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);
}
