int main(int argc, char **argv) {
int num_iters;
#if (NUMTESTS > 0)
int i;
double time;
double time_per;
#endif
set_defaults();
setup_indexing();
load_default_data();
/* Solve problem instance for the record. */
settings.verbose = 1;
num_iters = solve();
#ifndef ZERO_LIBRARY_MODE
#if (NUMTESTS > 0)
/* Now solve multiple problem instances for timing purposes. */
settings.verbose = 0;
tic();
for (i = 0; i < NUMTESTS; i++) {
solve();
}
time = tocq();
printf("Timed %d solves over %.3f seconds.\n", NUMTESTS, time);
time_per = time / NUMTESTS;
if (time_per > 1) {
printf("Actual time taken per solve: %.3g s.\n", time_per);
} else if (time_per > 1e-3) {
printf("Actual time taken per solve: %.3g ms.\n", 1e3*time_per);
} else {
printf("Actual time taken per solve: %.3g us.\n", 1e6*time_per);
}
#endif
#endif
return 0;
}
JNIEXPORT jdoubleArray JNICALL Java_CVXGENController_controlSignalCVXGEN
(JNIEnv * env, jobject thisObj, jdoubleArray inJNIArray){
int num_iters;
#if (NUMTESTS > 0)
int i;
double time;
double time_per;
#endif
set_defaults();
setup_indexing();
load_default_data();
/* Solve problem instance for the record. */
settings.verbose = 1;
//Convert the Array from JNI data type to C data type
jdouble *inCArray = (*env)->GetDoubleArrayElements(env, inJNIArray, NULL);
if (NULL == inCArray) return NULL;
jsize length = (*env)->GetArrayLength(env, inJNIArray);
params.xe_0[0] = inCArray[0];
params.xe_0[1] = inCArray[1];
params.xe_0[2] = 0;
params.xe_0[3] = 0;
params.xe_0[4] = inCArray[4];
params.xe_0[5] = inCArray[5];
params.r[0] = inCArray[6];
params.r[1] = inCArray[7];
//printf("%f\n", inCArray[4]); TODO remove maybe
//printf("%f\n", inCArray[5]); TODO remove maybe
//Solve the QP
num_iters = solve();
//gettting the data after solving the QP
//jdouble x = *vars.x[1];
//jdouble x1 = *vars.x[2];
//jdouble u0 = *vars.u_0;
//jdouble u1 = *(vars.u_0+1);
jdouble u1 = vars.u_0[0];
jdouble u2= vars.u_0[1];
jdouble controlArray[] ={u1 ,u2};
//printf("%f\n", x);
//printf("Hello");
/*
#ifndef ZERO_LIBRARY_MODE
#if (NUMTESTS > 0)
/* Now solve multiple problem instances for timing purposes. */
/*
settings.verbose = 0;
tic();
for (i = 0; i < NUMTESTS; i++) {
solve();
}
time = tocq();
printf("Timed %d solves over %.3f seconds.\n", NUMTESTS, time);
time_per = time / NUMTESTS;
if (time_per > 1) {
printf("Actual time taken per solve: %.3g s.\n", time_per);
} else if (time_per > 1e-3) {
printf("Actual time taken per solve: %.3g ms.\n", 1e3*time_per);
} else {
printf("Actual time taken per solve: %.3g us.\n", 1e6*time_per);
}
#endif
#endif
*/
jdoubleArray outJNIArray = (*env)->NewDoubleArray(env, 2); // allocate
if (NULL == outJNIArray) return NULL;
(*env)->SetDoubleArrayRegion(env, outJNIArray, 0 , 2, controlArray); // copy
return outJNIArray;
}
