int main( int argc, char ** argv )
{
//Declarations
IplImage * template_img;
IplImage * plate_img;
int numContours;
plateInfo * plate_info;
charInfo * char_info;
char** plate_number;
char pNumber[7];
int i;
if( argc < 5 )
exit (0);
else
{
char *state = findState(argv);
//Load template image
template_img = cvLoadImage( argv[1], CV_LOAD_IMAGE_GRAYSCALE);
//Load original license image
plate_img = cvLoadImage( argv[2], CV_LOAD_IMAGE_COLOR );
plate_info = processPlateChars( plate_img );
char_info = processTemplateChars( template_img, &numContours );
plate_number = compareChar( char_info, plate_info, &numContours );
//Mkay, this should do it..
//Print that bad boy!
printf("\nPlate number: ");
for(i = 1; i < 8; i++)
{
printf("%s", plate_number[i]);
strcpy((pNumber + (i-1)), plate_number[i]);
}
printf("\n");
// char * number = pNumber[6];
printf("%s", pNumber);
Owner owner;
owner = newOwner(state, pNumber);
WriteToXML(owner);
return EXIT_SUCCESS;
}
}
void Grammar::computeSuccessors(LR1State &state) {
//dump(state); pause();
BitSet itemsDone(state.m_items.size()); // this is correct!
for(UINT i = 0; i < state.m_items.size(); i++) {
if(itemsDone.contains(i)) {
continue;
}
const LR1Item &origItem = state.m_items[i];
if(isAcceptItem(origItem)) {
continue; // No successor, but accept
}
const Production &origProduction = getProduction(origItem);
if(origItem.m_dot < origProduction.getLength()) { // origItem is A -> alfa . X beta [la]
CompactIntArray successorItems;
successorItems.add(i);
int symbolNr = origProduction.m_rightSide[origItem.m_dot];
LR1State newState(getStateCount());
const LR1Item newItem(true, origItem.m_prod, origItem.m_dot+1, origItem.m_la); // newItem is A -> alfa X . beta [la] (kernelItem)
newState.addItem(newItem);
itemsDone += i;
for(UINT k = i+1; k < state.m_items.size(); k++) {
if(itemsDone.contains(k)) {
continue;
}
const LR1Item &sameSymbolItem = state.m_items[k];
const Production &sameSymbolProd = getProduction(sameSymbolItem);
if(sameSymbolItem.m_dot < sameSymbolProd.getLength()
&& sameSymbolProd.m_rightSide[sameSymbolItem.m_dot] == symbolNr) { // sameSymbolItem is C -> gamma . X zeta [la1]
const LR1Item newItem1(true, sameSymbolItem.m_prod, sameSymbolItem.m_dot+1, sameSymbolItem.m_la); // newItem1 is C -> gamma X . zeta [la1] (kernelItem)
newState.addItem(newItem1);
itemsDone += k;
successorItems.add(k);
}
}
newState.sortItems();
int succStateIndex = findState(newState);
if(succStateIndex < 0) {
computeClosure(newState, true);
succStateIndex = addState(newState);
} else {
if(mergeLookahead(m_states[succStateIndex], newState)) {
m_unfinishedSet.add(succStateIndex);
// printf(_T(")%d ", succStateIndex);
}
}
assert(succStateIndex >= 0);
for(size_t j = 0; j < successorItems.size(); j++) {
state.m_items[successorItems[j]].m_succ = succStateIndex;
}
}
}
}
ObjectState *Set::addObjectState(int setupID, ObjectState::Position pos, const char *bitmap, const char *zbitmap, bool transparency) {
ObjectState *state = findState(bitmap);
if (state) {
return state;
}
state = new ObjectState(setupID, pos, bitmap, zbitmap, transparency);
addObjectState(state);
return state;
}
void
CSIMSlmWithIteration::findBackOffState(int n, TSIMWordId*hw, unsigned & bol, unsigned& bon)
{
while (n > 1) {
--n; ++hw;
int idx = findState(n, hw);
if (idx >= 0 && ((TNode*)(level[n]))[idx].child < ((TNode*)(level[n]))[idx+1].child) {
bol = n; bon = idx; return;
}
}
bol = bon = 0;
return;
}
/*
Finds the initial state of the string from the first character. 0 sets FSM to state leading to Zero, Octal, Hex or Float. 1-9 sets FSM
to state leading to Decimal and Float. If the character is whitespace, recursively looks to the next character. If null, ends token.
Otherwise, returns a malformed token state.
*/
enum FSMState findState (TokenizerT *tok) {
if (*tok->current == '0')
return State_1;
else if (isdigit(*tok->current) && *tok->current != '0')
return State_2;
else if (isspace(*tok->current)) {
tok->current++;
tok->tokStart++;
return findState(tok);
}
else if (*tok->current == '\0')
return EndState;
else {
return MalState;
}
}
char *TKGetNextToken( TokenizerT * tk ) {
tk->tokStart = tk->current;
tk->tokLength = 0;
tk->currState = findState(tk);
//Iterates through Finite State Machine by character and changes state accordingly.
while(tk->currState != EndState) {
tk->tokLength++;
tk->current++;
switch(tk->currState) {
case State_1: tk->currState = FSMState_1(tk); break;
case State_2: tk->currState = FSMState_2(tk); break;
case State_3: tk->currState = FSMState_3(tk); break;
case State_4: tk->currState = FSMState_4(tk); break;
case State_5: tk->currState = FSMState_5(tk); break;
case State_6: tk->currState = FSMState_6(tk); break;
case State_7: tk->currState = FSMState_7(tk); break;
case State_8: tk->currState = FSMState_8(tk); break;
case State_9: tk->currState = FSMState_9(tk); break;
case State_10: tk->currState = FSMState_10(tk); break;
case MalState: tk->currState = FSMMalState(tk); break;
default: break;
}
}
//Creates a token by copying a substring from the original string and appends a null terminating character on the end
if (tk->tokLength > 0) {
char * token = malloc(tk->tokLength +1);
strncpy(token, tk->tokStart, tk->tokLength);
token[tk->tokLength] = '\0';
return token;
}
return NULL;
}
int LRBuilder::buildState(const vector<LRProduction> initProduction) {
//build Closure
LRState state{ initProduction, {} };
cout << "build state; production size:";
cout << initProduction.size() << endl;
while (true) {
vector<LRProduction> newProduction;
for (const auto& lrproduction : state.productions) {
const auto& prooduction = productionManager.getProduction(lrproduction.productionId);
if (lrproduction.pos < (int)prooduction.right.size()) { //dot is not at end
const auto& nextToken = prooduction.right[lrproduction.pos];
if (!tokenManager.isTerminal(nextToken)) {//.后面是非终结符，开始展开
const auto& nextProdutions = productionManager.getProductions((NonterminalToken&)nextToken);
for (const auto& nextProdution : nextProdutions) {
int id = productionManager.getProductionID(nextProdution);
vector<int> tokenids;
if (lrproduction.pos + 1 < (int)prooduction.right.size()) {
int tid = tokenManager.getTokenId(prooduction.right[lrproduction.pos + 1].name);
tokenids.push_back(tid);
}
tokenids.push_back(lrproduction.lookAhead);
const auto& nextFirsts = getFirst(tokenids);
for (auto& nextFirst : nextFirsts) {
LRProduction nextLR{ id, 0, nextFirst};
if (find(state.productions.begin(), state.productions.end(), nextLR) == state.productions.end()) {
newProduction.push_back(nextLR);
}
}
}
}
}
}
if (newProduction.size() == 0) { //不再增加新的产生式了。
break;
}
state.productions.insert(state.productions.end(), newProduction.begin(), newProduction.end());//将新增加的产生式插入状态末尾
}
int sid = findState(state);
if (sid != -1) {
return sid;
}
int id = lrstatus.size();
lrstatus[state] = id;
// build GOTO
cout << "state id:" << id<<endl;
map<Token, vector<LRProduction>> trans;
for (const auto& lrproduction : state.productions) {
const auto& prooduction = productionManager.getProduction(lrproduction.productionId);
if (lrproduction.pos < (int)prooduction.right.size()) {
const auto& nextToken = prooduction.right[lrproduction.pos];
auto& transInit = trans[nextToken];
auto newLR = lrproduction;
newLR.pos++;
if (find(transInit.begin(), transInit.end(), newLR) == transInit.end()) {
trans[nextToken].push_back(newLR);
}
}
}
for (const auto& tran : trans) {
const auto& token = tran.first;
const auto& productions = tran.second;
state.action[token] = buildState(productions);
}
lrstatus_id[id] = state;
return id;
}
int emf_searchBlob(int key)
{
static int status = 0;
static int status2 = 0;
static int change = 0;
double tmp;
static BlobTracker *bt;
static PID tiltSrvPID = {0.05, 0.035, 0.001, 0.0, 0.0, 0.0};
static PID panSrvPID = {0.02, 0.009, 0.001, 0.0, 0.0, 0.0};
double bx, by;
double errX, errY;
double resp;
static CvPoint center;
static FILE *fp;
unsigned int sw;
if (!fp)
{
fp = fopen("hist_fb_7.data", "w");
if (!fp)
fprintf(stderr, "history file not opened!\n");
}
if (key == 0)
{
change = 0;
status = 0;
status2 = 0;
if (findState(&is, "intruder_near")||findState(&is, "intruder_found"))
;
else
bt = intruder;
}
trackBlobs(bt, frame, 0);
if (bt->blobs->trackable)
{
if (status2 == 3)
{
//sendCommand(STOP, is.ltMotorVal=0, is.rtMotorVal=0);
is.ltMotorVal=0, is.rtMotorVal=0;
send_command(MOTOR_DIR, MOTOR_STOP); //stop
if (bt == intruder)
addState(&is, "intruder_found");
return 1;
}
if (status2 == 0)
{
clearPid(&tiltSrvPID);
clearPid(&panSrvPID);
status2 = 1;
printf("tilt_clear: prev_resp=%g pan_prev_resp=%g.\n", tiltSrvPID.prevResp, panSrvPID.prevResp);
}
if (status2 == 1)
{
center = bt->blobs->center;
bx = ((double)center.x/(double)fsize.width)*100.0;
by = ((double)center.y/(double)fsize.height)*100.0;
errY = by-50.0;
errX = bx-50.0;
printf("errorX %g, Y %g\n", errX, errY);
if (errY<5.0f)
{
tmp = is.hdPanAngle;
//writeServo(PAN_SRV, is.hdPanAngle=90.0f);
send_command(SERVO_PAN, (byte)((int)(is.hdPanAngle=90.0f)));
printf("waiting for 1sec...pan %g\n",tmp);
sw = getTickCount();
while ((getTickCount()-sw)<2000)
{
printf("time = %dms\n", getTickCount()-sw);
frame = cvQueryFrame(capture);
}
printf("out of 1sec loop...\n");
status2 = 3;
if (MOD(tmp-90.0f)<10.0f)
{
printf("go straight\n");
return 1;
}
if (tmp>90.0f)
{
printf("go right\n");
is.ltMotorVal=is.rtMotorVal=40;
send_command(RIGHT_MTR_VAL, 128+is.ltMotorVal/2);
send_command(LEFT_MTR_VAL, 128-is.rtMotorVal/2);
send_command(MOTOR_DIR, MOTOR_FWD);
//sendCommand(LTMTR_SDIR, 1, 0);
//sendCommand(DIFF_DRV, is.ltMotorVal=175, is.rtMotorVal=80);
}
else
{
printf("go left\n");
is.ltMotorVal=is.rtMotorVal=40;
send_command(LEFT_MTR_VAL, 128+is.rtMotorVal/2);
send_command(RIGHT_MTR_VAL, 128-is.ltMotorVal/2);
send_command(MOTOR_DIR, MOTOR_FWD);
//sendCommand(RTMTR_SDIR, 1, 0);
//sendCommand(DIFF_DRV, is.ltMotorVal=80, is.rtMotorVal=175);
}
return 1;
}
//resp = getPidRespVerb(&tiltSrvPID, errY, fp, "Tilt");
resp = (double)errY*0.05f;
is.hdTiltAngle -= resp;
if (is.hdTiltAngle < MAX_SERVO_TILT_DOWN)
is.hdTiltAngle = MAX_SERVO_TILT_DOWN;
else
if (is.hdTiltAngle > MAX_SERVO_TILT_UP)
is.hdTiltAngle = MAX_SERVO_TILT_UP;
if (is.hdPanAngle < MAX_SERVO_PAN_LEFT)
is.hdPanAngle = MAX_SERVO_PAN_LEFT;
else
if (is.hdPanAngle > MAX_SERVO_PAN_RIGHT)
is.hdPanAngle = MAX_SERVO_PAN_RIGHT;
writePanTiltServos(is.hdPanAngle, is.hdTiltAngle);
return 1;
}
}
if (status2 == 3)
return 1;
if (status2)
status2 = 0;
if (!status)
{
status = 1;
writePanTiltServos(is.hdPanAngle=150.0f/*30.0f*/, is.hdTiltAngle=90.0f);
printf("waiting for 1sec...\n");
sw = getTickCount();
while ((getTickCount()-sw)<2000)
{
printf("time = %dms\n", getTickCount()-sw);
frame = cvQueryFrame(capture);
}
printf("out of 1sec loop...\n");
return 1;
}
if (!change)
{
if (is.hdPanAngle>160.0f||is.hdPanAngle<20.0f)
{
if (is.hdTiltAngle<40/*>140.0f*/)
{
writePanTiltServos(is.hdPanAngle=90.0f, is.hdTiltAngle=90.0f);
cleanStates(&is);
return 1;
}
//writeServo(TILT_SRV, is.hdTiltAngle-=20.0f);
send_command(SERVO_TILT, (byte)((int)(is.hdTiltAngle-=20.0f)));
status = -status;
change = 1;
return 1;
}
}
if (change)
change = 0;
if (status==1)
//writeServo(PAN_SRV, is.hdPanAngle-=5.0f);
send_command(SERVO_PAN, (byte)((int)(is.hdPanAngle-=5.0f)));
else
//writeServo(PAN_SRV, is.hdPanAngle+=5.0f);
send_command(SERVO_PAN, (byte)((int)(is.hdPanAngle+=5.0f)));
return 1;
}
void ABLModule::read(ABLFile* moduleFile)
{
//----------------------------------------------------------------------------
// If this is called on a newly init'd module, then it will do all appropriate
// memory alloc, etc. If it's being called on a module that's already been
// setup (via a call to init(moduleHandle)), then it simply loads the
// module's data...
bool fresh = (id == -1);
if(fresh)
{
id = NumModules++;
moduleFile->readString((puint8_t)name);
handle = moduleFile->readLong();
staticData = nullptr;
}
else
{
char tempName[1024];
moduleFile->readString((puint8_t)tempName);
//int32_t ignore = moduleFile->readLong();
}
char stateName[256];
memset(stateName, 0, 256);
moduleFile->readString((puint8_t)stateName);
prevState = nullptr;
if(strcmp(stateName, "NULLPrevState"))
prevState = findState(stateName);
memset(stateName, 0, 256);
moduleFile->readString((puint8_t)stateName);
state = nullptr;
if(strcmp(stateName, "NULLState"))
state = findState(stateName);
bool savedInitCalled = (moduleFile->readLong() == 1);
int32_t numStatics = ModuleRegistry[handle].numStaticVars;
if(numStatics)
{
if(fresh)
{
staticData = (StackItemPtr)ABLStackMallocCallback(sizeof(StackItem) * numStatics);
if(!staticData)
{
char err[255];
sprintf(err, "ABL: Unable to AblStackHeap->malloc staticData [Module %d]", id);
ABL_Fatal(0, err);
}
}
int32_t* sizeList = ModuleRegistry[handle].sizeStaticVars;
for(size_t i = 0; i < numStatics; i++)
if(sizeList[i] > 0)
{
if(fresh)
{
staticData[i].address = (PSTR)ABLStackMallocCallback(sizeList[i]);
if(!staticData)
{
char err[255];
sprintf(err, "ABL: Unable to AblStackHeap->malloc staticData address [Module %d]", id);
ABL_Fatal(0, err);
}
}
int32_t result = moduleFile->read((puint8_t)staticData[i].address, sizeList[i]);
if(!result)
{
char err[255];
sprintf(err, "ABL: Unable to read staticData.address [Module %d]", id);
ABL_Fatal(0, err);
}
}
else
{
staticData[i].integer = 0;
int32_t result = moduleFile->read((puint8_t)&staticData[i], sizeof(StackItem));
if(!result)
{
char err[255];
sprintf(err, "ABL: Unable to read staticData [Module %d]", id);
ABL_Fatal(0, err);
}
}
}
if(ModuleRegistry[handle].numOrderCalls)
{
int32_t numLongs = 1 + ModuleRegistry[handle].numOrderCalls / 32;
orderCallFlags = (uint32_t*)ABLStackMallocCallback(sizeof(uint32_t) * numLongs);
if(!orderCallFlags)
{
char err[255];
sprintf(err, "ABLModule.read: Unable to AblStackHeap->malloc orderCallFlags [Module %d]", id);
ABL_Fatal(0, err);
}
for(size_t i = 0; i < numLongs; i++)
orderCallFlags[i] = 0;
}
if(fresh)
{
ModuleRegistry[handle].numInstances++;
initCalled = savedInitCalled;
//------------------------------------------------------
// This Active Module is now on the instance registry...
ModuleInstanceRegistry[NumModuleInstances++] = this;
if(debugger)
{
watchManager = new WatchManager;
if(!watchManager)
ABL_Fatal(0, " Unable to AblStackHeap->malloc WatchManager ");
int32_t result = watchManager->init(MaxWatchesPerModule);
if(result != ABL_NO_ERR)
ABL_Fatal(0, " Unable to AblStackHeap->malloc WatchManager ");
breakPointManager = new BreakPointManager;
if(!breakPointManager)
ABL_Fatal(0, " Unable to AblStackHeap->malloc BreakPointManager ");
result = breakPointManager->init(MaxBreakPointsPerModule);
if(result != ABL_NO_ERR)
ABL_Fatal(0, " Unable to AblStackHeap->malloc BreakPointManager ");
}
}
}
void Service::changeState(std::string stateName)
{
m_currentState = findState(stateName);
}
void Service::setInitialState(std::string stateName)
{
if( m_currentState ) return; // 設定済み
m_currentState = findState(stateName);
}
// findState() returns an object's state from the cache or null if the
// state was not found.
GString *XMLObjectCache::findState( const char* oid, const char *pzClassName )
{
GString strKey;
strKey << oid << pzClassName;
return findState( strKey );
}
