/* get the response vector based on experience */{    int i, j, *weights;    static long sum[MAX_RESPONSE_SIZE];	if ((cmac_id < 1)|(cmac_id > NUM_CMACS)|(ap_a[cmac_id] == 0))		return(FALSE);  /* reject bad ID */	setup(cmac_id);  /* init CMAC parameters */	stoap(state);  /* generate indices into ap[][] */	/* Process CMACs with rectangular RF field functions */		if ((rf_shape == ALBUS) || (rf_shape == RECTANGULAR)) {		    for (j = 0; j < rsp_size; j++) 	    	sum[j] = 0;		for(i = 0; i < gen_size; i++) {					/* point to the weight vector for this RF */								weights = &ap[indexes[i] * (rsp_size + 1)];					        /* compute the experience sum */		    	for (j = 0; j < rsp_size; j++)				sum[j] += (long)weights[j];		}	    for (j = 0; j < rsp_size; j++)			respns[j] = (int)(sum[j] / gen_size);					return(TRUE);			}	/* Process CMACs with non-rectangular RF field functions */	    for (j = 0; j < rsp_size; j++)     	sum[j] = 0;	for(i = 0; i < gen_size; i++) {  			/* point to the weight vector for this RF */							weights = &ap[indexes[i] * (rsp_size + 1)];				        /* compute the experience sum */	    	for (j = 0; j < rsp_size; j++)			sum[j] += (long)weights[j] * rfield[i];	}    for (j = 0; j < rsp_size; j++)		respns[j] = (int)(sum[j] / sum_rfield);				return(TRUE);}/*************************************************************************** *      map_cmac_input()                                                   * *                                                                         * *      Input:          cmac_id, state[]                                   * *      Output:         *weights[], rfmags[]                               * *                                                                         * *      Purpose:        returns pointers to the weight vectors mapped      * *						by the input vector state[], and the associated    * *						receptive field magnitudes                         * *                                                                         * ***************************************************************************/int map_cmac_input(int cmac_id,int *state,int *weights[], int *rfmags)/* get the response vector based on experience */{    int i;	if ((cmac_id < 1)|(cmac_id > NUM_CMACS)|(ap_a[cmac_id] == 0))		return(FALSE);  /* reject bad ID */	setup(cmac_id);  /* init CMAC parameters */	stoap(state);  /* generate indices into ap[][] */	/* Process CMACs with rectangular RF field functions */		if ((rf_shape == ALBUS) || (rf_shape == RECTANGULAR)) {			for(i = 0; i < gen_size; i++) {					/* point to the weight vector for this RF */								weights[i] = &ap[indexes[i] * (rsp_size + 1)];						/* return the constant RF magnitude		  */						rfmags[i] = 1;						}		return(TRUE);	}	/* Process CMACs with non-rectangular RF field functions */		for(i = 0; i < gen_size; i++) {  			/* point to the weight vector for this RF */							weights[i] = &ap[indexes[i] * (rsp_size + 1)];						/* return the RF magnitudes	*/					rfmags[i] = (int)rfield[i];	}	return(TRUE);}/*************************************************************************** *      clear_cmac_weights()                                               * *                                                                         * *      Input:          cmac_id                                            * *      Output:         ap[]                                               * *                                                                         * *      Purpose:        Initialize CMAC memory to all 0's                  * *                                                                         * ***************************************************************************/int clear_cmac_weights(int cmac_id){    int i, j;	int *pntr;	if ((cmac_id < 1)|(cmac_id > NUM_CMACS)|(ap_a[cmac_id] == 0))		return(FALSE);  /* reject bad ID */	setup(cmac_id);  /* init CMAC parameters */	pntr = ap;	j = mem_size * (rsp_size + 1);    for (i = 0; i < j; i++) *pntr++ = 0;        return(TRUE); }/*************************************************************************** *      deallocate_cmac()                                                  * *                                                                         * *      Input:          cmac_id                                            * *      Output:         TRUE or FALSE (success or not)                     * *                                                                         * *      Purpose:        de-allocates the specified cmac                    * *                                                                         * ***************************************************************************/int deallocate_cmac(int cmac_id){	if ((cmac_id < 1)|(cmac_id > NUM_CMACS)|(ap_a[cmac_id] == 0))		return(FALSE);  /* reject bad ID */	free((void *)ap_a[cmac_id]);    /* free the cmac memory */	ap_a[cmac_id] = 0;              /* mark cmac released   */	ap_size[cmac_id] = 0;	return(TRUE);}/*************************************************************************** *      cmac_memory_usage()                                                * *                                                                         * *      Input:          cmac_id                                            * *      Output:         returns # of memory cells (vectors) used           * *                                                                         * *      Purpose:        returns # of memory cells used (vectors not = 0)   * *                                                                         * ***************************************************************************/int cmac_memory_usage(int cmac_id){	int i;	int value;	int *pntr;	if ((cmac_id < 1)|(cmac_id > NUM_CMACS)|(ap_a[cmac_id] == 0))		return(FALSE);  /* reject bad ID */	setup(cmac_id);  /* init CMAC parameters */	pntr = &ap[rsp_size];	value = 0;	for (i = 0; i < mem_size; i++) {		if (*pntr != 0) ++value;		pntr += (rsp_size + 1);	}	return(value);}/*************************************************************************** *      get_cmac()                                                         * *                                                                         * *      Input:          cmac_id, index, buffer[], count                    * *      Output:         returns # of vectors transferred                   * *                                                                         * *      Purpose:        returns raw CMAC memory vectors to buffer          * *                                                                         * ***************************************************************************/int get_cmac(int cmac_id,int index,int *buffer,int count){	int i, j, *pntr;	if ((cmac_id < 1)|(cmac_id > NUM_CMACS)|(ap_a[cmac_id] == 0))		return(FALSE);  /* reject bad ID */	setup(cmac_id);  /* init CMAC parameters */	pntr = buffer;	for (i = 0; i < count; i++) {		if ((index + i) >= mem_size) break;		for(j = 0; j <= rsp_size ; j++) {			*pntr++ = ap[((index + i) * (rsp_size + 1)) + j];		}	}	return(i);}/*************************************************************************** *      put_cmac()                                                         * *                                                                         * *      Input:          cmac_id, index, buffer[], count                    * *      Output:         returns # of vectors transferred                   * *                                                                         * *      Purpose:        writes raw CMAC memory vectors from buffer         * *                                                                         * ***************************************************************************/int put_cmac(int cmac_id,int index,int *buffer,int count){	int i, j, *pntr;	if ((cmac_id < 1)|(cmac_id > NUM_CMACS)|(ap_a[cmac_id] == 0))		return(FALSE);  /* reject bad ID */	setup(cmac_id);  /* init CMAC parameters */	pntr = buffer;	for (i = 0; i < count; i++) {		if ((index + i) >= mem_size) break;		for(j = 0; j <= rsp_size ; j++) {			ap[((index + i) * (rsp_size + 1)) + j] = *pntr++;		}	}	return(i);}/*************************************************************************** *      set_cmac_rf_displacement()                                         * *                                                                         * *      Input:          cmac_id, displacement vector                       * *      Output:         none                  							   * *                                                                         * *      Purpose:        writes displacement vector to CMAC storage         * *                                                                         * ***************************************************************************/int set_cmac_rf_displacement(int cmac_id,int *buffer){	int i, *pntr;	if ((cmac_id < 1)|(cmac_id > NUM_CMACS)|(ap_a[cmac_id] == 0))		return(FALSE);  /* reject bad ID */	setup(cmac_id);  /* init CMAC parameters */	/* only customize "custom" CMACs */	if (rf_shape != CUSTOM) return(FALSE);	pntr = buffer;	for (i = 0; i < st_size; i++) disp[i] = *pntr++;	return(TRUE);}/*************************************************************************** *      set_cmac_rf_magnitude()                                            * *                                                                         * *      Input:          cmac_id, RF function table                         * *      Output:         none                  							   * *                                                                         * *      Purpose:        writes RF magnitude table to CMAC storage          * *                                                                         * ***************************************************************************/int set_cmac_rf_magnitude(int cmac_id,int *buffer){	int i, *pntr;	if ((cmac_id < 1)|(cmac_id > NUM_CMACS)|(ap_a[cmac_id] == 0))		return(FALSE);  /* reject bad ID */	setup(cmac_id);  /* init CMAC parameters */	/* only customize "custom" CMACs */	if (rf_shape != CUSTOM) return(FALSE);	pntr = buffer;	for (i = 0; i < RF_TABLE_SIZE; i++) rfieldt[i] = *pntr++;	return(TRUE);}/*************************************************************************** *      save_cmac()                                                        * *                                                                         * *      Input:          cmac_id, file name                                 * *      Output:         FALSE (0) on failure                  			   * *                                                                         * *      Purpose:        writes all of CMAC storage to a file               * *                                                                         * ***************************************************************************/int save_cmac(int cmac_id,char *filename){	int i;	if ((cmac_id < 1)|(cmac_id > NUM_CMACS)|(ap_a[cmac_id] == 0))		return(FALSE);  /* reject bad ID */	/* open the file */ 	if ((i = open(filename, O_BINARY | O_CREAT | O_WRONLY,			     S_IREAD | S_IWRITE)) == -1) return(FALSE);	/* write size of CMAC storage followed by data */	write(i, &ap_size[cmac_id], sizeof(int));	write(i, ap_a[cmac_id], ap_size[cmac_id]);	close(i);	return(TRUE);}/*************************************************************************** *      restore_cmac()                                                     * *                                                                         * *      Input:          file name                                          * *      Output:         cmac_id, or FALSE (0) on failure    			   * *                                                                         * *      Purpose:        restore all of CMAC storage from a file            * *                                                                         * ***************************************************************************/int restore_cmac(char *filename){	int i, j;	/* initialize data structures on first call to driver */	if (first_call) {		genmap();		for (i = 0; i <= NUM_CMACS; i++) ap_a[i] = 0;		first_call = FALSE;	}	/* find an empty id */	for (i = 1; i <= NUM_CMACS; i++) if (ap_a[i] == 0) break;	if (i > NUM_CMACS) return(FALSE);  /* return 0 for no more cmacs */	/* open the file */ 	if ((j = open(filename, O_BINARY | O_RDONLY)) == -1) return(FALSE);	/* allocate CMAC storage and restore it from file */	read(j, &ap_size[i], sizeof(int));	if (ap_a[i] = (int *)malloc(ap_size[i])) {		read(j, ap_a[i], ap_size[i]);		close(j);		return(i);                  /* return cmac id number */	} else {		close(j);		return(FALSE);	}}