Mat LRTV::compute() { int max_iter = 30; for(int iter = 0; iter < max_iter; ++iter) { cout << "=====================" << endl; cout << "Iter = " << (iter + 1) << endl; sub_1(); sub_2(); sub_3(); // when to stop needs further consideration if( iter >= 5 && norm(U_, U_last_) / norm(U_last_) < 1.5e-3 ) { break; } cout << "relative error = " << 1.0* norm(U_, U_last_) / norm(U_last_) << endl; U_.copyTo(U_last_); cout << "PSNR = " << PSNR(I_, U_, mask_) << endl; cout << endl; } return U_; }
int mpfq_p_127_735_inv(mpfq_p_127_735_dst_field k, mpfq_p_127_735_dst_elt z, mpfq_p_127_735_src_elt x) { #if 1 invmod_2(z, x, k->p); #else mp_limb_t s1[2+1], s2[2+1]; mp_limb_t r1[2+1], r2[2+1]; mp_size_t r1n, r2n; int i; add_2(s1, x, k->p); mpfq_p_127_735_copy(k, s2, k->p); if (cmp_2(s1, s2) == 0) { fprintf(stderr, "error in inv_fp_2: division by 0\n"); exit(1); } assert (cmp_2(s1, s2) > 0); r1n = mpn_gcdext(r1, r2, &r2n, s1, 2, s2, 2); // Non invertible element ? if ((r1n != 1) || (r1[0] != 1UL)) { fprintf(stderr, "warning in inv_fp_2: non invertible element\n"); if ((r1n <= 1) && (r1[0] == 0UL)) { fprintf(stderr, "hum... in fact this is a division by 0\n"); exit(1); } else { mpn2mpz(k->factor, r1, r1n); return 1; } } // OK. GCD is one. make the result positive and put it in z. assert ((r1n == 1) && (r1[0] == 1UL)); if (r2n < 0) { for (i = -r2n; i < 2; ++i) r2[i] = 0UL; sub_2(r2, k->p, r2); } else { for (i = r2n; i < 2; ++i) r2[i] = 0UL; } mpfq_p_127_735_copy(k, z, r2); #endif }
TEST(CanAcceptanceFilter, Basic_test) { uavcan::GlobalDataTypeRegistry::instance().reset(); uavcan::DefaultDataTypeRegistrator<uavcan::equipment::camera_gimbal::AngularCommand> _reg1; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::Sideslip> _reg2; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::TrueAirspeed> _reg3; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::AngleOfAttack> _reg4; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::ahrs::Solution> _reg5; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::StaticPressure> _reg6; uavcan::DefaultDataTypeRegistrator<uavcan::protocol::file::BeginFirmwareUpdate> _reg7; SystemClockDriver clock_driver; CanDriverMock can_driver(1, clock_driver); TestNode node(can_driver, clock_driver, 24); uavcan::Subscriber<uavcan::equipment::camera_gimbal::AngularCommand, SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand>::ExtendedBinder> sub_1(node); uavcan::Subscriber<uavcan::equipment::air_data::Sideslip, SubscriptionListener<uavcan::equipment::air_data::Sideslip>::ExtendedBinder> sub_2(node); uavcan::Subscriber<uavcan::equipment::air_data::TrueAirspeed, SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed>::ExtendedBinder> sub_3(node); uavcan::Subscriber<uavcan::equipment::air_data::AngleOfAttack, SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack>::ExtendedBinder> sub_4(node); uavcan::Subscriber<uavcan::equipment::ahrs::Solution, SubscriptionListener<uavcan::equipment::ahrs::Solution>::ExtendedBinder> sub_5(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6_1(node); uavcan::ServiceServer<uavcan::protocol::file::BeginFirmwareUpdate> server(node); SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand> listener_1; SubscriptionListener<uavcan::equipment::air_data::Sideslip> listener_2; SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed> listener_3; SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack> listener_4; SubscriptionListener<uavcan::equipment::ahrs::Solution> listener_5; SubscriptionListener<uavcan::equipment::air_data::StaticPressure> listener_6; sub_1.start(listener_1.bindExtended()); sub_2.start(listener_2.bindExtended()); sub_3.start(listener_3.bindExtended()); sub_4.start(listener_4.bindExtended()); sub_5.start(listener_5.bindExtended()); sub_6.start(listener_6.bindExtended()); sub_6_1.start(listener_6.bindExtended()); server.start(writeServiceServerCallback); std::cout << "Subscribers are initialized ..." << std::endl; uavcan::CanAcceptanceFilterConfigurator anon_test_configuration(node); int configure_filters_assert = anon_test_configuration.configureFilters(); if (configure_filters_assert == 0) { std::cout << "Filters are configured with anonymous configuration..." << std::endl; } const auto& configure_array = anon_test_configuration.getConfiguration(); uint32_t configure_array_size = configure_array.getSize(); ASSERT_EQ(configure_filters_assert, 0); ASSERT_EQ(configure_array_size, 4); for (uint16_t i = 0; i<configure_array_size; i++) { std::cout << "config.ID [" << i << "]= " << configure_array.getByIndex(i)->id << std::endl; std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl; } ASSERT_EQ(configure_array.getByIndex(0)->id, 0); ASSERT_EQ(configure_array.getByIndex(0)->mask, 255); ASSERT_EQ(configure_array.getByIndex(1)->id, 256000); ASSERT_EQ(configure_array.getByIndex(1)->mask, 16771968); ASSERT_EQ(configure_array.getByIndex(2)->id, 6272); ASSERT_EQ(configure_array.getByIndex(2)->mask, 32640); ASSERT_EQ(configure_array.getByIndex(3)->id, 262144); ASSERT_EQ(configure_array.getByIndex(3)->mask, 16771200); uavcan::CanAcceptanceFilterConfigurator no_anon_test_confiruration(node); configure_filters_assert = no_anon_test_confiruration.configureFilters (uavcan::CanAcceptanceFilterConfigurator::IgnoreAnonymousMessages); if (configure_filters_assert == 0) { std::cout << "Filters are configured without anonymous configuration..." << std::endl; } const auto& configure_array_2 = no_anon_test_confiruration.getConfiguration(); configure_array_size = configure_array_2.getSize(); ASSERT_EQ(configure_filters_assert, 0); ASSERT_EQ(configure_array_size, 4); for (uint16_t i = 0; i<configure_array_size; i++) { std::cout << "config.ID [" << i << "]= " << configure_array.getByIndex(i)->id << std::endl; std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl; } ASSERT_EQ(configure_array_2.getByIndex(0)->id, 6272); ASSERT_EQ(configure_array_2.getByIndex(0)->mask, 32640); ASSERT_EQ(configure_array_2.getByIndex(1)->id, 262144); ASSERT_EQ(configure_array_2.getByIndex(1)->mask, 16776320); ASSERT_EQ(configure_array_2.getByIndex(2)->id, 256000); ASSERT_EQ(configure_array_2.getByIndex(2)->mask, 16771968); ASSERT_EQ(configure_array_2.getByIndex(3)->id, 262144); ASSERT_EQ(configure_array_2.getByIndex(3)->mask, 16771968); }
TEST(CanAcceptanceFilter, Basic_test) { uavcan::GlobalDataTypeRegistry::instance().reset(); uavcan::DefaultDataTypeRegistrator<uavcan::equipment::camera_gimbal::AngularCommand> _reg1; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::Sideslip> _reg2; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::TrueAirspeed> _reg3; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::AngleOfAttack> _reg4; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::ahrs::AHRS> _reg5; uavcan::DefaultDataTypeRegistrator<uavcan::equipment::air_data::StaticPressure> _reg6; uavcan::DefaultDataTypeRegistrator<uavcan::protocol::file::BeginFirmwareUpdate> _reg7; SystemClockDriver clock_driver; CanDriverMock can_driver(1, clock_driver); TestNode node(can_driver, clock_driver, 24); uavcan::Subscriber<uavcan::equipment::camera_gimbal::AngularCommand, SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand>::ExtendedBinder> sub_1(node); uavcan::Subscriber<uavcan::equipment::air_data::Sideslip, SubscriptionListener<uavcan::equipment::air_data::Sideslip>::ExtendedBinder> sub_2(node); uavcan::Subscriber<uavcan::equipment::air_data::TrueAirspeed, SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed>::ExtendedBinder> sub_3(node); uavcan::Subscriber<uavcan::equipment::air_data::AngleOfAttack, SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack>::ExtendedBinder> sub_4(node); uavcan::Subscriber<uavcan::equipment::ahrs::AHRS, SubscriptionListener<uavcan::equipment::ahrs::AHRS>::ExtendedBinder> sub_5(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6(node); uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, SubscriptionListener<uavcan::equipment::air_data::StaticPressure>::ExtendedBinder> sub_6_1(node); uavcan::ServiceServer<uavcan::protocol::file::BeginFirmwareUpdate> server(node); SubscriptionListener<uavcan::equipment::camera_gimbal::AngularCommand> listener_1; SubscriptionListener<uavcan::equipment::air_data::Sideslip> listener_2; SubscriptionListener<uavcan::equipment::air_data::TrueAirspeed> listener_3; SubscriptionListener<uavcan::equipment::air_data::AngleOfAttack> listener_4; SubscriptionListener<uavcan::equipment::ahrs::AHRS> listener_5; SubscriptionListener<uavcan::equipment::air_data::StaticPressure> listener_6; sub_1.start(listener_1.bindExtended()); sub_2.start(listener_2.bindExtended()); sub_3.start(listener_3.bindExtended()); sub_4.start(listener_4.bindExtended()); sub_5.start(listener_5.bindExtended()); sub_6.start(listener_6.bindExtended()); sub_6_1.start(listener_6.bindExtended()); server.start(writeServiceServerCallback); std::cout << "Subscribers are initialized ..." << std::endl; uavcan::CanAcceptanceFilterConfigurator test_configurator(node); int configure_filters_assert = test_configurator.configureFilters(); if (configure_filters_assert == 0) { std::cout << "Filters are configured ..." << std::endl; } const auto& configure_array = test_configurator.getConfiguration(); uint32_t configure_array_size = configure_array.getSize(); ASSERT_EQ(configure_filters_assert, 0); ASSERT_EQ(configure_array_size, 4); for (uint16_t i = 0; i<configure_array_size; i++) { std::cout << "config.ID [" << i << "]= " << configure_array.getByIndex(i)->id << std::endl; std::cout << "config.MK [" << i << "]= " << configure_array.getByIndex(i)->mask << std::endl; } ASSERT_EQ(configure_array.getByIndex(0)->id, 268435456); ASSERT_EQ(configure_array.getByIndex(0)->mask, 469762048); ASSERT_EQ(configure_array.getByIndex(1)->id, 363069440); ASSERT_EQ(configure_array.getByIndex(1)->mask, 536739840); ASSERT_EQ(configure_array.getByIndex(2)->id, 16777216); ASSERT_EQ(configure_array.getByIndex(2)->mask, 124452864); ASSERT_EQ(configure_array.getByIndex(3)->id, 18874368); ASSERT_EQ(configure_array.getByIndex(3)->mask, 133169152); }