int main( void )
{
SWORD a, b;
SWORD a1, b1;
SWORD mina = 0, minb = 0;
FILE *IN, *OUT;
int firsttime = 1;
if ((IN = fopen("gcm.in", "rt")) == NULL)
return 1;
if ((OUT = fopen("gcm.out", "wt")) == NULL)
{
fclose(IN);
return 1;
}
fscanf(IN, "%I64d", &a);
fscanf(IN, "%I64d", &b);
for (a1 = min(a, b); a1 <= max(a, b); a1++)
{
b1 = a * b / a1;
if (NOD(a, b) == NOD(a1, b1) && NOK(a, b) == NOK(a1, b1))
if ((my_abs(a1 - b1) < my_abs(mina - minb)) || firsttime)
{
mina = a1;
minb = b1;
firsttime = 0;
}
}
fprintf(OUT, "%I64d %I64d", mina, minb);
fclose(IN);
fclose(OUT);
return 0;
}
/* imprime les nombres avec la base voulu */
int my_putnbr(int nombre, int base)
{
int flag = 0;
char base16[16]={'0','1','2','3','4','5','6','7','8','9','a','b','c','d','e','f'}; /* tableau utilisé avec les bases */
char base_16[16]={'0','1','2','3','4','5','6','7','8','9','A','B','C','D','E','F'}; /* tableau utilisé pour le spécifieur 'X'
appelé avec la base '-16'
les utilisation de my_abs sont pour faire en sorte que la fonction marche même quand la base '-16' sera appelé */
if (nombre>=my_abs(base))
{
my_putnbr(nombre /my_abs(base),base);
}
if (base<0)
{
my_putchar(base_16[nombre%my_abs(base)]);
}
else
{
my_putchar(base16[nombre%my_abs(base)]);
}
return 0;
}
ostream &
operator<< (ostream &stream, const ACE_Time_Value &tv)
{
if (tv.usec () < 0 || tv.sec () < 0)
stream << "-";
stream << my_abs (int (tv.sec ())) << "."
// << setw (6) << setfill ('0')
<< my_abs (int (tv.usec ()));
return stream;
}
float fast_sine(float x)
{
const float B = 4/pi;
const float C = -4/(pi*pi);
float y = B * x + C * x * my_abs(x);
// const float Q = 0.775;
const float P = 0.225;
y = P * (y * my_abs(y) - y) + y; // Q * y + P * y * abs(y)
return y;
}
int main(void)
{
int num=0;
printf("input num : ");
scanf("%d", &num);
printf("result : %d \n ", my_abs(num));
}
const IR_Command identify_command(const int *blinks, int num_blinks)
{
init();
if (num_blinks < 10) return IR_Command::NO_COMMAND;
//Serial.println("Identifying. ");
for (unsigned int i = 0; i < commands_length; ++i)
{
Command *command = commands[i];
bool matching = true;
//Serial.println(command->name);
for (int i = 0; i < my_min(num_blinks, command->blinks_length) - 1; i++)
{
/*Serial.print(blinks[i], 10);
Serial.print("\t");
Serial.print(command->blinks[i], 10);
Serial.println("") ; */
if (my_abs(blinks[i] - command->blinks[i]) > 100)
{
matching = false;
//Serial.println("NO MATCH");
break;
}
}
//Serial.println("MATCH ");
if (matching) return command->command;
}
return IR_Command::NO_COMMAND;
}
int largest()
{
int r = 0; // r is local (smallest non-negative int)
for (int i = 0; i<v.size(); ++i)
r = max(r,my_abs(v[i])); // i is in the for's statement scope
// no i here
return r;
}
/// Solve symmetric eigenvalue problem using CLAPACK routines.
void quantfin::interfaceCLAPACK::SymmetricEigenvalueProblem(
const Array<double,2>& A, ///< Symmetric Array to be decomposed.
Array<double,1>& eigval, ///< Array (vector) containing all non-zero eigenvalues.
Array<double,2>& eigvec, ///< Array of eigenvectors (Array, each column is an eigenvector)
double eps ///< Threshold for comparison to zero, default 1e-12
)
{
int i,j;
long int n = A.rows();
if (n!=A.columns()) throw(std::logic_error("Array must be square"));
double* ap = new double[(n*(n+1))/2];
double* pos = ap;
for (i=0;i<n;i++) {
for (j=0;j<=i;j++) *pos++ = A(j,i); }
double* w = new double[n];
double* z = new double[n*n];
double* work = new double[3*n];
long int ldz = n;
long int info = 0;
char jobz = 'V';
char uplo = 'U';
dspev_(&jobz,&uplo,&n,ap,w,z,&ldz,work,&info);
if (!info) {
int k = n;
for (i=0;i<n;i++) {
if (my_abs(w[i])<=eps) k--; }
Array<double,1> val(k);
Array<double,2> vec(n,k);
int l = 0;
pos = z;
for (i=0;i<n;i++) {
if (my_abs(w[i])>eps) {
val(l) = w[i];
for (j=0;j<n;j++) vec(j,l) = *pos++;
l++; }
else pos += n; }
eigval.resize(k);
eigvec.resize(n,k);
eigval = val;
eigvec = vec; }
delete[] ap;
delete[] w;
delete[] z;
delete[] work;
if (info) throw(std::logic_error("Eigenvalue decomposition failed"));
}
bool isBalanced(TreeNode* root) {
if (!root) return true;
if (isBalanced(root->left) && isBalanced(root->right) &&
my_abs(GetHeight(root->left) - GetHeight(root->right)) <= 1) {
return true;
}
return false;
}
int main(void)
{
printf("Abstests: %d %d %d %d %d %d %d\n",
my_abs(-1), my_abs(1), my_abs(INT_MAX), my_abs(INT_MIN),
my_abs(0), my_abs(42), my_abs(-42));
printf("singlebit0: %x %x %x %x %x\n",
mux_singlebit0(0),
mux_singlebit0(1),
mux_singlebit0((unsigned)-1),
mux_singlebit0(64),
mux_singlebit0(12345));
printf("singlebit1: %x %x %x %x %x\n",
mux_singlebit1(0, v),
mux_singlebit1(1, v),
mux_singlebit1((unsigned)-1, v),
mux_singlebit1(64, v),
mux_singlebit1(12345, v));
printf("singlebit2: %x %x %x %x %x\n",
mux_singlebit2(0, v),
mux_singlebit2(1, v),
mux_singlebit2((unsigned)-1, v),
mux_singlebit2(64, v),
mux_singlebit2(12345, v));
return 0;
}
void
compare_float4 (float *a, float *b)
{
int i;
for (i = 0; i < 4; ++i)
if (my_abs(a[i] - b[i]) >= 1.0e-6)
abort ();
}
int my_man(int pos, int exit, int pv, int taille)
{
int xa;
int xb;
int ya;
int yb;
xa = pos / taille;
xb = pos % taille;
ya = exit / taille;
yb = exit % taille;
ya = ya - xa;
xa = yb - xb;
xa = my_abs(xa);
ya = my_abs(ya);
xa = xa + ya;
return (xa);
}
int main(){
long long N,M;
scanf("%I64d %I64d",&N,&M);
long long o_N,o_M;
long long cr_n_n=1,cr_n_m=0,cr_m_n=0,cr_m_m=1;
long long tmp;
if(N==1&&M==1){
printf("1");
return 0;
}
else if(N==1||M==1){
printf("2");
return 0;
}
o_N=N;
o_M=M;
while(N!=0&&M!=0){
if(N>M){
tmp=N/M;
cr_n_n-=(cr_m_n*tmp);
cr_n_m-=(cr_m_m*tmp);
N%=M;
}
else{
tmp=M/N;
cr_m_n-=(cr_n_n*tmp);
cr_m_m-=(cr_n_m*tmp);
M%=N;
}
}
if(N==0){
if(M!=1){
printf("%I64d",o_N*(o_M/M));
}
else{
if(my_abs(&cr_m_n)*o_N>my_abs(&cr_m_m)*o_M)
printf("%I64d",my_abs(&cr_m_n)*o_N);
else
printf("%I64d",my_abs(&cr_m_m)*o_M);
}
}
else{
if(N!=1){
printf("%I64d",o_N*(o_M/N));
}
else{
if(my_abs(&cr_n_n)*o_N>my_abs(&cr_n_m)*o_M)
printf("%I64d",my_abs(&cr_n_n)*o_N);
else
printf("%I64d",my_abs(&cr_n_m)*o_M);
}
}
return 0;
}
int my_put_nbr(long nb, char *base)
{
int j;
j = my_strlen(base);
if (nb / j != 0)
my_put_nbr(my_abs(nb / j), base);
my_putchar(base[nb % j]);
return (0);
}
int main()
{
float x = 27.0, y = x, y_ = 0.0;
do
{
y_ = y;
y = 0.5 *(y + (3 * x / (2 * y * y + x / y)));
} while (my_abs(y - y_) >= my_pow(10, -5));
std::cout << y << std::endl;
system("pause");
return 0;
}
void sensor_read(float basic[9], unsigned int loop_count, float bmp085[2])
{
short temp_mpu[6];
short temp_acc[3] = {0};
short temp_gyr[3] = {0};
short temp_hmc[3];
int i;
unsigned char filter_cnt=0;
unsigned char bmp085_state = loop_count % 10;
mpu6050_read(temp_mpu);
hmc5883l_read(temp_hmc);
bmp085_read(bmp085_state,bmp085);
ACC_X_BUF[filter_cnt] = temp_mpu[0];//更新滑动窗口数组
ACC_Y_BUF[filter_cnt] = temp_mpu[1];
ACC_Z_BUF[filter_cnt] = temp_mpu[2];
GYR_X_BUF[filter_cnt] = temp_mpu[3];
GYR_Y_BUF[filter_cnt] = temp_mpu[4];
GYR_Z_BUF[filter_cnt] = temp_mpu[5];
if((filter_cnt++) == FILTER_NUM)
{
filter_cnt=0;
filter_full = 1;
}
if(filter_full == 1)
{
for(i=0;i<FILTER_NUM;i++)
{
temp_acc[0] += ACC_X_BUF[i];
temp_acc[1] += ACC_Y_BUF[i];
temp_acc[2] += ACC_Z_BUF[i];
temp_gyr[0] += GYR_X_BUF[i];
temp_gyr[1] += GYR_Y_BUF[i];
temp_gyr[2] += GYR_Z_BUF[i];
}
for(i=0;i<3;i++)
{
temp_mpu[i] = temp_acc[i] / FILTER_NUM;
temp_mpu[i+3] = temp_gyr[i] / FILTER_NUM;
}
}
for(i=0;i<3;i++)
basic[i] = (temp_mpu[i])*0.0001220703125;
for(i=3;i<6;i++)
basic[i] = (temp_mpu[i])*0.00762939453125 - mpu6050_OFFSET[i];
for(i=6;i<9;i++)
basic[i] = (temp_hmc[i-6])*1.0;
if(my_abs(basic[5])<1)basic[5] = 0.0;
}
int my_putnbr_u(unsigned int nombre, int base) /* même fonction que put_nbr sauf que l'argument 1 est un unsigned number */
{
char base16[16]={'0','1','2','3','4','5','6','7','8','9','a','b','c','d','e','f'};
if (nombre>=base)
{
my_putnbr(nombre /base,base);
}
my_putchar(base16[nombre%my_abs(base)]);
}
int64 pollard_rho(int64 n, int64 c) {
int64 x = rand() % (n - 1) + 1, y = x;
for (int head = 1, tail = 2; true; ) {
x = multiply_mod(x, x, n);
if ((x += c) >= n)
x -= n;
if (x == y)
return n;
int64 d = gcd(my_abs(x - y), n);
if (d > 1 && d < n)
return d;
if ((++head) == tail) {
y = x;
tail <<= 1;
}
}
}
int main ( int argc, char * argv[] )
{
float interval = pi/500.0, x = -pi, y, z, r, d, sumd = 0.0;
float max = -1.0, rmax = -1.0;
int k;
#if 1
for ( k=0; k<1000; ++k, x += interval )
{
#if 1
y = fast_sine(x);
z = sin(x);
d = my_abs(y-z);
if ( d>max )
{
max = d;
}
r = d/z;
if ( r>rmax )
{
rmax = r;
}
printf("fast_sine(%2.5f) = %2.5f\n",x,y);
printf("sin (%2.5f) = %2.5f\n",x,z);
printf("abs_diff = %2.5f\n",d);
printf("rel_diff = %2.5f\n\n",r);
sumd += d;
#endif
}
y = sumd/1000.0;
printf("Average difference = %f\n",y);
printf("Max difference = %f\n",max);
printf("Max rel diff = %f\n",rmax);
#endif
return 0;
}
int main()
{
/** Testovani souctu */
// test 1 - celych cisel
SHOULD_BE_EQUAL_FLOAT(122.0+105.0,sucet(122.0,105.0),"soucet_1");
// test 2 - desetinnych cisel
SHOULD_BE_EQUAL_FLOAT(36514.515+3652.525, sucet(36514.515,3652.525),"soucet_2");
// test 3 - desetinnych cisel s vetsi presnosti
SHOULD_BE_EQUAL_FLOAT(9.8+3.1, sucet(9.8,3.1),"soucet_3");
// test 4 - zapornych cisel
SHOULD_BE_EQUAL_FLOAT(-1.5811111+6.5252525, sucet(-1.5811111,6.5252525),"soucet_4");
/** Testovani rozdilu */
// test 5 - celych cisel
SHOULD_BE_EQUAL_FLOAT(55.0-20.0, rozdil(55.0,20.0), "rozdil_5");
// test 6 - desetinnych cisel
SHOULD_BE_EQUAL_FLOAT( 358.49-258.4, rozdil(358.49,258.4),"rozdil_6");
// test 7 - desetinnych cisel s vetsi presnosti
SHOULD_BE_EQUAL_FLOAT(256.12357-128.999999, rozdil(256.12357,128.999999),"rozdil_7");
// test 8 - zapornych desetinnych cisel
SHOULD_BE_EQUAL_FLOAT(-2.555555-(-3.595959), rozdil(-2.555555,-3.595959), "rozdil_8");
/** Testovani nasobeni */
// test 9 - celych cisel
SHOULD_BE_EQUAL_FLOAT(11.0*3.0, nasobeni(11.0,3.0),"nasobeni_9");
// test 10 - desetinnych cisel
SHOULD_BE_EQUAL_FLOAT(35.555*211.652, nasobeni(35.555,211.652),"nasobeni_10");
// test 11 - nasobeni nulou
SHOULD_BE_EQUAL_FLOAT(5.5*0.0, nasobeni(5.5,0.0),"nasobeni_11");
// test 12 - nasobeni zapornym cislem
SHOULD_BE_EQUAL_FLOAT(36.56*(-4.123), nasobeni(36.56,-4.123),"nasobeni_12");
/** Testovani podilu */
// test 13 - celych cisel
SHOULD_BE_EQUAL_FLOAT( 8.0/4.0, podil(8.0,4.0),"podil_13");
// test 14 - desetinnych cisel
SHOULD_BE_EQUAL_FLOAT(64.5/28.244, podil(64.5,28.244),"podil_14");
// test 15 - zapornych cisel
SHOULD_BE_EQUAL_FLOAT(-96.2/16.5, podil(-96.2,16.5),"podil_15");
// test 16 - podil nulou
SHOULD_BE_EQUAL_INF(45.136/0.0,podil(45.136,0.0),"podil_16"); // using isnan() function
/** Testovani mocniny */
// test 17 - umocneni celeho cisla
SHOULD_BE_EQUAL_FLOAT(pow(5.0,3.0), my_pow(5.0,3.0),"mocnina_17");
// test 18 - umocneni desetinneho cisla
SHOULD_BE_EQUAL_FLOAT(pow(25.684,6.0), my_pow(25.684,6),"mocnina_18");
// test 19 - umocneni zapornym cislem
SHOULD_BE_EQUAL_NAN(NAN, my_pow(11.6545,-8),"mocnina_19");
// test 20 - umocneni nulou
SHOULD_BE_EQUAL_FLOAT(pow(78.1111,0.0), my_pow(78.1111,0),"mocnina_20");
/** Testovani druhe odmocniny */
// test 21 - odmocneni celeho cisla
SHOULD_BE_EQUAL_FLOAT(pow(64.0,1/2.0), my_sqrt(64.0), "odmocnina_21");
// test 22 - odmocneni desetinneho cisla
SHOULD_BE_EQUAL_FLOAT(pow(235.154787,1/2.0), my_sqrt(235.154787),"odmocnina_22");
// test 23 - odmocneni zaporneho cisla
SHOULD_BE_EQUAL_NAN(pow(-81.154787,1/2.0),my_sqrt(-81.154787),"odmocnina_23");
// test 24 - odmocneni nuly
SHOULD_BE_EQUAL_FLOAT(pow(0,1/2.0),my_sqrt(0),"odmocnina_24");
/** Testovani arcus sinu */
// test 25 - krajnich hodnot Df
SHOULD_BE_EQUAL_FLOAT(asin(1.0), my_asin(1.0),"arcus_sinus_25");
// test 26 - krajnich hodnot Df
SHOULD_BE_EQUAL_FLOAT(asin(-1.0), my_asin(-1.0),"arcus_sinus_26");
// test 27 - hodnot z intervalu (-1;1)
SHOULD_BE_EQUAL_FLOAT(asin(0.56), my_asin(0.56),"arcus_sinus_27");
// test 28 - hodnot z intervalu (-1;-0.9) a (0.9;1)
SHOULD_BE_EQUAL_FLOAT(asin(-0.96), my_asin(-0.96),"arcus_sinus_28");
//test 29 - hodnot mimo definicni obor
SHOULD_BE_EQUAL_NAN(NAN,my_asin(-2.56),"arcus_sinus_29");
/** Testovani faktorialu */
// test 30 - kladneho celeho cisla
SHOULD_BE_EQUAL_FACT(120.0,factorial(5),"factorial_33");
// test 31 - kladneho celeho cisla
SHOULD_BE_EQUAL_FACT(40320.0,factorial(8),"factorial_34");
//test 32 - zaporneho cisla
SHOULD_BE_EQUAL_NAN(NAN,factorial(-6),"factorial_35");
// test 33 - cisla s vysledkem nad limit hodnot promenne integer
SHOULD_BE_EQUAL_NAN(NAN,factorial(100.0),"factorial_36");
// test 34 - desetinneho cisla
SHOULD_BE_EQUAL_NAN(NAN,factorial(29.99),"factorial_37");
/** Testovani absolutni hodnoty */
// test 37 - kladneho celeho cisla
SHOULD_BE_EQUAL_FLOAT(fabs(11.0), my_abs(11.0),"my_abs_38");
// test 38 - zaporneho cisla
SHOULD_BE_EQUAL_FLOAT(fabs(-222.0), my_abs(-222.0),"my_abs_39");
// test 39 - desetinneho cisla
SHOULD_BE_EQUAL_FLOAT(fabs(-55.666), my_abs(-55.666),"my_abs_40");
// test 40 - nuly
SHOULD_BE_EQUAL_FLOAT(fabs(0), my_abs(0),"my_abs_41");
printf("\nTest failed: %d\n", errors);
printf("Test passed: %d\n",passed);
return 0;
}
void image_orient(INT32 args)
{
struct object *o[5];
struct image *img[5],*this,*img1;
int n;
rgb_group *d,*s1,*s2,*s3,*s0;
double mag;
int i, w, h;
CHECK_INIT();
this=THIS;
if (args)
{
if (TYPEOF(sp[-args]) == T_INT)
mag=sp[-args].u.integer;
else if (TYPEOF(sp[-args]) == T_FLOAT)
mag=sp[-args].u.float_number;
else {
SIMPLE_ARG_TYPE_ERROR("orient",1,"int|float");
UNREACHABLE(mag=0.0);
}
}
else mag=1.0;
if (args==1)
pop_n_elems(args);
if (args>1)
{
if (TYPEOF(sp[1-args]) != T_ARRAY)
SIMPLE_ARG_TYPE_ERROR("orient",2,"array");
if (sp[1-args].u.array->size!=4)
Pike_error("The array given as argument 2 to orient do not have size 4\n");
for(i=0; i<4; i++)
if ((TYPEOF(sp[1-args].u.array->item[i]) != T_OBJECT) ||
(!(sp[1-args].u.array->item[i].u.object)) ||
(sp[1-args].u.array->item[i].u.object->prog!=image_program))
Pike_error("The array given as argument 2 to orient do not contain images\n");
img1=(struct image*)sp[1-args].u.array->item[0].u.object->storage;
w=this->xsize;
h=this->ysize;
for(i=0; i<4; i++)
{
img1=(struct image*)sp[1-args].u.array->item[i].u.object->storage;
if ((img1->xsize!=w)||
(img1->ysize!=h))
Pike_error("The images in the array given as argument 2 to orient have different sizes\n");
}
for(i=0; i<4; i++)
img[i]=get_storage(sp[1-args].u.array->item[i].u.object,image_program);
pop_n_elems(args);
push_int(this->xsize);
push_int(this->ysize);
o[4]=clone_object(image_program,2);
img[4]=get_storage(o[4],image_program);
push_object(o[4]);
w=1;
}
else
{
_image_orient(this,o,img);
w=0;
}
s0=img[0]->img;
s1=img[1]->img;
s2=img[2]->img;
s3=img[3]->img;
d=img[4]->img;
THREADS_ALLOW();
CHRONO("begin hsv...");
n=this->xsize*this->ysize;
while (n--)
{
/* Första färg, sista mörkhet */
double j=(s0->r+s0->g+s0->b-s2->r-s2->g-s2->b)/3.0;
/* riktning - - riktning | */
double h=(s1->r+s1->g+s1->b-s3->r-s3->g-s3->b)/3.0;
/* riktning \ - riktning / */
int z,w;
if (my_abs((int)h) > my_abs((int)j))
if (h) {
z = -(int)(32*(j/h)+(h>0)*128+64);
w = my_abs((int)h);
}
else z=0,w=0;
else {
if (j) {
z = -(int)(-32*(h/j)+(j>0)*128+128);
w = my_abs((int)j);
}
else z=0,w=0;
}
d->r=(COLORTYPE)z;
d->g=255;
d->b = MINIMUM((COLORTYPE)(w*mag), 255);
d++;
s0++;
s1++;
s2++;
s3++;
}
CHRONO("end hsv...");
THREADS_DISALLOW();
if (!w)
{
add_ref(o[4]);
pop_n_elems(5);
push_object(o[4]);
}
}
double my_pct_diff(double orig_val, double new_val) {
double diff = my_abs(orig_val - new_val);
return diff/orig_val*100;
}
int V4L2Camera::Init(int width, int height, int fps)
{
LOGD("V4L2Camera::Init");
/* Initialize the capture to the specified width and height */
static const struct {
int fmt; /* PixelFormat */
int bpp; /* bytes per pixel */
int isplanar; /* If format is planar or not */
int allowscrop; /* If we support cropping with this pixel format */
} pixFmtsOrder[] = {
{V4L2_PIX_FMT_YUYV, 2,0,1},
{V4L2_PIX_FMT_YVYU, 2,0,1},
{V4L2_PIX_FMT_UYVY, 2,0,1},
{V4L2_PIX_FMT_YYUV, 2,0,1},
{V4L2_PIX_FMT_SPCA501, 2,0,0},
{V4L2_PIX_FMT_SPCA505, 2,0,0},
{V4L2_PIX_FMT_SPCA508, 2,0,0},
{V4L2_PIX_FMT_YUV420, 0,1,0},
{V4L2_PIX_FMT_YVU420, 0,1,0},
{V4L2_PIX_FMT_NV12, 0,1,0},
{V4L2_PIX_FMT_NV21, 0,1,0},
{V4L2_PIX_FMT_NV16, 0,1,0},
{V4L2_PIX_FMT_NV61, 0,1,0},
{V4L2_PIX_FMT_Y41P, 0,0,0},
{V4L2_PIX_FMT_SGBRG8, 0,0,0},
{V4L2_PIX_FMT_SGRBG8, 0,0,0},
{V4L2_PIX_FMT_SBGGR8, 0,0,0},
{V4L2_PIX_FMT_SRGGB8, 0,0,0},
{V4L2_PIX_FMT_BGR24, 3,0,1},
{V4L2_PIX_FMT_RGB24, 3,0,1},
{V4L2_PIX_FMT_MJPEG, 0,1,0},
{V4L2_PIX_FMT_JPEG, 0,1,0},
{V4L2_PIX_FMT_GREY, 1,0,1},
{V4L2_PIX_FMT_Y16, 2,0,1},
};
int ret;
// If no formats, break here
if (m_AllFmts.isEmpty()) {
LOGE("No video formats available");
return -1;
}
// Try to get the closest match ...
SurfaceDesc closest;
int closestDArea = -1;
int closestDFps = -1;
unsigned int i;
int area = width * height;
for (i = 0; i < m_AllFmts.size(); i++) {
SurfaceDesc sd = m_AllFmts[i];
// Always choose a bigger or equal surface
if (sd.getWidth() >= width &&
sd.getHeight() >= height) {
int difArea = sd.getArea() - area;
int difFps = my_abs(sd.getFps() - fps);
LOGD("Trying format: (%d x %d), Fps: %d [difArea:%d, difFps:%d, cDifArea:%d, cDifFps:%d]",sd.getWidth(),sd.getHeight(),sd.getFps(), difArea, difFps, closestDArea, closestDFps);
if (closestDArea < 0 ||
difArea < closestDArea ||
(difArea == closestDArea && difFps < closestDFps)) {
// Store approximation
closestDArea = difArea;
closestDFps = difFps;
// And the new surface descriptor
closest = sd;
}
}
}
if (closestDArea == -1) {
LOGE("Size not available: (%d x %d)",width,height);
return -1;
}
LOGD("Selected format: (%d x %d), Fps: %d",closest.getWidth(),closest.getHeight(),closest.getFps());
// Check if we will have to crop the captured image
bool crop = width != closest.getWidth() || height != closest.getHeight();
// Iterate through pixel formats from best to worst
ret = -1;
for (i=0; i < (sizeof(pixFmtsOrder) / sizeof(pixFmtsOrder[0])); i++) {
// If we will need to crop, make sure to only select formats we can crop...
if (!crop || pixFmtsOrder[i].allowscrop) {
memset(&videoIn->format,0,sizeof(videoIn->format));
videoIn->format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
videoIn->format.fmt.pix.width = closest.getWidth();
videoIn->format.fmt.pix.height = closest.getHeight();
videoIn->format.fmt.pix.pixelformat = pixFmtsOrder[i].fmt;
ret = ioctl(fd, VIDIOC_TRY_FMT, &videoIn->format);
if (ret >= 0) {
break;
}
}
}
if (ret < 0) {
LOGE("Open: VIDIOC_TRY_FMT Failed: %s", strerror(errno));
return ret;
}
/* Set the format */
memset(&videoIn->format,0,sizeof(videoIn->format));
videoIn->format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
videoIn->format.fmt.pix.width = closest.getWidth();
videoIn->format.fmt.pix.height = closest.getHeight();
videoIn->format.fmt.pix.pixelformat = pixFmtsOrder[i].fmt;
ret = ioctl(fd, VIDIOC_S_FMT, &videoIn->format);
if (ret < 0) {
LOGE("Open: VIDIOC_S_FMT Failed: %s", strerror(errno));
return ret;
}
/* Query for the effective video format used */
memset(&videoIn->format,0,sizeof(videoIn->format));
videoIn->format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
ret = ioctl(fd, VIDIOC_G_FMT, &videoIn->format);
if (ret < 0) {
LOGE("Open: VIDIOC_G_FMT Failed: %s", strerror(errno));
return ret;
}
/* Note VIDIOC_S_FMT may change width and height. */
/* Buggy driver paranoia. */
unsigned int min = videoIn->format.fmt.pix.width * 2;
if (videoIn->format.fmt.pix.bytesperline < min)
videoIn->format.fmt.pix.bytesperline = min;
min = videoIn->format.fmt.pix.bytesperline * videoIn->format.fmt.pix.height;
if (videoIn->format.fmt.pix.sizeimage < min)
videoIn->format.fmt.pix.sizeimage = min;
/* Store the pixel formats we will use */
videoIn->outWidth = width;
videoIn->outHeight = height;
videoIn->outFrameSize = width * height << 1; // Calculate the expected output framesize in YUYV
videoIn->capBytesPerPixel = pixFmtsOrder[i].bpp;
/* Now calculate cropping margins, if needed, rounding to even */
int startX = ((closest.getWidth() - width) >> 1) & (-2);
int startY = ((closest.getHeight() - height) >> 1) & (-2);
/* Avoid crashing if the mode found is smaller than the requested */
if (startX < 0) {
videoIn->outWidth += startX;
startX = 0;
}
if (startY < 0) {
videoIn->outHeight += startY;
startY = 0;
}
/* Calculate the starting offset into each captured frame */
videoIn->capCropOffset = (startX * videoIn->capBytesPerPixel) +
(videoIn->format.fmt.pix.bytesperline * startY);
LOGI("Cropping from origin: %dx%d - size: %dx%d (offset:%d)",
startX,startY,
videoIn->outWidth,videoIn->outHeight,
videoIn->capCropOffset);
/* sets video device frame rate */
memset(&videoIn->params,0,sizeof(videoIn->params));
videoIn->params.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
videoIn->params.parm.capture.timeperframe.numerator = 1;
videoIn->params.parm.capture.timeperframe.denominator = closest.getFps();
/* Set the framerate. If it fails, it wont be fatal */
if (ioctl(fd,VIDIOC_S_PARM,&videoIn->params) < 0) {
LOGE("VIDIOC_S_PARM error: Unable to set %d fps", closest.getFps());
}
/* Gets video device defined frame rate (not real - consider it a maximum value) */
if (ioctl(fd,VIDIOC_G_PARM,&videoIn->params) < 0) {
LOGE("VIDIOC_G_PARM - Unable to get timeperframe");
}
LOGI("Actual format: (%d x %d), Fps: %d, pixfmt: '%c%c%c%c', bytesperline: %d",
videoIn->format.fmt.pix.width,
videoIn->format.fmt.pix.height,
videoIn->params.parm.capture.timeperframe.denominator,
videoIn->format.fmt.pix.pixelformat & 0xFF, (videoIn->format.fmt.pix.pixelformat >> 8) & 0xFF,
(videoIn->format.fmt.pix.pixelformat >> 16) & 0xFF, (videoIn->format.fmt.pix.pixelformat >> 24) & 0xFF,
videoIn->format.fmt.pix.bytesperline);
/* Configure JPEG quality, if dealing with those formats */
if (videoIn->format.fmt.pix.pixelformat == V4L2_PIX_FMT_JPEG ||
videoIn->format.fmt.pix.pixelformat == V4L2_PIX_FMT_MJPEG) {
/* Get the compression format */
ioctl(fd,VIDIOC_G_JPEGCOMP, &videoIn->jpegcomp);
/* Set to maximum */
videoIn->jpegcomp.quality = 100;
/* Try to set it */
if(ioctl(fd,VIDIOC_S_JPEGCOMP, &videoIn->jpegcomp) >= 0)
{
LOGE("VIDIOC_S_COMP:");
if(errno == EINVAL)
{
videoIn->jpegcomp.quality = -1; //not supported
LOGE(" compression control not supported\n");
}
}
/* gets video stream jpeg compression parameters */
if(ioctl(fd,VIDIOC_G_JPEGCOMP, &videoIn->jpegcomp) >= 0) {
LOGD("VIDIOC_G_COMP:\n");
LOGD(" quality: %i\n", videoIn->jpegcomp.quality);
LOGD(" APPn: %i\n", videoIn->jpegcomp.APPn);
LOGD(" APP_len: %i\n", videoIn->jpegcomp.APP_len);
LOGD(" APP_data: %s\n", videoIn->jpegcomp.APP_data);
LOGD(" COM_len: %i\n", videoIn->jpegcomp.COM_len);
LOGD(" COM_data: %s\n", videoIn->jpegcomp.COM_data);
LOGD(" jpeg_markers: 0x%x\n", videoIn->jpegcomp.jpeg_markers);
} else {
LOGE("VIDIOC_G_COMP:");
if(errno == EINVAL) {
videoIn->jpegcomp.quality = -1; //not supported
LOGE(" compression control not supported\n");
}
}
}
/* Check if camera can handle NB_BUFFER buffers */
memset(&videoIn->rb,0,sizeof(videoIn->rb));
videoIn->rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
videoIn->rb.memory = V4L2_MEMORY_MMAP;
videoIn->rb.count = NB_BUFFER;
ret = ioctl(fd, VIDIOC_REQBUFS, &videoIn->rb);
if (ret < 0) {
LOGE("Init: VIDIOC_REQBUFS failed: %s", strerror(errno));
return ret;
}
for (int i = 0; i < NB_BUFFER; i++) {
memset (&videoIn->buf, 0, sizeof (struct v4l2_buffer));
videoIn->buf.index = i;
videoIn->buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
videoIn->buf.memory = V4L2_MEMORY_MMAP;
ret = ioctl (fd, VIDIOC_QUERYBUF, &videoIn->buf);
if (ret < 0) {
LOGE("Init: Unable to query buffer (%s)", strerror(errno));
return ret;
}
videoIn->mem[i] = mmap (0,
videoIn->buf.length,
PROT_READ | PROT_WRITE,
MAP_SHARED,
fd,
videoIn->buf.m.offset);
if (videoIn->mem[i] == MAP_FAILED) {
LOGE("Init: Unable to map buffer (%s)", strerror(errno));
return -1;
}
ret = ioctl(fd, VIDIOC_QBUF, &videoIn->buf);
if (ret < 0) {
LOGE("Init: VIDIOC_QBUF Failed");
return -1;
}
nQueued++;
}
// Reserve temporary buffers, if they will be needed
size_t tmpbuf_size=0;
switch (videoIn->format.fmt.pix.pixelformat)
{
case V4L2_PIX_FMT_JPEG:
case V4L2_PIX_FMT_MJPEG:
case V4L2_PIX_FMT_UYVY:
case V4L2_PIX_FMT_YVYU:
case V4L2_PIX_FMT_YYUV:
case V4L2_PIX_FMT_YUV420: // only needs 3/2 bytes per pixel but we alloc 2 bytes per pixel
case V4L2_PIX_FMT_YVU420: // only needs 3/2 bytes per pixel but we alloc 2 bytes per pixel
case V4L2_PIX_FMT_Y41P: // only needs 3/2 bytes per pixel but we alloc 2 bytes per pixel
case V4L2_PIX_FMT_NV12:
case V4L2_PIX_FMT_NV21:
case V4L2_PIX_FMT_NV16:
case V4L2_PIX_FMT_NV61:
case V4L2_PIX_FMT_SPCA501:
case V4L2_PIX_FMT_SPCA505:
case V4L2_PIX_FMT_SPCA508:
case V4L2_PIX_FMT_GREY:
case V4L2_PIX_FMT_Y16:
case V4L2_PIX_FMT_YUYV:
// YUYV doesn't need a temp buffer but we will set it if/when
// video processing disable control is checked (bayer processing).
// (logitech cameras only)
break;
case V4L2_PIX_FMT_SGBRG8: //0
case V4L2_PIX_FMT_SGRBG8: //1
case V4L2_PIX_FMT_SBGGR8: //2
case V4L2_PIX_FMT_SRGGB8: //3
// Raw 8 bit bayer
// when grabbing use:
// bayer_to_rgb24(bayer_data, RGB24_data, width, height, 0..3)
// rgb2yuyv(RGB24_data, pFrameBuffer, width, height)
// alloc a temp buffer for converting to YUYV
// rgb buffer for decoding bayer data
tmpbuf_size = videoIn->format.fmt.pix.width * videoIn->format.fmt.pix.height * 3;
if (videoIn->tmpBuffer)
free(videoIn->tmpBuffer);
videoIn->tmpBuffer = (uint8_t*)calloc(1, tmpbuf_size);
if (!videoIn->tmpBuffer) {
LOGE("couldn't calloc %lu bytes of memory for frame buffer\n",
(unsigned long) tmpbuf_size);
return -ENOMEM;
}
break;
case V4L2_PIX_FMT_RGB24: //rgb or bgr (8-8-8)
case V4L2_PIX_FMT_BGR24:
break;
default:
LOGE("Should never arrive (1)- exit fatal !!\n");
return -1;
}
return 0;
}
int
main(int argc, char *argv[])
{
unsigned long mean=0, sum=0, maxerr=0;
int i;
CYG_TEST_INIT();
CYG_TEST_INFO("Starting tests from testcase " __FILE__ " for C library "
"clock() function");
// First disable the caches - they may affect the timing loops
// below - causing the elapsed time during the clock() call to vary.
{
register CYG_INTERRUPT_STATE oldints;
HAL_DISABLE_INTERRUPTS(oldints);
HAL_DCACHE_SYNC();
HAL_ICACHE_DISABLE();
HAL_DCACHE_DISABLE();
HAL_DCACHE_SYNC();
HAL_ICACHE_INVALIDATE_ALL();
HAL_DCACHE_INVALIDATE_ALL();
HAL_RESTORE_INTERRUPTS(oldints);
}
// This waits for a clock tick, to ensure that we are at the
// start of a clock period. Then sit in a tight loop to get
// the clock period. Repeat this, and make sure that it the
// two timed periods are acceptably close.
clocks[0] = clock();
if (clocks[0] == (clock_t)-1) // unimplemented is potentially valid.
{
#ifdef CYGSEM_LIBC_TIME_CLOCK_WORKING
CYG_TEST_FAIL_FINISH( "clock() returns -1, meaning unimplemented");
#else
CYG_TEST_PASS_FINISH( "clock() returns -1, meaning unimplemented");
#endif
} // if
// record clocks in a tight consistent loop to avoid random variations
for (i=1; i<SAMPLES; i++) {
ctrs[i] = clock_loop( MAX_TIMEOUT, clocks[i-1], &clocks[i] );
}
for (i=0;i<SAMPLES;i++) {
// output what we got - useful for diagnostics of occasional
// test failures
diag_printf("clocks[%d] = %d, ctrs[%d] = %d\n", i, clocks[i],
i, ctrs[i]);
// Now we work out the error etc.
if (i>=SKIPPED_SAMPLES) {
sum += ctrs[i];
}
}
// deduce out the average
mean = sum / (SAMPLES-SKIPPED_SAMPLES);
// now go through valid results and compare against average
for (i=SKIPPED_SAMPLES;i<SAMPLES;i++) {
unsigned long err;
err = (100 * my_abs(ctrs[i]-mean)) / mean;
if (err > TOLERANCE) {
diag_printf("mean=%d, ctrs[%d]=%d, err=%d\n", mean, i, ctrs[i],
err);
CYG_TEST_FAIL_FINISH("clock() within tolerance");
}
if (err > maxerr)
maxerr=err;
}
diag_printf("mean=%d, maxerr=%d\n", mean, maxerr);
CYG_TEST_PASS_FINISH("clock() stable");
} // main()
int main()
{
f();
return my_abs(max(f(),g(0)) - max2(f(),g(1)));
}