int main(int argc, const char * argv[]) {
float Array[ARRAYSIZE] = {0};
for (int i = 0; i<ARRAYSIZE; i++) {
Array[i] = i;
}
double result ;
gettimeofday(&start, NULL);
result = GetStDev(Array, ARRAYSIZE);
gettimeofday(&stop, NULL);
result_time = timedifference_msec(stop, start);
printf("C:STDEV RESULT : %f, code executed in %f microsecond \n", result,result_time);
gettimeofday(&start, NULL);
result = GetStDevIntrinsic(Array, ARRAYSIZE);
gettimeofday(&stop, NULL);
result_time = timedifference_msec(stop, start);
printf("C_intric:STDEV RESULT : %f, code executed in %f microsecond \n", result,result_time);
return 0;
}
void runHermesLite() {
printf("runHermesLite \n");
int count = 0;
gettimeofday(&t10, 0);
for (;;) {
if (running) {
sendPacket();
count ++;
if (count == 762) {
//usleep(10 * 1000);
count = 0;
gettimeofday(&t11, 0);
elapsed = timedifference_msec(t10, t11);
//printf("Code packets executed in %f milliseconds.\n", elapsed);
gettimeofday(&t10, 0);
}
}
}
}
// main logging function
int logMesg( const char *fname, int lineno ,const char* group, int priority ,const char* str,...)
{
logCheckAndInit();
if ( priority < logMainInfo.logLevel ){
return 0;
}
char buf[MAX_MESG_SIZE];
int len_preamb = 0;
int len_mesg;
ssize_t len;
va_list argptr;
va_start(argptr, str);
if ( logMainInfo.flags & LOG_PRINT_TIME ){
struct timeval t1;
float elapsed;
gettimeofday(&t1, 0);
elapsed = timedifference_msec( logMainInfo.startTime, t1);
len_preamb+=snprintf( buf + len_preamb, MAX_MESG_SIZE-1-len_preamb, "[%0.3f]", elapsed);
}
if ( logMainInfo.flags & LOG_PRINT_LEVEL_DESCRIPTION ){
len_preamb+=snprintf( buf + len_preamb, MAX_MESG_SIZE-1-len_preamb,
"%s:", LOGLEVELS_DESCRIPTIONS[priority]);
}
if ( logMainInfo.flags & LOG_PRINT_GROUP ){
len_preamb+=snprintf( buf + len_preamb, MAX_MESG_SIZE-1-len_preamb, "%s:", group);
}
if ( logMainInfo.flags & LOG_PRINT_FILE ){
len_preamb+=snprintf( buf + len_preamb, MAX_MESG_SIZE-1-len_preamb, "%s:", fname);
}
if ( logMainInfo.flags & LOG_PRINT_LINE ){
len_preamb+=snprintf( buf + len_preamb, MAX_MESG_SIZE-1-len_preamb, "%d:", lineno);
}
len_mesg = vsnprintf( buf+len_preamb, MAX_MESG_SIZE-len_preamb-1 , str ,argptr);
buf[len_preamb+len_mesg] = '\n';
len = write( logMainInfo.writeBufDes, buf, len_preamb + len_mesg + 1);
if ( len != len_preamb + len_mesg + 1 );
return len+1;
}
void CircleTrace::trace(double movement[])
{
// Initialize angle, translation, and rotation with the internal state
double angle = this->movement[0];
double translation = this->movement[1];
double rotation = this->movement[2];
double xTemp = 0.0;
double yTemp = 0.0;
double radius = 0.0;
if(angle > M_PI)
{
angle -= TWO_PI;
}
// Check if this is the first call
if(!this->isStopwatchStarted)
{
this->isStopwatchStarted = true;
gettimeofday(&t0, 0);
}
else
{
gettimeofday(&t1, 0);
double delta = ((double)timedifference_msec(t0, t1)) / 1000;
gettimeofday(&t0, 0);
translation *= delta;
rotation *= delta;
if(rotation != 0)
{
// The radius is given by ((2 * Pi * r) / (2 * Pi)) * t
radius = abs(translation / rotation);
// Get the projection of the radius
xTemp = abs(sin(rotation) * radius) * geometry::sgn(translation);
// The axis are rotated 90°!a
yTemp = (radius - (cos(rotation)) * radius) * geometry::sgn(rotation);
}
else
{
xTemp = translation;
yTemp = 0;
}
double h = this->angle + angle;
if(h > M_PI)
{
h -= TWO_PI;
}
double cos_h = cos(h);
double sin_h = sin(h);
double xTemp1 = cos_h * xTemp - sin_h * yTemp;
double yTemp1 = sin_h * xTemp - cos_h * yTemp;
this->angle += rotation;
while(this->angle > M_PI)
{
this->angle -= TWO_PI;
}
// Adjust angle if it's < 0
while(this->angle < -M_PI)
{
this->angle += TWO_PI;
}
this->x = xTemp1;
this->y = yTemp1;
}
this->movement[0] = movement[0];
this->movement[1] = movement[1];
this->movement[2] = movement[2];
}