear_speed_change_ = 0.0;
maximum_turn_speed_change_ = 0.0;
linear_filter_constant_ = 0.0;
turn_filter_constant_ = 0.0;
// Initialize private member variables
acceleration_ = 0.0;
gyro_angle_ = 0.0;
initial_heading_ = 0.0;
adjustment_in_progress_ = false;
distance_traveled_ = 0.0;
log_enabled_ = false;
robot_state_ = kDisabled;
previous_linear_speed_ = 0.0;
previous_turn_speed_ = 0.0;
// Create a new data log object
log_ = new DataLog("drivetrain.log");
// Enable logging if specified
if (log_ != NULL && log_->file_opened_) {
log_enabled_ = logging_enabled;
}
else {
log_enabled_ = false;
}
// Create a timer object
timer_ = new Timer();
// Attempt to read the parameters file
strncpy(parameters_file_, parameters, sizeof(parameters_file_));
LoadParameters();
}
/* .! :
This is main function.
*/
int main(int argc, char **argv)
{
AK8975PRMS prms;
int retValue = 0;
int mainQuit = FALSE;
int i;
for (i = 1; i < argc; i++) {
if (0 == strncmp("-s", argv[i], 2)) {
s_opmode = 1;
}
}
#ifdef COMIF
//// Initialize Library
//// AKSC_Version functions are called in Disp_StartMessage().
//// Therefore, AKSC_ActivateLibrary function has to be called previously.
//retValue = AKSC_ActivateLibrary(GUID_AKSC);
//if (retValue < 0) {
// LOGE("akmd2 : Failed to activate library (%d).\n", retValue);
// goto THE_END_OF_MAIN_FUNCTION;
//}
//LOGI("akmd2 : Activation succeeded (%d).\n", retValue);
#endif
// Show the version info of this software.
Disp_StartMessage();
// Open device driver.
if (AKD_InitDevice() != AKD_SUCCESS) {
LOGE("akmd2 : Device initialization failed.\n");
retValue = -1;
goto THE_END_OF_MAIN_FUNCTION;
}
// Initialize parameters structure.
InitAK8975PRMS(&prms);
// Read Fuse ROM
if (ReadAK8975FUSEROM(&prms) == 0) {
LOGE("akmd2 : Fuse ROM read failed.\n");
retValue = -2;
goto THE_END_OF_MAIN_FUNCTION;
}
// Here is the Main Loop
if (s_opmode) {
//*** Console Mode *********************************************
while (mainQuit == FALSE) {
// Select operation
switch (Menu_Main()) {
case MODE_FctShipmntTestBody:
FctShipmntTest_Body(&prms);
break;
case MODE_MeasureSNG:
// Read Parameters from file.
if (LoadParameters(&prms) == 0) {
LOGE("akmd2 : Setting file can't be read.\n");
SetDefaultPRMS(&prms);
}
#ifdef COMIF
//// Activation
//retValue = AKSC_ActivateLibrary(GUID_AKSC);
//if (retValue < 0) {
// LOGE("akmd2 : Failed to activate library (%d).\n", retValue);
// goto THE_END_OF_MAIN_FUNCTION;
//}
//LOGI("akmd2 : Activation succeeded (%d).\n", retValue);
#endif
// Measurement routine
MeasureSNGLoop(&prms);
// Write Parameters to file.
if (SaveParameters(&prms) == 0) {
LOGE("akmd2 : Setting file can't be saved.\n");
}
break;
case MODE_Quit:
mainQuit = TRUE;
break;
default:
DBGPRINT(DBG_LEVEL1, "Unknown operation mode.\n");
break;
}
}
} else {
//*** Daemon Mode *********************************************
I("AKMD runs in daemon mode.");
while (mainQuit == FALSE) {
int st = 0;
// .! :
// Wait until device driver is opened.
if (ioctl(g_file, ECS_IOCTL_GET_OPEN_STATUS, &st) < 0) {
retValue = -3;
goto THE_END_OF_MAIN_FUNCTION;
}
if (st == 0) {
LOGI("akmd2 : Suspended.\n");
} else {
LOGI("akmd2 : Compass Opened.\n");
V("m_hs : [%d, %d, %d].", (prms.m_hs).v[0], (prms.m_hs).v[1], (prms.m_hs).v[2] );
// Read Parameters from file.
if (LoadParameters(&prms) == 0) {
LOGE("akmd2 : Setting file can't be read.\n");
SetDefaultPRMS(&prms);
}
V("m_hs : [%d, %d, %d].", (prms.m_hs).v[0], (prms.m_hs).v[1], (prms.m_hs).v[2] );
#ifdef COMIF
//// Activation
//retValue = AKSC_ActivateLibrary(GUID_AKSC);
//if (retValue < 0) {
// LOGE("akmd2 : Failed to activate library (%d).\n", retValue);
// retValue = -4;
// goto THE_END_OF_MAIN_FUNCTION;
//}
//LOGI("akmd2 : Activation succeeded (%d).\n", retValue);
#endif
// .! :
// Start measurement thread.
if (startClone(&prms) == 0) {
retValue = -5;
goto THE_END_OF_MAIN_FUNCTION;
}
// Wait until device driver is closed.
if (ioctl(g_file, ECS_IOCTL_GET_CLOSE_STATUS, &st) < 0) {
retValue = -6;
goto THE_END_OF_MAIN_FUNCTION;
}
// Wait thread completion.
s_stopRequest = 1;
pthread_join(s_thread, NULL);
LOGI("akmd2 : Compass Closed.\n");
// Write Parameters to file.
if (SaveParameters(&prms) == 0) {
LOGE("akmd2 : Setting file can't be saved.\n");
}
}
}
}
THE_END_OF_MAIN_FUNCTION:
#ifdef COMIF
//// Close library
//AKSC_ReleaseLibrary();
//LOGI("akmd2 : Library released.\n");
#endif
// Close device driver.
AKD_DeinitDevice();
// Show the last message.
Disp_EndMessage();
return retValue;
}
int main(int argc, char const *argv[]) {
Eigen::setNbThreads(NumCores);
#ifdef MKL
mkl_set_num_threads(NumCores);
#endif
INFO("Eigen3 uses " << Eigen::nbThreads() << " threads.");
int L;
RealType J12ratio;
int OBC;
int N1, N2;
int dynamics, Tsteps;
RealType Uin, phi, dt;
std::vector<RealType> Vin;
LoadParameters( "conf.h5", L, J12ratio, OBC, N1, N2, Uin, Vin, phi, dynamics, Tsteps, dt);
HDF5IO *file = new HDF5IO("FSSH.h5");
// const int L = 5;
// const bool OBC = true;
// const RealType J12ratio = 0.010e0;
INFO("Build Lattice - ");
std::vector<DT> J;
if ( OBC ){
// J = std::vector<DT>(L - 1, 0.0);// NOTE: Atomic limit testing
J = std::vector<DT>(L - 1, 1.0);
if ( J12ratio > 1.0e0 ) {
for (size_t cnt = 1; cnt < L-1; cnt+=2) {
J.at(cnt) /= J12ratio;
}
} else{
for (size_t cnt = 0; cnt < L-1; cnt+=2) {
J.at(cnt) *= J12ratio;
}
}
} else{
J = std::vector<DT>(L, 1.0);
if ( J12ratio > 1.0e0 ) {
for (size_t cnt = 1; cnt < L; cnt+=2) {
J.at(cnt) /= J12ratio;
}
} else{
for (size_t cnt = 0; cnt < L; cnt+=2) {
J.at(cnt) *= J12ratio;
}
}
#ifndef DTYPE
if ( std::abs(phi) > 1.0e-10 ){
J.at(L-1) *= exp( DT(0.0, 1.0) * phi );
}
#endif
}
for ( auto &val : J ){
INFO_NONEWLINE(val << " ");
}
INFO("");
const std::vector< Node<DT>* > lattice = NN_1D_Chain(L, J, OBC);
file->saveNumber("1DChain", "L", L);
file->saveStdVector("1DChain", "J", J);
for ( auto < : lattice ){
if ( !(lt->VerifySite()) ) RUNTIME_ERROR("Wrong lattice setup!");
}
INFO("DONE!");
INFO("Build Basis - ");
// int N1 = (L+1)/2;
Basis F1(L, N1, true);
F1.Fermion();
std::vector<int> st1 = F1.getFStates();
std::vector<size_t> tg1 = F1.getFTags();
// for (size_t cnt = 0; cnt < st1.size(); cnt++) {
// INFO_NONEWLINE( std::setw(3) << st1.at(cnt) << " - ");
// F1.printFermionBasis(st1.at(cnt));
// INFO("- " << tg1.at(st1.at(cnt)));
// }
// int N2 = (L-1)/2;
Basis F2(L, N2, true);
F2.Fermion();
std::vector<int> st2 = F2.getFStates();
std::vector<size_t> tg2 = F2.getFTags();
// for (size_t cnt = 0; cnt < st2.size(); cnt++) {
// INFO_NONEWLINE( std::setw(3) << st2.at(cnt) << " - ");
// F2.printFermionBasis(st2.at(cnt));
// INFO("- " << tg2.at(st2.at(cnt)));
// }
file->saveNumber("Basis", "N1", N1);
file->saveStdVector("Basis", "F1States", st1);
file->saveStdVector("Basis", "F1Tags", tg1);
file->saveNumber("Basis", "N2", N2);
file->saveStdVector("Basis", "F2States", st2);
file->saveStdVector("Basis", "F2Tags", tg2);
INFO("DONE!");
INFO_NONEWLINE("Build Hamiltonian - ");
std::vector<Basis> Bases;
Bases.push_back(F1);
Bases.push_back(F2);
Hamiltonian<DT> ham( Bases );
std::vector< std::vector<DT> > Vloc;
std::vector<DT> Vtmp;//(L, 1.0);
for ( RealType &val : Vin ){
Vtmp.push_back((DT)val);
}
Vloc.push_back(Vtmp);
Vloc.push_back(Vtmp);
std::vector< std::vector<DT> > Uloc;
// std::vector<DT> Utmp(L, DT(10.0e0, 0.0e0) );
std::vector<DT> Utmp(L, (DT)Uin);
Uloc.push_back(Utmp);
Uloc.push_back(Utmp);
ham.BuildLocalHamiltonian(Vloc, Uloc, Bases);
INFO(" - BuildLocalHamiltonian DONE!");
ham.BuildHoppingHamiltonian(Bases, lattice);
INFO(" - BuildHoppingHamiltonian DONE!");
ham.BuildTotalHamiltonian();
INFO("DONE!");
INFO_NONEWLINE("Diagonalize Hamiltonian - ");
std::vector<RealType> Val;
Hamiltonian<DT>::VectorType Vec;
ham.eigh(Val, Vec);
INFO("GS energy = " << Val.at(0));
file->saveVector("GS", "EVec", Vec);
file->saveStdVector("GS", "EVal", Val);
INFO("DONE!");
std::vector< DTV > Nfi = Ni( Bases, Vec, ham );
INFO(" Up Spin - ");
INFO(Nfi.at(0));
INFO(" Down Spin - ");
INFO(Nfi.at(1));
INFO(" N_i - ");
DTV Niall = Nfi.at(0) + Nfi.at(1);
INFO(Niall);
DTM Nud = NupNdn( Bases, Vec, ham );
INFO(" Correlation NupNdn");
INFO(Nud);
DTM Nuu = NupNup( Bases, Vec, ham );
INFO(" Correlation NupNup");
INFO(Nuu);
DTM Ndd = NdnNdn( Bases, Vec, ham );
INFO(" Correlation NdnNdn");
INFO(Ndd);
INFO(" N_i^2 - ");
DTM Ni2 = Nuu.diagonal() + Ndd.diagonal() + 2.0e0 * Nud.diagonal();
INFO(Ni2);
file->saveVector("Obs", "Nup", Nfi.at(0));
file->saveVector("Obs", "Ndn", Nfi.at(1));
file->saveMatrix("Obs", "NupNdn", Nud);
file->saveMatrix("Obs", "NupNup", Nuu);
file->saveMatrix("Obs", "NdnNdn", Ndd);
delete file;
if ( dynamics ){
ComplexType Prefactor = ComplexType(0.0, -1.0e0*dt);/* NOTE: hbar = 1 */
std::cout << "Begin dynamics......" << std::endl;
std::cout << "Cut the boundary." << std::endl;
J.pop_back();
std::vector< Node<DT>* > lattice2 = NN_1D_Chain(L, J, true);// cut to open
ham.BuildHoppingHamiltonian(Bases, lattice2);
INFO(" - Update Hopping Hamiltonian DONE!");
ham.BuildTotalHamiltonian();
INFO(" - Update Total Hamiltonian DONE!");
for (size_t cntT = 1; cntT <= Tsteps; cntT++) {
ham.expH(Prefactor, Vec);
if ( cntT % 2 == 0 ){
HDF5IO file2("DYN.h5");
std::string gname = "Obs-";
gname.append(std::to_string((unsigned long long)cntT));
gname.append("/");
Nfi = Ni( Bases, Vec, ham );
Nud = NupNdn( Bases, Vec, ham );
Nuu = NupNup( Bases, Vec, ham );
Ndd = NdnNdn( Bases, Vec, ham );
file2.saveVector(gname, "Nup", Nfi.at(0));
file2.saveVector(gname, "Ndn", Nfi.at(1));
file2.saveMatrix(gname, "NupNdn", Nud);
file2.saveMatrix(gname, "NupNup", Nuu);
file2.saveMatrix(gname, "NdnNdn", Ndd);
}
}
}
return 0;
}
bool LadspaEffect::SetHost(EffectHostInterface *host)
{
mHost = host;
if (!Load())
{
return false;
}
mInputPorts = new unsigned long [mData->PortCount];
mOutputPorts = new unsigned long [mData->PortCount];
mInputControls = new float [mData->PortCount];
mOutputControls = new float [mData->PortCount];
for (unsigned long p = 0; p < mData->PortCount; p++)
{
LADSPA_PortDescriptor d = mData->PortDescriptors[p];
// Collect the audio ports
if (LADSPA_IS_PORT_AUDIO(d))
{
if (LADSPA_IS_PORT_INPUT(d))
{
mInputPorts[mAudioIns++] = p;
}
else if (LADSPA_IS_PORT_OUTPUT(d))
{
mOutputPorts[mAudioOuts++] = p;
}
}
// Determine the port's default value
else if (LADSPA_IS_PORT_CONTROL(d) && LADSPA_IS_PORT_INPUT(d))
{
mInteractive = true;
LADSPA_PortRangeHint hint = mData->PortRangeHints[p];
float val = float(1.0);
float lower = hint.LowerBound;
float upper = hint.UpperBound;
if (LADSPA_IS_HINT_SAMPLE_RATE(hint.HintDescriptor))
{
lower *= mSampleRate;
upper *= mSampleRate;
}
if (LADSPA_IS_HINT_BOUNDED_BELOW(hint.HintDescriptor) && val < lower)
{
val = lower;
}
if (LADSPA_IS_HINT_BOUNDED_ABOVE(hint.HintDescriptor) && val > upper)
{
val = upper;
}
if (LADSPA_IS_HINT_DEFAULT_MINIMUM(hint.HintDescriptor))
{
val = lower;
}
if (LADSPA_IS_HINT_DEFAULT_MAXIMUM(hint.HintDescriptor))
{
val = upper;
}
if (LADSPA_IS_HINT_DEFAULT_LOW(hint.HintDescriptor))
{
if (LADSPA_IS_HINT_LOGARITHMIC(hint.HintDescriptor))
{
val = exp(log(lower)) * 0.75f + log(upper) * 0.25f;
}
else
{
val = lower * 0.75f + upper * 0.25f;
}
}
if (LADSPA_IS_HINT_DEFAULT_MIDDLE(hint.HintDescriptor))
{
if (LADSPA_IS_HINT_LOGARITHMIC(hint.HintDescriptor))
{
val = exp(log(lower)) * 0.5f + log(upper) * 0.5f;
}
else
{
val = lower * 0.5f + upper * 0.5f;
}
}
if (LADSPA_IS_HINT_DEFAULT_HIGH(hint.HintDescriptor))
{
if (LADSPA_IS_HINT_LOGARITHMIC(hint.HintDescriptor))
{
val = exp(log(lower)) * 0.25f + log(upper) * 0.75f;
}
else
{
val = lower * 0.25f + upper * 0.75f;
}
}
if (LADSPA_IS_HINT_DEFAULT_0(hint.HintDescriptor))
{
val = 0.0f;
}
if (LADSPA_IS_HINT_DEFAULT_1(hint.HintDescriptor))
{
val = 1.0f;
}
if (LADSPA_IS_HINT_DEFAULT_100(hint.HintDescriptor))
{
val = 100.0f;
}
if (LADSPA_IS_HINT_DEFAULT_440(hint.HintDescriptor))
{
val = 440.0f;
}
mNumInputControls++;
mInputControls[p] = val;
}
else if (LADSPA_IS_PORT_CONTROL(d) && LADSPA_IS_PORT_OUTPUT(d))
{
mInteractive = true;
mNumOutputControls++;
mOutputControls[p] = 0.0;
// Ladspa effects have a convention of providing latency on an output
// control port whose name is "latency".
if (strcmp(mData->PortNames[p], "latency") == 0)
{
mLatencyPort = p;
}
}
}
// mHost will be null during registration
if (mHost)
{
mHost->GetSharedConfig(wxT("Settings"), wxT("BufferSize"), mUserBlockSize, 8192);
mBlockSize = mUserBlockSize;
bool haveDefaults;
mHost->GetPrivateConfig(wxT("Default"), wxT("Initialized"), haveDefaults, false);
if (!haveDefaults)
{
SaveParameters(wxT("Default"));
mHost->SetPrivateConfig(wxT("Default"), wxT("Initialized"), true);
}
LoadParameters(wxT("Current"));
}
return true;
}
void LadspaEffect::LoadFactoryDefaults()
{
LoadParameters(mHost->GetFactoryDefaultsGroup());
}
void LadspaEffect::LoadUserPreset(const wxString & name)
{
LoadParameters(name);
}
Experiment::Experiment (Simulator* simulator, bool graphics, string outputFilename, int replications, int replicationShift, string paramsFilename) :
Service (simulator)
{
// read params from file if available
paramsExp = new ExperimentParameters;
paramsCtrl = new ControllerDiscriminationParameters;
if (!paramsFilename.empty()) LoadParameters (paramsFilename);
// record replications count
if (replications > 0) paramsExp->replications = replications;
if (replicationShift > 0) paramsExp->replicationShift = replicationShift;
currentReplication = replicationShift;
// output file
if (!outputFilename.empty()) paramsExp->outputFilename = outputFilename;
// random number generation
init_rng(&rng);
// add services
physics = new PhysicsBullet(simulator, 10.0);
simulator->Add (physics);
render = NULL;
if (graphics)
{
render = new RenderOpenGL(simulator);
simulator->Add (render);
float lookat[3] = {0,0,0.7 * physics->scalingFactor};
float dab[3] = {4.0 * physics->scalingFactor, 90.0, 20.0};
render->dsSetViewpoint2 (lookat, dab);
}
// add the experiment so that we can step regularly
simulator->Add (this);
// add robots
for (int i = 0; i < paramsExp->robotsCount; i++)
{
RobotLily* r = new RobotLily ();
r->Register(physics);
if (render) r->Register(render);
ControllerDiscrimination* c = new ControllerDiscrimination (r);
c->SetParameters(paramsCtrl);
robots.push_back(r);
simulator->Add(r);
// position is set in reset
}
// add base stations
float a = 0.0;
for (int i = 0; i < paramsExp->basestationsCount; i++)
{
BaseStation* b = new BaseStation ();
b->Register (physics);
if (render) b->Register (render);
ControllerBaseStation* c = new ControllerBaseStation (b, i);
basestations.push_back(b);
simulator->Add (b);
float distance = 1.0 * physics->scalingFactor;
float angle = a;
float x = cos(angle) * distance;
float y = sin(angle) * distance;
float z = 1.0 * physics->scalingFactor + b->height / 2.0;
b->SetPosition(x, y, z);
a += 2.0 * M_PI / float (paramsExp->basestationsCount);
}
AquariumCircular* aquarium = new AquariumCircular(paramsExp->aquariumRadius * physics->scalingFactor, 1.0 * physics->scalingFactor, 1.0 * physics->scalingFactor, 40.0);
aquarium->Register(physics);
if (render) aquarium->Register(render);
simulator->Add(aquarium);
// set last stuff, position of robots mainly
Reset();
}
/*!
This is main function.
*/
int main(int argc, char **argv)
{
AKSCPRMS prms;
int retValue = 0;
/* Show the version info of this software. */
Disp_StartMessage();
#if ENABLE_AKMDEBUG
/* Register signal handler */
signal(SIGINT, signal_handler);
#endif
#if ENABLE_FORMATION
RegisterFormClass(&s_formClass);
#endif
/* Initialize parameters structure. */
InitAKSCPRMS(&prms);
/* Parse command-line options */
if (OptParse(argc, argv, &prms.m_hlayout) == 0) {
retValue = ERROR_OPTPARSE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Open device driver. */
if (AKD_InitDevice() != AKD_SUCCESS) {
retValue = ERROR_INITDEVICE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* If layout is not specified with argument, get parameter from driver */
if (prms.m_hlayout == PAT_INVALID) {
int16_t n;
if (AKD_GetLayout(&n) == AKD_SUCCESS) {
if ((PAT1 <= n) && (n <= PAT8)) {
prms.m_hlayout = (AKMD_PATNO)n;
}
}
/* Error */
if (prms.m_hlayout == PAT_INVALID) {
ALOGE("Magnetic sensor's layout is specified.");
retValue = ERROR_HLAYOUT;
goto THE_END_OF_MAIN_FUNCTION;
}
}
/* Read Fuse ROM */
if (ReadFUSEROM(&prms) != AKRET_PROC_SUCCEED) {
retValue = ERROR_FUSEROM;
goto THE_END_OF_MAIN_FUNCTION;
}
/* PDC */
LoadPDC(&prms);
/* Here is the Main Loop */
if (g_opmode & OPMODE_CONSOLE) {
/*** Console Mode *********************************************/
while (AKD_TRUE) {
/* Select operation */
switch (Menu_Main()) {
case MODE_FST:
FST_Body();
break;
case MODE_MeasureSNG:
/* Read Parameters from file. */
if (LoadParameters(&prms) == 0) {
SetDefaultPRMS(&prms);
}
/* Reset flag */
g_stopRequest = 0;
/* Measurement routine */
MeasureSNGLoop(&prms);
/* Write Parameters to file. */
SaveParameters(&prms);
break;
case MODE_OffsetCalibration:
/* Read Parameters from file. */
if (LoadParameters(&prms) == 0) {
SetDefaultPRMS(&prms);
}
/* measure offset (NOT sensitivity) */
if (SimpleCalibration(&prms) == AKRET_PROC_SUCCEED) {
SaveParameters(&prms);
}
break;
case MODE_Quit:
goto THE_END_OF_MAIN_FUNCTION;
break;
default:
AKMDEBUG(AKMDBG_DEBUG, "Unknown operation mode.\n");
break;
}
}
} else {
/*** Daemon Mode *********************************************/
while (g_mainQuit == AKD_FALSE) {
int st = 0;
/* Wait until device driver is opened. */
if (AKD_GetOpenStatus(&st) != AKD_SUCCESS) {
retValue = ERROR_GETOPEN_STAT;
goto THE_END_OF_MAIN_FUNCTION;
}
if (st == 0) {
AKMDEBUG(AKMDBG_DEBUG, "Suspended.");
} else {
AKMDEBUG(AKMDBG_DEBUG, "Compass Opened.");
/* Read Parameters from file. */
if (LoadParameters(&prms) == 0) {
SetDefaultPRMS(&prms);
}
/* Reset flag */
g_stopRequest = 0;
/* Start measurement thread. */
if (startClone(&prms) == 0) {
retValue = ERROR_STARTCLONE;
goto THE_END_OF_MAIN_FUNCTION;
}
/* Wait until device driver is closed. */
if (AKD_GetCloseStatus(&st) != AKD_SUCCESS) {
retValue = ERROR_GETCLOSE_STAT;
g_mainQuit = AKD_TRUE;
}
/* Wait thread completion. */
g_stopRequest = 1;
pthread_join(s_thread, NULL);
AKMDEBUG(AKMDBG_DEBUG, "Compass Closed.");
/* Write Parameters to file. */
SaveParameters(&prms);
}
}
}
THE_END_OF_MAIN_FUNCTION:
/* Close device driver. */
AKD_DeinitDevice();
/* Show the last message. */
Disp_EndMessage(retValue);
return retValue;
}
void performFit(string inputDir, string inputParameterFile, string label,
string PassInputDataFilename, string FailInputDataFilename,
string PassSignalTemplateHistName, string FailSignalTemplateHistName)
{
gBenchmark->Start("fitZCat");
//--------------------------------------------------------------------------------------------------------------
// Settings
//==============================================================================================================
const Double_t mlow = 60;
const Double_t mhigh = 120;
const Int_t nbins = 24;
TString effType = inputDir;
// The fit variable - lepton invariant mass
RooRealVar* rooMass_ = new RooRealVar("Mass","m_{ee}",mlow, mhigh, "GeV/c^{2}");
RooRealVar Mass = *rooMass_;
Mass.setBins(nbins);
// Make the category variable that defines the two fits,
// namely whether the probe passes or fails the eff criteria.
RooCategory sample("sample","") ;
sample.defineType("Pass", 1) ;
sample.defineType("Fail", 2) ;
RooDataSet *dataPass = RooDataSet::read((inputDir+PassInputDataFilename).c_str(),RooArgList(Mass));
RooDataSet *dataFail = RooDataSet::read((inputDir+FailInputDataFilename).c_str(),RooArgList(Mass));
RooDataSet *dataCombined = new RooDataSet("dataCombined","dataCombined", RooArgList(Mass), RooFit::Index(sample),
RooFit::Import("Pass",*dataPass),
RooFit::Import("Fail",*dataFail));
//*********************************************************************************************
//Define Free Parameters
//*********************************************************************************************
RooRealVar* ParNumSignal = LoadParameters(inputParameterFile, label,"ParNumSignal");
RooRealVar* ParNumBkgPass = LoadParameters(inputParameterFile, label,"ParNumBkgPass");
RooRealVar* ParNumBkgFail = LoadParameters(inputParameterFile, label, "ParNumBkgFail");
RooRealVar* ParEfficiency = LoadParameters(inputParameterFile, label, "ParEfficiency");
RooRealVar* ParPassBackgroundExpCoefficient = LoadParameters(inputParameterFile, label, "ParPassBackgroundExpCoefficient");
RooRealVar* ParFailBackgroundExpCoefficient = LoadParameters(inputParameterFile, label, "ParFailBackgroundExpCoefficient");
RooRealVar* ParPassSignalMassShift = LoadParameters(inputParameterFile, label, "ParPassSignalMassShift");
RooRealVar* ParFailSignalMassShift = LoadParameters(inputParameterFile, label, "ParFailSignalMassShift");
RooRealVar* ParPassSignalResolution = LoadParameters(inputParameterFile, label, "ParPassSignalResolution");
RooRealVar* ParFailSignalResolution = LoadParameters(inputParameterFile, label, "ParFailSignalResolution");
// new RooRealVar ("ParPassSignalMassShift","ParPassSignalMassShift",-2.6079e-02,-10.0, 10.0); //ParPassSignalMassShift->setConstant(kTRUE);
// RooRealVar* ParFailSignalMassShift = new RooRealVar ("ParFailSignalMassShift","ParFailSignalMassShift",7.2230e-01,-10.0, 10.0); //ParFailSignalMassShift->setConstant(kTRUE);
// RooRealVar* ParPassSignalResolution = new RooRealVar ("ParPassSignalResolution","ParPassSignalResolution",6.9723e-01,0.0, 10.0); ParPassSignalResolution->setConstant(kTRUE);
// RooRealVar* ParFailSignalResolution = new RooRealVar ("ParFailSignalResolution","ParFailSignalResolution",1.6412e+00,0.0, 10.0); ParFailSignalResolution->setConstant(kTRUE);
//*********************************************************************************************
//
//Load Signal PDFs
//
//*********************************************************************************************
TFile *Zeelineshape_file = new TFile("res/photonEfffromZee.dflag1.eT1.2.gT40.mt15.root", "READ");
TH1* histTemplatePass = (TH1D*) Zeelineshape_file->Get(PassSignalTemplateHistName.c_str());
TH1* histTemplateFail = (TH1D*) Zeelineshape_file->Get(FailSignalTemplateHistName.c_str());
//Introduce mass shift coordinate transformation
// RooFormulaVar PassShiftedMass("PassShiftedMass","@0-@1",RooArgList(Mass,*ParPassSignalMassShift));
// RooFormulaVar FailShiftedMass("FailShiftedMass","@0-@1",RooArgList(Mass,*ParFailSignalMassShift));
RooGaussian *PassSignalResolutionFunction = new RooGaussian("PassSignalResolutionFunction","PassSignalResolutionFunction",Mass,*ParPassSignalMassShift,*ParPassSignalResolution);
RooGaussian *FailSignalResolutionFunction = new RooGaussian("FailSignalResolutionFunction","FailSignalResolutionFunction",Mass,*ParFailSignalMassShift,*ParFailSignalResolution);
RooDataHist* dataHistPass = new RooDataHist("dataHistPass","dataHistPass", RooArgSet(Mass), histTemplatePass);
RooDataHist* dataHistFail = new RooDataHist("dataHistFail","dataHistFail", RooArgSet(Mass), histTemplateFail);
RooHistPdf* signalShapePassTemplatePdf = new RooHistPdf("signalShapePassTemplatePdf", "signalShapePassTemplatePdf", Mass, *dataHistPass, 1);
RooHistPdf* signalShapeFailTemplatePdf = new RooHistPdf("signalShapeFailTemplatePdf", "signalShapeFailTemplatePdf", Mass, *dataHistFail, 1);
RooFFTConvPdf* signalShapePassPdf = new RooFFTConvPdf("signalShapePassPdf","signalShapePassPdf" , Mass, *signalShapePassTemplatePdf,*PassSignalResolutionFunction,2);
RooFFTConvPdf* signalShapeFailPdf = new RooFFTConvPdf("signalShapeFailPdf","signalShapeFailPdf" , Mass, *signalShapeFailTemplatePdf,*FailSignalResolutionFunction,2);
// Now define some efficiency/yield variables
RooFormulaVar* NumSignalPass = new RooFormulaVar("NumSignalPass", "ParEfficiency*ParNumSignal", RooArgList(*ParEfficiency,*ParNumSignal));
RooFormulaVar* NumSignalFail = new RooFormulaVar("NumSignalFail", "(1.0-ParEfficiency)*ParNumSignal", RooArgList(*ParEfficiency,*ParNumSignal));
//*********************************************************************************************
//
// Create Background PDFs
//
//*********************************************************************************************
RooExponential* bkgPassPdf = new RooExponential("bkgPassPdf","bkgPassPdf",Mass, *ParPassBackgroundExpCoefficient);
RooExponential* bkgFailPdf = new RooExponential("bkgFailPdf","bkgFailPdf",Mass, *ParFailBackgroundExpCoefficient);
//*********************************************************************************************
//
// Create Total PDFs
//
//*********************************************************************************************
RooAddPdf pdfPass("pdfPass","pdfPass",RooArgList(*signalShapePassPdf,*bkgPassPdf), RooArgList(*NumSignalPass,*ParNumBkgPass));
RooAddPdf pdfFail("pdfFail","pdfFail",RooArgList(*signalShapeFailPdf,*bkgFailPdf), RooArgList(*NumSignalFail,*ParNumBkgFail));
// PDF for simultaneous fit
RooSimultaneous totalPdf("totalPdf","totalPdf", sample);
totalPdf.addPdf(pdfPass,"Pass");
// totalPdf.Print();
totalPdf.addPdf(pdfFail,"Fail");
totalPdf.Print();
//*********************************************************************************************
//
// Perform Fit
//
//*********************************************************************************************
RooFitResult *fitResult = 0;
// ********* Fix with Migrad first ********** //
fitResult = totalPdf.fitTo(*dataCombined, RooFit::Save(true),
RooFit::Extended(true), RooFit::PrintLevel(-1));
fitResult->Print("v");
// // ********* Fit With Minos ********** //
// fitResult = totalPdf.fitTo(*dataCombined, RooFit::Save(true),
// RooFit::Extended(true), RooFit::PrintLevel(-1), RooFit::Minos());
// fitResult->Print("v");
// // ********* Fix Mass Shift and Fit For Resolution ********** //
// ParPassSignalMassShift->setConstant(kTRUE);
// ParFailSignalMassShift->setConstant(kTRUE);
// ParPassSignalResolution->setConstant(kFALSE);
// ParFailSignalResolution->setConstant(kFALSE);
// fitResult = totalPdf.fitTo(*dataCombined, RooFit::Save(true),
// RooFit::Extended(true), RooFit::PrintLevel(-1));
// fitResult->Print("v");
// // ********* Do Final Fit ********** //
// ParPassSignalMassShift->setConstant(kFALSE);
// ParFailSignalMassShift->setConstant(kFALSE);
// ParPassSignalResolution->setConstant(kTRUE);
// ParFailSignalResolution->setConstant(kTRUE);
// fitResult = totalPdf.fitTo(*dataCombined, RooFit::Save(true),
// RooFit::Extended(true), RooFit::PrintLevel(-1));
// fitResult->Print("v");
double nSignalPass = NumSignalPass->getVal();
double nSignalFail = NumSignalFail->getVal();
double denominator = nSignalPass + nSignalFail;
printf("\nFit results:\n");
if( fitResult->status() != 0 ){
std::cout<<"ERROR: BAD FIT STATUS"<<std::endl;
}
printf(" Efficiency = %.4f +- %.4f\n",
ParEfficiency->getVal(), ParEfficiency->getPropagatedError(*fitResult));
cout << "Signal Pass: "******"Signal Fail: " << nSignalFail << endl;
cout << "*********************************************************************\n";
cout << "Final Parameters\n";
cout << "*********************************************************************\n";
PrintParameter(ParNumSignal, label,"ParNumSignal");
PrintParameter(ParNumBkgPass, label,"ParNumBkgPass");
PrintParameter(ParNumBkgFail, label, "ParNumBkgFail");
PrintParameter(ParEfficiency , label, "ParEfficiency");
PrintParameter(ParPassBackgroundExpCoefficient , label, "ParPassBackgroundExpCoefficient");
PrintParameter(ParFailBackgroundExpCoefficient , label, "ParFailBackgroundExpCoefficient");
PrintParameter(ParPassSignalMassShift , label, "ParPassSignalMassShift");
PrintParameter(ParFailSignalMassShift , label, "ParFailSignalMassShift");
PrintParameter(ParPassSignalResolution , label, "ParPassSignalResolution");
PrintParameter(ParFailSignalResolution , label, "ParFailSignalResolution");
cout << endl << endl;
//--------------------------------------------------------------------------------------------------------------
// Make plots
//==============================================================================================================
TFile *canvasFile = new TFile("Efficiency_FitResults.root", "UPDATE");
RooAbsData::ErrorType errorType = RooAbsData::Poisson;
Mass.setBins(NBINSPASS);
TString cname = TString((label+"_Pass").c_str());
TCanvas *c = new TCanvas(cname,cname,800,600);
RooPlot* frame1 = Mass.frame();
frame1->SetMinimum(0);
dataPass->plotOn(frame1,RooFit::DataError(errorType));
pdfPass.plotOn(frame1,RooFit::ProjWData(*dataPass),
RooFit::Components(*bkgPassPdf),RooFit::LineColor(kRed));
pdfPass.plotOn(frame1,RooFit::ProjWData(*dataPass));
frame1->Draw("e0");
TPaveText *plotlabel = new TPaveText(0.23,0.87,0.43,0.92,"NDC");
plotlabel->SetTextColor(kBlack);
plotlabel->SetFillColor(kWhite);
plotlabel->SetBorderSize(0);
plotlabel->SetTextAlign(12);
plotlabel->SetTextSize(0.03);
plotlabel->AddText("CMS Preliminary 2010");
TPaveText *plotlabel2 = new TPaveText(0.23,0.82,0.43,0.87,"NDC");
plotlabel2->SetTextColor(kBlack);
plotlabel2->SetFillColor(kWhite);
plotlabel2->SetBorderSize(0);
plotlabel2->SetTextAlign(12);
plotlabel2->SetTextSize(0.03);
plotlabel2->AddText("#sqrt{s} = 7 TeV");
TPaveText *plotlabel3 = new TPaveText(0.23,0.75,0.43,0.80,"NDC");
plotlabel3->SetTextColor(kBlack);
plotlabel3->SetFillColor(kWhite);
plotlabel3->SetBorderSize(0);
plotlabel3->SetTextAlign(12);
plotlabel3->SetTextSize(0.03);
char temp[100];
sprintf(temp, "%.4f", LUMINOSITY);
plotlabel3->AddText((string("#int#font[12]{L}dt = ") +
temp + string(" pb^{ -1}")).c_str());
TPaveText *plotlabel4 = new TPaveText(0.6,0.82,0.8,0.87,"NDC");
plotlabel4->SetTextColor(kBlack);
plotlabel4->SetFillColor(kWhite);
plotlabel4->SetBorderSize(0);
plotlabel4->SetTextAlign(12);
plotlabel4->SetTextSize(0.03);
double nsig = ParNumSignal->getVal();
double nErr = ParNumSignal->getError();
double e = ParEfficiency->getVal();
double eErr = ParEfficiency->getError();
double corr = fitResult->correlation(*ParEfficiency, *ParNumSignal);
double err = ErrorInProduct(nsig, nErr, e, eErr, corr);
sprintf(temp, "Signal = %.2f #pm %.2f", NumSignalPass->getVal(), err);
plotlabel4->AddText(temp);
TPaveText *plotlabel5 = new TPaveText(0.6,0.77,0.8,0.82,"NDC");
plotlabel5->SetTextColor(kBlack);
plotlabel5->SetFillColor(kWhite);
plotlabel5->SetBorderSize(0);
plotlabel5->SetTextAlign(12);
plotlabel5->SetTextSize(0.03);
sprintf(temp, "Bkg = %.2f #pm %.2f", ParNumBkgPass->getVal(), ParNumBkgPass->getError());
plotlabel5->AddText(temp);
TPaveText *plotlabel6 = new TPaveText(0.6,0.87,0.8,0.92,"NDC");
plotlabel6->SetTextColor(kBlack);
plotlabel6->SetFillColor(kWhite);
plotlabel6->SetBorderSize(0);
plotlabel6->SetTextAlign(12);
plotlabel6->SetTextSize(0.03);
plotlabel6->AddText("Passing probes");
TPaveText *plotlabel7 = new TPaveText(0.6,0.72,0.8,0.77,"NDC");
plotlabel7->SetTextColor(kBlack);
plotlabel7->SetFillColor(kWhite);
plotlabel7->SetBorderSize(0);
plotlabel7->SetTextAlign(12);
plotlabel7->SetTextSize(0.03);
sprintf(temp, "Eff = %.3f #pm %.3f", ParEfficiency->getVal(), ParEfficiency->getErrorHi());
plotlabel7->AddText(temp);
TPaveText *plotlabel8 = new TPaveText(0.6,0.72,0.8,0.66,"NDC");
plotlabel8->SetTextColor(kBlack);
plotlabel8->SetFillColor(kWhite);
plotlabel8->SetBorderSize(0);
plotlabel8->SetTextAlign(12);
plotlabel8->SetTextSize(0.03);
sprintf(temp, "#chi^{2}/DOF = %.3f", frame1->chiSquare());
plotlabel8->AddText(temp);
plotlabel4->Draw();
plotlabel5->Draw();
plotlabel6->Draw();
plotlabel7->Draw();
plotlabel8->Draw();
// c->SaveAs( cname + TString(".eps"));
c->SaveAs( cname + TString(".gif"));
canvasFile->WriteTObject(c, c->GetName(), "WriteDelete");
Mass.setBins(NBINSFAIL);
cname = TString((label+"_Fail").c_str());
TCanvas* c2 = new TCanvas(cname,cname,800,600);
RooPlot* frame2 = Mass.frame();
frame2->SetMinimum(0);
dataFail->plotOn(frame2,RooFit::DataError(errorType));
pdfFail.plotOn(frame2,RooFit::ProjWData(*dataFail),
RooFit::Components(*bkgFailPdf),RooFit::LineColor(kRed));
pdfFail.plotOn(frame2,RooFit::ProjWData(*dataFail));
frame2->Draw("e0");
plotlabel = new TPaveText(0.23,0.87,0.43,0.92,"NDC");
plotlabel->SetTextColor(kBlack);
plotlabel->SetFillColor(kWhite);
plotlabel->SetBorderSize(0);
plotlabel->SetTextAlign(12);
plotlabel->SetTextSize(0.03);
plotlabel->AddText("CMS Preliminary 2010");
plotlabel2 = new TPaveText(0.23,0.82,0.43,0.87,"NDC");
plotlabel2->SetTextColor(kBlack);
plotlabel2->SetFillColor(kWhite);
plotlabel2->SetBorderSize(0);
plotlabel2->SetTextAlign(12);
plotlabel2->SetTextSize(0.03);
plotlabel2->AddText("#sqrt{s} = 7 TeV");
plotlabel3 = new TPaveText(0.23,0.75,0.43,0.80,"NDC");
plotlabel3->SetTextColor(kBlack);
plotlabel3->SetFillColor(kWhite);
plotlabel3->SetBorderSize(0);
plotlabel3->SetTextAlign(12);
plotlabel3->SetTextSize(0.03);
sprintf(temp, "%.4f", LUMINOSITY);
plotlabel3->AddText((string("#int#font[12]{L}dt = ") +
temp + string(" pb^{ -1}")).c_str());
plotlabel4 = new TPaveText(0.6,0.82,0.8,0.87,"NDC");
plotlabel4->SetTextColor(kBlack);
plotlabel4->SetFillColor(kWhite);
plotlabel4->SetBorderSize(0);
plotlabel4->SetTextAlign(12);
plotlabel4->SetTextSize(0.03);
err = ErrorInProduct(nsig, nErr, 1.0-e, eErr, corr);
sprintf(temp, "Signal = %.2f #pm %.2f", NumSignalFail->getVal(), err);
plotlabel4->AddText(temp);
plotlabel5 = new TPaveText(0.6,0.77,0.8,0.82,"NDC");
plotlabel5->SetTextColor(kBlack);
plotlabel5->SetFillColor(kWhite);
plotlabel5->SetBorderSize(0);
plotlabel5->SetTextAlign(12);
plotlabel5->SetTextSize(0.03);
sprintf(temp, "Bkg = %.2f #pm %.2f", ParNumBkgFail->getVal(), ParNumBkgFail->getError());
plotlabel5->AddText(temp);
plotlabel6 = new TPaveText(0.6,0.87,0.8,0.92,"NDC");
plotlabel6->SetTextColor(kBlack);
plotlabel6->SetFillColor(kWhite);
plotlabel6->SetBorderSize(0);
plotlabel6->SetTextAlign(12);
plotlabel6->SetTextSize(0.03);
plotlabel6->AddText("Failing probes");
plotlabel7 = new TPaveText(0.6,0.72,0.8,0.77,"NDC");
plotlabel7->SetTextColor(kBlack);
plotlabel7->SetFillColor(kWhite);
plotlabel7->SetBorderSize(0);
plotlabel7->SetTextAlign(12);
plotlabel7->SetTextSize(0.03);
sprintf(temp, "Eff = %.3f #pm %.3f", ParEfficiency->getVal(), ParEfficiency->getErrorHi(), ParEfficiency->getErrorLo());
plotlabel7->AddText(temp);
plotlabel8 = new TPaveText(0.6,0.72,0.8,0.66,"NDC");
plotlabel8->SetTextColor(kBlack);
plotlabel8->SetFillColor(kWhite);
plotlabel8->SetBorderSize(0);
plotlabel8->SetTextAlign(12);
plotlabel8->SetTextSize(0.03);
sprintf(temp, "#chi^{2}/DOF = %.3f", frame2->chiSquare());
plotlabel8->AddText(temp);
// plotlabel->Draw();
// plotlabel2->Draw();
// plotlabel3->Draw();
plotlabel4->Draw();
plotlabel5->Draw();
plotlabel6->Draw();
plotlabel7->Draw();
plotlabel8->Draw();
c2->SaveAs( cname + TString(".gif"));
// c2->SaveAs( cname + TString(".eps"));
// c2->SaveAs( cname + TString(".root"));
canvasFile->WriteTObject(c2, c2->GetName(), "WriteDelete");
canvasFile->Close();
effTextFile.width(40);
effTextFile << label;
effTextFile.width(20);
effTextFile << setiosflags(ios::fixed) << setprecision(4) << left << ParEfficiency->getVal() ;
effTextFile.width(20);
effTextFile << left << ParEfficiency->getErrorHi();
effTextFile.width(20);
effTextFile << left << ParEfficiency->getErrorLo();
effTextFile.width(14);
effTextFile << setiosflags(ios::fixed) << setprecision(2) << left << nSignalPass ;
effTextFile.width(14);
effTextFile << left << nSignalFail << endl;
}
