Simple Multilateration c++ math realisation? - python

I'm trying to realize a multi trilateration in c++. I have three ranges with which I want to determine a certain point in 3d space. I've already looked up for solutions and found a usable python code snipped. Then I have rewritten the whole snipped in c++ but the results are kind of odd and of the expected results. Their must be some common mistakes which I just don't see (maybe it's too obvious lol).
The test data is from here, and I know that this linear way of solving the gps trillat problem is not even remotely accurate but that's not important for my purpose.
The resulting vector is: -3.39803e+29, 3.39803e+29, -3.39803e+29 which cannot be true.
/* Recursive function for finding determinant of matrix.
n(rows) is current dimension of A[][]. */
double clacDeterminant(double **A, int rows)
{
double D = 0; // Initialize result
// Base case : if matrix contains single element
if (rows == 1)
return A[0][0];
int sign = 1; // To store sign multiplier
// Iterate for each element of first row
for (int f = 0; f < rows; f++)
{
// Getting Cofactor of A[0][f]
double **temp = getCofactor(A, 0, f, rows);
D += sign * A[0][f] * clacDeterminant(A, rows - 1);
// terms are to be added with alternate sign
sign = -sign;
}
return D;
}
// Function to get adjoint of A[N][N] in adj[N][N].
double** calcAdjoint(double **A, int matrixArows)
{
double** adj = allocate2Ddouble(matrixArows, posMTrillatASize);
int sign = 0;
for (int i=0; i<matrixArows; i++)
{
for (int j=0; j<posMTrillatASize; j++)
{
// Get cofactor of A[i][j]
double **temp = getCofactor(A, i, j, posMTrillatASize);
// sign of adj[j][i] positive if sum of row
// and column indexes is even.
sign = ((i+j)%2==0)? 1: -1;
// Interchanging rows and columns to get the
// transpose of the cofactor matrix
adj[i][j] = (sign)*(clacDeterminant(A, posMTrillatASize-1));
}
}
return adj;
}
// by https://www.programiz.com/cpp-programming/examples/matrix-multiplication-function modified by L.K.
// method assumes that matrices have same dim sizes
double** multiplyMatrices(double **matrixA, double **matrixB, int matrixArows)
{
double** outputMatrix = allocate2Ddouble(matrixArows, posMTrillatASize);
int i, j, k;
// Initializing elements of matrix mult to 0.
for(i = 0; i < matrixArows; ++i)
{
for(j = 0; j < posMTrillatASize; ++j)
{
outputMatrix[i][j] = 0;
}
}
// Multiplying matrix matrixA and matrixB and storing in array mult.
for(i = 0; i < matrixArows; ++i)
{
for(j = 0; j < posMTrillatASize; ++j)
{
for(k=0; k<posMTrillatASize; ++k)
{
outputMatrix[i][j] += matrixA[i][k] * matrixB[k][j];
}
}
}
return outputMatrix;
}
double* multiplyMatrixByVector(double **matrixA, double vectorB[])
{
double vectorRes[posMTrillatASize];
memset(vectorRes, 0, posMTrillatASize*sizeof(double));
for (int i=0;i<posMTrillatASize;i++)
{
for (int j=0;j<posMTrillatASize;j++)
{
vectorRes[i]+= (matrixA[i][j]*vectorB[j]);
}
}
return vectorRes;
}
double** transpose2DimMatrix(double **inputArr, int matrixArows, int transpose2DimMatrix)
{
double **outputArr = allocate2Ddouble(transpose2DimMatrix, matrixArows);
for (int i = 0; i < matrixArows; ++i)
{
for (int j = 0; j < transpose2DimMatrix; ++j)
{
outputArr[j][i] = inputArr[i][j];
}
}
return outputArr;
}
// Function to calculate and store inverse, returns 0 if false
// matrix is singular by https://www.geeksforgeeks.org/adjoint-inverse-matrix/
double** calcInverse(double **A, int matrixArows)
{
double** inverse = allocate2Ddouble(matrixArows, posMTrillatASize);
// Find determinant of A[][]
int det = clacDeterminant(A, posMTrillatASize);
if (det == 0)
{
cout << "Singular matrix, can't find its inverse";
return 0;
}
// Find adjoint
double **adj = calcAdjoint(A, matrixArows);
// Find Inverse using formula "inverse(A) = adj(A)/det(A)"
for (int i=0; i<matrixArows; i++)
for (int j=0; j<posMTrillatASize; j++)
inverse[i][j] = adj[i][j]/double(det);
return inverse;
}
double* leastSquareReg(double **matrixA, double vectorB[], int matrixArows, int matrixAcol)
{
double **matrixATransposed = transpose2DimMatrix(matrixA, matrixArows, matrixAcol);
double **matrixATransposedA = multiplyMatrices(matrixATransposed, matrixA, matrixAcol);
double **matrixATransposedAInverse = calcInverse(matrixATransposedA, matrixArows);
double **matrixATransposedAAdd = multiplyMatrices(matrixATransposedAInverse, matrixATransposed, matrixArows);
double *finalX = multiplyMatrixByVector(matrixATransposedAAdd, vectorB);
return finalX;
}
ecefPos trillatPosFromRange(satLocation finalSatPos, satRanges finalSatRanges)
{
std::map<int, ecefPos>::iterator it_;
std::map<int, double>::iterator finalSatRangesMap;
int matrixArows, matrixAcol = 0;
double x, y, z;
double Am, Bm, Cm, Dm;
double range;
int nSat = finalSatPos.locations.size();
ecefPos finalPos = { 0.0, 0.0, 0.0 };
matrixAcol = posMTrillatASize;
matrixArows = nSat;
double **matrixA = allocate2Ddouble(nSat, 3);
double vectorB[posMTrillatASize] = {};
int i = 0;
for (it_ = finalSatPos.locations.begin(); it_ != finalSatPos.locations.end(); it_++)
{
// look up for pseudo range with same sat id
finalSatRangesMap = finalSatRanges.ranges.find(it_->first);
range = finalSatRangesMap->second;
if (it_ != finalSatPos.locations.end())
{
x = it_->second.x;
y = it_->second.y;
z = it_->second.z;
Am = -2*x;
Bm = -2*y;
Cm = -2*z;
Dm = EARTH_RADIUS_KM*EARTH_RADIUS_KM + (pow(x,2)+pow(y,2)+pow(z,2)) - pow(range,2);
matrixA[i][0] = Am;
matrixA[i][1] = Bm;
matrixA[i][2] = Cm;
vectorB[i] = Dm;
i++;
} else
{
std::cout << "could not find sat pos for user pos trilateration" << std::endl;
}
}
// least square regression
double *finalECEF = leastSquareReg(matrixA, vectorB, matrixArows, matrixAcol);
finalPos.x = finalECEF[0];
finalPos.y = finalECEF[1];
finalPos.z = finalECEF[2];
for (int i = 0; i < 5; ++i)
{
std::cout << finalECEF[i] << std::endl;
}
return finalPos;
}

Related

Trouble using Python ctypes to run C dll function (array output with unknown size)

I'm trying to execute a C function using Python ctypes, but I'm doing something wrong.
The C function was originally converted from MATLAB to C code using MATLAB coder. The function gives as output an array of undefined length, which depends on the input.
This is the MATLAB code:
function a = array_output(n)
%$codegen
if n > 2*pi
a = 1:n;
else
a = [1,2,3];
end
end
And this is the obtained C code:
void array_output(double n, emxArray_real_T *a)
{
int i;
int loop_ub;
if (n > 6.2831853071795862) {
i = a->size[0] * a->size[1];
a->size[0] = 1;
loop_ub = (int)floor(n - 1.0);
a->size[1] = loop_ub + 1;
emxEnsureCapacity_real_T(a, i);
for (i = 0; i <= loop_ub; i++) {
a->data[i] = (double)i + 1.0;
}
} else {
i = a->size[0] * a->size[1];
a->size[0] = 1;
a->size[1] = 3;
emxEnsureCapacity_real_T(a, i);
a->data[0] = 1.0;
a->data[1] = 2.0;
a->data[2] = 3.0;
}
}
struct emxArray_real_T
{
double *data;
int *size;
int allocatedSize;
int numDimensions;
boolean_T canFreeData;
};
Please, find at the end of my question an example implementation they provide.
I am trying to execute it using Python's ctype using the following code:
dll = ctypes.cdll.LoadLibrary(dll_path)
class DataStruct(ctypes.Structure):
_fields_ = [
('data', ctypes.POINTER(ctypes.c_double)),
('size', ctypes.POINTER(ctypes.c_int)),
('allocatedSize', ctypes.c_int),
('numDimensions', ctypes.c_int),
('canFreeData', ctypes.c_bool)
]
array = ctypes.POINTER(ctypes.c_double)()
size = numpy.array([0, 0]).ctypes.data_as(ctypes.POINTER(ctypes.c_int))
allocatedSize = 0
numDimensions = 2
canFreeData = True
data_struct = DataStruct(array, size, allocatedSize, numDimensions, canFreeData)
dll.array_output.argtypes = [ctypes.c_double, DataStruct]
dll.array_output.restype = None
dll.array_output(50, data_struct)
The output data_struct contains the right size field (data_struct.size[1] is 50), but when I try to access data_struct.data[0], I get the following error:
ValueError: NULL pointer access
Can anyone help me understanding what I'm doing wrong here?
--
Example implementation (code snippets):
void main(){
// pseudo-code here
emxArray_real_T *a;
emxInitArray_real_T(&a, 2);
/* Initialize function 'array_output' input arguments. */
/* Call the entry-point 'array_output'. */
array_output(5.0, a);
}
void emxInitArray_real_T(emxArray_real_T **pEmxArray, int numDimensions)
{
emxInit_real_T(pEmxArray, numDimensions);
}
void emxInit_real_T(emxArray_real_T **pEmxArray, int numDimensions)
{
emxArray_real_T *emxArray;
int i;
*pEmxArray = (emxArray_real_T *)malloc(sizeof(emxArray_real_T));
emxArray = *pEmxArray;
emxArray->data = (double *)NULL;
emxArray->numDimensions = numDimensions;
emxArray->size = (int *)malloc(sizeof(int) * numDimensions);
emxArray->allocatedSize = 0;
emxArray->canFreeData = true;
for (i = 0; i < numDimensions; i++) {
emxArray->size[i] = 0;
}
}
void emxEnsureCapacity_real_T(emxArray_real_T *emxArray, int oldNumel)
{
int newNumel;
int i;
void *newData;
if (oldNumel < 0) {
oldNumel = 0;
}
newNumel = 1;
for (i = 0; i < emxArray->numDimensions; i++) {
newNumel *= emxArray->size[i];
}
if (newNumel > emxArray->allocatedSize) {
i = emxArray->allocatedSize;
if (i < 16) {
i = 16;
}
while (i < newNumel) {
if (i > 1073741823) {
i = MAX_int32_T;
} else {
i *= 2;
}
}
newData = calloc((unsigned int)i, sizeof(double));
if (emxArray->data != NULL) {
memcpy(newData, emxArray->data, sizeof(double) * oldNumel);
if (emxArray->canFreeData) {
free(emxArray->data);
}
}
emxArray->data = (double *)newData;
emxArray->allocatedSize = i;
emxArray->canFreeData = true;
}
}
The second argument of array_output is a emxArray_real_T *, but you're trying to pass the structure by value as if it were just a emxArray_real_T. To fix that, change dll.array_output.argtypes = [ctypes.c_double, DataStruct] to dll.array_output.argtypes = [ctypes.c_double, ctypes.POINTER(DataStruct)] and dll.array_output(50, data_struct) to dll.array_output(50, ctypes.byref(data_struct)).

Performance challenge: Box operations (HackerRank) (C, Python)

Recently I've been doing some challenges on HackerRank and came across this one. First, I tried with Python, and then C. Both of my codes failed due to timeout restrictions.
It would be very helpful, if someone can tell me what can be improved in (one of) my codes (performance-wise).
Thank you.
Challenge description:
C code:
int minBox(int *box, int l, int r){
int min=box[l];
for(int i = l+1; i<=r; i++)
if(box[i] < min)
min = box[i];
return min;
}
int sumBox(int *box, int l, int r){
int sum=0;
for(int i = l; i<=r; i++)
sum += box[i];
return sum;
}
void operateOnBox(int *op, int *box){
switch(op[0]){
case 3:
printf("%d\n", minBox(box, op[1], op[2]));
break;
case 4:
printf("%d\n", sumBox(box, op[1], op[2]));
break;
case 1:
for(int i = op[1]; i <= op[2]; i++)
box[i] += op[3];
break;
case 2:
for(int i = op[1]; i <= op[2]; i++)
box[i] = (int) floor(box[i]/((float)op[3]));
break;
}
}
int main()
{
int n, q, *box;
scanf("%d %d", &n, &q);
box = (int*) malloc(sizeof(int) * n);
for(int i = 0; i<n; i++)
scanf("%d", box+i);
for(int i = 0; i<q; i++){
int op[4];
scanf("%d %d %d", op, op+1, op+2);
if(op[0] == 1 || op[0] == 2)
scanf("%d", op+3);
operateOnBox(op, box);
}
return 0;
}
Python 3 code:
def operate(op, box):
if op[0] == 3:
print(min(box[op[1]:op[2]+1]))
elif op[0] == 4:
print(sum(box[op[1]:op[2]+1]))
elif op[0] == 1:
box[op[1]:op[2]+1] = map(lambda x: x+op[3], box[op[1]:op[2]+1])
elif op[0] == 2:
box[op[1]:op[2]+1] = map(lambda x: math.floor(x/op[3]), box[op[1]:op[2]+1])
if __name__ == '__main__':
nq = input().split()
n = int(nq[0])
q = int(nq[1])
box = list(map(int, input().rstrip().split()))
for i in range(q):
op = list(map(int, input().split()))
operate(op, box)
using scanf() and printf() is very slow. Suggest the following two functions;
void fastRead( size_t *a );
void fastWrite( size_t a );
inline void fastRead(size_t *a)
{
int c=0;
// note: 32 is space character
while (c<33) c=getchar_unlocked();
// initialize result value
*a=0;
// punctuation parens, etc are show stoppers
while (c>47 && c<58)
{
*a = (*a)*10 + (size_t)(c-48);
c=getchar_unlocked();
}
//printf( "%s, value: %lu\n", __func__, *a );
} // end function: fastRead
inline void fastWrite(size_t a)
{
char snum[20];
//printf( "%s, %lu\n", __func__, a );
int i=0;
do
{
// 48 is numeric character 0
snum[i++] = (char)((a%10)+(size_t)48);
a=a/10;
}while(a>0);
i=i-1; // correction for overincrement from prior 'while' loop
while(i>=0)
{
putchar_unlocked(snum[i--]);
}
putchar_unlocked('\n');
} // end function: fastWrite

Pass a 2d numpy array to c using ctypes

What is the correct way to pass a numpy 2d - array to a c function using ctypes ?
My current approach so far (leads to a segfault):
C code :
void test(double **in_array, int N) {
int i, j;
for(i = 0; i<N; i++) {
for(j = 0; j<N; j++) {
printf("%e \t", in_array[i][j]);
}
printf("\n");
}
}
Python code:
from ctypes import *
import numpy.ctypeslib as npct
array_2d_double = npct.ndpointer(dtype=np.double,ndim=2, flags='CONTIGUOUS')
liblr = npct.load_library('libtest.so', './src')
liblr.test.restype = None
liblr.test.argtypes = [array_2d_double, c_int]
x = np.arange(100).reshape((10,10)).astype(np.double)
liblr.test(x, 10)
This is probably a late answer, but I finally got it working. All credit goes to Sturla Molden at this link.
The key is, note that double** is an array of type np.uintp. Therefore, we have
xpp = (x.ctypes.data + np.arange(x.shape[0]) * x.strides[0]).astype(np.uintp)
doublepp = np.ctypeslib.ndpointer(dtype=np.uintp)
And then use doublepp as the type, pass xpp in. See full code attached.
The C code:
// dummy.c
#include <stdlib.h>
__declspec(dllexport) void foobar(const int m, const int n, const
double **x, double **y)
{
size_t i, j;
for(i=0; i<m; i++)
for(j=0; j<n; j++)
y[i][j] = x[i][j];
}
The Python code:
# test.py
import numpy as np
from numpy.ctypeslib import ndpointer
import ctypes
_doublepp = ndpointer(dtype=np.uintp, ndim=1, flags='C')
_dll = ctypes.CDLL('dummy.dll')
_foobar = _dll.foobar
_foobar.argtypes = [ctypes.c_int, ctypes.c_int, _doublepp, _doublepp]
_foobar.restype = None
def foobar(x):
y = np.zeros_like(x)
xpp = (x.__array_interface__['data'][0]
+ np.arange(x.shape[0])*x.strides[0]).astype(np.uintp)
ypp = (y.__array_interface__['data'][0]
+ np.arange(y.shape[0])*y.strides[0]).astype(np.uintp)
m = ctypes.c_int(x.shape[0])
n = ctypes.c_int(x.shape[1])
_foobar(m, n, xpp, ypp)
return y
if __name__ == '__main__':
x = np.arange(9.).reshape((3, 3))
y = foobar(x)
Hope it helps,
Shawn
#include <stdio.h>
void test(double (*in_array)[3], int N){
int i, j;
for(i = 0; i < N; i++){
for(j = 0; j < N; j++){
printf("%e \t", in_array[i][j]);
}
printf("\n");
}
}
int main(void)
{
double a[][3] = {
{1., 2., 3.},
{4., 5., 6.},
{7., 8., 9.},
};
test(a, 3);
return 0;
}
if you want to use a double ** in your function, you must pass an array of pointer to double (not a 2d array):
#include <stdio.h>
void test(double **in_array, int N){
int i, j;
for(i = 0; i < N; i++){
for(j = 0; j< N; j++){
printf("%e \t", in_array[i][j]);
}
printf("\n");
}
}
int main(void)
{
double a[][3] = {
{1., 2., 3.},
{4., 5., 6.},
{7., 8., 9.},
};
double *p[] = {a[0], a[1], a[2]};
test(p, 3);
return 0;
}
Another (as suggested by #eryksun): pass a single pointer and do some arithmetic to get the index:
#include <stdio.h>
void test(double *in_array, int N){
int i, j;
for(i = 0; i < N; i++){
for(j = 0; j< N; j++){
printf("%e \t", in_array[i * N + j]);
}
printf("\n");
}
}
int main(void)
{
double a[][3] = {
{1., 2., 3.},
{4., 5., 6.},
{7., 8., 9.},
};
test(a[0], 3);
return 0;
}
While the reply might be rather late, I hope it could help other people with the same problem.
As numpy arrays are internally saved as 1d arrays, one can simply rebuild 2d shape in C. Here is a small MWE:
// libtest2d.c
#include <stdlib.h> // for malloc and free
#include <stdio.h> // for printf
// create a 2d array from the 1d one
double ** convert2d(unsigned long len1, unsigned long len2, double * arr) {
double ** ret_arr;
// allocate the additional memory for the additional pointers
ret_arr = (double **)malloc(sizeof(double*)*len1);
// set the pointers to the correct address within the array
for (int i = 0; i < len1; i++) {
ret_arr[i] = &arr[i*len2];
}
// return the 2d-array
return ret_arr;
}
// print the 2d array
void print_2d_list(unsigned long len1,
unsigned long len2,
double * list) {
// call the 1d-to-2d-conversion function
double ** list2d = convert2d(len1, len2, list);
// print the array just to show it works
for (unsigned long index1 = 0; index1 < len1; index1++) {
for (unsigned long index2 = 0; index2 < len2; index2++) {
printf("%1.1f ", list2d[index1][index2]);
}
printf("\n");
}
// free the pointers (only)
free(list2d);
}
and
# test2d.py
import ctypes as ct
import numpy as np
libtest2d = ct.cdll.LoadLibrary("./libtest2d.so")
libtest2d.print_2d_list.argtypes = (ct.c_ulong, ct.c_ulong,
np.ctypeslib.ndpointer(dtype=np.float64,
ndim=2,
flags='C_CONTIGUOUS'
)
)
libtest2d.print_2d_list.restype = None
arr2d = np.meshgrid(np.linspace(0, 1, 6), np.linspace(0, 1, 11))[0]
libtest2d.print_2d_list(arr2d.shape[0], arr2d.shape[1], arr2d)
If you compile the code with gcc -shared -fPIC libtest2d.c -o libtest2d.so and then run python test2d.py it should print the array.
I hope the example is more or less self-explaining. The idea is, that the shape is also given to the C-Code which then creates a double ** pointer for which the space for the additional pointers is reserved. And these then are then set to point to the correct part of the original array.
PS: I am rather a beginner in C so please comment if there are reasons not to do this.
Here i hava pass two 2d numpy array and print value of one array for the reference
you can use and write your own logic in cpp
cpp_function.cpp
compile it using : g++ -shared -fPIC cpp_function.cpp -o cpp_function.so
#include <iostream>
extern "C" {
void mult_matrix(double *a1, double *a2, size_t a1_h, size_t a1_w,
size_t a2_h, size_t a2_w, int size)
{
//std::cout << "a1_h & a1_w" << a1_h << a1_w << std::endl;
//std::cout << "a2_h & a2_w" << a2_h << a2_w << std::endl;
for (size_t i = 0; i < a1_h; i++) {
for (size_t j = 0; j < a1_w; j++) {
printf("%f ", a1[i * a1_h + j]);
}
printf("\n");
}
printf("\n");
}
}
Python File
main.py
import ctypes
import numpy
from time import time
libmatmult = ctypes.CDLL("./cpp_function.so")
ND_POINTER_1 = numpy.ctypeslib.ndpointer(dtype=numpy.float64,
ndim=2,
flags="C")
ND_POINTER_2 = numpy.ctypeslib.ndpointer(dtype=numpy.float64,
ndim=2,
flags="C")
libmatmult.mult_matrix.argtypes = [ND_POINTER_1, ND_POINTER_2, ctypes.c_size_t, ctypes.c_size_t]
# print("-->", ctypes.c_size_t)
def mult_matrix_cpp(a,b):
shape = a.shape[0] * a.shape[1]
libmatmult.mult_matrix.restype = None
libmatmult.mult_matrix(a, b, *a.shape, *b.shape , a.shape[0] * a.shape[1])
size_a = (300,300)
size_b = size_a
a = numpy.random.uniform(low=1, high=255, size=size_a)
b = numpy.random.uniform(low=1, high=255, size=size_b)
t2 = time()
out_cpp = mult_matrix_cpp(a,b)
print("cpp time taken:{:.2f} ms".format((time() - t2) * 1000))
out_cpp = numpy.array(out_cpp).reshape(size_a[0], size_a[1])

matplotlib - Spectrogram (v1.3.1)

I'm interested in knowing just how matplotlib processes the spectrogram. I understand most parts, specifically in the FFT and others, but, to me the scaling does not seem correct. The default is to return the PSD of the signal, however, I cannot seem to replicate it whatsoever. For example, in matplotlib I get this result:
However, when trying to replicate this (in C++) I get this result:
In C++ and plotted with matplotlib I get this result:
I'm mainly interested in how they somehow "remove" the noise factor to show the bins which have the most power in them. The graph I shove (above) in C++ I get similar results, yet, they are different.
Any help would be really appreciated.
std::vector<std::vector<Complex::complex> > ComputeSTFT(std::vector<double>
&vals, std::size_t NFFT, std::size_t overlap)
{
std::vector<std::vector<double> > temp_vars = frame(vals, NFFT, overlap);
std::vector<std::vector<Complex::complex> > STFT(temp_vars.size());
std::vector<double> hanning = getHanningWindow(256);
for(unsigned i=0; (i < temp_vars.size()); i++)
{
for(unsigned j=0; (j < temp_vars[i].size()); j++)
{
double calculation = temp_vars[i][j] * hanning[j];
calculation = (calculation == -0) ? 0 : calculation;
temp_vars[i][j] = calculation;
}
}
std::vector<std::vector<Complex::complex> > fft_vars(temp_vars.size());
for(unsigned i=0; (i < temp_vars.size()); i++)
{
fft_vars.resize(temp_vars[i].size());
FFT f(temp_vars[i].begin(), temp_vars[i].end(), temp_vars[i].size());
std::vector<Complex::complex> temp_fft = f.transformed();
fft_vars[i] = temp_fft;
}
for(unsigned i=0; (i < temp_vars.size()); i++)
{
STFT[i].resize(temp_vars[i].size()/2+1);
for(unsigned j=0; (j < temp_vars[i].size()/2 + 1); j++)
{
STFT[i][j].re = fft_vars[i][j].re;
STFT[i][j].im = fft_vars[i][j].im;
}
}
return STFT;
}
std::vector<double> CalculatePSD(std::vector<Complex::complex> &vals)
{
std::vector<double> result(vals.size());
for(unsigned i=0; (i < vals.size()); i++)
{
double mag = vals[i].re * vals[i].re + vals[i].im * vals[i].im;
result[i] = mag;
}
std::vector<double> hanning = getHanningWindow(128);
double sum = 0.0;
for(unsigned i=0; (i < vals.size()); i++)
{
sum += abs(hanning[i]);
}
for(unsigned i=0; (i < vals.size()); i++)
{
result[i] = result[i] * 2/(12000)*sum;
//result[i] /= sum;
//result[i] *= 1;
}
return result;
}

NO Idea why this python script will not run [closed]

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Closed 10 years ago.
so I have this python script here, and I am trying to run it but I get a syntax error. I do not see anything wrong with the syntax. Here is the code:
#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#define KSYM_NAME_LEN 127
struct sym_entry {
unsigned long long addr;
unsigned int len;
unsigned char *sym;
};
static struct sym_entry *table;
static unsigned int table_size, table_cnt;
static unsigned long long _text, _stext, _etext, _sinittext, _einittext, _sextratext, _eextratext;
static int all_symbols = 0;
static char symbol_prefix_char = '\0';
int token_profit[0x10000];
/* the table that holds the result of the compression */
unsigned char best_table[256][2];
unsigned char best_table_len[256];
static void usage(void)
{
fprintf(stderr, "Usage: kallsyms [--all-symbols] [--symbol-prefix=<prefix char>] < in.map > out.S\n");
exit(1);
}
/*
* This ignores the intensely annoying "mapping symbols" found
* in ARM ELF files: $a, $t and $d.
*/
static inline int is_arm_mapping_symbol(const char *str)
{
return str[0] == '$' && strchr("atd", str[1])
&& (str[2] == '\0' || str[2] == '.');
}
static int read_symbol(FILE *in, struct sym_entry *s)
{
char str[500];
char *sym, stype;
int rc;
rc = fscanf(in, "%llx %c %499s\n", &s->addr, &stype, str);
if (rc != 3) {
if (rc != EOF) {
/* skip line */
fgets(str, 500, in);
}
return -1;
}
sym = str;
/* skip prefix char */
if (symbol_prefix_char && str[0] == symbol_prefix_char)
sym++;
/* Ignore most absolute/undefined (?) symbols. */
if (strcmp(sym, "_text") == 0)
_text = s->addr;
else if (strcmp(sym, "_stext") == 0)
_stext = s->addr;
else if (strcmp(sym, "_etext") == 0)
_etext = s->addr;
else if (strcmp(sym, "_sinittext") == 0)
_sinittext = s->addr;
else if (strcmp(sym, "_einittext") == 0)
_einittext = s->addr;
else if (strcmp(sym, "_sextratext") == 0)
_sextratext = s->addr;
else if (strcmp(sym, "_eextratext") == 0)
_eextratext = s->addr;
else if (toupper(stype) == 'A')
{
/* Keep these useful absolute symbols */
if (strcmp(sym, "__kernel_syscall_via_break") &&
strcmp(sym, "__kernel_syscall_via_epc") &&
strcmp(sym, "__kernel_sigtramp") &&
strcmp(sym, "__gp"))
return -1;
}
else if (toupper(stype) == 'U' ||
is_arm_mapping_symbol(sym))
return -1;
/* exclude also MIPS ELF local symbols ($L123 instead of .L123) */
else if (str[0] == '$')
return -1;
/* include the type field in the symbol name, so that it gets
* compressed together */
s->len = strlen(str) + 1;
s->sym = malloc(s->len + 1);
if (!s->sym) {
fprintf(stderr, "kallsyms failure: "
"unable to allocate required amount of memory\n");
exit(EXIT_FAILURE);
}
strcpy((char *)s->sym + 1, str);
s->sym[0] = stype;
return 0;
}
static int symbol_valid(struct sym_entry *s)
{
/* Symbols which vary between passes. Passes 1 and 2 must have
* identical symbol lists. The kallsyms_* symbols below are only added
* after pass 1, they would be included in pass 2 when --all-symbols is
* specified so exclude them to get a stable symbol list.
*/
static char *special_symbols[] = {
"kallsyms_addresses",
"kallsyms_num_syms",
"kallsyms_names",
"kallsyms_markers",
"kallsyms_token_table",
"kallsyms_token_index",
/* Exclude linker generated symbols which vary between passes */
"_SDA_BASE_", /* ppc */
"_SDA2_BASE_", /* ppc */
NULL };
int i;
int offset = 1;
/* skip prefix char */
if (symbol_prefix_char && *(s->sym + 1) == symbol_prefix_char)
offset++;
/* if --all-symbols is not specified, then symbols outside the text
* and inittext sections are discarded */
if (!all_symbols) {
if ((s->addr < _stext || s->addr > _etext)
&& (s->addr < _sinittext || s->addr > _einittext)
&& (s->addr < _sextratext || s->addr > _eextratext))
return 0;
/* Corner case. Discard any symbols with the same value as
* _etext _einittext or _eextratext; they can move between pass
* 1 and 2 when the kallsyms data are added. If these symbols
* move then they may get dropped in pass 2, which breaks the
* kallsyms rules.
*/
if ((s->addr == _etext && strcmp((char*)s->sym + offset, "_etext")) ||
(s->addr == _einittext && strcmp((char*)s->sym + offset, "_einittext")) ||
(s->addr == _eextratext && strcmp((char*)s->sym + offset, "_eextratext")))
return 0;
}
/* Exclude symbols which vary between passes. */
if (strstr((char *)s->sym + offset, "_compiled."))
return 0;
for (i = 0; special_symbols[i]; i++)
if( strcmp((char *)s->sym + offset, special_symbols[i]) == 0 )
return 0;
return 1;
}
static void read_map(FILE *in)
{
while (!feof(in)) {
if (table_cnt >= table_size) {
table_size += 10000;
table = realloc(table, sizeof(*table) * table_size);
if (!table) {
fprintf(stderr, "out of memory\n");
exit (1);
}
}
if (read_symbol(in, &table[table_cnt]) == 0)
table_cnt++;
}
}
static void output_label(char *label)
{
if (symbol_prefix_char)
printf(".globl %c%s\n", symbol_prefix_char, label);
else
printf(".globl %s\n", label);
printf("\tALGN\n");
if (symbol_prefix_char)
printf("%c%s:\n", symbol_prefix_char, label);
else
printf("%s:\n", label);
}
/* uncompress a compressed symbol. When this function is called, the best table
* might still be compressed itself, so the function needs to be recursive */
static int expand_symbol(unsigned char *data, int len, char *result)
{
int c, rlen, total=0;
while (len) {
c = *data;
/* if the table holds a single char that is the same as the one
* we are looking for, then end the search */
if (best_table[c][0]==c && best_table_len[c]==1) {
*result++ = c;
total++;
} else {
/* if not, recurse and expand */
rlen = expand_symbol(best_table[c], best_table_len[c], result);
total += rlen;
result += rlen;
}
data++;
len--;
}
*result=0;
return total;
}
static void write_src(void)
{
unsigned int i, k, off;
unsigned int best_idx[256];
unsigned int *markers;
char buf[KSYM_NAME_LEN+1];
printf("#include <asm/types.h>\n");
printf("#if BITS_PER_LONG == 64\n");
printf("#define PTR .quad\n");
printf("#define ALGN .align 8\n");
printf("#else\n");
printf("#define PTR .long\n");
printf("#define ALGN .align 4\n");
printf("#endif\n");
printf(".data\n");
/* Provide proper symbols relocatability by their '_text'
* relativeness. The symbol names cannot be used to construct
* normal symbol references as the list of symbols contains
* symbols that are declared static and are private to their
* .o files. This prevents .tmp_kallsyms.o or any other
* object from referencing them.
*/
output_label("kallsyms_addresses");
for (i = 0; i < table_cnt; i++) {
if (toupper(table[i].sym[0]) != 'A') {
printf("\tPTR\t_text + %#llx\n",
table[i].addr - _text);
} else {
printf("\tPTR\t%#llx\n", table[i].addr);
}
}
printf("\n");
output_label("kallsyms_num_syms");
printf("\tPTR\t%d\n", table_cnt);
printf("\n");
/* table of offset markers, that give the offset in the compressed stream
* every 256 symbols */
markers = malloc(sizeof(unsigned int) * ((table_cnt + 255) / 256));
if (!markers) {
fprintf(stderr, "kallsyms failure: "
"unable to allocate required memory\n");
exit(EXIT_FAILURE);
}
output_label("kallsyms_names");
off = 0;
for (i = 0; i < table_cnt; i++) {
if ((i & 0xFF) == 0)
markers[i >> 8] = off;
printf("\t.byte 0x%02x", table[i].len);
for (k = 0; k < table[i].len; k++)
printf(", 0x%02x", table[i].sym[k]);
printf("\n");
off += table[i].len + 1;
}
printf("\n");
output_label("kallsyms_markers");
for (i = 0; i < ((table_cnt + 255) >> 8); i++)
printf("\tPTR\t%d\n", markers[i]);
printf("\n");
free(markers);
output_label("kallsyms_token_table");
off = 0;
for (i = 0; i < 256; i++) {
best_idx[i] = off;
expand_symbol(best_table[i], best_table_len[i], buf);
printf("\t.asciz\t\"%s\"\n", buf);
off += strlen(buf) + 1;
}
printf("\n");
output_label("kallsyms_token_index");
for (i = 0; i < 256; i++)
printf("\t.short\t%d\n", best_idx[i]);
printf("\n");
}
/* table lookup compression functions */
/* count all the possible tokens in a symbol */
static void learn_symbol(unsigned char *symbol, int len)
{
int i;
for (i = 0; i < len - 1; i++)
token_profit[ symbol[i] + (symbol[i + 1] << 8) ]++;
}
/* decrease the count for all the possible tokens in a symbol */
static void forget_symbol(unsigned char *symbol, int len)
{
int i;
for (i = 0; i < len - 1; i++)
token_profit[ symbol[i] + (symbol[i + 1] << 8) ]--;
}
/* remove all the invalid symbols from the table and do the initial token count */
static void build_initial_tok_table(void)
{
unsigned int i, pos;
pos = 0;
for (i = 0; i < table_cnt; i++) {
if ( symbol_valid(&table[i]) ) {
if (pos != i)
table[pos] = table[i];
learn_symbol(table[pos].sym, table[pos].len);
pos++;
}
}
table_cnt = pos;
}
/* replace a given token in all the valid symbols. Use the sampled symbols
* to update the counts */
static void compress_symbols(unsigned char *str, int idx)
{
unsigned int i, len, size;
unsigned char *p1, *p2;
for (i = 0; i < table_cnt; i++) {
len = table[i].len;
p1 = table[i].sym;
/* find the token on the symbol */
p2 = memmem(p1, len, str, 2);
if (!p2) continue;
/* decrease the counts for this symbol's tokens */
forget_symbol(table[i].sym, len);
size = len;
do {
*p2 = idx;
p2++;
size -= (p2 - p1);
memmove(p2, p2 + 1, size);
p1 = p2;
len--;
if (size < 2) break;
/* find the token on the symbol */
p2 = memmem(p1, size, str, 2);
} while (p2);
table[i].len = len;
/* increase the counts for this symbol's new tokens */
learn_symbol(table[i].sym, len);
}
}
/* search the token with the maximum profit */
static int find_best_token(void)
{
int i, best, bestprofit;
bestprofit=-10000;
best = 0;
for (i = 0; i < 0x10000; i++) {
if (token_profit[i] > bestprofit) {
best = i;
bestprofit = token_profit[i];
}
}
return best;
}
/* this is the core of the algorithm: calculate the "best" table */
static void optimize_result(void)
{
int i, best;
/* using the '\0' symbol last allows compress_symbols to use standard
* fast string functions */
for (i = 255; i >= 0; i--) {
/* if this table slot is empty (it is not used by an actual
* original char code */
if (!best_table_len[i]) {
/* find the token with the breates profit value */
best = find_best_token();
/* place it in the "best" table */
best_table_len[i] = 2;
best_table[i][0] = best & 0xFF;
best_table[i][1] = (best >> 8) & 0xFF;
/* replace this token in all the valid symbols */
compress_symbols(best_table[i], i);
}
}
}
/* start by placing the symbols that are actually used on the table */
static void insert_real_symbols_in_table(void)
{
unsigned int i, j, c;
memset(best_table, 0, sizeof(best_table));
memset(best_table_len, 0, sizeof(best_table_len));
for (i = 0; i < table_cnt; i++) {
for (j = 0; j < table[i].len; j++) {
c = table[i].sym[j];
best_table[c][0]=c;
best_table_len[c]=1;
}
}
}
static void optimize_token_table(void)
{
build_initial_tok_table();
insert_real_symbols_in_table();
/* When valid symbol is not registered, exit to error */
if (!table_cnt) {
fprintf(stderr, "No valid symbol.\n");
exit(1);
}
optimize_result();
}
int main(int argc, char **argv)
{
if (argc >= 2) {
int i;
for (i = 1; i < argc; i++) {
if(strcmp(argv[i], "--all-symbols") == 0)
all_symbols = 1;
else if (strncmp(argv[i], "--symbol-prefix=", 16) == 0) {
char *p = &argv[i][16];
/* skip quote */
if ((*p == '"' && *(p+2) == '"') || (*p == '\'' && *(p+2) == '\''))
p++;
symbol_prefix_char = *p;
} else
usage();
}
} else if (argc != 1)
usage();
read_map(stdin);
optimize_token_table();
write_src();
return 0;
}
Here is the error that I am getting:
File "joe.py", line 11
struct sym_entry {
^
SyntaxError: invalid syntax
Primary problem may be that the python code is actually C

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