void ShellSurface::setFullscreen()
{
m_nextType = Type::Toplevel;
m_toplevel.fullscreen = true;
m_toplevel.maximized = false;
Output *output = selectOutput();
QRect rect = output->geometry();
Debug::debug("Fullscrening surface '{}' on output '{}' with rect {}", surface(), output, rect);
sendConfigure(rect.width(), rect.height());
}
void CmfSaver::_writeFloatInRange (Output &output, float v, float min, float range)
{
if (range > EPSILON)
{
float v2 = (((v - min) / range) * 65535 + 0.5f);
if (v2 < 0 || v2 > 65536)
throw Error("Internal error: Value %f is outsize of [%f, %f]", v, min, min + range);
output.writeBinaryWord((word)v2);
}
else
output.writeBinaryWord(0);
}
void print_method(Output& out, const Func* func) {
auto const finfo = find_func_info(func);
out.fmtln(".method{} {}({}) {{",
opt_attrs(AttrContext::Func, func->attrs()),
func->name()->data(),
func_param_list(finfo));
indented(out, [&] {
print_func_directives(out, func);
print_func_body(out, finfo);
});
out.fmtln("}}");
}
// -----------------------------------------
// tests
// -----------------------------------------
TEST(ExtendedKalmanFilterTest, initialization)
{
ExtendedKalmanFilter ekf;
// check setting required params
EXPECT_THROW(ekf.validate(), IEstimator::estimator_error); // "STM missing"
ekf.setStateTransitionModel(f);
EXPECT_THROW(ekf.validate(), IEstimator::estimator_error); // "Jacobian of STM missing"
ekf.setJacobianOfStateTransitionModel(df);
EXPECT_THROW(ekf.validate(), IEstimator::estimator_error); // "OM missing"
ekf.setObservationModel(h);
EXPECT_THROW(ekf.validate(), IEstimator::estimator_error); // "Jacobian of OM missing"
ekf.setJacobianOfObservationModel(dh);
EXPECT_THROW(ekf.validate(), IEstimator::estimator_error); // "PNC missing"
MatrixXd Q(1,1); Q << 0.1;
ekf.setProcessNoiseCovariance(Q);
EXPECT_THROW(ekf.validate(), IEstimator::estimator_error); // "MNC missing"
MatrixXd R(1,1); R << 10;
ekf.setMeasurementNoiseCovariance(R);
EXPECT_NO_THROW(ekf.validate()); // all required params given
// check setting optional params
// optional params doesn't set new sizes
MatrixXd P0_f(2,2); P0_f << 1, 0, 0, 1;
ekf.setInitialErrorCovariance(P0_f);
EXPECT_NO_THROW(ekf.validate());
EXPECT_EQ(ekf.getState().size(), 1);
VectorXd x_f(2); x_f << 0,1;
ekf.setInitialState(x_f);
EXPECT_NO_THROW(ekf.validate());
EXPECT_NE(ekf.getState().size(), 2);
// required param Q sets new size of x and out
MatrixXd Q2(2,2); Q2 << 0.1, 0, 0, 0.1;
ekf.setProcessNoiseCovariance(Q2);
EXPECT_NO_THROW(ekf.validate());
EXPECT_EQ(ekf.getState().size(), 2);
EXPECT_EQ(ekf.getLastEstimate().size(), 2);
// check initialization of output
Output out = ekf.getLastEstimate();
OutputValue defaultOutVal;
EXPECT_GT(out.size(), 0);
EXPECT_DOUBLE_EQ(out.getValue(), defaultOutVal.getValue());
// check setting the control input
InputValue ctrl(0);
Input in_ctrl(ctrl);
EXPECT_THROW(ekf.setControlInput(in_ctrl), length_error);
ekf.setControlInputSize(1);
EXPECT_NO_THROW(ekf.setControlInput(in_ctrl));
}
bool PositionAttitudeTransform_writeLocalData(const Object& obj, Output& fw)
{
const PositionAttitudeTransform& transform = static_cast<const PositionAttitudeTransform&>(obj);
fw.indent()<<"position "<<transform.getPosition()<<std::endl;
fw.indent()<<"attitude "<<transform.getAttitude()<<std::endl;
fw.indent()<<"scale "<<transform.getScale()<<std::endl;
fw.indent()<<"pivotPoint "<<transform.getPivotPoint()<<std::endl;
return true;
}
void print_cls_inheritance_list(Output& out, const PreClass* cls) {
if (!cls->parent()->empty()) {
out.fmt(" extends {}", cls->parent());
}
if (!cls->interfaces().empty()) {
out.fmt(" implements (");
for (auto i = uint32_t{}; i < cls->interfaces().size(); ++i) {
out.fmt("{}{}", i != 0 ? " " : "", cls->interfaces()[i].get());
}
out.fmt(")");
}
}
bool TexGenNode_writeLocalData(const Object& obj, Output& fw)
{
const TexGenNode& texGenNode = static_cast<const TexGenNode&>(obj);
fw.indent()<<"TextureUnit "<<texGenNode.getTextureUnit()<<std::endl;
if (texGenNode.getTexGen())
{
fw.writeObject(*texGenNode.getTexGen());
}
return true;
}
bool FrontFace_writeLocalData(const Object &obj, Output &fw)
{
const FrontFace &frontface = static_cast<const FrontFace&>(obj);
switch (frontface.getMode())
{
case (FrontFace::CLOCKWISE): fw.indent() << "mode CLOCKWISE" << std::endl; break;
case (FrontFace::COUNTER_CLOCKWISE): fw.indent() << "mode COUNTER_CLOCKWISE" << std::endl; break;
}
return true;
}
bool VisibilityGroup_writeLocalData(const Object& obj, Output& fw)
{
const VisibilityGroup& vg = static_cast<const VisibilityGroup&>(obj);
fw.indent()<<"volumeIntersectionMask 0x"<<std::hex<<vg.getVolumeIntersectionMask()<<std::dec<<std::endl;
fw.indent()<<"segmentLength "<<vg.getSegmentLength()<<std::endl;
fw.indent()<<"visibilityVolume" <<std::endl;
fw.moveIn();
fw.writeObject(*vg.getVisibilityVolume());
fw.moveOut();
return true;
}
/* Set an output's next value to the value of the sensor */
void action_set_output(int pin, int value, void *arg)
{
Output *out = (Output *)arg;
out->setValue(value);
DEBUG3_PRINT("set_output: pin-");
DEBUG3_PRINT(pin);
DEBUG3_PRINT(" value-");
DEBUG3_PRINT(value);
DEBUG3_PRINT(" outpin-");
DEBUG3_PRINT(out->_value);
DEBUG3_PRINT("\n");
}
bool Geode_writeLocalData(const osg::Object& obj, Output& fw)
{
const Geode& geode = static_cast<const Geode&>(obj);
fw.indent() << "num_drawables " << geode.getNumDrawables() << std::endl;
for(unsigned int i=0;i<geode.getNumDrawables();++i)
{
fw.writeObject(*geode.getDrawable(i));
}
return true;
}
void print_cls_used_traits(Output& out, const PreClass* cls) {
auto& traits = cls->usedTraits();
if (traits.empty()) return;
out.indent();
out.fmt(".use");
for (auto i = uint32_t{0}; i < traits.size(); ++i) {
out.fmt(" {}", traits[i].get());
}
auto& precRules = cls->traitPrecRules();
auto& aliasRules = cls->traitAliasRules();
if (precRules.empty() && aliasRules.empty()) {
out.fmt(";");
out.nl();
return;
}
out.fmt(" {{");
out.nl();
indented(out, [&] {
for (auto& prec : precRules) {
out.fmtln("{}::{} insteadof{};",
prec.selectedTraitName()->data(),
prec.methodName()->data(),
[&]() -> std::string {
auto ret = std::string{};
for (auto& name : prec.otherTraitNames()) {
ret += folly::format(" {}", name.get()).str();
}
return ret;
}()
);
}
for (auto& alias : aliasRules) {
out.fmtln("{}{} as{}{};",
alias.traitName()->empty()
? std::string{}
: folly::format("{}::", alias.traitName()).str(),
alias.origMethodName()->data(),
opt_attrs(AttrContext::TraitImport, alias.modifiers()),
alias.newMethodName() != alias.origMethodName()
? std::string(" ") + alias.newMethodName()->data()
: std::string{}
);
}
});
out.fmtln("}}");
}
RefTargetHandle Output::Clone(RemapDir &remap) {
Output *mnew = new Output();
*((MtlBase*)mnew) = *((MtlBase*)this); // copy superclass stuff
mnew->ReplaceReference(1,remap.CloneRef(texout));
mnew->ivalid.SetEmpty();
for (int i = 0; i<NSUBTEX; i++) {
mnew->subTex[i] = NULL;
if (subTex[i])
mnew->ReplaceReference(i,remap.CloneRef(subTex[i]));
mnew->mapOn[i] = mapOn[i];
}
BaseClone(this, mnew, remap);
return (RefTargetHandle)mnew;
}
void Dashboard::toggle(Seat *seat)
{
if (seat->pointer()->isGrabActive()) {
return;
}
m_visible = !m_visible;
Output *output = m_shell->selectPrimaryOutput();
View *wsv = workspaceViewForOutput(this, output);
Transform tr;
tr.translate(m_visible ? 0 : -output->width(), m_visible ? 0 : output->height());
wsv->setTransform(tr, true);
}
void ProfilingSystem::_printCounterData (const Record::Data &data, Output &output)
{
if (data.count == 0)
{
output.printf("-\t0\t\t\t");
return;
}
float avg_value = (float)data.value / data.count;
// To avoid platform-specific code qwords were casted to doubles
double sigma_sq = data.square_sum / data.count - avg_value * avg_value;
output.printf("%0.0lf\t%0.0lf\t%0.1f\t%0.1lf\t%0.0lf",
(double)data.value, (double)data.count, avg_value, sqrt(sigma_sq), (double)data.max_value);
}
bool AnimationManagerBase_writeLocalData(const osgAnimation::AnimationManagerBase &manager, Output &fw)
{
const osgAnimation::AnimationList &animList = manager.getAnimationList();
fw.indent() << "num_animations " << animList.size() << std::endl;
for (osgAnimation::AnimationList::const_iterator it = animList.begin(); it != animList.end(); ++it)
{
if (!fw.writeObject(**it))
osg::notify(osg::WARN) << "Warning: can't write an animation object" << std::endl;
}
return true;
}
int
main(int argc, char *argv[])
{
Fraction rate(1, 10);
SharedPtr<System> system = new System("Simulation Time System");
Group* group = new Group("Simulation Time Group");
group->setSampleTime(rate);
system->setNode(group);
SimulationTime* simulationTime = new SimulationTime("Simulation Time");
group->addChild(simulationTime);
Output* output = new Output("Simulation Time Output");
group->addChild(output);
SharedPtr<CollectOutputCallback> simTimeCallback = new CollectOutputCallback;
output->setCallback(simTimeCallback);
if (!group->connect(simulationTime->getPort("output"), output->getPort("input"))) {
std::cout << "Could not connect ports" << std::endl;
return EXIT_FAILURE;
}
if (!system->init()) {
std::cout << "Could not initialize the system" << std::endl;
return EXIT_FAILURE;
}
system->simulate(10);
Vector errors(simTimeCallback->values.size());
for (unsigned i = 0; i < simTimeCallback->values.size(); ++i) {
errors(i) = simTimeCallback->values[i] - i*rate.getRealValue();
}
real_type expectedRoundoff;
expectedRoundoff = Limits<real_type>::epsilon()/rate.getRealValue();
real_type error = normInf(errors);
if (expectedRoundoff < error) {
std::cerr << "Maximum simulation time error " << error
<< " exceeds limit of expected roundoff "
<< expectedRoundoff << std::endl;
return EXIT_FAILURE;
}
std::cout << "Maximum simulation time error " << error
<< " passes limit of expected roundoff "
<< expectedRoundoff << std::endl;
return EXIT_SUCCESS;
}
//output of one character with return code true/false for success/failure
bool print( char ch)
{
if ((unsigned char)ch > 127)
{
if (!output.print( ch)) return false;
}
else switch (mode)
{
case Ident: if (!output.print( ch)) return false; break;
case Uppercase: if (!output.print( toupper(ch))) return false; break;
case Lowercase: if (!output.print( tolower(ch))) return false; break;
}
return true;
}
void print_method(Output& out, const Func* func) {
auto const finfo = find_func_info(func);
out.fmtln(".method{} {}{}({}){}{{",
opt_attrs(AttrContext::Func, func->attrs(), &func->userAttributes()),
opt_type_info(func->returnUserType(), func->returnTypeConstraint()),
func->name(),
func_param_list(finfo),
func_flag_list(finfo));
indented(out, [&] {
print_func_directives(out, finfo);
print_func_body(out, finfo);
});
out.fmtln("}}");
}
void print_func_directives(Output& out, const FuncInfo& finfo) {
const Func* func = finfo.func;
if (auto const niters = func->numIterators()) {
out.fmtln(".numiters {};", niters);
}
if (func->numNamedLocals() > func->numParams()) {
std::vector<std::string> locals;
for (int i = func->numParams(); i < func->numNamedLocals(); i++) {
locals.push_back(loc_name(finfo, i));
}
out.fmtln(".declvars {};", folly::join(" ", locals));
}
}
// -----------------------------------------
// tests
// -----------------------------------------
TEST(KalmanFilterTest, initializationAndValidation)
{
KalmanFilter kf;
// check setting required params
EXPECT_THROW(kf.validate(), IEstimator::estimator_error); // "STM missing"
MatrixXd A_f(2,1); A_f << 1, 0;
kf.setStateTransitionModel(A_f);
EXPECT_THROW(kf.validate(), IEstimator::estimator_error); // "OM missing"
MatrixXd H(1,2); H << 1,0;
kf.setObservationModel(H);
EXPECT_THROW(kf.validate(), IEstimator::estimator_error); // "PNC missing"
MatrixXd Q(2,2); Q << 0.1,0,0,0.1;
kf.setProcessNoiseCovariance(Q);
EXPECT_THROW(kf.validate(), IEstimator::estimator_error); // "MNC missing"
MatrixXd R(1,1); R << 10;
kf.setMeasurementNoiseCovariance(R);
EXPECT_THROW(kf.validate(), IEstimator::estimator_error); // "STM invalid size"
MatrixXd A(2,2); A << 1,0,0,1;
kf.setStateTransitionModel(A);
EXPECT_NO_THROW(kf.validate()); // all required params given
MatrixXd R_f(2,1); R_f << 10,1;
kf.setMeasurementNoiseCovariance(R_f);
EXPECT_THROW(kf.validate(), IEstimator::estimator_error); // "MNC invalid size"
kf.setMeasurementNoiseCovariance(R);
MatrixXd H_f(3,1); H_f << 1,0,2;
kf.setObservationModel(H_f);
EXPECT_THROW(kf.validate(), IEstimator::estimator_error); // "OM invalid size"
kf.setObservationModel(H);
// check setting optional params
MatrixXd B_f(1,1); B_f << 0;
kf.setControlInputModel(B_f);
EXPECT_THROW(kf.validate(), IEstimator::estimator_error); // "CIM invalid size"
MatrixXd B(2,1); B << 0,0;
kf.setControlInputModel(B);
EXPECT_NO_THROW(kf.validate());
VectorXd x(2); x << 0,1;
kf.setInitialState(x);
EXPECT_NO_THROW(kf.validate());
// check initialization of output
Output out = kf.getLastEstimate();
OutputValue defaultOutVal;
EXPECT_GT(out.size(), 0);
EXPECT_DOUBLE_EQ(out.getValue(), defaultOutVal.getValue());
}
bool EllipsoidModel_writeLocalData(const Object& obj, Output& fw)
{
const EllipsoidModel& em = static_cast<const EllipsoidModel&>(obj);
int prec = fw.precision();
fw.precision(15);
fw.indent()<<"RadiusEquator "<<em.getRadiusEquator()<<std::endl;
fw.indent()<<"RadiusPolar "<<em.getRadiusPolar()<<std::endl;
fw.precision(prec);
return true;
}
bool Object_writeLocalData(const Object& obj, Output& fw)
{
switch(obj.getDataVariance())
{
case(osg::Object::STATIC): fw.indent() << "DataVariance STATIC" << std::endl;break;
case(osg::Object::DYNAMIC): fw.indent() << "DataVariance DYNAMIC" << std::endl;break;
case(osg::Object::UNSPECIFIED): break; // fw.indent() << "DataVariance UNSPECIFIED" << std::endl;break;
}
if (!obj.getName().empty()) fw.indent() << "name "<<fw.wrapString(obj.getName())<< std::endl;
if (obj.getUserData())
{
const Object* object = dynamic_cast<const Object*>(obj.getUserData());
if (object)
{
fw.indent() << "UserData {"<< std::endl;
fw.moveIn();
fw.writeObject(*object);
fw.moveOut();
fw.indent() << "}"<< std::endl;
}
}
return true;
}
bool AutoTransform_writeLocalData(const Object& obj, Output& fw)
{
const AutoTransform& transform = static_cast<const AutoTransform&>(obj);
fw.indent()<<"position "<<transform.getPosition()<<std::endl;
fw.indent()<<"rotation "<<transform.getRotation()<<std::endl;
fw.indent()<<"scale "<<transform.getScale()<<std::endl;
if (transform.getMinimumScale()>0.0) fw.indent()<<"minimumScale "<<transform.getMinimumScale()<<std::endl;
if (transform.getMaximumScale()<FLT_MAX) fw.indent()<<"maximumScale "<<transform.getMaximumScale()<<std::endl;
fw.indent()<<"pivotPoint "<<transform.getPivotPoint()<<std::endl;
fw.indent()<<"autoUpdateEyeMovementTolerance "<<transform.getAutoUpdateEyeMovementTolerance()<<std::endl;
fw.indent()<<"autoRotateMode ";
switch(transform.getAutoRotateMode())
{
case(osg::AutoTransform::ROTATE_TO_SCREEN): fw<<"ROTATE_TO_SCREEN"<<std::endl; break;
case(osg::AutoTransform::ROTATE_TO_CAMERA): fw<<"ROTATE_TO_CAMERA"<<std::endl; break;
case(osg::AutoTransform::NO_ROTATION):
default: fw<<"NO_ROTATION"<<std::endl; break;
}
fw.indent()<<"autoScaleToScreen "<<(transform.getAutoScaleToScreen()?"TRUE":"FALSE")<<std::endl;
if (transform.getAutoScaleTransitionWidthRatio()!=0.25)
{
fw.indent()<<"autoScaleTransitionWidthRatio "<<transform.getAutoScaleTransitionWidthRatio()<<std::endl;
}
return true;
}
virtual bool set_path(Output& output, const char* path, bert::Value* val) {
if(val->string_p()) {
output.ok("value");
if(shared_.config.import(path, val->string())) {
output.e().write_atom("ok");
} else {
output.e().write_atom("unknown_key");
}
} else {
output.error("format");
}
return true;
}
bool Group_writeLocalData(const Object &obj, Output &fw)
{
const Group &group = static_cast<const Group&>(obj);
if (group.getNumChildren() != 0)
fw.indent() << "num_children " << group.getNumChildren() << std::endl;
for (unsigned int i = 0; i < group.getNumChildren(); ++i)
{
fw.writeObject(*group.getChild(i));
}
return true;
}
void difference_output(std::string const& caseid, G1 const& g1, G2 const& g2, Output const& output)
{
boost::ignore_unused(caseid, g1, g2, output);
#if defined(TEST_WITH_SVG)
{
typedef typename bg::coordinate_type<G1>::type coordinate_type;
typedef typename bg::point_type<G1>::type point_type;
bool const ccw =
bg::point_order<G1>::value == bg::counterclockwise
|| bg::point_order<G2>::value == bg::counterclockwise;
bool const open =
bg::closure<G1>::value == bg::open
|| bg::closure<G2>::value == bg::open;
std::ostringstream filename;
filename << "difference_"
<< caseid << "_"
<< string_from_type<coordinate_type>::name()
<< (ccw ? "_ccw" : "")
<< (open ? "_open" : "")
#if defined(BOOST_GEOMETRY_NO_SELF_TURNS)
<< "_no_self"
#endif
#if defined(BOOST_GEOMETRY_NO_ROBUSTNESS)
<< "_no_rob"
#endif
<< ".svg";
std::ofstream svg(filename.str().c_str());
bg::svg_mapper<point_type> mapper(svg, 500, 500);
mapper.add(g1);
mapper.add(g2);
mapper.map(g1, "fill-opacity:0.3;fill:rgb(51,51,153);stroke:rgb(51,51,153);stroke-width:3");
mapper.map(g2, "fill-opacity:0.5;fill:rgb(153,204,0);stroke:rgb(153,204,0);stroke-width:3");
for (typename Output::const_iterator it = output.begin(); it != output.end(); ++it)
{
mapper.map(*it,
//sym ? "fill-opacity:0.2;stroke-opacity:0.4;fill:rgb(255,255,0);stroke:rgb(255,0,255);stroke-width:8" :
"fill-opacity:0.2;stroke-opacity:0.4;fill:rgb(255,0,0);stroke:rgb(255,0,255);stroke-width:8");
}
}
#endif
}
void GammaControlManager::getGammaControl(wl_client *client, wl_resource *res, uint32_t id, wl_resource *outputRes)
{
Output *output = Output::fromResource(outputRes);
class GammaControl
{
public:
GammaControl(Output *o)
: output(o)
{
}
void destroy(wl_client *c, wl_resource *r)
{
wl_resource_destroy(r);
}
void setGamma(wl_client *c, wl_resource *res, wl_array *red, wl_array *green, wl_array *blue)
{
if (red->size != green->size || red->size != blue->size) {
wl_resource_post_error(res, GAMMA_CONTROL_ERROR_INVALID_GAMMA, "The gamma ramps don't have the same size");
return;
}
uint16_t *r = (uint16_t *)red->data;
uint16_t *g = (uint16_t *)green->data;
uint16_t *b = (uint16_t *)blue->data;
output->setGamma(red->size / sizeof(uint16_t), r, g, b);
}
void resetGamma(wl_client *c, wl_resource *res)
{
}
Output *output;
};
static const struct gamma_control_interface implementation = {
wrapExtInterface(&GammaControl::destroy),
wrapExtInterface(&GammaControl::setGamma),
wrapExtInterface(&GammaControl::resetGamma)
};
GammaControl *gc = new GammaControl(output);
wl_resource *resource = wl_resource_create(client, &gamma_control_interface, wl_resource_get_version(res), id);
wl_resource_set_implementation(resource, &implementation, gc, [](wl_resource *r) {
delete static_cast<GammaControl *>(wl_resource_get_user_data(r));
});
gamma_control_send_gamma_size(resource, output->gammaSize());
}
RippleCalc::Output RippleCalc::rippleCalculate (
PaymentSandbox& view,
// Compute paths using this ledger entry set. Up to caller to actually
// apply to ledger.
// Issuer:
// XRP: xrpAccount()
// non-XRP: uSrcAccountID (for any issuer) or another account with
// trust node.
STAmount const& saMaxAmountReq, // --> -1 = no limit.
// Issuer:
// XRP: xrpAccount()
// non-XRP: uDstAccountID (for any issuer) or another account with
// trust node.
STAmount const& saDstAmountReq,
AccountID const& uDstAccountID,
AccountID const& uSrcAccountID,
// A set of paths that are included in the transaction that we'll
// explore for liquidity.
STPathSet const& spsPaths,
Logs& l,
Input const* const pInputs)
{
RippleCalc rc (
view,
saMaxAmountReq,
saDstAmountReq,
uDstAccountID,
uSrcAccountID,
spsPaths,
l);
if (pInputs != nullptr)
{
rc.inputFlags = *pInputs;
}
auto result = rc.rippleCalculate ();
Output output;
output.setResult (result);
output.actualAmountIn = rc.actualAmountIn_;
output.actualAmountOut = rc.actualAmountOut_;
output.pathStateList = rc.pathStateList_;
return output;
}
virtual void set(Output& output, bert::Value* val) {
GlobalLock::LockGuard guard(state_->global_lock());
if(val->string_p()) {
output.ok("value");
String* path = String::create(state_, val->string());
if(RTEST(System::vm_dump_heap(state_, path))) {
output.e().write_atom("ok");
} else {
output.e().write_atom("error");
}
} else {
output.error("format");
}
}