16.01.2011 - new modules - pimath and pigeometry

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main.cpp

@@ -1,5 +1,10 @@
 #include "pip.h"
 
 int main(int argc, char * argv[]) {
-	cout << PIString("Hello PIP!") << endl;
+	PIMathMatrix<3, 2> m0(1., 2., 3.,
+						  4., 5., 6.);
+	PIMathMatrix<3, 2> m1(1., -2., 3.,
+						  -4., 5., -6.);
+	m0 += m1;
+	cout << m0 << endl;
 };

piconfig.cpp

@@ -1,8 +1,8 @@
 #include "piconfig.h"
 
 
-PIConfig::PIConfig(const PIString & path): PIFile(path) {
+PIConfig::PIConfig(const PIString & path, Flags<Mode> mode): PIFile(path, mode) {
-	if (!isOpened())
+	if (!isOpened() && (mode[Write] || mode[New]))
 		open(path, Read | Write | New);
 	parse();
 }
@@ -110,14 +110,14 @@ void PIConfig::insertLine(uint number, const PIString & name, const PIString & v
 		addLine(name, value, type);
 		return;
 	}
-	settname.insert(settname.begin() + number, name);
+	settname.insert(number, name);
-	settval.insert(settval.begin() + number, value);
+	settval.insert(number, value);
-	settcom.insert(settcom.begin() + number, "");
+	settcom.insert(number, "");
-	setttab.insert(setttab.begin() + number, setttab[number]);
+	setttab.insert(number, setttab[number]);
-	setttype.insert(setttype.begin() + number, type);
+	setttype.insert(number, type);
-	settlines.insert(settlines.begin() + number, settlines[number]);
+	settlines.insert(number, settlines[number]);
 	for (uint i = number + 1; i < settlines.size(); i++) settlines[i]++;
-	all.insert(all.begin() + settlines[number], name + " = " + value + " #" + type);
+	all.insert(settlines[number], name + " = " + value + " #" + type);
 	flush();
 	writeAll();
 }

piconfig.h

@@ -6,7 +6,7 @@
 class PIConfig: public PIFile
 {
 public:
-	PIConfig(const PIString & path);
+	PIConfig(const PIString & path, Flags<Mode> mode = Read | Write);
 	~PIConfig() {;}
 	
 	PIString getValue(const PIString & vname, const PIString & def = "", bool * exist = 0) const;
@@ -58,13 +58,13 @@ public:
 private:
 	void parse();
 	
-	vector<PIString> settname;
+	PIVector<PIString> settname;
-	vector<PIString> settval;
+	PIVector<PIString> settval;
-	vector<PIString> settcom;
+	PIVector<PIString> settcom;
-	vector<PIString> setttab;
+	PIVector<PIString> setttab;
-	vector<PIString> setttype;
+	PIVector<PIString> setttype;
-	vector<PIString> all;
+	PIVector<PIString> all;
-	vector<uint> settlines;
+	PIVector<uint> settlines;
 	uint lines;
 	
 };

piethernet.cpp

@@ -13,30 +13,46 @@ PIEthernet::PIEthernet(PIString ip, int port, void * data_, EthernetFunc slot):
 	WSADATA wsaData;
 	WSAStartup(MAKEWORD(2, 2), &wsaData);
 #endif
-	sock = socket(PF_INET, SOCK_DGRAM, 0);
+	initSend();
-	sock_s = socket(PF_INET, SOCK_DGRAM, 0);
-	if (sock == -1 || sock_s == -1)
-		cout << "[PIEthernet] Unable to create socket" << endl;
 }
 
 
 PIEthernet::~PIEthernet() {
-	if (isRunning()) {
+	terminate();
-		stop();
-		pthread_cancel(thread);
-	}
-	if (sock != -1) {
-		shutdown(sock, SHUT_RDWR);
-		close(sock);
-	}
-	if (sock_s != -1) {
-		shutdown(sock_s, SHUT_RDWR);
-		close(sock_s);
-	}
 #ifdef WINDOWS
 	WSACleanup();
 #endif
 	delete buffer;
+	if (sock != -1) {
+		shutdown(sock, SHUT_RDWR);
+		close(sock);
+		sock = -1;
+	}
+	if (sock_s != -1) {
+		shutdown(sock_s, SHUT_RDWR);
+		close(sock_s);
+		sock_s = -1;
+	}
+}
+
+
+void PIEthernet::terminate() {
+	if (!initialized()) return;
+	if (isRunning()) {
+		stop();
+		pthread_cancel(thread);
+	}
+	/*if (sock != -1) {
+	shutdown(sock, SHUT_RDWR);
+		shutdown(sock, SHUT_RDWR);
+		close(sock);
+		sock = -1;
+	}
+	if (sock_s != -1) {
+		shutdown(sock_s, SHUT_RDWR);
+		close(sock_s);
+		sock_s = -1;
+	}*/
 }
 
 
@@ -65,26 +81,29 @@ void PIEthernet::run() {
 
 
 void PIEthernet::end() {
-	if (sock != -1) {
+	terminate();
-		shutdown(sock, SHUT_RDWR);
-		close(sock);
-		sock = -1;
-	}
-	if (sock_s != -1) {
-		shutdown(sock_s, SHUT_RDWR);
-		close(sock_s);
-		sock_s = -1;
-	}
-	//cout << "[PIEthernet] end" << endl;
 }
 
 
 bool PIEthernet::init() {
-	addr_.sin_addr.s_addr = inet_addr(ip_.data());
+	addr_.sin_addr.s_addr = inet_addr(ip_.stdString().data());
 	addr_.sin_family = PF_INET;
 	addr_.sin_port = htons(port_);
+	close(sock);
+	sock = socket(PF_INET, SOCK_DGRAM, 0);
 	if (bind(sock, (sockaddr * )&addr_, sizeof(addr_)) == -1) {
-		cout << "[PIEthernet] Cant`t bind to " << ip_ << ":" << port_ << endl;
+		cout << "[PIEthernet] Cant`t bind to " << ip_.stdString() << ":" << port_ << endl;
+		return false;
+	}
+	return true;
+}
+
+
+bool PIEthernet::initSend() {
+	close(sock_s);
+	sock_s = socket(PF_INET, SOCK_DGRAM, 0);
+	if (sock_s == -1) {
+		cout << "[PIEthernet] Unable to create socket" << endl;
 		return false;
 	}
 	return true;
@@ -97,7 +116,7 @@ bool PIEthernet::send(PIString ip, int port, char * data, int size) {
 		return false;
 	}
 	saddr_.sin_port = htons(port);
-	saddr_.sin_addr.s_addr = inet_addr(ip.data());
+	saddr_.sin_addr.s_addr = inet_addr(ip.stdString().data());
 	saddr_.sin_family = PF_INET;
 	wrote = sendto(sock_s, data, size, 0, (sockaddr * )&saddr_, sizeof(saddr_));
 	if (wrote != size) {
@@ -115,7 +134,7 @@ bool PIEthernet::send(char * data, int size) {
 		return false;
 	}
 	saddr_.sin_port = htons(port_s);
-	saddr_.sin_addr.s_addr = inet_addr(ip_s.data());
+	saddr_.sin_addr.s_addr = inet_addr(ip_s.stdString().data());
 	saddr_.sin_family = PF_INET;
 	//cout << "[PIEthernet] sending in " << sock_s << endl;
 	wrote = sendto(sock_s, data, size, 0, (sockaddr * )&saddr_, sizeof(saddr_));

piethernet.h

@@ -20,17 +20,20 @@ class PIEthernet: public PIThread
 {
 public:
 	// slot is any function format "bool <func>(void*, char*)"
-	PIEthernet(PIString ip, int port, void * data, EthernetFunc slot = 0);
+	PIEthernet(PIString ip = "", int port = 0, void * data = 0, EthernetFunc slot = 0);
 	~PIEthernet();
 
 	void setSlot(EthernetFunc func) {ret_func = func;}
+	void setData(void * d) {data = d;}
 	void setReadAddress(PIString ip, int port) {ip_ = ip; port_ = port;}
 	void setSendAddress(PIString ip, int port) {ip_s = ip; port_s = port;}
 
 	bool send(PIString ip, int port, char * data, int size);
 	bool send(char * data, int size);
 	bool init();
+	bool initSend();
 	bool initialized() const {return sock != -1;}
+	void terminate();
 
 private:
 	void begin();

pifile.cpp

@@ -4,12 +4,13 @@
 bool PIFile::open(const PIString & path_, Flags<Mode> mode_) {
 	cpath = path_;
 	cmode = mode_;
+	string st = cpath.stdString();
 	if (cmode[New]) {
-		stream.open(cpath.stdString().c_str(), fstream::in | fstream::out | fstream::trunc);
+		stream.open(st.c_str(), fstream::in | fstream::out | fstream::trunc | fstream::binary);
 		stream.close();
 		cmode &= ~New;
-		stream.open(cpath.stdString().c_str(), (fstream::openmode)(int)cmode | fstream::binary);
+		stream.open(st.c_str(), (fstream::openmode)(int)cmode | fstream::binary);
-	} else stream.open(cpath.stdString().c_str(), (fstream::openmode)(int)cmode | fstream::binary);
+	} else stream.open(st.c_str(), (fstream::openmode)(int)cmode | fstream::binary);
 	return isOpened();
 }
 

pifile.h

@@ -11,17 +11,21 @@ class PIFile
 {
 public:
 	PIFile() {;}
+	
 	enum Mode {Read = fstream::in, Write = fstream::out, Truncate = fstream::trunc, New = fstream::app};
+	
 	PIFile(const PIString & path, Flags<Mode> mode = Read | Write) {open(path, mode);}
+	PIFile(const PIFile & file) {cpath = file.cpath; cmode = file.cmode;}
 	~PIFile() {if (isOpened()) close();}
 	
 	bool open(const PIString & path, Flags<Mode> mode = Read | Write);
-	void close() {stream.close();}
+	inline void close() {stream.close();}
-	void clear() {close(); stream.open(cpath.stdString().c_str(), fstream::trunc | (fstream::openmode)(int)cmode);}
+	inline void clear() {string st = cpath.stdString(); close(); stream.open(st.c_str(), fstream::trunc | fstream::binary | (fstream::openmode)(int)cmode);}
 	void seek(int position);
+	inline void seekToEnd() {stream.seekg(0, fstream::end);}
 	void resize(int new_size, char fill = 0);
-	void fill(char c) {stream.fill(c);}
+	inline void fill(char c) {stream.fill(c);}
-	void flush() {stream.flush();}
+	inline void flush() {stream.flush();}
 	PIString readLine();
 	
 	PIString path() const {return cpath;}

pigeometry.h

@@ -0,0 +1,90 @@
+#ifndef PIGEOMETRY_H
+#define PIGEOMETRY_H
+
+#include "pimath.h"
+
+template<typename Type>
+class PIPoint {
+public:
+	Type x;
+	Type y;
+	
+	PIPoint() {x = y = 0;};
+	PIPoint(Type x_, Type y_) {set(x_, y_);}
+	
+	inline void set(Type x_, Type y_) {x = x_; y = y_;}
+	inline double angleRad() const {return atan2(y, x);}
+	inline int angleDeg() const {return round(atan2(y, x) * 180. / M_PI);}
+	
+	inline PIPoint<Type> operator +(const PIPoint<Type> & p) {return PIPoint<Type>(x + p.x, y + p.y);}
+	inline PIPoint<Type> operator +(const Type & p) {return PIPoint<Type>(x + p, y + p);}
+	inline PIPoint<Type> operator -(const PIPoint<Type> & p) {return PIPoint<Type>(x - p.x, y - p.y);}
+	inline PIPoint<Type> operator -(const Type & p) {return PIPoint<Type>(x - p, y - p);}
+	inline PIPoint<Type> operator -() {return PIPoint<Type>(-x, -y);}
+	inline PIPoint<Type> operator *(const Type & d) {return PIPoint<Type>(x * d, y * d);}
+	inline PIPoint<Type> operator /(const Type & d) {return PIPoint<Type>(x / d, y / d);}
+	inline bool operator ==(const PIPoint<Type> & p) const {return (x == p.x && y == p.y);}
+	inline bool operator !=(const PIPoint<Type> & p) const {return (x != p.x || y != p.y);}
+};
+
+template<typename Type>
+class PIRect {
+public:
+	Type x0;
+	Type y0;
+	Type x1;
+	Type y1;
+	
+	PIRect() {x0 = y0 = x1 = y1 = 0;};
+	PIRect(Type x, Type y, Type w, Type h) {set(x, y, w, h);}
+	PIRect(const PIPoint<Type> & tl, const PIPoint<Type> & br) {set(tl.x, tl.y, br.x, br.y);}
+	
+	inline void set(Type x, Type y, Type w, Type h) {x0 = x; y0 = y; x1 = x + w; y1 = y + h;}
+	inline bool pointIn(Type x, Type y) const {return (x <= x1 && x >= x0 && y <= y1 && y >= y0);}
+	inline bool pointIn(const PIPoint<Type> & p) const {return pointIn(p.x, p.y);}
+	inline bool isEmpty() const {return (x1 - x0 == 0 && y1 - y0 == 0);}
+	inline PIRect<Type> & translate(Type x, Type y) {x0 += x; x1 += x; y0 += y; y1 += y; return *this;}
+	inline PIRect<Type> & translate(const PIPoint<Type> & p) {x0 += p.x; x1 += p.x; y0 += p.y; y1 += p.y; return *this;}
+	inline PIRect<Type> translated(Type x, Type y) {PIRect<Type> r(*this); r.translate(x, y); return r;}
+	inline PIRect<Type> translated(const PIPoint<Type> & p) {PIRect<Type> r(*this); r.translate(p); return r;}
+	inline PIRect<Type> & scale(Type x, Type y) {setWidth(width() * x); setHeight(height() * y); return *this;}
+	inline PIRect<Type> & scale(const PIPoint<Type> & p) {setWidth(width() * p.x); setHeight(height() * p.y); return *this;}
+	inline PIRect<Type> scaled(Type x, Type y) {PIRect<Type> r(*this); r.scale(x, y); return r;}
+	inline PIRect<Type> scaled(const PIPoint<Type> & p) {PIRect<Type> r(*this); r.scale(p); return r;}
+	//inline void unite(const PIRect<Type> & r) {;}
+	//inline PIRect<Type> & united(const PIRect<Type> & r) {unite(r); return *this;}
+	inline Type top() const {return y0;}
+	inline Type left() const {return x0;}
+	inline Type right() const {return x1;}
+	inline Type bottom() const {return y1;}
+	inline Type width() const {return x1 - x0;}
+	inline Type height() const {return y1 - y0;}
+	inline PIPoint<Type> topLeft() {return PIPoint<Type>(x0, y0);}
+	inline PIPoint<Type> topRigth() {return PIPoint<Type>(x1, y0);}
+	inline PIPoint<Type> bottomLeft() {return PIPoint<Type>(x0, y1);}
+	inline PIPoint<Type> bottomRight() {return PIPoint<Type>(x1, y1);}
+	inline void setTop(Type v) {y0 = v;}
+	inline void setLeft(Type v) {x0 = v;}
+	inline void setRigth(Type v) {x1 = v;}
+	inline void setBottom(Type v) {y1 = v;}
+	inline void setWidth(Type v) {x1 = x0 + v;}
+	inline void setHeight(Type v) {y1 = y0 + v;}
+	
+	inline PIRect<Type> operator -() {return PIRect<Type>(-x0, -y0, -width(), -height());}
+	inline void operator +=(Type x) {translate(x, x);}
+	inline void operator +=(const PIPoint<Type> & p) {translate(p);}
+	inline void operator -=(Type x) {translate(-x, -x);}
+	inline void operator -=(const PIPoint<Type> & p) {translate(-p);}
+	inline void operator *=(Type p) {x0 *= p; x1 *= p; y0 *= p; y1 *= p;}
+	inline void operator /=(Type p) {x0 /= p; x1 /= p; y0 /= p; y1 /= p;}
+};
+
+typedef PIPoint<int> PIPointi;
+typedef PIPoint<float> PIPointf;
+typedef PIPoint<double> PIPointd;
+
+typedef PIRect<int> PIRecti;
+typedef PIRect<float> PIRectf;
+typedef PIRect<double> PIRectd;
+
+#endif // PIGEOMETRY_H

piincludes.h

@@ -44,6 +44,20 @@ using std::list;
 using std::deque;
 using std::string;
 
+template<typename Type, typename Allocator = std::allocator<Type> >
+class PIVector: public vector<Type, Allocator> {
+public:
+	inline const Type & at(uint index) const {return (*this)[index];}
+	inline Type & at(uint index) {return (*this)[index];}
+	inline const Type * data(uint index = 0) const {return &(*this)[index];}
+	inline Type * data(uint index = 0) {return &(*this)[index];}
+	inline void pop_front() {vector<Type, Allocator>::erase(vector<Type, Allocator>::begin());}
+	inline void push_front(const Type & t) {vector<Type, Allocator>::insert(vector<Type, Allocator>::begin(), t);}
+	inline void remove(uint num) {vector<Type, Allocator>::erase(vector<Type, Allocator>::begin() + num);}
+	inline void remove(uint num, uint count) {vector<Type, Allocator>::erase(vector<Type, Allocator>::begin() + num, vector<Type, Allocator>::begin() + num + count);}
+	inline void insert(uint pos, const Type & t) {vector<Type, Allocator>::insert(vector<Type, Allocator>::begin() + pos, t);}
+};
+
 template<typename Enum>
 class Flags {
 private:
@@ -70,6 +84,9 @@ public:
 	inline operator int() const {return flags;}
 };
 
+#ifdef WINDOWS
+inline int random() {return rand();}
+#endif
 
 inline bool atob(const string & str) { return str == "1" ? true : false;};
 inline string btos(const bool num) { return num ? "0" : "1";};

pimath.h

@@ -0,0 +1,153 @@
+#ifndef PIMathATH_H
+#define PIMathATH_H
+
+#include <cmath>
+#include <complex>
+#include <stdarg.h>
+#include "piincludes.h"
+
+using std::complex;
+
+typedef complex<int> complexi;
+typedef complex<float> complexf;
+typedef complex<double> complexd;
+typedef complex<long double> complexld;
+
+const double deg2rad = atan(1) / 45.;
+const double rad2deg = 45. / atan(1);
+
+inline int pow2(int p) {return (int)1 << p;}
+template<typename Type> inline int pimin(const Type & f, const Type & s) {return (f > s) ? s : f;}
+template<typename Type> inline int pimax(const Type & f, const Type & s) {return (f < s) ? s : f;}
+
+/// Vector
+
+#define PIMV_FOR(v, s) for (uint v = s; v < Size; ++v)
+
+template<uint Size, typename Type = double>
+class PIMathVector {
+	typedef PIMathVector<Size, Type> _CVector;
+public:
+	PIMathVector() {resize(Size);}
+	PIMathVector(Type fval, ...) {resize(Size); c[0] = fval; va_list vl; va_start(vl, fval); PIMV_FOR(i, 1) c[i] = va_arg(vl, Type); va_end(vl);}
+	
+	inline uint size() const {return Size;}
+	inline _CVector & fill(const Type & v) {PIMV_FOR(i, 0) c[i] = v; return *this;}
+	inline _CVector & set(Type fval, ...) {c[0] = fval; va_list vl; va_start(vl, fval); PIMV_FOR(i, 1) c[i] = va_arg(vl, Type); va_end(vl); return *this;}
+	inline _CVector & move(const Type & v) {PIMV_FOR(i, 0) c[i] += v; return *this;}
+	inline Type lengthSqr() const {Type tv(0); PIMV_FOR(i, 0) tv += c[i] * c[i]; return tv;}
+	inline Type length() const {return sqrt(lengthSqr());}
+	inline Type manhattanLength() const {Type tv(0); PIMV_FOR(i, 0) tv += fabs(c[i]); return tv;}
+	inline Type angleCos(const _CVector & v) const {Type tv = v.length() * length(); return (tv == Type(0) ? Type(0) : ((*this) ^ v) / tv);}
+	inline Type angleSin(const _CVector & v) const {Type tv = angleCos(v); return sqrt(Type(1) - tv * tv);}
+	inline Type angleRad(const _CVector & v) const {return acos(angleCos(v));}
+	inline Type angleDeg(const _CVector & v) const {return acos(angleCos(v)) * rad2deg;}
+	inline _CVector projection(const _CVector & v) {Type tv = v.length(); return (tv == Type(0) ? _CVector() : v * (((*this) ^ v) / tv));}
+	inline void normalize() {Type tv = length(); if (tv == Type(1)) return; PIMV_FOR(i, 0) c[i] /= tv;}
+	inline bool isNull() const {PIMV_FOR(i, 0) if (c[i] != Type(0)) return false; return true;}
+	inline bool isOrtho(const _CVector & v) const {return ((*this) ^ v) == Type(0);}
+	
+	inline Type & at(uint index) {return c[index];}
+	inline Type at(uint index) const {return c[index];}
+	inline Type & operator [](uint index) {return c[index];}
+	inline Type operator [](uint index) const {return c[index];}
+	inline void operator =(const _CVector & v) {c = v.c;}
+	inline bool operator ==(const _CVector & v) const {PIMV_FOR(i, 0) if (c[i] != v[i]) return false; return true;}
+	inline bool operator !=(const _CVector & v) const {return !(*this == c);}
+	inline void operator +=(const _CVector & v) {PIMV_FOR(i, 0) c[i] += v[i];}
+	inline void operator -=(const _CVector & v) {PIMV_FOR(i, 0) c[i] -= v[i];}
+	inline void operator *=(const Type & v) {PIMV_FOR(i, 0) c[i] *= v;}
+	inline void operator /=(const Type & v) {PIMV_FOR(i, 0) c[i] /= v;}
+	inline _CVector operator -() {_CVector tv; PIMV_FOR(i, 0) tv[i] = -c[i]; return tv;}
+	inline _CVector operator +(const _CVector & v) {_CVector tv = _CVector(*this); PIMV_FOR(i, 0) tv[i] += v[i]; return tv;}
+	inline _CVector operator -(const _CVector & v) {_CVector tv = _CVector(*this); PIMV_FOR(i, 0) tv[i] -= v[i]; return tv;}
+	inline _CVector operator *(const Type & v) {_CVector tv = _CVector(*this); PIMV_FOR(i, 0) tv[i] *= v; return tv;}
+	inline _CVector operator /(const Type & v) {_CVector tv = _CVector(*this); PIMV_FOR(i, 0) tv[i] /= v; return tv;}
+	inline Type operator ^(const _CVector & v) const {Type tv(0); PIMV_FOR(i, 0) tv += c[i] * v[i]; return tv;}
+	
+private:
+	inline void resize(uint size, const Type & new_value = Type()) {c.resize(size, new_value);}
+	PIVector<Type> c;
+	
+};
+
+template<uint Size, typename Type>
+inline std::ostream & operator <<(std::ostream & s, const PIMathVector<Size, Type> & v) {s << '{'; PIMV_FOR(i, 0) {s << v[i]; if (i < Size - 1) s << ", ";} s << '}'; return s;}
+
+typedef PIMathVector<2u, int> PIMathVector2i;
+typedef PIMathVector<3u, int> PIMathVector3i;
+typedef PIMathVector<4u, int> PIMathVector4i;
+typedef PIMathVector<2u, double> PIMathVector2d;
+typedef PIMathVector<3u, double> PIMathVector3d;
+typedef PIMathVector<4u, double> PIMathVector4d;
+
+/// Matrix
+
+#define PIMM_FOR(c, r) for (uint c = 0; c < Cols; ++c) { for (uint r = 0; r < Rows; ++r) {
+#define PIMM_FOR_WB(c, r) for (uint c = 0; c < Cols; ++c) for (uint r = 0; r < Rows; ++r) // without brakes
+#define PIMM_FOR_I(c, r) for (uint r = 0; r < Rows; ++r) { for (uint c = 0; c < Cols; ++c) {
+#define PIMM_FOR_I_WB(c, r) for (uint r = 0; r < Rows; ++r) for (uint c = 0; c < Cols; ++c) // without brakes
+#define PIMM_FOR_C(v) for (uint v = 0; v < Cols; ++v)
+#define PIMM_FOR_R(v) for (uint v = 0; v < Rows; ++v)
+
+template<uint Cols, uint Rows = Cols, typename Type = double>
+class PIMathMatrix {
+	typedef PIMathMatrix<Cols, Rows, Type> _CMatrix;
+	typedef PIMathMatrix<Rows, Cols, Type> _CMatrixI;
+	typedef PIMathVector<Rows, Type> _CMCol;
+	typedef PIMathVector<Cols, Type> _CMRow;
+public:
+	PIMathMatrix() {resize(Cols, Rows);}
+	PIMathMatrix(Type fval, ...) {resize(Cols, Rows); va_list vl; va_start(vl, fval); PIMM_FOR_I_WB(c, r) m[c][r] = (r + c == 0 ? fval : va_arg(vl, Type)); va_end(vl);}
+	
+	inline uint cols() const {return Cols;}
+	inline uint rows() const {return Rows;}
+	inline _CMCol col(uint index) {_CMCol tv; PIMM_FOR_R(i) tv[i] = m[index][i]; return tv;}
+	inline _CMRow row(uint index) {_CMRow tv; PIMM_FOR_C(i) tv[i] = m[i][index]; return tv;}
+	inline _CMatrix & setCol(uint index, const _CMCol & v) {PIMM_FOR_R(i) m[index][i] = v[i]; return *this;}
+	inline _CMatrix & setRow(uint index, const _CMRow & v) {PIMM_FOR_C(i) m[i][index] = v[i]; return *this;}
+	inline _CMatrix & fill(const Type & v) {PIMM_FOR_WB(c, r) m[c][r] = v; return *this;}
+	//inline _CMatrix & set(Type fval, ...) {m[0] = fval; va_list vl; va_start(vl, fval); PIMV_FOR(i, 1) m[i] = va_arg(vl, Type); va_end(vl); return *this;}
+	//inline void normalize() {Type tv = length(); if (tv == Type(1)) return; PIMV_FOR(i, 0) m[i] /= tv;}
+	inline bool isSquare() const {return cols() == rows();}
+	inline bool isIdentity() const {PIMM_FOR_WB(c, r) if ((c == r) ? m[c][r] != Type(1) : m[c][r] != Type(0)) return false; return true;}
+	inline bool isNull() const {PIMM_FOR_WB(c, r) if (m[c][r] != Type(0)) return false; return true;}
+	
+	inline Type & at(uint col, uint row) {return m[col][row];}
+	inline Type at(uint col, uint row) const {return m[col][row];}
+	inline PIVector<Type> & operator [](uint col) {return m[col];}
+	inline PIVector<Type> operator [](uint col) const {return m[col];}
+	inline void operator =(const _CMatrix & sm) {m = sm.m;}
+	inline bool operator ==(const _CMatrix & sm) const {PIMM_FOR_WB(c, r) if (m[c][r] != sm.m[c][r]) return false; return true;}
+	inline bool operator !=(const _CMatrix & sm) const {return !(*this == sm);}
+	inline void operator +=(const _CMatrix & sm) {PIMM_FOR_WB(c, r) m[c][r] += sm.m[c][r];}
+	inline void operator -=(const _CMatrix & sm) {PIMM_FOR_WB(c, r) m[c][r] -= sm.m[c][r];}
+	inline void operator *=(const Type & v) {PIMM_FOR_WB(c, r) m[c][r] *= v;}
+	inline void operator /=(const Type & v) {PIMM_FOR_WB(c, r) m[c][r] /= v;}
+	inline _CMatrix operator -() {_CMatrix tm; PIMM_FOR_WB(c, r) tm.m[c][r] = -m[c][r]; return tm;}
+	inline _CMatrix operator +(const _CMatrix & sm) {_CMatrix tm = _CMatrix(*this); PIMM_FOR_WB(c, r) tm.m[c][r] += sm.m[c][r]; return tm;}
+	inline _CMatrix operator -(const _CMatrix & sm) {_CMatrix tm = _CMatrix(*this); PIMM_FOR_WB(c, r) tm.m[c][r] -= sm.m[c][r]; return tm;}
+	inline _CMatrix operator *(const Type & v) {_CMatrix tm = _CMatrix(*this); PIMM_FOR_WB(c, r) tm.m[c][r] *= v; return tm;}
+	inline _CMatrix operator /(const Type & v) {_CMatrix tm = _CMatrix(*this); PIMM_FOR_WB(c, r) tm.m[c][r] /= v; return tm;}
+	
+private:
+	inline void resize(uint cols, uint rows, const Type & new_value = Type()) {m.resize(cols); PIMM_FOR_C(i) m[i].resize(rows, new_value);}
+	PIVector<PIVector<Type> > m;
+	
+};
+
+template<uint Cols, uint Rows, typename Type>
+inline std::ostream & operator <<(std::ostream & s, const PIMathMatrix<Cols, Rows, Type> & m) {s << '{'; PIMM_FOR_I(c, r) s << m[c][r]; if (c < Cols - 1 || r < Rows - 1) s << ", ";} if (r < Rows - 1) s << endl;} s << '}'; return s;}
+
+typedef PIMathMatrix<2u, 2u, int> PIMathMatrix22i;
+typedef PIMathMatrix<3u, 3u, int> PIMathMatrix33i;
+typedef PIMathMatrix<4u, 4u, int> PIMathMatrix44i;
+typedef PIMathMatrix<2u, 2u, double> PIMathMatrix22d;
+typedef PIMathMatrix<3u, 3u, double> PIMathMatrix33d;
+typedef PIMathMatrix<4u, 4u, double> PIMathMatrix44d;
+
+#undef PIMV_FOR
+#undef PIMM_FOR
+#undef PIMM_FOR_WB
+
+#endif // PIMathATH_H

pip.h

@@ -1,4 +1,6 @@
 #include "pitimer.h"
 #include "pivariable.h"
 #include "piconsole.h"
+#include "pigeometry.h"
+#include "pimath.h"
 #include "piprotocol.h"

piserial.cpp

@@ -161,7 +161,7 @@ void PISerial::end() {
 
 bool PISerial::init() {
 #ifdef WINDOWS
-	hCom = CreateFile(devName.stdString().c_str(), GENERIC_READ | GENERIC_WRITE, FILE_SHARE_READ | FILE_SHARE_WRITE, 0, OPEN_EXISTING, FILE_ATTRIBUTE_SYSTEM, 0);
+	hCom = CreateFileA(devName.stdString().c_str(), GENERIC_READ | GENERIC_WRITE, FILE_SHARE_READ | FILE_SHARE_WRITE, 0, OPEN_EXISTING, FILE_ATTRIBUTE_SYSTEM, 0);
 	if(hCom == INVALID_HANDLE_VALUE) {
 		cout << "[PISerial] Unable to open " << devName << endl;
 		return false;

pistring.cpp

@@ -71,11 +71,11 @@ PIString & PIString::cutMid(const int start, const int len) {
 		s = 0;
 	}
 	if (l < 0)
-		erase(begin() + s, end());
+		remove(s, size() - s);
 	else {
 		if (l > length() - s)
 			l = length() - s;
-		erase(begin() + s, begin() + s + l);
+		remove(s, s + l);
 	}
 	return *this;
 }

pistring.h

@@ -3,7 +3,7 @@
 
 #include "piincludes.h"
 
-class PIString: public vector<char>
+class PIString: public PIVector<char>
 {
 public:
 	PIString() {;}

pivariable.cpp

@@ -111,7 +111,7 @@ void PIVariable::writeVariable(char * dest) {
 
 
 void PIStruct::parseFile(const PIString & file) {
-	PIConfig conf(file);
+	PIConfig conf(file, PIFile::Read);
 	PIVariable var;
 	PIString ts;
 	uint sz = 0;

pivariable.h

@@ -90,7 +90,7 @@ public:
 private:
 	uint size_;
 	PIString name_;
-	vector<PIVariable> vars;
+	PIVector<PIVariable> vars;
 	
 };