rsgp()
/* Used to read in intermediate subgroups when subgp is true */
{ short i,np,k,l,n,*ptr;
if ((ip=fopen(inf3,"r"))==0)
{ fprintf(stderr,"Cannot open %s.\n",inf3); return(-1); }
fscanf(ip,"%hd%hd%hd%hd",&i,&np,&k,&l);
if (i!=npt || k!=nb || l<=0)
{ fprintf(stderr,"Intermediate group has wrong input format.\n");return(-1);}
seeknln(); seeknln(); seeknln();
if (4*exp+2*np+ngads>mxp)
{ fprintf(stderr,"Out of perm space. Increase PSP (or MP).\n"); return(-1); }
for (i=1;i<=np;i++)
{ readvec(pptr[stig+i+1],1); invert(pptr[stig+i+1],pptr[stig+i]); }
for (i=1;i<=nb;i++)
{ readvec(sv2ptr[i],0);
for (n=1;n<=npt;n++)
{ ptr=sv2ptr[i]+n; if (*ptr>0) *ptr=stig+(*ptr+1)/2; }
}
fclose(ip);
return(0);
}
int proc_vec( int argc, char *argv[], byte first_param )
{
float Angles[MAX_VECTOR_SIZE];
float Speeds[MAX_VECTOR_SIZE];
byte Instances[MAX_VECTOR_SIZE];
// GET SPECIFIC INSTANCE NUMBER (255 for all):
if (argc < (first_param+1)) {
printf( "No vector command.\n");
return 0;
}
// GET OPERATION TO BE DONE ON INSTANCE:
if (strcmp(argv[first_param+1], "clearall") == 0)
{
// Erase .ini file
FILE* f = fopen(VectorFileName,"w");
fprintf(f, " ");
fclose(f);
printf("Motor Vectors Erased!...\n");
}
if (strcmp(argv[first_param+1], "define") == 0)
{
// Create a Vector (mapping of board instances with indexes)
printf("Create Motor Vector...\n");
if (argc < (first_param+3)) {
printf( "No vector command.\n");
return 0;
}
// CONSTRUCT vector:
byte size = atoi(argv[first_param+3]);
if (size > 50) {
printf("Current Max vector size = 50\n");
return 0;
}
//struct stVector* vector = NewVector( argv[first_param+2], size );
// AssignBoards ( vector, instances );
FILE* f = fopen(VectorFileName,"a+");
fprintf(f, "%s %d ", argv[first_param+2], size);
byte instances[50];
for (int i=0; i<size; i++)
{
if ((i+3) > argc)
{
printf("Not enough instances!");
return 0;
} else {
instances[i] = atoi(argv[first_param+4+i]);
fprintf( f, "%d ", instances[i] );
}
}
fprintf( f, "\n");
fclose(f);
}
if (strcmp(argv[first_param+1], "showall") == 0)
{
FILE* f = fopen(VectorFileName,"r");
// PRINT .ini file
char c = fgetc(f);
while (!feof(f))
{
printf("%c", c);
c = fgetc(f);
}
fclose(f);
}
else if (strcmp(argv[first_param+1], "set") == 0)
{
// GET VECTOR FROM INI File:
char* vect_text = readvec( argv[first_param+2] );
if (vect_text == NULL)
return 0;
//printf("%s\n", vect_text);
// Create a Vector (mapping of board instances with indexes)
// PARSE SIZE:
char* sLine = skipNext( vect_text ); // skip Name
byte vsize = atoi( getWord(sLine) );
char* rLine = skipNext( sLine ); // skip size
// PARSE INSTANCES:
byte size = getIntArray( rLine, Instances );
// The send actually does the AddToSendList() calls for each element
if (argc < (vsize*2 + first_param+2))
{ printf ("Not enough vectors!"); return 0; }
//int argi = 0;
// EXTRACT ALL ANGLES & SPEEDS:
int i;
for (i=0; i<vsize; i++) {
Angles[i] = atof(argv[first_param+4+i]);
//printf("%9.3f, ", Angles[i]);
}
//printf("\nSpeeds=");
byte s = first_param+4+i;
for (i=0; i<vsize; i++) {
Speeds[i] = atof(argv[s+i]);
//printf("%9.3f ", Speeds[i]);
}
//printf("\n");
send_angle_vector( vsize, Instances, Angles, Speeds );
}
}
scprog()
{ short i,j,k,l,m,n,stconj,np,pm1,ncr,crct,ndc,dcct,
lo,intexsk,stpt,lpt,stint,olen,pt,ad,*p1,*ip1,*p2,*ip2,
*pint,*ptr,*g,*ig,ino,olo,**vsvptr;
int quot;
char ingp,igth;
if ((ip=fopen(inf1,"r"))==0)
{ fprintf(stderr,"Cannot open %s.\n",inf1); return(-1); }
fscanf(ip,"%hd%hd%hd%hd",&npt,&exp,&nb,&l);
if (npt>mpt)
{ fprintf(stderr,"npt too big. Increase MPT.\n"); return(-1); }
if (nb>=mb)
{ fprintf(stderr,"nb too big. Increase MB.\n"); return(-1); }
if (nb*npt*2>svsp)
{ fprintf(stderr,"svsp too small. Increase SVSP.\n"); return(-1); }
if (exp>=mexp)
{ fprintf(stderr,"exp too big. Increase MEXP.\n"); return(-1); }
if (l!=2) {fprintf(stderr,"Wrong input format.\n"); return(-1);}
readbaselo(nb,base,lorb); npt1=npt+1;
quot=psp/npt1; if (quot>mp) quot=mp; mxp=quot; mxp=2*(mxp/2);
if (2*exp>mxp)
{ fprintf(stderr,"Out of perm space. Increase PSP (or MP).\n"); return(-1); }
for (i=0;i<mxp;i++) pptr[i]=perm+i*npt1-1;
for (i=1;i<=nb;i++) svptr[i]=sv+(i-1)*npt-1;
readpsv(0,nb,exp,svptr);
for (i=exp;i>=1;i--) fscanf(ip,"%hd",pwt+i);
fscanf(ip,"%hd%hd",&prime,&ngads);
if (2*exp+ngads>mxp)
{ fprintf(stderr,"Out of perm space. Increase PSP (or MP).\n"); return(-1); }
for (i=1;i<=exp;i++) fscanf(ip,"%hd",power+i);
for (i=1;i<=exp;i++) { j=2*(i-1); ngno[i]=j; igno[j+1]=i; }
k=2*exp-1;
for (i=1;i<=ngads;i++)
{ l=i+k; readvec(pptr[l],1); m=pptr[l][npt1]; ngno[m]=l; }
fclose(ip);
stconj=2*exp+ngads-1; itp=tp+npt1;
if (4*exp+ngads>mxp)
{ fprintf(stderr,"Out of perm space. Increase PSP (or MP).\n"); return(-1); }
if (subgp)
{ stig=stconj+2*exp;
for (i=1;i<=nb;i++) sv2ptr[i]=sv+(nb+i-1)*npt-1;
if (subgp>1)
{strcpy(inf3,inf0); strcat(inf3,"sg"); sgstr[0]=sgc; strcat(inf3,sgstr);}
if (rsgp()== -1) return(-1);
igth=1;
}
else vsvptr=svptr;
if ((ip=fopen(inf2,"r"))==0)
{ printf("Cannot open %s.\n",inf2); return(-1); }
fscanf(ip,"%hd%hd",&i,&ndc); while (getc(ip)!='\n');
if (i!=npt) {printf("dcr has npt false.\n"); return(-1); }
/* If subgp is true, then we will have to update the dcr file, so we print
it out on to a temporary file as we go along.
*/
if (subgp)
{ opy=fopen(outft,"w"); fprintf(opy,"%4d%4d%4d%4d\n",npt,ndc,0,0);}
op=fopen(outf,"w"); pm1=prime-1; setpinv();
for (dcct=1;dcct<=ndc;dcct++)
{ if (subgp>1 && igth==0)
{ strcpy(inf3,inf0); strcat(inf3,"sg"); sgstr[0]=sgc;
strcat(inf3,sgstr); ipkp=ip;
if (rsgp()== -1) return(-1);
ip=ipkp; vsvptr=sv2ptr; igth=1;
}
else if (subgp) vsvptr=sv2ptr;
readvec(dcrep,0); invert(dcrep,dcrepinv);
fscanf(ip,"%hd",&lo); intexp=0; olo=lo;
while (lo%prime==0) {intexp++; lo/=prime; }
if (lo!=1) printf("Warning. lo was not a power of p.\n");
intexp=exp-intexp; printf("dcct,intexp=%d,%d.\n",dcct,intexp);
/* intexp is the exponent of Q = P ^ gPg(-1), for the current dcrep g */
if (intexp==0 || (intexp==1 && mult))
{ if (subgp)
{ if (npt>=1000) for (n=1;n<=npt;n++) fprintf(opy,"%5d",dcrep[n]);
else for (n=1;n<=npt;n++) fprintf(opy,"%4d",dcrep[n]);
fprintf(opy," %4d\n",olo);
}
if (mult==0) fprintf(op,"%4d\n",0);
continue;
}
/* Now we compute the gens g(-1)h(i)g, where h(i) are the PCP gens of P */
for (i=1;i<=exp;i++)
{ p1=pptr[ngno[i]]; p2=pptr[stconj+i];
for (n=1;n<=npt;n++) p2[n]=dcrep[p1[dcrepinv[n]]];
}
stint=stconj+exp; pint=pptr[stint]; intexsk=0;
for (i=1;i<=exp;i++) intno[i]=0;
lpt=1; stpt=1; pm1=prime-1;
/* Now we search through the elements of g(-1)Pg, testing for membership of
P, until we have found the intexp gens of g(-1)Qg.
*/
for (i=1;i<=exp;i++)
{ olen=1; cp[1]=stconj+i;
for (j=1;j<=exp;j++) co[j]=0;
while(1)
{ *cp=olen; ingp=1;
for (k=1;k<=nb;k++)
{ pt=image(base[k]); ptr=vsvptr[k];
if (ptr[pt]==0) {ingp=0; ad=stpt; break;}
if (k<nb) addsv(pt,ptr);
}
if (ingp) break;
while (co[ad]==pm1) {olen-=pm1; co[ad]=0; ad=fpt[ad]; }
if (ad==i) { lpt=i; fpt[i]=i+1; break; }
olen++; co[ad]++; cp[olen]=stconj+ad;
}
if (ingp)
{ intexsk++; pint+=npt1; *cp=olen;
for (n=1;n<=npt;n++) pint[n]=image(n);
pint[npt1]=intexsk; intno[i]=stconj+2*intexsk-1;
if (intexsk==intexp) break;
if (stpt==i) {lpt=i+1; stpt=lpt; } else fpt[lpt]=i+1;
}
}
/* Search is complete */
if (intexsk<intexp) {fprintf(stderr,"Intersection error.\n"); return(-1); }
printf("Found intersection.\n");
/* If subgp, then we will now modify g, until H ^ gHg- contains Q */
if (subgp) for (m=subgp;m>=1;m--)
{ if (m==subgp) for (i=1;i<=npt;i++) {tp[i]=i; itp[i]=i;}
if (subgp>1)
{ strcpy(inf4,inf0); strcat(inf4,"cr"); strcat(inf4,sgstr);
if (m>1)
{ sgstr[0]--; strcpy(inf3,inf0); strcat(inf3,"sg"); strcat(inf3,sgstr);
ipkp=ip;
if (rsgp()== -1) return(-1);
ip=ipkp; igth=0; vsvptr=sv2ptr;
}
else vsvptr=svptr;
}
else vsvptr=svptr;
if ((ipcr=fopen(inf4,"r"))==0)
{ fprintf(stderr,"Cannot open %s.\n",inf4); return(-1); }
ingp=0;
fscanf(ipcr,"%hd%hd",&n,&ncr); while (getc(ipcr)!='\n');
if (n!=npt) { fprintf(stderr,"inf4 has npt wrong.\n"); return(-1); }
for (crct=0;crct<=ncr;crct++)
{ if (crct==0) for (n=1;n<=npt;n++) crep[n]=n;
else for (n=1;n<=npt;n++) fscanf(ipcr,"%hd",crep+n);
invert(crep,crepinv);
for (i=1;i<=intexp;i++)
{ p1=pptr[stint+i]; *cp=0;
for (j=1;j<=nb;j++)
{ pt=image(crep[tp[p1[itp[crepinv[base[j]]]]]]); ptr=vsvptr[j];
if (ptr[pt]==0) goto nextcr;
if (j<nb) addsv(pt,ptr);
}
}
ingp=1; printf("Got intersection in subgp %d. crct=%d.\n",m-1,crct);
for (n=1;n<=npt;n++) tp[n]=crep[tp[n]]; invert(tp,itp);
fclose(ipcr); break;
nextcr:;
}
if (ingp==0)
{ fprintf(stderr,"Cannot get intersection in subgp %d.\n",m-1);
return(-1);
}
}
/* Now we reconjugate the gens of g(-1)Qg by g(-1) to get gens of Q */
for (i=1;i<=intexp;i++)
{ p1=pptr[stconj+2*i-1]; p2=pptr[stint+i];
for (n=1;n<=npt;n++) p1[n]=dcrepinv[p2[dcrep[n]]]; p1[npt1]=p2[npt1];
invert(p1,p1+npt1);
}
/* If subgp, then update dcr */
if (subgp)
{ if (npt>=1000) for (n=1;n<=npt;n++)
{ dcrep[n]=tp[dcrep[n]]; fprintf(opy,"%5d",dcrep[n]); }
else for (n=1;n<=npt;n++)
{ dcrep[n]=tp[dcrep[n]]; fprintf(opy,"%4d",dcrep[n]); }
fprintf(opy," %4d\n",olo); invert(dcrep,dcrepinv);
}
norm= intexp==exp;
/* If norm, then we do not need to compute the PCP for Q */
if (norm)
{ fprintf(op,"%4d\n",intexp);
if (mult==0)
{ for (i=exp;i>=1;i--) { wt[i]=pwt[i]; fprintf(op,"%4d",wt[i]); }
fprintf(op,"\n");
}
goto outconj;
}
/* Now we compute the PCP for Q. This is similar to the algorithm in pcrun */
for (i=1;i<=intexp;i++) { wt[i]=1; d1[i]=0; d2[i]=0; }
restart:
if (mult) nwt=2;
for (i=intexp;i>=2;i--)
{ p1=pptr[stconj+2*i-1]; ip1=p1+npt1;
for (j=intexp;j>i;j--)
{ if (mult==0) nwt=wt[i]+wt[j];
p2=pptr[stconj+2*j-1]; ip2=p2+npt1;
for (n=1;n<=npt;n++) {pt=p2[p1[ip2[ip1[n]]]]; tp[n]=pt; itp[pt]=n; }
if ((n=expint(intexp+1-i,intexp+1-j,nwt))>0) goto restart;
if (n== -1) return(-1);
}
}
if (mult==0) for (i=intexp;i>=2;i--)
{ nwt=wt[i]+1; p1=pptr[stconj+2*i-1]; ip1=p1+npt1;
for (n=1;n<=npt;n++)
{ pt=n; for (m=1;m<=prime;m++) pt=p1[pt]; tp[n]=pt; itp[pt]=n; }
if ((n=expint(intexp+1-i,intexp+1-i,nwt))>0) goto restart;
if (n== -1) return(-1);
}
fprintf(op,"%4d\n",intexp);
if (mult==0)
{ for (i=intexp;i>=1;i--) fprintf(op,"%3d",wt[i]); fprintf(op,"\n"); }
/* We output the PCP gens of Q followed by those of g(-1)Qg */
for (i=intexp;i>=1;i--)
{ p1=pptr[stconj+2*i-1]; p2=tp; ptr=p1+2*npt1;
while (p1<ptr) *(++p2)= *(++p1);
express(tp,rel,0); l= *rel;
for (n=0;n<=l;n++) fprintf(op,"%4d",rel[n]); fprintf(op,"\n");
}
outconj:
for (i=intexp;i>=1;i--)
{ p1= pptr[stconj+2*i-1];
for (n=1;n<=npt;n++) {pt=dcrep[p1[dcrepinv[n]]]; tp[n]=pt; itp[pt]=n; }
express(tp,rel,0); l= *rel;
for (n=0;n<=l;n++) fprintf(op,"%4d",rel[n]); fprintf(op,"\n");
}
if (norm) continue;
if (mult==0)
{ for (i=intexp;i>=1;i--) fprintf(op,"%3d",d1[i]); fprintf(op,"\n");
for (i=intexp;i>=1;i--) fprintf(op,"%3d",d2[i]); fprintf(op,"\n");
}
for (i=intexp;i>=2;i--)
{ p1=pptr[stconj+2*i-1]; ip1=p1+npt1;
for (j=intexp;j>i;j--)
{ p2=pptr[stconj+2*j-1]; ip2=p2+npt1;
for (n=1;n<=npt;n++) {pt=p2[p1[ip2[ip1[n]]]]; tp[n]=pt; itp[pt]=n; }
expint(intexp+1-i,intexp+1-j,0);
}
}
if (mult==0) for (i=intexp;i>=2;i--)
{ p1=pptr[stconj+2*i-1]; ip1=p1+npt1;
for (n=1;n<=npt;n++)
{ pt=n; for (m=1;m<=prime;m++) pt=p1[pt]; tp[n]=pt; itp[pt]=n; }
expint(intexp+1-i,intexp+1-i,0);
}
}
fprintf(op,"%d\n",-1);
if (subgp)
{ fclose(opy); fclose(op); fclose(ip);
ip=fopen(outft,"r"); op=fopen(inf2,"w");
while ((i=getc(ip))!= -1) putc(i,op); fclose(ip); unlink(outft);
}
return(0);
}
egprog()
{ short nperms,ngens,nb,stab,olfb,nlfb,i,l,m,z,ct;
if (full)
{ if ((ip=fopen(inf2,"r"))==0)
{ printf("Cannot open %s.\n",inf2); return(-1); }
fscanf(ip,"%hd%hd",&i,&ngens);
fclose(ip);
}
if ((ip=fopen(inf,"r"))==0) { printf("Cannot open %s.\n",inf); return(-1); }
if (stabcall)
{ printf("Stabilize how many points? "); scanf("%hd",&stab);}
else stab=0;
fscanf(ip,"%hd%hd%hd%hd",&npt,&nperms,&nb,&l);
if (npt>mnpt) {fprintf(stderr,"npt,too big. Increase NPT.\n"); return(-1); }
if (nperms>mp)
{ fprintf(stderr,"nperms too big. Increase MXP.\n"); return(-1);}
if (nb>mb) {fprintf(stderr,"nb too big. Increase MNB.\n"); return(-1); }
if (l<=0) {fprintf(stderr,"Wrong input format.\n"); return(-1); }
for (i=0;i<=nperms;i++) pptr[i]=perm+(npt+1)*i-1;
for (i=1;i<=nb;i++) svptr[i]=sv2+npt*(i-1)-1;
for (i=1;i<=npt;i++) pptr[0][i]=i;
readbaselo(nb,base,lorb);
for (i=1;i<=nperms;i++) readvec(pptr[i],1);
fclose(ip);
/* Main algorithm begins */
op=fopen(outf,"w");
*pno=0; fixpt[nb+1]=0;
for (l=nb;l>stab;l--)
{ for (i=1;i<=nperms;i++) if (pptr[i][npt+1]==l) {(*pno)++; pno[*pno]=i; }
fixpt[l]= *pno;
}
for (l=stab;l>=1;l--) fixpt[l]=fixpt[stab+1];
for (l=nb;l>stab;l--)
{ olfb=fixpt[l+1]; nlfb=fixpt[l];
if ((nlfb-olfb)>1) for (i=olfb+1;i<=nlfb;i++)
{ z=pno[i];
/* We test whether perm no z is redundant as a generator.
If so, we leave pno[i]=0, if not we put it back to z.
*/
if (full==0 || z>ngens)
{ pno[i]=0;
for (m=l;m>stab && pno[i]==0;m--)
{*pno=fixpt[m]; if (orbitsv(base[m],svptr[m],0)<lorb[m]) pno[i]=z;}
}
}
}
*pno=0; l=0;
for (i=nb;i>=1;i--)
{ z=fixpt[i];
while (l<z)
{ l++;
if (pno[l]>0) { (*pno)++; pno[*pno]=pno[l]; }
}
lorb[i]=orbitsv(base[i],svptr[i],0);
}
fprintf(op,"%4d%4d%4d%4d\n",npt,*pno,nb,3);
printbaselo(nb,base,lorb); printpsv(nb,pno,svptr);
for (i=1;i<=*pno;i++) fprintf(op,"%4d",pno[i]); fprintf(op,"\n");
return(0);
}
