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• C# Generic Arrays and math operations on it

  - by msedi

  Hello, I'm currently involved in a project where I have very large image volumes. This volumes have to processed very fast (adding, subtracting, thresholding, and so on). Additionally most of the volume are so large that they event don't fit into the memory of the system. For that reason I have created an abstract volume class (VoxelVolume) that host the volume and image data and overloads the operators so that it's possible to perform the regular mathematical operations on volumes. Thereby two more questions opened up which I will put into stackoverflow into two additional threads. Here is my first question. My volume is implemented in a way that it only can contain float array data, but most of the containing data is from an UInt16 image source. Only operations on the volume can create float array images. When I started implementing such a volume the class looked like following: public abstract class VoxelVolume<T> { ... } but then I realized that overloading the operators or return values would get more complicated. An example would be: public abstract class VoxelVolume<T> { ... public static VoxelVolume<T> Import<T>(param string[] files) { } } also adding two overloading operators would be more complicated: ... public static VoxelVolume<T> operator+(VoxelVolume<T> A, VoxelVolume<T> B) { ... } Let's assume I can overcome the problems described above, nevertheless I have different types of arrays that contain the image data. Since I have fixed my type in the volumes to float the is no problem and I can do an unsafe operation when adding the contents of two image volume arrays. I have read a few threads here and had a look around the web, but found no real good explanation of what to do when I want to add two arrays of different types in a fast way. Unfortunately every math operation on generics is not possible, since C# is not able to calculate the size of the underlying data type. Of course there might by a way around this problem by using C++/CLR, but currently everything I have done so far, runs in 32bit and 64bit without having to do a thing. Switching to C++/CLR seemed to me (pleased correct me if I'm wrong) that I'm bound to a certain platform (32bit) and I have to compile two assemblies when I let the application run on another platform (64bit). Is this true? So asked shortly: How is it possible to add two arrays of two different types in a fast way. Is it true that the developers of C# haven't thought about this. Switching to a different language (C# - C++) seems not to be an option. I realize that simply performing this operation float []A = new float[]{1,2,3}; byte []B = new byte[]{1,2,3}; float []C = A+B; is not possible and unnecessary although it would be nice if it would work. My solution I was trying was following: public static class ArrayExt { public static unsafe TResult[] Add<T1, T2, TResult>(T1 []A, T2 []B) { // Assume the length of both arrays is equal TResult[] result = new TResult[A.Length]; GCHandle h1 = GCHandle.Alloc (A, Pinned); GCHandle h2 = GCHandle.Alloc (B, Pinned); GCHandle hR = GCHandle.Alloc (C, Pinned); void *ptrA = h1.ToPointer(); void *ptrB = h2.ToPointer(); void *ptrR = hR.ToPointer(); for (int i=0; i<A.Length; i++) { *((TResult *)ptrR) = (TResult *)((T1)*ptrA + (T2)*ptrB)); } h1.Free(); h2.Free(); hR.Free(); return result; } } Please excuse if the code above is not quite correct, I wrote it without using an C# editor. Is such a solution a shown above thinkable? Please feel free to ask if I made a mistake or described some things incompletely. Thanks for your help Martin

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• Printing an array in a method, from a different class?

  - by O.Lodhi

  Hello All, I'm a fairly inexperienced programmer, and i'm currently working on a Console Application project. It's basically a little 'mathematics game'; the application generates two random numbers, that have either been added, subtracted, multiplied or divided against each other randomly. The answer is shown on screen and the user has to pick from the menu which is the right mathematical operator, once the correct answer is picked the application then displays on screen how long it took for the user in milliseconds to input the correct answer. Now I want to save the times of the players in an array that can be called up later with all the scores. I need to include a method in this programme and I figured a method to save the times into an array would be suitable. I seem to have stumbled across a little problem though. I'm not quite sure what's wrong: using System; using System.Collections.Generic; using System.Linq; using System.Text; namespace Mathgame { class Program { } class arrayclass { public static void saveInArray(int duration) { int[] TopTenScores = {000,1000,2000,3000,4000,5000,6000,7000,8000,9000}; if (duration < 1000) { duration = TopTenScores[000]; } else if ((duration >= 1000) && (duration <= 1999)) { duration = TopTenScores[1000]; } else if ((duration >= 2000) && (duration <= 2999)) { duration = TopTenScores[2000]; } else if ((duration >= 3000) && (duration <= 3999)) { duration = TopTenScores[3000]; } else if ((duration >= 4000) && (duration <= 4999)) { duration = TopTenScores[4000]; } else if ((duration >= 5000) && (duration <= 5999)) { duration = TopTenScores[5000]; } else if ((duration >= 6000) && (duration <= 6999)) { duration = TopTenScores[6000]; } else if ((duration >= 7000) && (duration <= 7999)) { duration = TopTenScores[7000]; } else if ((duration >= 8000) && (duration <= 8999)) { duration = TopTenScores[8000]; } else if ((duration >= 9000) && (duration <= 9999)) { duration = TopTenScores[9000]; } Console.WriteLine(TopTenScores); } static void Main(string[] args) { int intInput, num1, num2, incorrect, array1; float answer; string input; System.Random randNum = new System.Random(); Console.WriteLine("Welcome to the Maths game!"); Console.WriteLine("(Apologies for the glitchiness!)"); Console.WriteLine(); Console.WriteLine("Please choose from the following options:"); Console.WriteLine(); retry: Console.WriteLine("1 - Test your Maths against the clock!"); Console.WriteLine("2 - Exit the application."); Console.WriteLine("3 - Top scores"); Console.WriteLine(); input = Console.ReadLine(); intInput = int.Parse(input); if (intInput == 1) { goto start; } else if (intInput == 2) { goto fin; } else if (intInput == 3) { array1 = array1.saveInArray; goto retry; } Now, in the last 'else if' statement in the code, you can see my variable array1 trying to call the method, but no matter what I do I keep getting errors. This is the only error I have at the moment, but I have a feeling soon as I resolve that error, another will come up. For now i'm just determined to get past this error: 'int' does not contain a definition for 'saveInArray' and no extension method 'saveInArray' accepting a first argument of type 'int' could be found (are you missing a using directive or an assembly reference?). Any help would be kindly appreciated, apologies in advanced for my ugly written code! And thank you to any help that I receive! Regards, Omar.

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• How can I further optimize this color difference function?

  - by aLfa

  I have made this function to calculate color differences in the CIE Lab colorspace, but it lacks speed. Since I'm not a Java expert, I wonder if any Java guru around has some tips that can improve the speed here. The code is based on the matlab function mentioned in the comment block. /** * Compute the CIEDE2000 color-difference between the sample color with * CIELab coordinates 'sample' and a standard color with CIELab coordinates * 'std' * * Based on the article: * "The CIEDE2000 Color-Difference Formula: Implementation Notes, * Supplementary Test Data, and Mathematical Observations,", G. Sharma, * W. Wu, E. N. Dalal, submitted to Color Research and Application, * January 2004. * available at http://www.ece.rochester.edu/~gsharma/ciede2000/ */ public static double deltaE2000(double[] lab1, double[] lab2) { double L1 = lab1[0]; double a1 = lab1[1]; double b1 = lab1[2]; double L2 = lab2[0]; double a2 = lab2[1]; double b2 = lab2[2]; // Cab = sqrt(a^2 + b^2) double Cab1 = Math.sqrt(a1 * a1 + b1 * b1); double Cab2 = Math.sqrt(a2 * a2 + b2 * b2); // CabAvg = (Cab1 + Cab2) / 2 double CabAvg = (Cab1 + Cab2) / 2; // G = 1 + (1 - sqrt((CabAvg^7) / (CabAvg^7 + 25^7))) / 2 double CabAvg7 = Math.pow(CabAvg, 7); double G = 1 + (1 - Math.sqrt(CabAvg7 / (CabAvg7 + 6103515625.0))) / 2; // ap = G * a double ap1 = G * a1; double ap2 = G * a2; // Cp = sqrt(ap^2 + b^2) double Cp1 = Math.sqrt(ap1 * ap1 + b1 * b1); double Cp2 = Math.sqrt(ap2 * ap2 + b2 * b2); // CpProd = (Cp1 * Cp2) double CpProd = Cp1 * Cp2; // hp1 = atan2(b1, ap1) double hp1 = Math.atan2(b1, ap1); // ensure hue is between 0 and 2pi if (hp1 < 0) { // hp1 = hp1 + 2pi hp1 += 6.283185307179586476925286766559; } // hp2 = atan2(b2, ap2) double hp2 = Math.atan2(b2, ap2); // ensure hue is between 0 and 2pi if (hp2 < 0) { // hp2 = hp2 + 2pi hp2 += 6.283185307179586476925286766559; } // dL = L2 - L1 double dL = L2 - L1; // dC = Cp2 - Cp1 double dC = Cp2 - Cp1; // computation of hue difference double dhp = 0.0; // set hue difference to zero if the product of chromas is zero if (CpProd != 0) { // dhp = hp2 - hp1 dhp = hp2 - hp1; if (dhp > Math.PI) { // dhp = dhp - 2pi dhp -= 6.283185307179586476925286766559; } else if (dhp < -Math.PI) { // dhp = dhp + 2pi dhp += 6.283185307179586476925286766559; } } // dH = 2 * sqrt(CpProd) * sin(dhp / 2) double dH = 2 * Math.sqrt(CpProd) * Math.sin(dhp / 2); // weighting functions // Lp = (L1 + L2) / 2 - 50 double Lp = (L1 + L2) / 2 - 50; // Cp = (Cp1 + Cp2) / 2 double Cp = (Cp1 + Cp2) / 2; // average hue computation // hp = (hp1 + hp2) / 2 double hp = (hp1 + hp2) / 2; // identify positions for which abs hue diff exceeds 180 degrees if (Math.abs(hp1 - hp2) > Math.PI) { // hp = hp - pi hp -= Math.PI; } // ensure hue is between 0 and 2pi if (hp < 0) { // hp = hp + 2pi hp += 6.283185307179586476925286766559; } // LpSqr = Lp^2 double LpSqr = Lp * Lp; // Sl = 1 + 0.015 * LpSqr / sqrt(20 + LpSqr) double Sl = 1 + 0.015 * LpSqr / Math.sqrt(20 + LpSqr); // Sc = 1 + 0.045 * Cp double Sc = 1 + 0.045 * Cp; // T = 1 - 0.17 * cos(hp - pi / 6) + // + 0.24 * cos(2 * hp) + // + 0.32 * cos(3 * hp + pi / 30) - // - 0.20 * cos(4 * hp - 63 * pi / 180) double hphp = hp + hp; double T = 1 - 0.17 * Math.cos(hp - 0.52359877559829887307710723054658) + 0.24 * Math.cos(hphp) + 0.32 * Math.cos(hphp + hp + 0.10471975511965977461542144610932) - 0.20 * Math.cos(hphp + hphp - 1.0995574287564276334619251841478); // Sh = 1 + 0.015 * Cp * T double Sh = 1 + 0.015 * Cp * T; // deltaThetaRad = (pi / 3) * e^-(36 / (5 * pi) * hp - 11)^2 double powerBase = hp - 4.799655442984406; double deltaThetaRad = 1.0471975511965977461542144610932 * Math.exp(-5.25249016001879 * powerBase * powerBase); // Rc = 2 * sqrt((Cp^7) / (Cp^7 + 25^7)) double Cp7 = Math.pow(Cp, 7); double Rc = 2 * Math.sqrt(Cp7 / (Cp7 + 6103515625.0)); // RT = -sin(delthetarad) * Rc double RT = -Math.sin(deltaThetaRad) * Rc; // de00 = sqrt((dL / Sl)^2 + (dC / Sc)^2 + (dH / Sh)^2 + RT * (dC / Sc) * (dH / Sh)) double dLSl = dL / Sl; double dCSc = dC / Sc; double dHSh = dH / Sh; return Math.sqrt(dLSl * dLSl + dCSc * dCSc + dHSh * dHSh + RT * dCSc * dHSh); }

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• Does this language feature already exist?

  - by Pindatjuh

  I'm currently developing a new language for programming in a continuous environment (compare it to electrical engineering), and I've got some ideas on a certain language construction. Let me explain the feature by explanation and then by definition: x = a U b; Where x is a variable and a and b are other variables (or static values). This works like a union between a and b; no duplicates and no specific order. with(x) { // regular 'with' usage; using the global interpretation of "x" x = 5; // will replace the original definition of "x = a U b;" } with(x = a) { // this code block is executed when the "x" variable // has the "a" variable assigned. All references in // this code-block to "x" are references to "a". So saying: x = 5; // would only change the variable "a". If the variable "a" // later on changes, x still equals to 5, in this fashion: // 'x = a U b U 5;' // '[currentscope] = 5;' // thus, 'a = 5;' } with(x = b) { // same but with "b" } with(x != a) { // here the "x" variable refers to any variable // but "a"; thus saying x = 5; // is equal to the rewriting of // 'x = a U b U 5;' // 'b = 5;' (since it was the scope of this block) } with(x = (a U b)) { // guaranteed that "x" is 'a U b'; interacting with "x" // will interact with both "a" and "b". x = 5; // makes both "a" and "b" equal to 5; also the "x" variable // is updated to contain: // 'x = a U b U 5;' // '[currentscope] = 5;' // 'a U b = 5;' // and thus: 'a = 5; b = 5;'. } // etc. In the above, all code-blocks are executed, but the "scope" changes in each block how x is interpreted. In the first block, x is guaranteed to be a: thus interacting with x inside that block will interact on a. The second and the third code-block are only equal in this situation (because not a: then there only remains b). The last block guarantees that x is at least a or b. Further more; U is not the "bitwise or operator", but I've called it the "and/or"-operator. Its definition is: "U" = "and" U "or" (On my blog, http://cplang.wordpress.com/2009/12/19/binop-and-or/, there is more (mathematical) background information on this operator. It's loosely based on sets. Using different syntax, changed it in this question.) Update: more examples. print = "Hello world!" U "How are you?"; // this will print // both values, but the // order doesn't matter. // 'userkey' is a variable containing a key. with(userkey = "a") { print = userkey; // will only print "a". } with(userkey = ("shift" U "a")) { // pressed both "shift" and the "a" key. print = userkey; // will "print" shift and "a", even // if the user also pressed "ctrl": // the interpretation of "userkey" is changed, // such that it only contains the matched cases. } with((userkey = "shift") U (userkey = "a")) { // same as if-statement above this one, showing the distributivity. } x = 5 U 6 U 7; y = x + x; // will be: // y = (5 U 6 U 7) + (5 U 6 U 7) // = 10 U 11 U 12 U 13 U 14 somewantedkey = "ctrl" U "alt" U "space" with(userkey = somewantedkey) { // must match all elements of "somewantedkey" // (distributed the Boolean equals operated) // thus only executed when all the defined keys are pressed } with(somewantedkey = userkey) { // matches only one of the provided "somewantedkey" // thus when only "space" is pressed, this block is executed. } Update2: more examples and some more context. with(x = (a U b)) { // this } // can be written as with((x = a) U (x = b)) { // this: changing the variable like x = 5; // will be rewritten as: // a = 5 and b = 5 } Some background information: I'm building a language which is "time-independent", like Java is "platform-independant". Everything stated in the language is "as is", and is continuously actively executed. This means; the programmer does not know in which order (unless explicitly stated using constructions) elements are, nor when statements are executed. The language is completely separated from the "time"-concept, i.e. it's continuously executed: with(a < 5) { a++; } // this is a loop-structure; // how and when it's executed isn't known however. with(a) { // everytime the "a" variable changes, this code-block is executed. b = 4; with(b < 3) { // runs only three times. } with(b > 0) { b = b - 1; // runs four times } } Update 3: After pondering on the type of this language feature; it closely resemblances Netbeans Platform's Lookup, where each "with"-statement a synchronized agent is, working on it's specific "filter" of objects. Instead of type-based, this is variable-based (fundamentally quite the same; just a different way of identifiying objects). I greatly thank all of you for providing me with very insightful information and links/hints to great topics I can research. Thanks. I do not know if this construction already exists, so that's my question: does this language feature already exist?

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• Generating moderately interesting images

  - by Williham Totland

  Abstract: Can you propose a mathematical-ish algorithm over a plane of pixels that will generate a moderately interesting image, preferably one that on the whole resembles something? The story thus far: Once upon a time I decided in an effort to reduce cycle waste on my (admittedly too) numerous computers, and set out to generate images in a moderately interesting fashion; using a PRNG and some clever math to create images that would, on the whole, resemble something. Or at least, that was the plan. As it turns out, clever math requires being a clever mathematician; this I am not. At some length I arrived at a method that preferred straight lines (as these are generally the components of which our world is made), perhaps too strongly. The result is mildly interesting; resembling, perhaps, city grids as such: Now for the question proper: Given the source code of this little program; can you improve upon it and propose a method that gives somewhat more interesting results? (e.g. not city grids, but perhaps faces, animals, geography, what have you) This is also meant as a sort of challenge; I suppose and as such I've set down some completely arbitrary and equally optional rules: The comments in the code says it all really. Suggestions and "solutions" should edit the algorithm itself, not the surrounding framework, except as for to fix errors that prevents the sample from compiling. The code should compile cleanly with a standard issue C compiler. (If the example provided doesn't, oops! Tell me, and I'll fix. :) The method should, though again, this is optional, not need to elicit help from your friendly neighborhood math library. Solutions should probably be deliverable by simply yanking out whatever is between the snip lines (the ones that say you should not edit above and below, respectively), with a statement to the effect of what you need to add to the preamble in particular. The code requires a C compiler and libpng to build; I'm not entirely confident that the MinGW compiler provides the necessities, but I would be surprised if it didn't. For Debian you'll want the libpng-dev package, and for Mac OS X you'll want the XCode tools.. The source code can be downloaded here. Warning: Massive code splurge incoming! // compile with gcc -o imggen -lpng imggen.c // optionally with -DITERATIONS=x, where x is an appropriate integer // If you're on a Mac or using MinGW, you may have to fiddle with the linker flags to find the library and includes. #include <stdio.h> #include <stdlib.h> #include <png.h> #ifdef ITERATIONS #define REPEAT #endif // ITERATIONS // YOU MAY CHANGE THE FOLLOWING DEFINES #define WIDTH 320 #define HEIGHT 240 // YOU MAY REPLACE THE FOLLOWING DEFINES AS APPROPRIATE #define INK 16384 void writePNG (png_bytepp imageBuffer, png_uint_32 width, png_uint_32 height, int iteration) { char *fname; asprintf(&fname, "out.%d.png", iteration); FILE *fp = fopen(fname, "wb"); if (!fp) return; png_structp png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL); png_infop info_ptr = png_create_info_struct(png_ptr); png_init_io(png_ptr, fp); png_set_filter(png_ptr, PNG_FILTER_TYPE_DEFAULT, PNG_FILTER_NONE); png_set_compression_level(png_ptr, Z_BEST_COMPRESSION); png_set_IHDR(png_ptr, info_ptr, width, height, 8, PNG_COLOR_TYPE_GRAY, PNG_INTERLACE_NONE, PNG_COMPRESSION_TYPE_DEFAULT, PNG_FILTER_TYPE_DEFAULT); png_set_rows(png_ptr, info_ptr, imageBuffer); png_set_invert_mono(png_ptr); /// YOU MAY COMMENT OUT THIS LINE png_write_png(png_ptr, info_ptr, PNG_TRANSFORM_IDENTITY, NULL); png_destroy_write_struct(&png_ptr, &info_ptr); fclose(fp); free(fname); } int main (int argc, const char * argv[]) { png_uint_32 height = HEIGHT, width = WIDTH; int iteration = 1; #ifdef REPEAT for (iteration = 1; iteration <= ITERATIONS; iteration++) { #endif // REPEAT png_bytepp imageBuffer = malloc(sizeof(png_bytep) * height); for (png_uint_32 i = 0; i < height; i++) { imageBuffer[i] = malloc(sizeof(png_byte) * width); for (png_uint_32 j = 0; j < width; j++) { imageBuffer[i][j] = 0; } } /// CUT ACROSS THE DASHED LINES /// ------------------------------------------- /// NO EDITING ABOVE THIS LINE; EXCEPT AS NOTED int ink = INK; int x = rand() % width, y = rand() % height; int xdir = (rand() % 2)?1:-1; int ydir = (rand() % 2)?1:-1; while (ink) { imageBuffer[y][x] = 255; --ink; xdir += (rand() % 2)?(1):(-1); ydir += (rand() % 2)?(1):(-1); if (ydir > 0) { ++y; } else if (ydir < 0) { --y; } if (xdir > 0) { ++x; } else if (xdir < 0) { --x; } if (x == -1 || y == -1 || x == width || y == height || x == y && x == 0) { x = rand() % width; y = rand() % height; xdir = (rand() % 2)?1:-1; ydir = (rand() % 2)?1:-1; } } /// NO EDITING BELOW THIS LINE /// ------------------------------------------- writePNG(imageBuffer, width, height, iteration); for (png_uint_32 i = 0; i < height; i++) { free(imageBuffer[i]); } free(imageBuffer); #ifdef REPEAT } #endif // REPEAT return 0; } Note: While this question doesn't strictly speaking seem "answerable" as such; I still believe that it can give rise to some manner of "right" answer. Maybe. Happy hunting.

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• Red Gate Coder interviews: Alex Davies

  - by Michael Williamson

  Alex Davies has been a software engineer at Red Gate since graduating from university, and is currently busy working on .NET Demon. We talked about tackling parallel programming with his actors framework, a scientific approach to debugging, and how JavaScript is going to affect the programming languages we use in years to come. So, if we start at the start, how did you get started in programming? When I was seven or eight, I was given a BBC Micro for Christmas. I had asked for a Game Boy, but my dad thought it would be better to give me a proper computer. For a year or so, I only played games on it, but then I found the user guide for writing programs in it. I gradually started doing more stuff on it and found it fun. I liked creating. As I went into senior school I continued to write stuff on there, trying to write games that weren’t very good. I got a real computer when I was fourteen and found ways to write BASIC on it. Visual Basic to start with, and then something more interesting than that. How did you learn to program? Was there someone helping you out? Absolutely not! I learnt out of a book, or by experimenting. I remember the first time I found a loop, I was like “Oh my God! I don’t have to write out the same line over and over and over again any more. It’s amazing!” When did you think this might be something that you actually wanted to do as a career? For a long time, I thought it wasn’t something that you would do as a career, because it was too much fun to be a career. I thought I’d do chemistry at university and some kind of career based on chemical engineering. And then I went to a careers fair at school when I was seventeen or eighteen, and it just didn’t interest me whatsoever. I thought “I could be a programmer, and there’s loads of money there, and I’m good at it, and it’s fun”, but also that I shouldn’t spoil my hobby. Now I don’t really program in my spare time any more, which is a bit of a shame, but I program all the rest of the time, so I can live with it. Do you think you learnt much about programming at university? Yes, definitely! I went into university knowing how to make computers do anything I wanted them to do. However, I didn’t have the language to talk about algorithms, so the algorithms course in my first year was massively important. Learning other language paradigms like functional programming was really good for breadth of understanding. Functional programming influences normal programming through design rather than actually using it all the time. I draw inspiration from it to write imperative programs which I think is actually becoming really fashionable now, but I’ve been doing it for ages. I did it first! There were also some courses on really odd programming languages, a bit of Prolog, a little bit of C. Having a little bit of each of those is something that I would have never done on my own, so it was important. And then there are knowledge-based courses which are about not programming itself but things that have been programmed like TCP. Those are really important for examples for how to approach things. Did you do any internships while you were at university? Yeah, I spent both of my summers at the same company. I thought I could code well before I went there. Looking back at the crap that I produced, it was only surpassed in its crappiness by all of the other code already in that company. I’m so much better at writing nice code now than I used to be back then. Was there just not a culture of looking after your code? There was, they just didn’t hire people for their abilities in that area. They hired people for raw IQ. The first indicator of it going wrong was that they didn’t have any computer scientists, which is a bit odd in a programming company. But even beyond that they didn’t have people who learnt architecture from anyone else. Most of them had started straight out of university, so never really had experience or mentors to learn from. There wasn’t the experience to draw from to teach each other. In the second half of my second internship, I was being given tasks like looking at new technologies and teaching people stuff. Interns shouldn’t be teaching people how to do their jobs! All interns are going to have little nuggets of things that you don’t know about, but they shouldn’t consistently be the ones who know the most. It’s not a good environment to learn. I was going to ask how you found working with people who were more experienced than you… When I reached Red Gate, I found some people who were more experienced programmers than me, and that was difficult. I’ve been coding since I was tiny. At university there were people who were cleverer than me, but there weren’t very many who were more experienced programmers than me. During my internship, I didn’t find anyone who I classed as being a noticeably more experienced programmer than me. So, it was a shock to the system to have valid criticisms rather than just formatting criticisms. However, Red Gate’s not so big on the actual code review, at least it wasn’t when I started. We did an entire product release and then somebody looked over all of the UI of that product which I’d written and say what they didn’t like. By that point, it was way too late and I’d disagree with them. Do you think the lack of code reviews was a bad thing? I think if there’s going to be any oversight of new people, then it should be continuous rather than chunky. For me I don’t mind too much, I could go out and get oversight if I wanted it, and in those situations I felt comfortable without it. If I was managing the new person, then maybe I’d be keener on oversight and then the right way to do it is continuously and in very, very small chunks. Have you had any significant projects you’ve worked on outside of a job? When I was a teenager I wrote all sorts of stuff. I used to write games, I derived how to do isomorphic projections myself once. I didn’t know what the word was so I couldn’t Google for it, so I worked it out myself. It was horrifically complicated. But it sort of tailed off when I started at university, and is now basically zero. If I do side-projects now, they tend to be work-related side projects like my actors framework, NAct, which I started in a down tools week. Could you explain a little more about NAct? It is a little C# framework for writing parallel code more easily. Parallel programming is difficult when you need to write to shared data. Sometimes parallel programming is easy because you don’t need to write to shared data. When you do need to access shared data, you could just have your threads pile in and do their work, but then you would screw up the data because the threads would trample on each other’s toes. You could lock, but locks are really dangerous if you’re using more than one of them. You get interactions like deadlocks, and that’s just nasty. Actors instead allows you to say this piece of data belongs to this thread of execution, and nobody else can read it. If you want to read it, then ask that thread of execution for a piece of it by sending a message, and it will send the data back by a message. And that avoids deadlocks as long as you follow some obvious rules about not making your actors sit around waiting for other actors to do something. There are lots of ways to write actors, NAct allows you to do it as if it was method calls on other objects, which means you get all the strong type-safety that C# programmers like. Do you think that this is suitable for the majority of parallel programming, or do you think it’s only suitable for specific cases? It’s suitable for most difficult parallel programming. If you’ve just got a hundred web requests which are all independent of each other, then I wouldn’t bother because it’s easier to just spin them up in separate threads and they can proceed independently of each other. But where you’ve got difficult parallel programming, where you’ve got multiple threads accessing multiple bits of data in multiple ways at different times, then actors is at least as good as all other ways, and is, I reckon, easier to think about. When you’re using actors, you presumably still have to write your code in a different way from you would otherwise using single-threaded code. You can’t use actors with any methods that have return types, because you’re not allowed to call into another actor and wait for it. If you want to get a piece of data out of another actor, then you’ve got to use tasks so that you can use “async” and “await” to await asynchronously for it. But other than that, you can still stick things in classes so it’s not too different really. Rather than having thousands of objects with mutable state, you can use component-orientated design, where there are only a few mutable classes which each have a small number of instances. Then there can be thousands of immutable objects. If you tend to do that anyway, then actors isn’t much of a jump. If I’ve already built my system without any parallelism, how hard is it to add actors to exploit all eight cores on my desktop? Usually pretty easy. If you can identify even one boundary where things look like messages and you have components where some objects live on one side and these other objects live on the other side, then you can have a granddaddy object on one side be an actor and it will parallelise as it goes across that boundary. Not too difficult. If we do get 1000-core desktop PCs, do you think actors will scale up? It’s hard. There are always in the order of twenty to fifty actors in my whole program because I tend to write each component as actors, and I tend to have one instance of each component. So this won’t scale to a thousand cores. What you can do is write data structures out of actors. I use dictionaries all over the place, and if you need a dictionary that is going to be accessed concurrently, then you could build one of those out of actors in no time. You can use queuing to marshal requests between different slices of the dictionary which are living on different threads. So it’s like a distributed hash table but all of the chunks of it are on the same machine. That means that each of these thousand processors has cached one small piece of the dictionary. I reckon it wouldn’t be too big a leap to start doing proper parallelism. Do you think it helps if actors get baked into the language, similarly to Erlang? Erlang is excellent in that it has thread-local garbage collection. C# doesn’t, so there’s a limit to how well C# actors can possibly scale because there’s a single garbage collected heap shared between all of them. When you do a global garbage collection, you’ve got to stop all of the actors, which is seriously expensive, whereas in Erlang garbage collections happen per-actor, so they’re insanely cheap. However, Erlang deviated from all the sensible language design that people have used recently and has just come up with crazy stuff. You can definitely retrofit thread-local garbage collection to .NET, and then it’s quite well-suited to support actors, even if it’s not baked into the language. Speaking of language design, do you have a favourite programming language? I’ll choose a language which I’ve never written before. I like the idea of Scala. It sounds like C#, only with some of the niggles gone. I enjoy writing static types. It means you don’t have to writing tests so much. When you say it doesn’t have some of the niggles? C# doesn’t allow the use of a property as a method group. It doesn’t have Scala case classes, or sum types, where you can do a switch statement and the compiler checks that you’ve checked all the cases, which is really useful in functional-style programming. Pattern-matching, in other words. That’s actually the major niggle. C# is pretty good, and I’m quite happy with C#. And what about going even further with the type system to remove the need for tests to something like Haskell? Or is that a step too far? I’m quite a pragmatist, I don’t think I could deal with trying to write big systems in languages with too few other users, especially when learning how to structure things. I just don’t know anyone who can teach me, and the Internet won’t teach me. That’s the main reason I wouldn’t use it. If I turned up at a company that writes big systems in Haskell, I would have no objection to that, but I wouldn’t instigate it. What about things in C#? For instance, there’s contracts in C#, so you can try to statically verify a bit more about your code. Do you think that’s useful, or just not worthwhile? I’ve not really tried it. My hunch is that it needs to be built into the language and be quite mathematical for it to work in real life, and that doesn’t seem to have ended up true for C# contracts. I don’t think anyone who’s tried them thinks they’re any good. I might be wrong. On a slightly different note, how do you like to debug code? I think I’m quite an odd debugger. I use guesswork extremely rarely, especially if something seems quite difficult to debug. I’ve been bitten spending hours and hours on guesswork and not being scientific about debugging in the past, so now I’m scientific to a fault. What I want is to see the bug happening in the debugger, to step through the bug happening. To watch the program going from a valid state to an invalid state. When there’s a bug and I can’t work out why it’s happening, I try to find some piece of evidence which places the bug in one section of the code. From that experiment, I binary chop on the possible causes of the bug. I suppose that means binary chopping on places in the code, or binary chopping on a stage through a processing cycle. Basically, I’m very stupid about how I debug. I won’t make any guesses, I won’t use any intuition, I will only identify the experiment that’s going to binary chop most effectively and repeat rather than trying to guess anything. I suppose it’s quite top-down. Is most of the time then spent in the debugger? Absolutely, if at all possible I will never debug using print statements or logs. I don’t really hold much stock in outputting logs. If there’s any bug which can be reproduced locally, I’d rather do it in the debugger than outputting logs. And with SmartAssembly error reporting, there’s not a lot that can’t be either observed in an error report and just fixed, or reproduced locally. And in those other situations, maybe I’ll use logs. But I hate using logs. You stare at the log, trying to guess what’s going on, and that’s exactly what I don’t like doing. You have to just look at it and see does this look right or wrong. We’ve covered how you get to grip with bugs. How do you get to grips with an entire codebase? I watch it in the debugger. I find little bugs and then try to fix them, and mostly do it by watching them in the debugger and gradually getting an understanding of how the code works using my process of binary chopping. I have to do a lot of reading and watching code to choose where my slicing-in-half experiment is going to be. The last time I did it was SmartAssembly. The old code was a complete mess, but at least it did things top to bottom. There wasn’t too much of some of the big abstractions where flow of control goes all over the place, into a base class and back again. Code’s really hard to understand when that happens. So I like to choose a little bug and try to fix it, and choose a bigger bug and try to fix it. Definitely learn by doing. I want to always have an aim so that I get a little achievement after every few hours of debugging. Once I’ve learnt the codebase I might be able to fix all the bugs in an hour, but I’d rather be using them as an aim while I’m learning the codebase. If I was a maintainer of a codebase, what should I do to make it as easy as possible for you to understand? Keep distinct concepts in different places. And name your stuff so that it’s obvious which concepts live there. You shouldn’t have some variable that gets set miles up the top of somewhere, and then is read miles down to choose some later behaviour. I’m talking from a very much SmartAssembly point of view because the old SmartAssembly codebase had tons and tons of these things, where it would read some property of the code and then deal with it later. Just thousands of variables in scope. Loads of things to think about. If you can keep concepts separate, then it aids me in my process of fixing bugs one at a time, because each bug is going to more or less be understandable in the one place where it is. And what about tests? Do you think they help at all? I’ve never had the opportunity to learn a codebase which has had tests, I don’t know what it’s like! What about when you’re actually developing? How useful do you find tests in finding bugs or regressions? Finding regressions, absolutely. Running bits of code that would be quite hard to run otherwise, definitely. It doesn’t happen very often that a test finds a bug in the first place. I don’t really buy nebulous promises like tests being a good way to think about the spec of the code. My thinking goes something like “This code works at the moment, great, ship it! Ah, there’s a way that this code doesn’t work. Okay, write a test, demonstrate that it doesn’t work, fix it, use the test to demonstrate that it’s now fixed, and keep the test for future regressions.” The most valuable tests are for bugs that have actually happened at some point, because bugs that have actually happened at some point, despite the fact that you think you’ve fixed them, are way more likely to appear again than new bugs are. Does that mean that when you write your code the first time, there are no tests? Often. The chance of there being a bug in a new feature is relatively unaffected by whether I’ve written a test for that new feature because I’m not good enough at writing tests to think of bugs that I would have written into the code. So not writing regression tests for all of your code hasn’t affected you too badly? There are different kinds of features. Some of them just always work, and are just not flaky, they just continue working whatever you throw at them. Maybe because the type-checker is particularly effective around them. Writing tests for those features which just tend to always work is a waste of time. And because it’s a waste of time I’ll tend to wait until a feature has demonstrated its flakiness by having bugs in it before I start trying to test it. You can get a feel for whether it’s going to be flaky code as you’re writing it. I try to write it to make it not flaky, but there are some things that are just inherently flaky. And very occasionally, I’ll think “this is going to be flaky” as I’m writing, and then maybe do a test, but not most of the time. How do you think your programming style has changed over time? I’ve got clearer about what the right way of doing things is. I used to flip-flop a lot between different ideas. Five years ago I came up with some really good ideas and some really terrible ideas. All of them seemed great when I thought of them, but they were quite diverse ideas, whereas now I have a smaller set of reliable ideas that are actually good for structuring code. So my code is probably more similar to itself than it used to be back in the day, when I was trying stuff out. I’ve got more disciplined about encapsulation, I think. There are operational things like I use actors more now than I used to, and that forces me to use immutability more than I used to. The first code that I wrote in Red Gate was the memory profiler UI, and that was an actor, I just didn’t know the name of it at the time. I don’t really use object-orientation. By object-orientation, I mean having n objects of the same type which are mutable. I want a constant number of objects that are mutable, and they should be different types. I stick stuff in dictionaries and then have one thing that owns the dictionary and puts stuff in and out of it. That’s definitely a pattern that I’ve seen recently. I think maybe I’m doing functional programming. Possibly. It’s plausible. If you had to summarise the essence of programming in a pithy sentence, how would you do it? Programming is the form of art that, without losing any of the beauty of architecture or fine art, allows you to produce things that people love and you make money from. So you think it’s an art rather than a science? It’s a little bit of engineering, a smidgeon of maths, but it’s not science. Like architecture, programming is on that boundary between art and engineering. If you want to do it really nicely, it’s mostly art. You can get away with doing architecture and programming entirely by having a good engineering mind, but you’re not going to produce anything nice. You’re not going to have joy doing it if you’re an engineering mind. Architects who are just engineering minds are not going to enjoy their job. I suppose engineering is the foundation on which you build the art. Exactly. How do you think programming is going to change over the next ten years? There will be an unfortunate shift towards dynamically-typed languages, because of JavaScript. JavaScript has an unfair advantage. JavaScript’s unfair advantage will cause more people to be exposed to dynamically-typed languages, which means other dynamically-typed languages crop up and the best features go into dynamically-typed languages. Then people conflate the good features with the fact that it’s dynamically-typed, and more investment goes into dynamically-typed languages. They end up better, so people use them. What about the idea of compiling other languages, possibly statically-typed, to JavaScript? It’s a reasonable idea. I would like to do it, but I don’t think enough people in the world are going to do it to make it pick up. The hordes of beginners are the lifeblood of a language community. They are what makes there be good tools and what makes there be vibrant community websites. And any particular thing which is the same as JavaScript only with extra stuff added to it, although it might be technically great, is not going to have the hordes of beginners. JavaScript is always to be quickest and easiest way for a beginner to start programming in the browser. And dynamically-typed languages are great for beginners. Compilers are pretty scary and beginners don’t write big code. And having your errors come up in the same place, whether they’re statically checkable errors or not, is quite nice for a beginner. If someone asked me to teach them some programming, I’d teach them JavaScript. If dynamically-typed languages are great for beginners, when do you think the benefits of static typing start to kick in? The value of having a statically typed program is in the tools that rely on the static types to produce a smooth IDE experience rather than actually telling me my compile errors. And only once you’re experienced enough a programmer that having a really smooth IDE experience makes a blind bit of difference, does static typing make a blind bit of difference. So it’s not really about size of codebase. If I go and write up a tiny program, I’m still going to get value out of writing it in C# using ReSharper because I’m experienced with C# and ReSharper enough to be able to write code five times faster if I have that help. Any other visions of the future? Nobody’s going to use actors. Because everyone’s going to be running on single-core VMs connected over network-ready protocols like JSON over HTTP. So, parallelism within one operating system is going to die. But until then, you should use actors. More Red Gater Coder interviews

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• how to export bind and keyframe bone poses from blender to use in OpenGL

  - by SaldaVonSchwartz

  EDIT: I decided to reformulate the question in much simpler terms to see if someone can give me a hand with this. Basically, I'm exporting meshes, skeletons and actions from blender into an engine of sorts that I'm working on. But I'm getting the animations wrong. I can tell the basic motion paths are being followed but there's always an axis of translation or rotation which is wrong. I think the problem is most likely not in my engine code (OpenGL-based) but rather in either my misunderstanding of some part of the theory behind skeletal animation / skinning or the way I am exporting the appropriate joint matrices from blender in my exporter script. I'll explain the theory, the engine animation system and my blender export script, hoping someone might catch the error in either or all of these. The theory: (I'm using column-major ordering since that's what I use in the engine cause it's OpenGL-based) Assume I have a mesh made up of a single vertex v, along with a transformation matrix M which takes the vertex v from the mesh's local space to world space. That is, if I was to render the mesh without a skeleton, the final position would be gl_Position = ProjectionMatrix * M * v. Now assume I have a skeleton with a single joint j in bind / rest pose. j is actually another matrix. A transform from j's local space to its parent space which I'll denote Bj. if j was part of a joint hierarchy in the skeleton, Bj would take from j space to j-1 space (that is to its parent space). However, in this example j is the only joint, so Bj takes from j space to world space, like M does for v. Now further assume I have a a set of frames, each with a second transform Cj, which works the same as Bj only that for a different, arbitrary spatial configuration of join j. Cj still takes vertices from j space to world space but j is rotated and/or translated and/or scaled. Given the above, in order to skin vertex v at keyframe n. I need to: take v from world space to joint j space modify j (while v stays fixed in j space and is thus taken along in the transformation) take v back from the modified j space to world space So the mathematical implementation of the above would be: v' = Cj * Bj^-1 * v. Actually, I have one doubt here.. I said the mesh to which v belongs has a transform M which takes from model space to world space. And I've also read in a couple textbooks that it needs to be transformed from model space to joint space. But I also said in 1 that v needs to be transformed from world to joint space. So basically I'm not sure if I need to do v' = Cj * Bj^-1 * v or v' = Cj * Bj^-1 * M * v. Right now my implementation multiples v' by M and not v. But I've tried changing this and it just screws things up in a different way cause there's something else wrong. Finally, If we wanted to skin a vertex to a joint j1 which in turn is a child of a joint j0, Bj1 would be Bj0 * Bj1 and Cj1 would be Cj0 * Cj1. But Since skinning is defined as v' = Cj * Bj^-1 * v , Bj1^-1 would be the reverse concatenation of the inverses making up the original product. That is, v' = Cj0 * Cj1 * Bj1^-1 * Bj0^-1 * v Now on to the implementation (Blender side): Assume the following mesh made up of 1 cube, whose vertices are bound to a single joint in a single-joint skeleton: Assume also there's a 60-frame, 3-keyframe animation at 60 fps. The animation essentially is: keyframe 0: the joint is in bind / rest pose (the way you see it in the image). keyframe 30: the joint translates up (+z in blender) some amount and at the same time rotates pi/4 rad clockwise. keyframe 59: the joint goes back to the same configuration it was in keyframe 0. My first source of confusion on the blender side is its coordinate system (as opposed to OpenGL's default) and the different matrices accessible through the python api. Right now, this is what my export script does about translating blender's coordinate system to OpenGL's standard system: # World transform: Blender -> OpenGL worldTransform = Matrix().Identity(4) worldTransform *= Matrix.Scale(-1, 4, (0,0,1)) worldTransform *= Matrix.Rotation(radians(90), 4, "X") # Mesh (local) transform matrix file.write('Mesh Transform:\n') localTransform = mesh.matrix_local.copy() localTransform = worldTransform * localTransform for col in localTransform.col: file.write('{:9f} {:9f} {:9f} {:9f}\n'.format(col[0], col[1], col[2], col[3])) file.write('\n') So if you will, my "world" matrix is basically the act of changing blenders coordinate system to the default GL one with +y up, +x right and -z into the viewing volume. Then I also premultiply (in the sense that it's done by the time we reach the engine, not in the sense of post or pre in terms of matrix multiplication order) the mesh matrix M so that I don't need to multiply it again once per draw call in the engine. About the possible matrices to extract from Blender joints (bones in Blender parlance), I'm doing the following: For joint bind poses: def DFSJointTraversal(file, skeleton, jointList): for joint in jointList: bindPoseJoint = skeleton.data.bones[joint.name] bindPoseTransform = bindPoseJoint.matrix_local.inverted() file.write('Joint ' + joint.name + ' Transform {\n') translationV = bindPoseTransform.to_translation() rotationQ = bindPoseTransform.to_3x3().to_quaternion() scaleV = bindPoseTransform.to_scale() file.write('T {:9f} {:9f} {:9f}\n'.format(translationV[0], translationV[1], translationV[2])) file.write('Q {:9f} {:9f} {:9f} {:9f}\n'.format(rotationQ[1], rotationQ[2], rotationQ[3], rotationQ[0])) file.write('S {:9f} {:9f} {:9f}\n'.format(scaleV[0], scaleV[1], scaleV[2])) DFSJointTraversal(file, skeleton, joint.children) file.write('}\n') Note that I'm actually grabbing the inverse of what I think is the bind pose transform Bj. This is so I don't need to invert it in the engine. Also note I went for matrix_local, assuming this is Bj. The other option is plain "matrix", which as far as I can tell is the same only that not homogeneous. For joint current / keyframe poses: for kfIndex in keyframes: bpy.context.scene.frame_set(kfIndex) file.write('keyframe: {:d}\n'.format(int(kfIndex))) for i in range(0, len(skeleton.data.bones)): file.write('joint: {:d}\n'.format(i)) currentPoseJoint = skeleton.pose.bones[i] currentPoseTransform = currentPoseJoint.matrix translationV = currentPoseTransform.to_translation() rotationQ = currentPoseTransform.to_3x3().to_quaternion() scaleV = currentPoseTransform.to_scale() file.write('T {:9f} {:9f} {:9f}\n'.format(translationV[0], translationV[1], translationV[2])) file.write('Q {:9f} {:9f} {:9f} {:9f}\n'.format(rotationQ[1], rotationQ[2], rotationQ[3], rotationQ[0])) file.write('S {:9f} {:9f} {:9f}\n'.format(scaleV[0], scaleV[1], scaleV[2])) file.write('\n') Note that here I go for skeleton.pose.bones instead of data.bones and that I have a choice of 3 matrices: matrix, matrix_basis and matrix_channel. From the descriptions in the python API docs I'm not super clear which one I should choose, though I think it's the plain matrix. Also note I do not invert the matrix in this case. The implementation (Engine / OpenGL side): My animation subsystem does the following on each update (I'm omitting parts of the update loop where it's figured out which objects need update and time is hardcoded here for simplicity): static double time = 0; time = fmod((time + elapsedTime),1.); uint16_t LERPKeyframeNumber = 60 * time; uint16_t lkeyframeNumber = 0; uint16_t lkeyframeIndex = 0; uint16_t rkeyframeNumber = 0; uint16_t rkeyframeIndex = 0; for (int i = 0; i < aClip.keyframesCount; i++) { uint16_t keyframeNumber = aClip.keyframes[i].number; if (keyframeNumber <= LERPKeyframeNumber) { lkeyframeIndex = i; lkeyframeNumber = keyframeNumber; } else { rkeyframeIndex = i; rkeyframeNumber = keyframeNumber; break; } } double lTime = lkeyframeNumber / 60.; double rTime = rkeyframeNumber / 60.; double blendFactor = (time - lTime) / (rTime - lTime); GLKMatrix4 bindPosePalette[aSkeleton.jointsCount]; GLKMatrix4 currentPosePalette[aSkeleton.jointsCount]; for (int i = 0; i < aSkeleton.jointsCount; i++) { F3DETQSType& lPose = aClip.keyframes[lkeyframeIndex].skeletonPose.joints[i]; F3DETQSType& rPose = aClip.keyframes[rkeyframeIndex].skeletonPose.joints[i]; GLKVector3 LERPTranslation = GLKVector3Lerp(lPose.t, rPose.t, blendFactor); GLKQuaternion SLERPRotation = GLKQuaternionSlerp(lPose.q, rPose.q, blendFactor); GLKVector3 LERPScaling = GLKVector3Lerp(lPose.s, rPose.s, blendFactor); GLKMatrix4 currentTransform = GLKMatrix4MakeWithQuaternion(SLERPRotation); currentTransform = GLKMatrix4TranslateWithVector3(currentTransform, LERPTranslation); currentTransform = GLKMatrix4ScaleWithVector3(currentTransform, LERPScaling); GLKMatrix4 inverseBindTransform = GLKMatrix4MakeWithQuaternion(aSkeleton.joints[i].inverseBindTransform.q); inverseBindTransform = GLKMatrix4TranslateWithVector3(inverseBindTransform, aSkeleton.joints[i].inverseBindTransform.t); inverseBindTransform = GLKMatrix4ScaleWithVector3(inverseBindTransform, aSkeleton.joints[i].inverseBindTransform.s); if (aSkeleton.joints[i].parentIndex == -1) { bindPosePalette[i] = inverseBindTransform; currentPosePalette[i] = currentTransform; } else { bindPosePalette[i] = GLKMatrix4Multiply(inverseBindTransform, bindPosePalette[aSkeleton.joints[i].parentIndex]); currentPosePalette[i] = GLKMatrix4Multiply(currentPosePalette[aSkeleton.joints[i].parentIndex], currentTransform); } aSkeleton.skinningPalette[i] = GLKMatrix4Multiply(currentPosePalette[i], bindPosePalette[i]); } Finally, this is my vertex shader: #version 100 uniform mat4 modelMatrix; uniform mat3 normalMatrix; uniform mat4 projectionMatrix; uniform mat4 skinningPalette[6]; uniform lowp float skinningEnabled; attribute vec4 position; attribute vec3 normal; attribute vec2 tCoordinates; attribute vec4 jointsWeights; attribute vec4 jointsIndices; varying highp vec2 tCoordinatesVarying; varying highp float lIntensity; void main() { tCoordinatesVarying = tCoordinates; vec4 skinnedVertexPosition = vec4(0.); for (int i = 0; i < 4; i++) { skinnedVertexPosition += jointsWeights[i] * skinningPalette[int(jointsIndices[i])] * position; } vec4 skinnedNormal = vec4(0.); for (int i = 0; i < 4; i++) { skinnedNormal += jointsWeights[i] * skinningPalette[int(jointsIndices[i])] * vec4(normal, 0.); } vec4 finalPosition = mix(position, skinnedVertexPosition, skinningEnabled); vec4 finalNormal = mix(vec4(normal, 0.), skinnedNormal, skinningEnabled); vec3 eyeNormal = normalize(normalMatrix * finalNormal.xyz); vec3 lightPosition = vec3(0., 0., 2.); lIntensity = max(0.0, dot(eyeNormal, normalize(lightPosition))); gl_Position = projectionMatrix * modelMatrix * finalPosition; } The result is that the animation displays wrong in terms of orientation. That is, instead of bobbing up and down it bobs in and out (along what I think is the Z axis according to my transform in the export clip). And the rotation angle is counterclockwise instead of clockwise. If I try with a more than one joint, then it's almost as if the second joint rotates in it's own different coordinate space and does not follow 100% its parent's transform. Which I assume it should from my animation subsystem which I assume in turn follows the theory I explained for the case of more than one joint. Any thoughts?

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• Boot log from remotely managed/hacked iPhone for analysis

  - by user1319903

  in reference to my other post. syslog captured immediately after a hard reset for analysis of foul play. Apr 8, 2012 10:08:36 PM - dataaccessd [53] (Notice): 137860|CoreDAV|Warn |Account "iCloud" couldn't reach the server at p03-contacts.icloud.com: Error Domain=NSURLErrorDomain Code=-1009 "The Internet connection appears to be offline." UserInfo=0xde63920 {NSErrorFailingURLStringKey=https://%[email protected]/159665024/principal/, NSErrorFailingURLKey=https://%[email protected]/ /principal/, NSLocalizedDescription=The Internet connection appears to be offline., NSUnderlyingError=0xde7dc00 "The Internet connection appears to be offline."} Apr 8, 2012 10:08:36 PM - UserEventAgent [12] (Warning): TRACE: connection interrupted Apr 8, 2012 10:08:36 PM - UserEventAgent [12] (Warning): DEBUG: disconnected Apr 8, 2012 10:08:36 PM - UserEventAgent [12] (Warning): TRACE: Canceling Apr 8, 2012 10:08:36 PM - UserEventAgent [12] (Warning): TRACE: connection invalid Apr 8, 2012 10:08:35 PM - kernel [0] (Debug): launchd[82] Builtin profile: container (sandbox) Apr 8, 2012 10:08:35 PM - kernel [0] (Debug): launchd[82] Container: /private/var/mobile/Applications/048D35CA-6427-4EC8-8B76-A194697A7CE9 [69] (sandbox) Apr 8, 2012 10:08:35 PM - wifid [29] (Error): WiFi:[355640915.904103]: Client dataaccessd set type to background application Apr 8, 2012 10:08:35 PM - dataaccessd [53] (Notice): 137860|DA|Warn |Delegate 5ADDBE3B-D5FD-43E1-87D4-C1153733EFAB finished a refresh but it is not registered with the refresh manager Apr 8, 2012 10:08:34 PM - timed [31] (Notice): (Note ) CoreTime: Not setting system time to 04/09/2012 05:08:34 from GPS because time is unchanged Apr 8, 2012 10:08:34 PM - timed [31] (Notice): (Note ) CoreTime: Not setting time zone to America/Los_Angeles from NITZ Apr 8, 2012 10:08:33 PM - kernel [0] (Debug): AppleKeyStore:cp_key_store_action(1) Apr 8, 2012 10:08:33 PM - kernel [0] (Debug): AppleKeyStore:Sending lock change Apr 8, 2012 10:08:32 PM - profiled [20] (Notice): (Note ) profiled: Device unlock notification received Apr 8, 2012 10:08:31 PM - softwareupdated [37] (Notice): 3e828d98 : Cleaning up unused prepared updates Apr 8, 2012 10:08:27 PM - mstreamd [43] (Warning): PSDLog: Can't return photoStreamsPublishStreamID because no Apple Account has Photo Streams enabled Apr 8, 2012 10:08:27 PM - mstreamd [43] (Notice): (Note ) mstreamd: Not listening to push notifications. Apr 8, 2012 10:08:27 PM - mstreamd [43] (Warning): PSDLog: Can't return photoStreamsPublishStreamID because no Apple Account has Photo Streams enabled Apr 8, 2012 10:08:27 PM - mstreamd [43] (Notice): (Note ) mstreamd: Not listening to push notifications. Apr 8, 2012 10:08:27 PM - mstreamd [43] (Notice): (Note ) mstreamd: Retrieved push tokens. Dev: 0, Prod: 0 Apr 8, 2012 10:08:27 PM - mstreamd [43] (Notice): (Note ) mstreamd: Media stream daemon starting... Apr 8, 2012 10:08:26 PM - SpringBoard [15] (Notice): SMSCTServer is available and ready to rock. Apr 8, 2012 10:08:26 PM - SpringBoard [15] (Error): mms: * isMmsConfigured = 1 Apr 8, 2012 10:08:26 PM - MobilePhone [79] (Warning): Connection lost, retrying with key exchange. Apr 8, 2012 10:08:26 PM - MobilePhone [79] (Warning): Connection lost, retrying with key exchange. Apr 8, 2012 10:08:26 PM - MobilePhone [79] (Warning): Connection lost, retrying with key exchange. Apr 8, 2012 10:08:26 PM - MobilePhone [79] (Warning): Connection lost, retrying with key exchange. Apr 8, 2012 10:08:25 PM - SpringBoard [15] (Warning): BT: failed to get connectable state with error 111 Apr 8, 2012 10:08:25 PM - SpringBoard [15] (Error): WiFi: Consulting "no-sdio-devices" property. Apr 8, 2012 10:08:25 PM - SpringBoard [15] (Error): WiFi: "no-sdio-devices" property not found. Apr 8, 2012 10:08:25 PM - SpringBoard [15] (Warning): SMS Plugin initialized. Apr 8, 2012 10:08:25 PM - SpringBoard [15] (Warning): Telephony plugin initialized Apr 8, 2012 10:08:25 PM - SpringBoard [15] (Warning): SIMToolkit plugin for SpringBoard initialized. Apr 8, 2012 10:08:25 PM - SpringBoard [15] (Error): WiFi: Consulting "no-sdio-devices" property. Apr 8, 2012 10:08:25 PM - SpringBoard [15] (Error): WiFi: "no-sdio-devices" property not found. Apr 8, 2012 10:08:25 PM - SpringBoard [15] (Warning): WiFi picker plugin initialized Apr 8, 2012 10:08:25 PM - SpringBoard [15] (Warning): EKAlarmEngine: Region monitoring not available or enabled. Trigger ignored! Apr 8, 2012 10:08:24 PM - kernel [0] (Debug): AppleH4CamIn::setPowerStateGated: 0 Apr 8, 2012 10:08:24 PM - kernel [0] (Debug): AppleH4CamIn::power_off_hardware Apr 8, 2012 10:08:24 PM - SpringBoard [15] (Notice): IOMobileFrameBufferGetMirroringCapability returning -536870201 via kIOMFBConnectMethod_GetMirroringCapability  Apr 8, 2012 10:08:24 PM - aggregated [61] (Warning): PLAggregateState Error: Leaving state unplugged_screen_off even though we are not in it, doing nothing Apr 8, 2012 10:08:24 PM - aggregated [61] (Warning): PLAggregateState Error: Entering state unplugged_screen_on even though we are already in it, doing nothing Apr 8, 2012 10:08:24 PM - wifid [29] (Error): WiFi:[355640904.616440]: Disable WoW requested by "spd" Apr 8, 2012 10:08:24 PM - SpringBoard [15] (Warning): Application windows are expected to have a root view controller at the end of application launch Apr 8, 2012 10:08:23 PM - SpringBoard [15] (Warning): BTM: attaching to BTServer Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::ISP_LoadFirmware_gated: fw len=1232920 Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::ISP_LoadFirmware_gated - firmware checksum: 0x05935019 Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::power_on_hardware Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::ISP_Init - No set-file loaded for camera channel 0 Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::ISP_Init - No set-file loaded for camera channel 1 Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::ISP_InitialSensorDetection - found sensor on chan 0: 0x0145 Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::ISP_InitialSensorDetection - found sensor on chan 1: 0x7736 Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::power_off_hardware Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::ISP_LoadSetfile_gated (camChan=0) Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::ISP_LoadSetfile_gated (camChan=1) Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::setPowerStateGated: 1 Apr 8, 2012 10:08:23 PM - kernel [0] (Debug): AppleH4CamIn::power_on_hardware Apr 8, 2012 10:08:23 PM - profiled [20] (Notice): (Note ) profiled: Locking device Apr 8, 2012 10:08:22 PM - kernel [0] (Debug): HighlandParkResourceMgr::AddFirmware() {'cdma', '    '} added to resources Apr 8, 2012 10:08:22 PM - kernel [0] (Debug): AppleSynopsysOTGDevice::gated_registerFunction Register function PTP Apr 8, 2012 10:08:22 PM - kernel [0] (Debug): AppleSynopsysOTGDevice::gated_registerFunction all functions registered- we are ready to start usb stack Apr 8, 2012 10:08:22 PM - kernel [0] (Debug): AppleSynopsysOTGDevice::handleUSBCableDisconnect Apr 8, 2012 10:08:22 PM - kernel [0] (Debug): HighlandParkResourceMgr::AddFirmware() {'gsm ', 'nb  '} added to resources Apr 8, 2012 10:08:22 PM - kernel [0] (Debug): HighlandParkResourceMgr::AddFirmware() {'gsm ', 'wb  '} added to resources Apr 8, 2012 10:08:22 PM - MRMLowDiskUEA [12] (Notice): MobileDelete: LowDisk Plugin: start Apr 8, 2012 10:08:22 PM - MRMLowDiskUEA [12] (Notice): kqueue registration successful Apr 8, 2012 10:08:22 PM - mediaserverd [44] (Error): 22:08:22.522867 com.apple.AVConference: /SourceCache/GameKitServices/GameKitServices-344.21/AVConference.subproj/Sources/AVConferenceServer.m:1867: AVConferenceServerStart Apr 8, 2012 10:08:22 PM - CommCenter [18] (Notice): Carrier bundle value for recipient address: 28818773 Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice - Configuration: PTP Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice          Interface: PTP Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice - Configuration: iPod USB Interface Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice          Interface: USBAudioControl Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice          Interface: USBAudioStreaming Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice          Interface: IapOverUsbHid Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice - Configuration: PTP + Apple Mobile Device Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice          Interface: PTP Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice          Interface: AppleUSBMux Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice - Configuration: PTP + Apple Mobile Device + Apple USB Ethernet Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice          Interface: PTP Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice          Interface: AppleUSBMux Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice          Interface: AppleUSBEthernet Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): IOAccessoryPortUSB::start Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice::gated_registerFunction Register function USBAudioControl Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): virtual bool AppleUSBDeviceMux::start(IOService*) build: Feb  1 2012 23:16:46 Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): init_waste Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice::gated_registerFunction Register function AppleUSBMux Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice::gated_registerFunction Register function IapOverUsbHid Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice::gated_registerFunction Register function USBAudioStreaming Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleSynopsysOTGDevice::gated_registerFunction Register function AppleUSBEthernet Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleUSBEthernetDevice::start: Host MAC address = 02:(this Mac address does not physically exist) -edit Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): AppleUSBEthernetDevice: Ethernet address  Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): BTServer[66] Builtin profile: BlueTool (sandbox) Apr 8, 2012 10:08:21 PM - kernel [0] (Debug): BTServer[66] Builtin profile: BlueTool (sandbox) Apr 8, 2012 10:08:21 PM - hpfd [50] (Notice): firmware resource loaded { 'cdma' '    ' } Apr 8, 2012 10:08:21 PM - wifid [29] (Error): WiFi:[355640901.282776]: Could not read APPLE80211_IOC_SUPPORTED_CHANNELS err=82 Apr 8, 2012 10:08:21 PM - wifid [29] (Error): WiFi:[355640901.312786]: Client itunesstored is background application Apr 8, 2012 10:08:21 PM - timed [31] (Notice): (Note ) CoreTime: Want active time in 38.24hrs. Need active time in 121.57hrs. Apr 8, 2012 10:08:21 PM - SpringBoard [15] (Notice): MultitouchHID: detection mode: 255-0 (deferring until bootloaded) Apr 8, 2012 10:08:21 PM - CLTM [12] (Error): CLTM: resetting temps: now = 1333948101, last update = -2147483648 Apr 8, 2012 10:08:21 PM - locationd [28] (Error): WiFi:[355640901.852993]: WiFiManager now available Apr 8, 2012 10:08:21 PM - OTACrashCopier [62] (Notice): (Warn ) Failed to read attributes from '/var/mobile/Library/OTALogging/.last_successful_submission_marker' Apr 8, 2012 10:08:21 PM - hpfd [50] (Notice): firmware resource loaded { 'gsm ' 'nb  ' } Apr 8, 2012 10:08:21 PM - hpfd [50] (Notice): firmware resource loaded { 'gsm ' 'wb  ' } Apr 8, 2012 10:08:20 PM - kernel [0] (Debug): AppleBCMWLANCore::initFirmware(): successful initialization Apr 8, 2012 10:08:20 PM - kernel [0] (Debug): AppleBCMWLANCore:initFirmware(): 2496 PropTxStatus feature is not enabled for this platform  Apr 8, 2012 10:08:20 PM - kernel [0] (Debug): AppleBCMWLANCore::initDongle():: creating virtual interface with prefix = ap Apr 8, 2012 10:08:20 PM - kernel [0] (Debug): AppleBCMWLANCore::initDongle(): Core Driver Initialization Time 19.38798583 Apr 8, 2012 10:08:20 PM - kernel [0] (Debug): 000019.281423 hsic-baseband::safetyNet: port is not connected Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 _create_cesm_vault: try to create blob Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 load_activation_records: This is the default record Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 _create_cesm_vault: blob written Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 ping_configd: Not setting host name, it already has one: Pete's iPod  Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 lookup_baseband_info_new: radio not ready: kCTPostponementStatusNotReady Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 load_activation_records: This is the default record Apr 8, 2012 10:08:20 PM - SpringBoard [15] (Error): WiFi: Consulting "no-sdio-devices" property. Apr 8, 2012 10:08:20 PM - SpringBoard [15] (Error): WiFi: "no-sdio-devices" property not found. Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 determine_activation_state_new: Original act. state: Activated Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 determine_activation_state_new: radio not ready, don't change activation status, wait for notification, status: kCTPostponementStatusNotReady Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 determine_activation_state_new: Activation state now is Activated Apr 8, 2012 10:08:20 PM - SpringBoard [15] (Warning): lockdown says the device is: [Activated], state is 3 Apr 8, 2012 10:08:20 PM - SpringBoard [15] (Warning): lockdown says we've previously registered: [1], state is 1 Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 notification_worker: now listening for CT notifications Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 notification_worker: we've registered for notifications, now make sure we didn't miss one... Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 load_activation_records: This is the default record Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 determine_activation_state_new: Original act. state: Activated Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 determine_activation_state_new: radio not ready, don't change activation status, wait for notification, status: kCTPostponementStatusNotReady Apr 8, 2012 10:08:20 PM - lockdownd [23] (Notice): 3e828d98 determine_activation_state_new: Activation state now is Activated Apr 8, 2012 10:08:20 PM - SpringBoard [15] (Notice): Posting 'com.apple.iokit.hid.displayStatus' notifyState=1 Apr 8, 2012 10:08:20 PM - SpringBoard [15] (Notice): __IOHIDLoadBundles: Loaded 1 HID plugin Apr 8, 2012 10:08:19 PM - wifiFirmwareLoader [30] (Warning): [    18.778 sec] Downloaded firmware, 192512 bytes Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleKeyStore:cp_key_store_action(0) Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleMultitouchN1SPI: downloaded 128 bytes of prox calibration data ("built-in") Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleMultitouchN1SPI: downloaded 1024 bytes of calibration data ("built-in") Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore::attachBusGated(): Bus Driver Initialization Time 18.266927958 Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore:attachBusGated(): Starting with MAC Address: 00:f4:b9:2f:d9:8d Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANFirmwareManager::setNVRAMData(): received 778 bytes Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore: Ethernet address 00:f4:b9:2f:d9:8d Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): Loading syscfg. Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleMultitouchN1SPI: downloaded 56264 bytes of firmware data ("0x0084.bin") in 152ms. Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore::apple80211_ioctl() Driver not yet initialized, cannot process ioctl Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore::apple80211_ioctl() Driver not yet initialized, cannot process ioctl Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AirPort: Enabled AppleBCMWLANCore (link 0, sys 0, user 0) Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore::apple80211_ioctl() Driver not yet initialized, cannot process ioctl Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore::apple80211_ioctl() Driver not yet initialized, cannot process ioctl Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANBusInterfaceHSIC::loadFirmware(): DL Ver: chip 0x4330, chiprev 0x4 Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): BTServer[66] Builtin profile: BlueTool (sandbox) Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): BCMWLAN Firmware Version: wl0: Dec 22 2011 19:03:58 version 5.95.45 Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore::initFirmware(): Firmware supports ap mode; enabling apsta feature (currently enabled) Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore::initFirmware(): country code set to XX Apr 8, 2012 10:08:19 PM - configd [14] (Notice): network configuration changed. Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCmdManager::processResponse(): Firmware Error "BCOM Unsupported" on command "WLC_SET_VAR: bus:txglom" (263). Transaction ID 3, length 0 Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore::initFirmware(): Glomming not supported on this device: BCOM Unsupported Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore::initFirmware: apsta set to 1 Apr 8, 2012 10:08:19 PM - kernel [0] (Debug): AppleBCMWLANCore::handleEventPacket(): WLC_E_FIFO_CREDIT_MAP,length 6 [9 2 5 3 2] Apr 8, 2012 10:08:19 PM - iapd [49] (Error): Timed out trying to acquire capabilities data. Apr 8, 2012 10:08:19 PM - softwareupdated [37] (Notice): 3e828d98 : Cleaning up unused prepared updates Apr 8, 2012 10:08:19 PM - com.apple.misd [63] (Notice): allowing special port forwarding for test fixtures Apr 8, 2012 10:08:19 PM - hpfd [50] (Notice): resource request { 'N94 ', '    ' } Apr 8, 2012 10:08:19 PM - mstreamd [43] (Notice): (Note ) mstreamd: mstreamd starting up. Apr 8, 2012 10:08:18 PM - kernel [0] (Debug): launchd[44] Builtin profile: mediaserverd (sandbox) Apr 8, 2012 10:08:18 PM - kernel [0] (Debug): launchd[49] Builtin profile: iapd (sandbox) Apr 8, 2012 10:08:18 PM - kernel [0] (Debug): launchd[53] Builtin profile: dataaccessd (sandbox) Apr 8, 2012 10:08:18 PM - kernel [0] (Debug): launchd[60] Builtin profile: apsd (sandbox) Apr 8, 2012 10:08:18 PM - kernel [0] (Debug): launchd[66] Builtin profile: BTServer (sandbox) Apr 8, 2012 10:08:18 PM - mDNSResponder [46] (Error): mDNSResponder mDNSResponder-329.10 (Jan 15 2012 19:07:41) starting iOSVers 9 Apr 8, 2012 10:08:18 PM - mDNSResponder [46] (Error): Note: SetDomainSecrets: no keychain support Apr 8, 2012 10:08:18 PM - mDNSResponder [46] (Error): Note: Compiled without SnowLeopard Fine-Grained Power Management support Apr 8, 2012 10:08:18 PM - fseventsd [51] (Critical): event logs in /private/var/.fseventsd out of sync with volume.  destroying old logs. (10083 7 10090) Apr 8, 2012 10:08:18 PM - fseventsd [51] (Critical): log dir: /private/var/.fseventsd getting new uuid: 8778E61A-0283-4067-B7DF-F75D109983D1 Apr 8, 2012 10:08:18 PM - fseventsd [51] (Error): failed to make the directory /.fseventsd (30/Read-only file system) Apr 8, 2012 10:08:18 PM - fseventsd [51] (Critical): could not open < (No such file or directory) Apr 8, 2012 10:08:18 PM - fseventsd [51] (Critical): log dir: /tmp getting new uuid: 3919EB54-A54F-4289-864A-5158A25EF9DA Apr 8, 2012 10:08:18 PM - wifid [29] (Error): WiFi:[355640898.328610]: WiFi Preferences is up to date Apr 8, 2012 10:08:18 PM - mDNSResponder [46] (Error): D2DInitialize succeeded Apr 8, 2012 10:08:18 PM - fairplayd.N94 [52] (Notice): Vroum Apr 8, 2012 10:08:18 PM - wifid [29] (Error): WiFi:[355640898.537219]: WiFiManager starting, version: WiFiManager-260.9 Feb  4 2012 13:25:16 Apr 8, 2012 10:08:18 PM - configd [14] (Error): WiFi:[355640898.539342]: WiFiManager now available Apr 8, 2012 10:08:18 PM - keybagd [39] (Error): 3e828d98 main: System Keybag loaded Apr 8, 2012 10:08:18 PM - wifiFirmwareLoader [30] (Warning): [    18.268 sec] Found AppleBCMWLANBusInterface; downloading FW.. Apr 8, 2012 10:08:18 PM - wifiFirmwareLoader [30] (Warning): Loading "/usr/share/firmware/wifi/4330b2/bcm94330OlympicUNO3.txt", file size = 778 bytes Apr 8, 2012 10:08:18 PM - wifiFirmwareLoader [30] (Warning): [    18.276 sec] Sending NVRAM, 778 bytes Apr 8, 2012 10:08:18 PM - wifiFirmwareLoader [30] (Warning): Loading "/usr/share/firmware/wifi/4330b2/n94.trx", file size = 192512 bytes Apr 8, 2012 10:08:18 PM - wifiFirmwareLoader [30] (Warning): [    18.300 sec] Sending firmware, 192512 bytes Apr 8, 2012 10:08:18 PM - lockdownd [23] (Error): libMobileGestalt copyEthernetMacAddress: got 00:f4:b9:2f:d9:8f from syscfg Apr 8, 2012 10:08:18 PM - mediaserverd [44] (Notice): 2012-04-08 10:08:18.817015 PM [AirTunes] HAL plugin started Apr 8, 2012 10:08:18 PM - lockdownd [23] (Error): libMobileGestalt createCFStringWithCFData: Cannot convert NULL data to string Apr 8, 2012 10:08:18 PM - lockdownd [23] (Error): libMobileGestalt copyBasebandBoardSnum: Could not convert baseband board snum data to string Apr 8, 2012 10:08:18 PM - lockdownd [23] (Error): libMobileGestalt createCFStringWithCFData: Cannot convert NULL data to string Apr 8, 2012 10:08:18 PM - lockdownd [23] (Error): libMobileGestalt copyWirelessBoardSnum: Could not convert wireless board snum data to string Apr 8, 2012 10:08:18 PM - lockdownd [23] (Notice): 3e828d98 lockstart_local: Build= 9B179 Apr 8, 2012 10:08:18 PM - lockdownd [23] (Notice): 3e828d98 _load_product_type: using Raptor Certs Apr 8, 2012 10:08:17 PM - wifiFirmwareLoader [30] (Warning): [    17.590 sec] wlan AppleUSBHSICDevice found Apr 8, 2012 10:08:17 PM - wifiFirmwareLoader [30] (Warning): [    17.590 sec] WLAN Enumeration attempt 0 / 6: Apr 8, 2012 10:08:17 PM - wifiFirmwareLoader [30] (Warning): [    17.591 sec] Waiting for AppleBCMWLANBusInterface to enumerate... Apr 8, 2012 10:08:16 PM - CommCenter [18] (Notice): MMS thread running Apr 8, 2012 10:08:16 PM - CommCenter [18] (Notice): Communications Center Started. Apr 8, 2012 10:08:16 PM - CommCenter [18] (Notice): STOP LOCATION UPDATE Apr 8, 2012 10:08:16 PM - locationd [28] (Error): WiFi:[355640896.704327]: bootstrap_look_up of WiFiManager server failed Apr 8, 2012 10:08:16 PM - locationd [28] (Error): WiFi:[355640896.705542]: bootstrap_look_up of WiFiManager server failed Apr 8, 2012 10:08:16 PM - locationd [28] (Error): WiFi:[355640896.706648]: bootstrap_look_up of WiFiManager server failed Apr 8, 2012 10:08:16 PM - locationd [28] (Error): WiFi:[355640896.707418]: bootstrap_look_up of WiFiManager server failed Apr 8, 2012 10:08:15 PM - kernel [0] (Debug): bool AppleRGBOUT::power_down_hardware(), RGB_CTRL (0x00000000) clk_down_ready is not set after 60 msecs Apr 8, 2012 10:08:14 PM - lockdownd [23] (Notice): 3e828d98 main: Starting Up Apr 8, 2012 10:08:14 PM - kernel [0] (Debug): IOReturn AppleRGBOUT::set_display_device_gated(uint32_t), 1 Apr 8, 2012 10:08:14 PM - kernel [0] (Debug): virtual void AppleRGBOUT::do_power_state_change(): fSoft: 1 fHard: 1 swapBusy: 1  fController: 0 - 1 Apr 8, 2012 10:08:14 PM - kernel [0] (Debug): bool AppleRGBOUT::power_up_hardware() Apr 8, 2012 10:08:14 PM - kernel [0] (Debug): set_crc_notification_state 0 Apr 8, 2012 10:08:14 PM - kernel [0] (Debug): virtual void AppleRGBOUT::do_power_state_change(): fSoft: 0 fHard: 1 swapBusy: 0  fController: 1 - 0 Apr 8, 2012 10:08:14 PM - kernel [0] (Debug): bool AppleRGBOUT::power_down_hardware() Apr 8, 2012 10:08:14 PM - kernel [0] (Debug): IOReturn IOMobileFramebufferUserClient::set_hotplug_notify(void *, void *) 0x314b3f0d 0xe215600 Apr 8, 2012 10:08:14 PM - kernel [0] (Debug): IOReturn IOMobileFramebufferUserClient::set_hotplug_notify(void *, void *) 0x849d5000 0x876e8828 0x314b3f0d 0xe215600 Apr 8, 2012 10:08:14 PM - kernel [0] (Debug): bool AppleRGBOUT::power_down_hardware(), clock down RGBOUT Apr 8, 2012 10:08:14 PM - SpringBoard [15] (Notice): IOMobileFrameBufferGetMirroringCapability returning -536870201 via kIOMFBConnectMethod_GetMirroringCapability  Apr 8, 2012 10:08:14 PM - backupd [21] (Warning): INFO: Account changed (enabled=0, accountID=159665024) Apr 8, 2012 10:08:13 PM - kernel [0] (Debug): launchd[17] Builtin profile: ptpd (sandbox) Apr 8, 2012 10:08:13 PM - UserEventAgent [12] (Warning): Factory called Apr 8, 2012 10:08:13 PM - configd [14] (Error): WiFi:[355640893.157493]: bootstrap_look_up of WiFiManager server failed Apr 8, 2012 10:08:13 PM - configd [14] (Error): WiFi:[355640893.158197]: bootstrap_look_up of WiFiManager server failed Apr 8, 2012 10:08:13 PM - configd [14] (Error): WiFi:[355640893.158878]: bootstrap_look_up of WiFiManager server failed Apr 8, 2012 10:08:13 PM - UserEventAgent [12] (Notice): (Note ) PIH: MCUEAPlugin initialized. Apr 8, 2012 10:08:13 PM - UserEventAgent [12] (Error): Querying interface Apr 8, 2012 10:08:13 PM - configd [14] (Error): ioctl(SIOCGIFCAP) failed: Device not configured Apr 8, 2012 10:08:13 PM - configd [14] (Error): ioctl(SIOCGIFCAP) failed: Device not configured Apr 8, 2012 10:08:13 PM - configd [14] (Notice): setting hostname to "Petes-iPod" Apr 8, 2012 10:08:13 PM - configd [14] (Notice): network configuration changed. Apr 8, 2012 10:08:13 PM - UserEventAgent [12] (Warning): TRACE: sending {    command = kMBMessageAccountChanged; } Apr 8, 2012 10:08:13 PM - profiled [20] (Notice): (Note ) profiled: Service starting... Apr 8, 2012 10:08:13 PM - profiled [20] (Notice): (Note ) profiled: Performing boot time checks. Apr 8, 2012 10:08:13 PM - profiled [20] (Notice): (Note ) MC: Checking for MDM installation... Apr 8, 2012 10:08:13 PM - profiled [20] (Notice): (Note ) MC: ...finished checking for MDM installation. Apr 8, 2012 10:08:13 PM - profiled [20] (Notice): (Note ) profiled: Checking for new carrier profile... Apr 8, 2012 10:08:13 PM - profiled [20] (Notice): (Note ) profiled: Installing new carrier profile. Apr 8, 2012 10:08:13 PM - profiled [20] (Notice): (Note ) profiled: Carrier profile has already been installed. Apr 8, 2012 10:08:12 PM - com.apple.launchd [1] (Warning): (com.apple.ptpd) The exception server is already claimed! Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: mitigation behavior enabled Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: camera equations enabled Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: thermal monitoring enabled Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: registered for wake notification Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: set decay on sensor 0 to 16384 Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: set decay on sensor 1 to 546 Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: set decay on sensor 2 to 5461 Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: set decay on sensor 3 to 6553 Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: set decay on sensor 4 to 5461 Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: set decay on sensor 5 to 5461 Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: set decay on sensor 6 to 16384 Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: set decay on sensor 9 to 5461 Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: set decay on sensor 10 to 5461 Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: Set AppleARMPerformanceControllerDVDFactor1 dithering level to 101% Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: Set AppleARMPerformanceControllerDVDFactor0 dithering level to 100% Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: Set charge rate index to 0 Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: HID not ready cannot set BL Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: setting thermal status level to 0 (0) [-32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768] Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: set allowable transmit power limit to 24.000 dBm [-32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768, -32768] Apr 8, 2012 10:08:12 PM - CLTM [12] (Error): CLTM: Could not close relay file Apr 8, 2012 10:08:12 PM - CLTM [12] (Notice): CLTM: thermtgraphrelay is not present

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