How can I extract a unique hex number among MANY hex numbers in a sequence? I know that the sequence has no delimiters, ends with '.', and all hex numbers are with length 5. And If the number is not unique (i.e.the searched one) then will be repeated even times.
Example Input/Output:
input: abab1bca98abab1.
output: bca98
input: 44444111112222244444222224444444444.
output:11111
input: 01aefabcdeabcde01aef01aefb00b501aef.
output:b00b5
Here is my attempt:
#include <iostream>
#include <string>
#include <vector>
int convertToHex(std::string piece)
{
int hex = std::stoi(piece, 0, 16);
return hex;
}
int main()
{
std::string seq;
std::cin.sync_with_stdio(false);
std::cin >> seq;
std::vector<int> hexVec;
size_t SIZE = seq.length()-1;
int counter = 0;
std::string hex("");
for (size_t i = 0; i < SIZE; i++)
{
hex += seq[i];
counter++;
if (counter == 5)
{
hexVec.push_back(convertToHex(hex));
counter = 0;
hex = "";
}
}
size_t vecSIZE = hexVec.size();
/*for (size_t i = 0; i < vecSIZE; i++)
{
std::cout << std::hex << hexVec[i] << std::endl;
}*/
for (size_t i = 0; i < vecSIZE; i++)
{
int currEl = hexVec[i];
for (size_t j = 0; j < vecSIZE; j++)
{
if (currEl == hexVec[j] && i != j)
{
break;
}
else if (j == vecSIZE - 1)
{
std::cout.sync_with_stdio(false);
std::cout << std::hex << hexVec[i];
return 0;
}
}
}
return 0;
}
But it gives me:
Test #5 (Incorrect answer)
Time used: 0.178 s
Memory used: 2.36 MB
Test #6 (Memory limit)
Time used: 3.770 s
Memory used: 6.59 MB
Test #7 (Memory limit)
Time used: 3.769 s
Memory used: 6.71 MB
Test #8 (Runtime error)
Time used: 0.178 s
Memory used: 8.89 MB
P.S. I do not know what are the tests. This is neither my homework nor a exam or smthn. It's just an outclass problem that I found with a judge system.
Related
I made a prim's algorithm but whenever i try to use the code it give me the same matrix back. In general it isn't minimizing. Can anyone check the code and let me know why it isn't minimizing my matrix
#include <iostream>
#include <stdlib.h>
#include <time.h>
#include <vector>
#include <list>
#include <cstdlib>
#include <iomanip>
#include <limits.h>
int minKey(int n,int key[], bool mst[])
{
// Initialize min value
int min = INT_MAX, min_index;
for (int i = 0; i < n; i++)
if (mst[i] == false && key[i] < min)
min = key[i], min_index = i;
return min_index;
}
void print(int n,int **matrix)
{
for(int i=0; i<n; i++)
{
for(int j=0; j<n; j++) // print the matrix
{
cout << setw(2) << matrix[i][j] << " ";
}
cout << endl;
}
}
int **gen_random_graph(int n)
{
srand(time(0));
int **adj_matrix = new int*[n];
for(int i = 0; i < n; i++)
{
for (int j = i; j < n; j++) //generating a N x N matrix based on the # of vertex input
{
adj_matrix[i] = new int[n];
}
}
for(int u = 0; u < n; u++)
{
for (int v = u; v < n; v++) //decide whether it has an edge or not
{
bool edgeOrNot = rand() % 2;
adj_matrix[u][v] = adj_matrix[v][u] = edgeOrNot;
cout << u << " " << v << " " << adj_matrix[u][v] << endl;
if(adj_matrix[u][v] == true)
{
adj_matrix[v][u] = true;
if(u == v) //We can't have i = j in an undirected graph
{
adj_matrix[u][v] = -1;
}
cout << u << " " << v << " " << adj_matrix[u][v] << endl;
}
else
{
adj_matrix[v][u] = adj_matrix[u][v] = -1;
cout << u << " " << v << " " << adj_matrix[u][v] << "else" << endl;
}
}
}
for(int i = 0; i < n; i++)
{
for(int j = i; j < n; j++) //create the N x N with edges and sets the weight between the edge randomly
{
if(adj_matrix[i][j] == true)
{
int weight = rand() % 10 + 1;
adj_matrix[i][j] = adj_matrix[j][i] = weight;
cout << " ( " << i << "," << j << " ) " << "weight: " << adj_matrix[i][j] << endl;
}
}
}
print(n,adj_matrix);
return (adj_matrix);
}
void solve_mst_prim_matrix(int n, int **matrix)
{
int parent[n]; // Array to store constructed MST
int key[n]; // Key values used to pick minimum weight edge in cut
bool mstSet[n]; // To represent set of vertices not yet included in MST
// Initialize all keys as INFINITE
for (int i = 0; i < n; i++)
{
key[i] = INT_MAX, mstSet[i] = false;
}
// Always include first 1st vertex in MST.
key[0] = 0; // Make key 0 so that this vertex is picked as first vertex
parent[0] = -1; // First node is always root of MST
// The MST will have n vertices
for (int count = 0; count < n-1; count++)
{
// Pick the minimum key vertex from the set of vertices
// not yet included in MST
int u = minKey(n,key, mstSet);
// Add the picked vertex to the MST Set
mstSet[u] = true;
// Update key value and parent index of the adjacent vertices of
// the picked vertex. Consider only those vertices which are not yet
// included in MST
for (int v = 0; v < n; v++)
// matrix[u][v] is non zero only for adjacent vertices of m
// mstSet[v] is false for vertices not yet included in MST
// Update the key only if matrix[u][v] is smaller than key[v]
if (matrix[u][v] && mstSet[v] == false && matrix[u][v] < key[v])
parent[v] = u, key[v] = matrix[u][v];
}
cout << endl;
print(n,matrix);
}
int main()
{
int N;
cout << "Enter number of vertices" << endl;
cin >> N;
int **matrix = gen_random_graph(N);
solve_mst_prim_matrix(N, matrix);
return 0;
}
Correct me if I'm wrong, but after reading your code, you did not even change any value of **matrix in your solve_mst_prim_matrix function. So it basically prints the same thing..
I need to implement a Rc4 algorithm with a seed: 1 2 3 6 and the plain text cryptology. I am following this guideline we were provided in class, but it's not initializing S correctly.
my output is
and needs to be
My code was previously printing negative values , not sure why but I managed to fix that error. Thought everything was good to go but it's not. Sorry for the pictures, I figured it was easier to explain what I was following for my code structure. I am mod 4 the seed since it contains 4 characters, could that possibly be my error?
#include <iostream>
#include <string>
#include <string.h>
using std::endl;
using std::string;
void swap(unsigned int *x, unsigned int *y);
int main()
{
string plaintext = "cryptology";
char cipherText[256] = { ' ' };
unsigned int S[256] = { 0 };
unsigned int t[256] = { 0 };
unsigned int seed[4] = { 1, 2, 3, 6 }; // seed used for test case 1
unsigned int temp = 0;
int runningTotal = 0;
unsigned int key = 0;
// inilializing s and t
for (int i = 0; i < 256; i++)
{
S[i] = i;
t[i] = seed[i % 4];
}
for (int i = 0; i < 256; i++)
{
runningTotal += S[i] + t[i];
runningTotal %= 256;
swap(&S[runningTotal], &S[i]);
std::cout << S[i] <<" ";
}
runningTotal = 0;
for (int i = 0; i < plaintext.size(); i++)
{
runningTotal %= 256;
swap(&S[i], &S[runningTotal]);
temp = (unsigned int)S[i] + (unsigned int)S[runningTotal];
temp %= 256;
key = S[temp];
std::cout << endl;
cipherText[i] = plaintext[i] ^ key;
}
std::cout << " this is cipher text " << endl;
std::cout << cipherText << endl;
system("pause");
return 0;
}
void swap(unsigned int *x, unsigned int *y)
{
unsigned int temp = 0;
temp = *x;
*x = *y;
*y = temp;
}
Actually I think you're generating S[] correctly. I can only assume you're supposed to do something different with the key. (Perhaps's its an ASCII string instead of four byte values? Check your assignment notes.)
There is a problem later on, however. In the stream generation loop, you're supposed to do the increment and swap operations before you fetch a byte from S[].
for (int k = 0; k < plaintext.size(); k++)
{
i = (i+1) % 256; // increment S[] index
runningTotal = (runningTotal + S[i]) % 256; // swap bytes
swap(&S[i], &S[runningTotal]);
temp = (S[i] + S[runningTotal]) % 256; // fetch byte from S and
cipherText[k] = plaintext[k] ^ S[temp]; // XOR with plaintext
}
NOTE: Although unrelated to your question, your code could be made a lot tidier by using unsigned char values instead of ints. That would eliminate the % 256 instructions that are littered all over the place. (But be careful during initialization, because i<256 will always be true if i is an unsigned char.)
In OpenCL, if I want to add two N-dimension vectors, the global work group size (globalSize) should satisfy globalSize = ceil(N/localSize) * localSize, where localSize is the local work group size. Is this correct? If N = 1000, and localSize = 128, globalSize should be 1024? Can we always set globalSize some multiple of localSize and larger than needed?
I tried many times and it worked well for 1-dimension problems.
However, when it comes to 2d problems, for example, multiply two matrices of dimension m*n and n*p, the result matrix is of order m*p, things get more complicated.
The max work group size on my device is 128, so I set localSize [2] = {16,8} and
globalSize [2] = {ceil(m/16)*16,ceil(p/8)*8}.
It is similar to the 1-dimension case but the result is wrong!
If I set localSize [2] = {1,128} and change the globalSize accordingly, I can get the correct result. So where is the problem? Can anyone tell me why?
In addition, I find out the indices where the matrix element is wrong.
It seems that the result is wrong at (i,j) where i*p + j = n * some constant (n = 1,2,3...)
Why?
Here is my kernel function:
kernel void mmult(const int Mdim, const int Ndim, const int Pdim,
global float *A, global float *B, global float *C)
{
int i = get_global_id(1);
int j = get_global_id(0);
if(i < 0 || j < 0 || i > Mdim || j > Pdim) return;
else
{
float tmp = 0;
for(int k = 0; k < Ndim; k++)
tmp += A[i*Ndim+k] * B[k*Pdim+j];
C[i*Pdim + j] = tmp;
}
}
And then it is the host program:
#define __NO_STD_VECTOR // Use cl::vector instead of STL version
#define __CL_ENABLE_EXCEPTIONS
#include <CL/cl.hpp>
#include <utility>
#include <iostream>
#include <fstream>
#include <string>
#include <cmath>
using namespace cl;
int main()
{
// Create the two input matrices
int m = 1000;
int n = 1000;
int p = 1000;
float *A = new float[m*n];
float *B = new float[n*p];
for(int i = 0; i < m*n; i++)
{
A[i] = i;
}
for(int i = 0; i < n*p; i++)
{
B[i] = i;
}
try
{
// Get available platforms
vector<Platform> platforms;
Platform::get(&platforms);
// Select the default platform and create a context using this platform and the GPU
cl_context_properties cps[3] =
{
CL_CONTEXT_PLATFORM,
(cl_context_properties)(platforms[0])(),
0
};
Context context( CL_DEVICE_TYPE_GPU, cps);
// Get a list of devices on this platform
vector<Device> devices = context.getInfo<CL_CONTEXT_DEVICES>();
// Create a command queue and use the first device
CommandQueue queue = CommandQueue(context, devices[0]);
// Read source file
std::ifstream sourceFile("mmul.cl");
std::string sourceCode(
std::istreambuf_iterator<char>(sourceFile),
(std::istreambuf_iterator<char>()));
Program::Sources source(1, std::make_pair(sourceCode.c_str(), sourceCode.length()+1));
// Make program of the source code in the context
Program program = Program(context, source);
// Build program for these specific devices
program.build(devices);
// Make kernel
Kernel kernel(program, "mmult");
// Create memory buffers
Buffer bufferA = Buffer(context, CL_MEM_READ_ONLY, m*n * sizeof(float));
Buffer bufferB = Buffer(context, CL_MEM_READ_ONLY, p*n * sizeof(float));
Buffer bufferC = Buffer(context, CL_MEM_WRITE_ONLY, m*p * sizeof(float));
// Copy lists A and B to the memory buffers
queue.enqueueWriteBuffer(bufferA, CL_TRUE, 0, m * n * sizeof(float), A);
queue.enqueueWriteBuffer(bufferB, CL_TRUE, 0, p * n * sizeof(float), B);
// Set arguments to kernel
kernel.setArg(0, m);
kernel.setArg(1, n);
kernel.setArg(2, p);
kernel.setArg(3, bufferA);
kernel.setArg(4, bufferB);
kernel.setArg(5, bufferC);
// Run the kernel on specific ND range
NDRange global((ceil((float)(p)/16))*16,(ceil((float)(m)/8))*8);
NDRange local(16,8);
queue.enqueueNDRangeKernel(kernel, NullRange, global, local);
// Read buffer C into a local list
float *C = new float[m*p];
queue.enqueueReadBuffer(bufferC, CL_TRUE, 0, m*p * sizeof(float), C);
// check the correctness of the result
float *c = new float[m*p];
for(int i = 0; i < m; i++)
for(int j = 0; j < p; j++)
{
float z = 0.0;
for(int k = 0; k < n; k++)
{
z += A[i*n+k] * B[k*p+j];
}
c[i*p+j] = z;
}
for(int i = 0; i < m*p; i++)
{
if(fabs(c[i]-C[i])>0.001)
std::cout<<i<<" "<<c[i]<<" "<<C[i]<<std::endl;
}
delete []A;
delete []B;
delete []C;
}
catch(Error error)
{
std::cout << error.what() << "(" << error.err() << ")" << std::endl;
}
return 0;
}
Your bounds checking code inside your OpenCL kernel is incorrect. Instead of this:
if(i < 0 || j < 0 || i > Mdim || j > Pdim) return;
You should have this:
if(i < 0 || j < 0 || i >= Mdim || j >= Pdim) return;
Let's assume, that you have float matrix of size 1000x1000:
const int size = 1000;
// Whatever
float* myMatrix = (float*)calloc(size * size, sizeof(*myMatrix));
Determine size of Local Group first:
size_t localSize[] = {16, 8};
Then determine, how many Local Groups do you need:
size_t numLocalGroups[] = {ceil(size/localSize[0]), ceil(size/localSize[1])};
Finally, determine NDRange size:
size_t globalSize[] = {localSize[0] * numLocalGroups[0], localSize[1] * numLocalGroups[1]};
Don't forget to handle out-of-bounds access in right-most Local Groups.
Edit: Solved
SOLUTION:
I'm running Arduino 1.0.5
I fixed the problem by changing /Sketchbook/library/ros_lib/ros/node_handle.h line 260 from
}else if (topic_ == TopicInfo::ID_TX_STOP){
to
}else if (topic_ == ID_TX_STOP){
However, this gave me a new error message:
/usr/share/arduino/hardware/arduino/cores/arduino/Print.cpp: In member function 'size_t Print::print(const __FlashStringHelper*)':
/usr/share/arduino/hardware/arduino/cores/arduino/Print.cpp:44:9: error: 'prog_char' does not name a type
/usr/share/arduino/hardware/arduino/cores/arduino/Print.cpp:47:23: error: 'p' was not declared in this scope
So to fix this I edited usr/share/arduino/hardware/arduino/cores/arduino/Print.cpp, line 44 from
const prog_char *p = (const prog_char *)ifsh;
to
const char PROGMEM *p = (const char PROGMEM *)ifsh;
Now it compiles!
Original Problem:
I've been using this tutorial to get everything set up: (http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup) I can install everything without an issue I think, the ros_lib folder is placed in my sketchbook libraries. But when I do the next tutorial with the helloworld example, the code does not verify correctly. When I try to verify with the checkmark in the Arduino IDE, I get the following set of error codes:
In file included from /home/user/sketchbook/libraries/ros_lib/ros.h:38:0,
from HelloWorld.cpp:6:
/home/user/sketchbook/libraries/ros_lib/ros/node_handle.h: In member function 'virtual int ros::NodeHandle_::spinOnce()':
/home/user/sketchbook/libraries/ros_lib/ros/node_handle.h:260:45: error: expected unqualified-id before numeric constant
/home/user/sketchbook/libraries/ros_lib/ros/node_handle.h:260:45: error: expected ')' before numeric constant
I've reinstalled the ros_lib as well as rosserial and I keep getting this error, so I don't know what the problem is. I looked around line 260 of the node_handle.h file but I didn't notice anything out of place.
Here's node_handle.h: (spacing might be a little off)
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote prducts derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROS_NODE_HANDLE_H_
#define ROS_NODE_HANDLE_H_
#include "std_msgs/Time.h"
#include "rosserial_msgs/TopicInfo.h"
#include "rosserial_msgs/Log.h"
#include "rosserial_msgs/RequestParam.h"
#define SYNC_SECONDS 5
#define MODE_FIRST_FF 0
/*
* The second sync byte is a protocol version. It's value is 0xff for the first
* version of the rosserial protocol (used up to hydro), 0xfe for the second version
* (introduced in hydro), 0xfd for the next, and so on. Its purpose is to enable
* detection of mismatched protocol versions (e.g. hydro rosserial_python with groovy
* rosserial_arduino. It must be changed in both this file and in
* rosserial_python/src/rosserial_python/SerialClient.py
*/
#define MODE_PROTOCOL_VER 1
#define PROTOCOL_VER1 0xff // through groovy
#define PROTOCOL_VER2 0xfe // in hydro
#define PROTOCOL_VER PROTOCOL_VER2
#define MODE_SIZE_L 2
#define MODE_SIZE_H 3
#define MODE_SIZE_CHECKSUM 4 // checksum for msg size received from size L and H
#define MODE_TOPIC_L 5 // waiting for topic id
#define MODE_TOPIC_H 6
#define MODE_MESSAGE 7
#define MODE_MSG_CHECKSUM 8 // checksum for msg and topic id
#define MSG_TIMEOUT 20 //20 milliseconds to recieve all of message data
#define ID_TX_STOP 11 //hardcode for hydro version
#include "msg.h"
namespace ros {
class NodeHandleBase_{
public:
virtual int publish(int id, const Msg* msg)=0;
virtual int spinOnce()=0;
virtual bool connected()=0;
};
}
#include "publisher.h"
#include "subscriber.h"
#include "service_server.h"
#include "service_client.h"
namespace ros {
using rosserial_msgs::TopicInfo;
/* Node Handle */
template<class Hardware,
int MAX_SUBSCRIBERS=25,
int MAX_PUBLISHERS=25,
int INPUT_SIZE=512,
int OUTPUT_SIZE=512>
class NodeHandle_ : public NodeHandleBase_
{
protected:
Hardware hardware_;
/* time used for syncing */
unsigned long rt_time;
/* used for computing current time */
unsigned long sec_offset, nsec_offset;
unsigned char message_in[INPUT_SIZE];
unsigned char message_out[OUTPUT_SIZE];
Publisher * publishers[MAX_PUBLISHERS];
Subscriber_ * subscribers[MAX_SUBSCRIBERS];
/*
* Setup Functions
*/
public:
NodeHandle_() : configured_(false) {
for(unsigned int i=0; i< MAX_PUBLISHERS; i++)
publishers[i] = 0;
for(unsigned int i=0; i< MAX_SUBSCRIBERS; i++)
subscribers[i] = 0;
for(unsigned int i=0; i< INPUT_SIZE; i++)
message_in[i] = 0;
for(unsigned int i=0; i< OUTPUT_SIZE; i++)
message_out[i] = 0;
req_param_resp.ints_length = 0;
req_param_resp.ints = NULL;
req_param_resp.floats_length = 0;
req_param_resp.floats = NULL;
req_param_resp.ints_length = 0;
req_param_resp.ints = NULL;
}
Hardware* getHardware(){
return &hardware_;
}
/* Start serial, initialize buffers */
void initNode(){
hardware_.init();
mode_ = 0;
bytes_ = 0;
index_ = 0;
topic_ = 0;
};
/* Start a named port, which may be network server IP, initialize buffers */
void initNode(char *portName){
hardware_.init(portName);
mode_ = 0;
bytes_ = 0;
index_ = 0;
topic_ = 0;
};
protected:
//State machine variables for spinOnce
int mode_;
int bytes_;
int topic_;
int index_;
int checksum_;
bool configured_;
/* used for syncing the time */
unsigned long last_sync_time;
unsigned long last_sync_receive_time;
unsigned long last_msg_timeout_time;
public:
/* This function goes in your loop() function, it handles
* serial input and callbacks for subscribers.
*/
virtual int spinOnce(){
/* restart if timed out */
unsigned long c_time = hardware_.time();
if( (c_time - last_sync_receive_time) > (SYNC_SECONDS*2200) ){
configured_ = false;
}
/* reset if message has timed out */
if ( mode_ != MODE_FIRST_FF){
if (c_time > last_msg_timeout_time){
mode_ = MODE_FIRST_FF;
}
}
/* while available buffer, read data */
while( true )
{
int data = hardware_.read();
if( data < 0 )
break;
checksum_ += data;
if( mode_ == MODE_MESSAGE ){ /* message data being recieved */
message_in[index_++] = data;
bytes_--;
if(bytes_ == 0) /* is message complete? if so, checksum */
mode_ = MODE_MSG_CHECKSUM;
}else if( mode_ == MODE_FIRST_FF ){
if(data == 0xff){
mode_++;
last_msg_timeout_time = c_time + MSG_TIMEOUT;
}
}else if( mode_ == MODE_PROTOCOL_VER ){
if(data == PROTOCOL_VER){
mode_++;
}else{
mode_ = MODE_FIRST_FF;
if (configured_ == false)
requestSyncTime(); /* send a msg back showing our protocol version */
}
}else if( mode_ == MODE_SIZE_L ){ /* bottom half of message size */
bytes_ = data;
index_ = 0;
mode_++;
checksum_ = data; /* first byte for calculating size checksum */
}else if( mode_ == MODE_SIZE_H ){ /* top half of message size */
bytes_ += data<<8;
mode_++;
}else if( mode_ == MODE_SIZE_CHECKSUM ){
if( (checksum_%256) == 255)
mode_++;
else
mode_ = MODE_FIRST_FF; /* Abandon the frame if the msg len is wrong */
}else if( mode_ == MODE_TOPIC_L ){ /* bottom half of topic id */
topic_ = data;
mode_++;
checksum_ = data; /* first byte included in checksum */
}else if( mode_ == MODE_TOPIC_H ){ /* top half of topic id */
topic_ += data<<8;
mode_ = MODE_MESSAGE;
if(bytes_ == 0)
mode_ = MODE_MSG_CHECKSUM;
}else if( mode_ == MODE_MSG_CHECKSUM ){ /* do checksum */
mode_ = MODE_FIRST_FF;
if( (checksum_%256) == 255){
if(topic_ == TopicInfo::ID_PUBLISHER){
requestSyncTime();
negotiateTopics();
last_sync_time = c_time;
last_sync_receive_time = c_time;
return -1;
}else if(topic_ == TopicInfo::ID_TIME){
syncTime(message_in);
}else if (topic_ == TopicInfo::ID_PARAMETER_REQUEST){
req_param_resp.deserialize(message_in);
param_recieved= true;
}else if(topic_ == TopicInfo::ID_TX_STOP){
configured_ = false;
}else{
if(subscribers[topic_-100])
subscribers[topic_-100]->callback( message_in );
}
}
}
}
/* occasionally sync time */
if( configured_ && ((c_time-last_sync_time) > (SYNC_SECONDS*500) )){
requestSyncTime();
last_sync_time = c_time;
}
return 0;
}
/* Are we connected to the PC? */
virtual bool connected() {
return configured_;
};
/********************************************************************
* Time functions
*/
void requestSyncTime()
{
std_msgs::Time t;
publish(TopicInfo::ID_TIME, &t);
rt_time = hardware_.time();
}
void syncTime( unsigned char * data )
{
std_msgs::Time t;
unsigned long offset = hardware_.time() - rt_time;
t.deserialize(data);
t.data.sec += offset/1000;
t.data.nsec += (offset%1000)*1000000UL;
this->setNow(t.data);
last_sync_receive_time = hardware_.time();
}
Time now(){
unsigned long ms = hardware_.time();
Time current_time;
current_time.sec = ms/1000 + sec_offset;
current_time.nsec = (ms%1000)*1000000UL + nsec_offset;
normalizeSecNSec(current_time.sec, current_time.nsec);
return current_time;
}
void setNow( Time & new_now )
{
unsigned long ms = hardware_.time();
sec_offset = new_now.sec - ms/1000 - 1;
nsec_offset = new_now.nsec - (ms%1000)*1000000UL + 1000000000UL;
normalizeSecNSec(sec_offset, nsec_offset);
}
/********************************************************************
* Topic Management
*/
/* Register a new publisher */
bool advertise(Publisher & p)
{
for(int i = 0; i < MAX_PUBLISHERS; i++){
if(publishers[i] == 0){ // empty slot
publishers[i] = &p;
p.id_ = i+100+MAX_SUBSCRIBERS;
p.nh_ = this;
return true;
}
}
return false;
}
/* Register a new subscriber */
template<typename MsgT>
bool subscribe(Subscriber< MsgT> & s){
for(int i = 0; i < MAX_SUBSCRIBERS; i++){
if(subscribers[i] == 0){ // empty slot
subscribers[i] = (Subscriber_*) &s;
s.id_ = i+100;
return true;
}
}
return false;
}
/* Register a new Service Server */
template<typename MReq, typename MRes>
bool advertiseService(ServiceServer<MReq,MRes>& srv){
bool v = advertise(srv.pub);
for(int i = 0; i < MAX_SUBSCRIBERS; i++){
if(subscribers[i] == 0){ // empty slot
subscribers[i] = (Subscriber_*) &srv;
srv.id_ = i+100;
return v;
}
}
return false;
}
/* Register a new Service Client */
template<typename MReq, typename MRes>
bool serviceClient(ServiceClient<MReq, MRes>& srv){
bool v = advertise(srv.pub);
for(int i = 0; i < MAX_SUBSCRIBERS; i++){
if(subscribers[i] == 0){ // empty slot
subscribers[i] = (Subscriber_*) &srv;
srv.id_ = i+100;
return v;
}
}
return false;
}
void negotiateTopics()
{
rosserial_msgs::TopicInfo ti;
int i;
for(i = 0; i < MAX_PUBLISHERS; i++)
{
if(publishers[i] != 0) // non-empty slot
{
ti.topic_id = publishers[i]->id_;
ti.topic_name = (char *) publishers[i]->topic_;
ti.message_type = (char *) publishers[i]->msg_->getType();
ti.md5sum = (char *) publishers[i]->msg_->getMD5();
ti.buffer_size = OUTPUT_SIZE;
publish( publishers[i]->getEndpointType(), &ti );
}
}
for(i = 0; i < MAX_SUBSCRIBERS; i++)
{
if(subscribers[i] != 0) // non-empty slot
{
ti.topic_id = subscribers[i]->id_;
ti.topic_name = (char *) subscribers[i]->topic_;
ti.message_type = (char *) subscribers[i]->getMsgType();
ti.md5sum = (char *) subscribers[i]->getMsgMD5();
ti.buffer_size = INPUT_SIZE;
publish( subscribers[i]->getEndpointType(), &ti );
}
}
configured_ = true;
}
virtual int publish(int id, const Msg * msg)
{
if(id >= 100 && !configured_)
return 0;
/* serialize message */
unsigned int l = msg->serialize(message_out+7);
/* setup the header */
message_out[0] = 0xff;
message_out[1] = PROTOCOL_VER;
message_out[2] = (unsigned char) ((unsigned int)l&255);
message_out[3] = (unsigned char) ((unsigned int)l>>8);
message_out[4] = 255 - ((message_out[2] + message_out[3])%256);
message_out[5] = (unsigned char) ((int)id&255);
message_out[6] = (unsigned char) ((int)id>>8);
/* calculate checksum */
int chk = 0;
for(int i =5; i<l+7; i++)
chk += message_out[i];
l += 7;
message_out[l++] = 255 - (chk%256);
if( l <= OUTPUT_SIZE ){
hardware_.write(message_out, l);
return l;
}else{
logerror("Message from device dropped: message larger than buffer.");
return -1;
}
}
/********************************************************************
* Logging
*/
private:
void log(char byte, const char * msg){
rosserial_msgs::Log l;
l.level= byte;
l.msg = (char*)msg;
publish(rosserial_msgs::TopicInfo::ID_LOG, &l);
}
public:
void logdebug(const char* msg){
log(rosserial_msgs::Log::ROSDEBUG, msg);
}
void loginfo(const char * msg){
log(rosserial_msgs::Log::INFO, msg);
}
void logwarn(const char *msg){
log(rosserial_msgs::Log::WARN, msg);
}
void logerror(const char*msg){
log(rosserial_msgs::Log::ERROR, msg);
}
void logfatal(const char*msg){
log(rosserial_msgs::Log::FATAL, msg);
}
/********************************************************************
* Parameters
*/
private:
bool param_recieved;
rosserial_msgs::RequestParamResponse req_param_resp;
bool requestParam(const char * name, int time_out = 1000){
param_recieved = false;
rosserial_msgs::RequestParamRequest req;
req.name = (char*)name;
publish(TopicInfo::ID_PARAMETER_REQUEST, &req);
unsigned int end_time = hardware_.time() + time_out;
while(!param_recieved ){
spinOnce();
if (hardware_.time() > end_time) return false;
}
return true;
}
public:
bool getParam(const char* name, int* param, int length =1){
if (requestParam(name) ){
if (length == req_param_resp.ints_length){
//copy it over
for(int i=0; i<length; i++)
param[i] = req_param_resp.ints[i];
return true;
}
}
return false;
}
bool getParam(const char* name, float* param, int length=1){
if (requestParam(name) ){
if (length == req_param_resp.floats_length){
//copy it over
for(int i=0; i<length; i++)
param[i] = req_param_resp.floats[i];
return true;
}
}
return false;
}
bool getParam(const char* name, char** param, int length=1){
if (requestParam(name) ){
if (length == req_param_resp.strings_length){
//copy it over
for(int i=0; i<length; i++)
strcpy(param[i],req_param_resp.strings[i]);
return true;
}
}
return false;
}
};
}
#endif
I tried commenting out line 160 and 161:
//}else if (topic_ == TopicInfo::ID_TX_STOP){
//configured_ = false;
This gave me a different error message:
/usr/share/arduino/hardware/arduino/cores/arduino/Print.cpp: In member function 'size_t Print::print(const __FlashStringHelper*)':
/usr/share/arduino/hardware/arduino/cores/arduino/Print.cpp:44:9: error: 'prog_char' does not name a type
/usr/share/arduino/hardware/arduino/cores/arduino/Print.cpp:47:23: error: 'p' was not declared in this scope
So here's Print.cpp
/*
Print.cpp - Base class that provides print() and println()
Copyright (c) 2008 David A. Mellis. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Modified 23 November 2006 by David A. Mellis
*/
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <math.h>
#include "Arduino.h"
#include "Print.h"
// Public Methods //////////////////////////////////////////////////////////////
/* default implementation: may be overridden */
size_t Print::write(const uint8_t *buffer, size_t size)
{
size_t n = 0;
while (size--) {
n += write(*buffer++);
}
return n;
}
size_t Print::print(const __FlashStringHelper *ifsh)
{
const prog_char *p = (const prog_char *)ifsh;
size_t n = 0;
while (1) {
unsigned char c = pgm_read_byte(p++);
if (c == 0) break;
n += write(c);
}
return n;
}
size_t Print::print(const String &s)
{
size_t n = 0;
for (uint16_t i = 0; i < s.length(); i++) {
n += write(s[i]);
}
return n;
}
size_t Print::print(const char str[])
{
return write(str);
}
size_t Print::print(char c)
{
return write(c);
}
size_t Print::print(unsigned char b, int base)
{
return print((unsigned long) b, base);
}
size_t Print::print(int n, int base)
{
return print((long) n, base);
}
size_t Print::print(unsigned int n, int base)
{
return print((unsigned long) n, base);
}
size_t Print::print(long n, int base)
{
if (base == 0) {
return write(n);
} else if (base == 10) {
if (n < 0) {
int t = print('-');
n = -n;
return printNumber(n, 10) + t;
}
return printNumber(n, 10);
} else {
return printNumber(n, base);
}
}
size_t Print::print(unsigned long n, int base)
{
if (base == 0) return write(n);
else return printNumber(n, base);
}
size_t Print::print(double n, int digits)
{
return printFloat(n, digits);
}
size_t Print::println(const __FlashStringHelper *ifsh)
{
size_t n = print(ifsh);
n += println();
return n;
}
size_t Print::print(const Printable& x)
{
return x.printTo(*this);
}
size_t Print::println(void)
{
size_t n = print('\r');
n += print('\n');
return n;
}
size_t Print::println(const String &s)
{
size_t n = print(s);
n += println();
return n;
}
size_t Print::println(const char c[])
{
size_t n = print(c);
n += println();
return n;
}
size_t Print::println(char c)
{
size_t n = print(c);
n += println();
return n;
}
size_t Print::println(unsigned char b, int base)
{
size_t n = print(b, base);
n += println();
return n;
}
size_t Print::println(int num, int base)
{
size_t n = print(num, base);
n += println();
return n;
}
size_t Print::println(unsigned int num, int base)
{
size_t n = print(num, base);
n += println();
return n;
}
size_t Print::println(long num, int base)
{
size_t n = print(num, base);
n += println();
return n;
}
size_t Print::println(unsigned long num, int base)
{
size_t n = print(num, base);
n += println();
return n;
}
size_t Print::println(double num, int digits)
{
size_t n = print(num, digits);
n += println();
return n;
}
size_t Print::println(const Printable& x)
{
size_t n = print(x);
n += println();
return n;
}
// Private Methods /////////////////////////////////////////////////////////////
size_t Print::printNumber(unsigned long n, uint8_t base) {
char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte.
char *str = &buf[sizeof(buf) - 1];
*str = '\0';
// prevent crash if called with base == 1
if (base < 2) base = 10;
do {
unsigned long m = n;
n /= base;
char c = m - base * n;
*--str = c < 10 ? c + '0' : c + 'A' - 10;
} while(n);
return write(str);
}
size_t Print::printFloat(double number, uint8_t digits)
{
size_t n = 0;
// Handle negative numbers
if (number < 0.0)
{
n += print('-');
number = -number;
}
// Round correctly so that print(1.999, 2) prints as "2.00"
double rounding = 0.5;
for (uint8_t i=0; i<digits; ++i)
rounding /= 10.0;
number += rounding;
// Extract the integer part of the number and print it
unsigned long int_part = (unsigned long)number;
double remainder = number - (double)int_part;
n += print(int_part);
// Print the decimal point, but only if there are digits beyond
if (digits > 0) {
n += print(".");
}
// Extract digits from the remainder one at a time
while (digits-- > 0)
{
remainder *= 10.0;
int toPrint = int(remainder);
n += print(toPrint);
remainder -= toPrint;
}
return n;
}
#include <iostream>
#include <vector>
int main()
{
std::vector<std::vector<double> > DV; //2d vector
std::vector<double>temp(8,0.0); //1d vector
temp[0] = 1;
temp[1] = 2;
temp[2] = 3;
temp[3] = 4;
temp[4] = 5;
temp[5] = 6;
temp[6] = 7;
temp[7] = 8;
DV.resize(3, temp);
for (int i = 0; i < DV.size(); i++)
{
for (int j = 0; j < DV.size(); j++)
{
std::cout << DV[i][j];
}
}
std::cin.get();
}
The convertion actually works but it does not give the expected the result. The output should be:
1 2 3
4 5 6
7 8
and it outputs:
123123123
Thanks in advance
I'm not aware of a method to automagically turn a 1D vector into a 2D one. It's not too hard to do manually, though...
typedef std::vector<std::vector<double>> DoubleVector2D;
DoubleVector2D boxed(size_t cols, std::vector<double> values) {
DoubleVector2D result;
for (std::size_t i = 0; i < values.size(); ++i) {
if (i % cols == 0) result.resize(result.size() + 1);
result[i / cols].push_back(values[i]);
}
return result;
}
With that done, you can call boxed(3, temp) to get back a vector of vectors of doubles. At that point, you just have to loop over them.
for (auto row : DV) {
for (auto value : row) {
std::cout << value << ' ';
}
std::cout << "\n";
}
If you're stuck without decent C++11 support, you may need to use counters or iterators.
for (int row = 0; row < DV.size(); ++row) {
for (int col = 0; col < DV[i].size(); ++col) {
std::cout << DV[row][col] << ' ';
}
std::cout << '\n';
}
Change this lines
for (int i = 0; i < DV.size(); i++){
for (int j = 0; j < DV.size(); j++){
std::cout << DV[i][j] << ", ";
}
std::cout << std::endl;
}
Your issue is how you are printing your values to the standard output.