├── .codespellrc ├── library.properties ├── .github ├── dependabot.yml └── workflows │ ├── spell-check.yml │ ├── check-arduino.yml │ ├── report-size-deltas.yml │ ├── compile-examples.yml │ └── sync-labels.yml ├── keywords.txt ├── src ├── Arduino_KNN.h ├── utility │ ├── KNNNode.h │ └── KNNNode.cpp ├── KNNClassifier.h └── KNNClassifier.cpp ├── README.adoc ├── examples ├── SimpleKNN │ └── SimpleKNN.ino ├── ColorClassifier │ └── ColorClassifier.ino └── BoardOrientation │ └── BoardOrientation.ino └── LICENSE /.codespellrc: -------------------------------------------------------------------------------- 1 | # See: https://github.com/codespell-project/codespell#using-a-config-file 2 | [codespell] 3 | # In the event of a false positive, add the problematic word, in all lowercase, to a comma-separated list here: 4 | ignore-words-list = , 5 | check-filenames = 6 | check-hidden = 7 | skip = ./.git 8 | -------------------------------------------------------------------------------- /library.properties: -------------------------------------------------------------------------------- 1 | name=Arduino_KNN 2 | version=0.1.0 3 | author=Arduino 4 | maintainer=Arduino 5 | sentence=[BETA] Arduino library for the K-Nearest Neighbors algorithm. 6 | paragraph=The KNN algorithm classifies objects by comparing how similar they are to previously seen examples 7 | category=Data Processing 8 | url=https://github.com/arduino-libraries/Arduino_KNN 9 | architectures=* 10 | -------------------------------------------------------------------------------- /.github/dependabot.yml: -------------------------------------------------------------------------------- 1 | # See: https://docs.github.com/en/github/administering-a-repository/configuration-options-for-dependency-updates#about-the-dependabotyml-file 2 | version: 2 3 | 4 | updates: 5 | # Configure check for outdated GitHub Actions actions in workflows. 6 | # See: https://docs.github.com/en/github/administering-a-repository/keeping-your-actions-up-to-date-with-dependabot 7 | - package-ecosystem: github-actions 8 | directory: / # Check the repository's workflows under /.github/workflows/ 9 | schedule: 10 | interval: daily 11 | labels: 12 | - "topic: infrastructure" 13 | -------------------------------------------------------------------------------- /.github/workflows/spell-check.yml: -------------------------------------------------------------------------------- 1 | name: Spell Check 2 | 3 | # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows 4 | on: 5 | push: 6 | pull_request: 7 | schedule: 8 | # Run every Tuesday at 8 AM UTC to catch new misspelling detections resulting from dictionary updates. 9 | - cron: "0 8 * * TUE" 10 | workflow_dispatch: 11 | repository_dispatch: 12 | 13 | jobs: 14 | spellcheck: 15 | runs-on: ubuntu-latest 16 | 17 | steps: 18 | - name: Checkout repository 19 | uses: actions/checkout@v3 20 | 21 | - name: Spell check 22 | uses: codespell-project/actions-codespell@master 23 | -------------------------------------------------------------------------------- /keywords.txt: -------------------------------------------------------------------------------- 1 | ####################################### 2 | # Syntax Coloring Map For Arduino_KNN 3 | ####################################### 4 | # Class 5 | ####################################### 6 | 7 | Arduino_KNN KEYWORD1 8 | KNNClassifier KEYWORD1 9 | 10 | ####################################### 11 | # Methods and Functions 12 | ####################################### 13 | 14 | addExample KEYWORD2 15 | classify KEYWORD2 16 | confidence KEYWORD2 17 | 18 | clearClass KEYWORD2 19 | clearAllClasses KEYWORD2 20 | 21 | getCountByClass KEYWORD2 22 | getCount KEYWORD2 23 | 24 | ####################################### 25 | # Constants 26 | ####################################### 27 | -------------------------------------------------------------------------------- /.github/workflows/check-arduino.yml: -------------------------------------------------------------------------------- 1 | name: Check Arduino 2 | 3 | # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows 4 | on: 5 | push: 6 | pull_request: 7 | schedule: 8 | # Run every Tuesday at 8 AM UTC to catch breakage caused by new rules added to Arduino Lint. 9 | - cron: "0 8 * * TUE" 10 | workflow_dispatch: 11 | repository_dispatch: 12 | 13 | jobs: 14 | lint: 15 | runs-on: ubuntu-latest 16 | 17 | steps: 18 | - name: Checkout repository 19 | uses: actions/checkout@v3 20 | 21 | - name: Arduino Lint 22 | uses: arduino/arduino-lint-action@v1 23 | with: 24 | compliance: strict 25 | library-manager: update 26 | # Always use this setting for official repositories. Remove for 3rd party projects. 27 | official: true 28 | project-type: library 29 | -------------------------------------------------------------------------------- /.github/workflows/report-size-deltas.yml: -------------------------------------------------------------------------------- 1 | name: Report Size Deltas 2 | 3 | # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows 4 | on: 5 | push: 6 | paths: 7 | - ".github/workflows/report-size-deltas.yml" 8 | schedule: 9 | # Run at the minimum interval allowed by GitHub Actions. 10 | # Note: GitHub Actions periodically has outages which result in workflow failures. 11 | # In this event, the workflows will start passing again once the service recovers. 12 | - cron: "*/5 * * * *" 13 | workflow_dispatch: 14 | repository_dispatch: 15 | 16 | jobs: 17 | report: 18 | runs-on: ubuntu-latest 19 | steps: 20 | - name: Comment size deltas reports to PRs 21 | uses: arduino/report-size-deltas@v1 22 | with: 23 | # The name of the workflow artifact created by the sketch compilation workflow 24 | sketches-reports-source: sketches-reports 25 | -------------------------------------------------------------------------------- /src/Arduino_KNN.h: -------------------------------------------------------------------------------- 1 | /* 2 | This file is part of the Arduino_KNN library. 3 | Copyright (c) 2020 Arduino SA. All rights reserved. 4 | 5 | This library is free software; you can redistribute it and/or 6 | modify it under the terms of the GNU Lesser General Public 7 | License as published by the Free Software Foundation; either 8 | version 2.1 of the License, or (at your option) any later version. 9 | 10 | This library is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 | Lesser General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public 16 | License along with this library; if not, write to the Free Software 17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 18 | */ 19 | 20 | #ifndef _ARDUINO_KNN_H_ 21 | #define _ARDUINO_KNN_H_ 22 | 23 | #include "KNNClassifier.h" 24 | 25 | #endif 26 | -------------------------------------------------------------------------------- /src/utility/KNNNode.h: -------------------------------------------------------------------------------- 1 | /* 2 | This file is part of the Arduino_KNN library. 3 | Copyright (c) 2020 Arduino SA. All rights reserved. 4 | 5 | This library is free software; you can redistribute it and/or 6 | modify it under the terms of the GNU Lesser General Public 7 | License as published by the Free Software Foundation; either 8 | version 2.1 of the License, or (at your option) any later version. 9 | 10 | This library is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 | Lesser General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public 16 | License along with this library; if not, write to the Free Software 17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 18 | */ 19 | 20 | #ifndef _KNN_NODE_H_ 21 | #define _KNN_NODE_H_ 22 | 23 | class KNNNode { 24 | public: 25 | KNNNode(const float values[], int numValues, int class_); 26 | virtual ~KNNNode(); 27 | 28 | float distance(const float values[], int numValues) const; 29 | 30 | int class_() const; 31 | 32 | KNNNode* next() const; 33 | 34 | void setNext(KNNNode* next); 35 | 36 | private: 37 | float* _values; 38 | int _class; 39 | KNNNode* _next; 40 | }; 41 | 42 | #endif 43 | -------------------------------------------------------------------------------- /src/KNNClassifier.h: -------------------------------------------------------------------------------- 1 | /* 2 | This file is part of the Arduino_KNN library. 3 | Copyright (c) 2020 Arduino SA. All rights reserved. 4 | 5 | This library is free software; you can redistribute it and/or 6 | modify it under the terms of the GNU Lesser General Public 7 | License as published by the Free Software Foundation; either 8 | version 2.1 of the License, or (at your option) any later version. 9 | 10 | This library is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 | Lesser General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public 16 | License along with this library; if not, write to the Free Software 17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 18 | */ 19 | 20 | #ifndef _KNN_CLASSIFIER_H_ 21 | #define _KNN_CLASSIFIER_H_ 22 | 23 | #include 24 | 25 | class KNNNode; 26 | 27 | class KNNClassifier { 28 | public: 29 | KNNClassifier(int inputLength); 30 | virtual ~KNNClassifier(); 31 | 32 | void addExample(const float input[], int class_); 33 | int classify(const float input[], int k = 3); 34 | 35 | float confidence(); 36 | 37 | void clearClass(int class_); 38 | void clearAllClasses(); 39 | 40 | int getCountByClass(int class_); 41 | int getCount(); 42 | 43 | // int save(Print& out); 44 | // int load(Stream& in); 45 | 46 | private: 47 | int _inputLength; 48 | KNNNode* _examples; 49 | 50 | float _confidence; 51 | }; 52 | 53 | #endif 54 | -------------------------------------------------------------------------------- /src/utility/KNNNode.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This file is part of the Arduino_KNN library. 3 | Copyright (c) 2020 Arduino SA. All rights reserved. 4 | 5 | This library is free software; you can redistribute it and/or 6 | modify it under the terms of the GNU Lesser General Public 7 | License as published by the Free Software Foundation; either 8 | version 2.1 of the License, or (at your option) any later version. 9 | 10 | This library is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 | Lesser General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public 16 | License along with this library; if not, write to the Free Software 17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 18 | */ 19 | 20 | #include 21 | #include 22 | 23 | #include "KNNNode.h" 24 | 25 | KNNNode::KNNNode(const float values[], int numValues, int class_) : 26 | _class(class_), 27 | _next(NULL) 28 | { 29 | _values = new float[numValues]; 30 | 31 | for (int i = 0; i < numValues; i++) { 32 | _values[i] = values[i]; 33 | } 34 | } 35 | 36 | KNNNode::~KNNNode() 37 | { 38 | if (_values) { 39 | delete[] _values; 40 | _values = NULL; 41 | } 42 | } 43 | 44 | float KNNNode::distance(const float values[], int numValues) const 45 | { 46 | float f = 0; 47 | 48 | for (int i = 0; i < numValues; i++) { 49 | float delta = _values[i] - values[i]; 50 | 51 | f += (delta * delta); 52 | } 53 | 54 | return sqrtf(f); 55 | } 56 | 57 | int KNNNode::class_() const 58 | { 59 | return _class; 60 | } 61 | 62 | KNNNode* KNNNode::next() const 63 | { 64 | return _next; 65 | } 66 | 67 | void KNNNode::setNext(KNNNode* next) 68 | { 69 | _next = next; 70 | } 71 | -------------------------------------------------------------------------------- /README.adoc: -------------------------------------------------------------------------------- 1 | _Note: This library is no longer maintained by Arduino and has therefore been archived. If you are interested in maintaining it, please write an email to support@arduino.cc._ 2 | 3 | :repository-owner: arduino-libraries 4 | :repository-name: Arduino_KNN 5 | 6 | = {repository-name} Library for Arduino = 7 | 8 | image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/check-arduino.yml/badge.svg["Check Arduino status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/check-arduino.yml"] 9 | image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/compile-examples.yml/badge.svg["Compile Examples status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/compile-examples.yml"] 10 | image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/spell-check.yml/badge.svg["Spell Check status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/spell-check.yml"] 11 | 12 | Arduino library for the K-Nearest Neighbors algorithm. 13 | 14 | == License == 15 | 16 | Copyright (c) 2020 Arduino SA. All rights reserved. 17 | 18 | This library is free software; you can redistribute it and/or 19 | modify it under the terms of the GNU Lesser General Public 20 | License as published by the Free Software Foundation; either 21 | version 2.1 of the License, or (at your option) any later version. 22 | 23 | This library is distributed in the hope that it will be useful, 24 | but WITHOUT ANY WARRANTY; without even the implied warranty of 25 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 26 | Lesser General Public License for more details. 27 | 28 | You should have received a copy of the GNU Lesser General Public 29 | License along with this library; if not, write to the Free Software 30 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 31 | -------------------------------------------------------------------------------- /examples/SimpleKNN/SimpleKNN.ino: -------------------------------------------------------------------------------- 1 | /* 2 | SimpleKNN 3 | 4 | This example demonstrates how to use the Arduino_KNN library. 5 | 6 | It creates a KNN classifier that expects an input array of 2 floats. 7 | Then adds 4 example inputs with their respective classifications. 8 | After this it demonstrates how to classify an input value and get 9 | the classification's confidence. 10 | 11 | This example code is in the public domain. 12 | */ 13 | 14 | #include 15 | 16 | // Create a new KNNClassifier, input values are array of 2 (floats), 17 | // change if you need a bigger input size 18 | KNNClassifier myKNN(2); 19 | 20 | void setup() { 21 | Serial.begin(9600); 22 | while (!Serial); 23 | 24 | Serial.println("Simple KNN"); 25 | Serial.println(); 26 | 27 | Serial.print("Adding examples to myKNN ... "); 28 | Serial.println(); 29 | 30 | // add examples to KNN 31 | float example1[] = { 7.0, 7.0 }; 32 | float example2[] = { 5.0, 5.0 }; 33 | float example3[] = { 9.0, 9.0 }; 34 | float example4[] = { 5.0, 5.0 }; 35 | 36 | myKNN.addExample(example1, 7); // add example for class 7 37 | myKNN.addExample(example2, 5); // add example for class 5 38 | myKNN.addExample(example3, 9); // add example for class 9 39 | myKNN.addExample(example4, 5); // add example for class 5 (again) 40 | 41 | // get and print out the KNN count 42 | Serial.print("\tmyKNN.getCount() = "); 43 | Serial.println(myKNN.getCount()); 44 | Serial.println(); 45 | 46 | // you can also print the counts by class 47 | // Serial.print("\tmyKNN.getCountByClass(5) = "); 48 | // Serial.println(myKNN.getCountByClass(5)); // expect 2 49 | 50 | // classify the input 51 | Serial.println("Classifying input ..."); 52 | 53 | float input[] = { 5.0, 5.0 }; 54 | 55 | int classification = myKNN.classify(input, 3); // classify input with K=3 56 | float confidence = myKNN.confidence(); 57 | 58 | // print the classification and confidence 59 | Serial.print("\tclassification = "); 60 | Serial.println(classification); 61 | 62 | // since there are 2 examples close to the input and K = 3, 63 | // expect the confidence to be: 2/3 = ~0.67 64 | Serial.print("\tconfidence = "); 65 | Serial.println(confidence); 66 | } 67 | 68 | void loop() { 69 | // do nothing 70 | } 71 | -------------------------------------------------------------------------------- /.github/workflows/compile-examples.yml: -------------------------------------------------------------------------------- 1 | name: Compile Examples 2 | 3 | # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows 4 | on: 5 | push: 6 | paths: 7 | - ".github/workflows/compile-examples.yml" 8 | - "examples/**" 9 | - "src/**" 10 | pull_request: 11 | paths: 12 | - ".github/workflows/compile-examples.yml" 13 | - "examples/**" 14 | - "src/**" 15 | schedule: 16 | # Run every Tuesday at 8 AM UTC to catch breakage caused by changes to external resources (libraries, platforms). 17 | - cron: "0 8 * * TUE" 18 | workflow_dispatch: 19 | repository_dispatch: 20 | 21 | jobs: 22 | build: 23 | name: ${{ matrix.board.fqbn }} 24 | runs-on: ubuntu-latest 25 | 26 | env: 27 | SKETCHES_REPORTS_PATH: sketches-reports 28 | 29 | strategy: 30 | fail-fast: false 31 | 32 | matrix: 33 | board: 34 | - fqbn: arduino:avr:nano 35 | platforms: | 36 | - name: arduino:avr 37 | - fqbn: arduino:avr:mega 38 | platforms: | 39 | - name: arduino:avr 40 | - fqbn: arduino:avr:leonardo 41 | platforms: | 42 | - name: arduino:avr 43 | - fqbn: arduino:megaavr:nona4809 44 | platforms: | 45 | - name: arduino:megaavr 46 | - fqbn: arduino:sam:arduino_due_x_dbg 47 | platforms: | 48 | - name: arduino:sam 49 | - fqbn: arduino:samd:mkrzero 50 | platforms: | 51 | - name: arduino:samd 52 | - fqbn: arduino:mbed_portenta:envie_m4 53 | platforms: | 54 | - name: arduino:mbed_portenta 55 | - fqbn: arduino:mbed_portenta:envie_m7 56 | platforms: | 57 | - name: arduino:mbed_portenta 58 | - fqbn: arduino:mbed_nano:nano33ble 59 | platforms: | 60 | - name: arduino:mbed_nano 61 | - fqbn: arduino:mbed_nano:nanorp2040connect 62 | platforms: | 63 | - name: arduino:mbed_nano 64 | 65 | steps: 66 | - name: Checkout repository 67 | uses: actions/checkout@v3 68 | 69 | - name: Compile examples 70 | uses: arduino/compile-sketches@v1 71 | with: 72 | github-token: ${{ secrets.GITHUB_TOKEN }} 73 | fqbn: ${{ matrix.board.fqbn }} 74 | platforms: ${{ matrix.board.platforms }} 75 | libraries: | 76 | # Install the library from the local path. 77 | - source-path: ./ 78 | - name: Arduino_APDS9960 79 | - name: Arduino_LSM9DS1 80 | sketch-paths: | 81 | - examples 82 | enable-deltas-report: true 83 | sketches-report-path: ${{ env.SKETCHES_REPORTS_PATH }} 84 | 85 | - name: Save sketches report as workflow artifact 86 | uses: actions/upload-artifact@v3 87 | with: 88 | if-no-files-found: error 89 | path: ${{ env.SKETCHES_REPORTS_PATH }} 90 | name: ${{ env.SKETCHES_REPORTS_PATH }} 91 | -------------------------------------------------------------------------------- /examples/ColorClassifier/ColorClassifier.ino: -------------------------------------------------------------------------------- 1 | /* 2 | KNN color classification 3 | ------------------------- 4 | 5 | This sketch classifies objects using a color sensor. 6 | 7 | First you 'teach' the Arduino by putting an example of each object close to the color sensor. 8 | After this the Arduino will guess the name of objects it is shown based on how similar 9 | the color is to the examples it has seen. 10 | 11 | This example uses a case of k-Nearest Neighbour (KNN) algorithm where k=5. 12 | 13 | HARDWARE: Arduino Nano BLE Sense 14 | 15 | USAGE: Follow prompts in serial console. Move object close to the board to sample its color, then move it away. 16 | 17 | Works best in a well lit area with objects of different colors. 18 | 19 | 20 | This example code is in the public domain. 21 | */ 22 | 23 | #include 24 | #include 25 | 26 | const int INPUTS = 3; // Classifier input is color sensor data; red, green and blue levels 27 | const int CLASSES = 3; // Number of objects we will classify (e.g. Apple, Banana, Orange) 28 | const int EXAMPLES_PER_CLASS = 30; // Number of times user needs to show examples for each object 29 | 30 | const int K = 5; 31 | 32 | // Create a new KNNClassifier 33 | KNNClassifier myKNN(INPUTS); 34 | 35 | // Names for each class (object type) 36 | String label[CLASSES] = {"Apple", "Lime", "Orange"}; 37 | 38 | // Array to store data to pass to the KNN library 39 | float color[INPUTS]; 40 | 41 | // Threshold for color brightness 42 | const int THRESHOLD = 5; 43 | 44 | void setup() { 45 | 46 | Serial.begin(9600); 47 | while (!Serial); 48 | 49 | if (!APDS.begin()) { 50 | Serial.println("Failed to initialize APDS!"); 51 | while (1); 52 | } 53 | 54 | Serial.println("Arduino KNN color classifier"); 55 | 56 | // Ask user for the name of each object 57 | for (int currentClass = 0; currentClass < CLASSES; currentClass++) { 58 | 59 | 60 | // Ask user to show examples of each object 61 | for (int currentExample = 0; currentExample < EXAMPLES_PER_CLASS; currentExample++) { 62 | 63 | Serial.print("Show me an example "); 64 | Serial.println(label[currentClass]); 65 | 66 | // Wait for an object then read its color 67 | readColor(color); 68 | 69 | // Add example color to the KNN model 70 | myKNN.addExample(color, currentClass); 71 | 72 | } 73 | // Wait for the object to move away again 74 | while (!APDS.proximityAvailable() || APDS.readProximity() == 0) {} 75 | } 76 | } 77 | 78 | 79 | void loop() { 80 | 81 | int classification; 82 | 83 | // Wait for the object to move away again 84 | while (!APDS.proximityAvailable() || APDS.readProximity() == 0) {} 85 | 86 | Serial.println("Let me guess your object"); 87 | 88 | // Wait for an object then read its color 89 | readColor(color); 90 | 91 | // Classify the object 92 | classification = myKNN.classify(color, K); 93 | 94 | // Print the classification 95 | Serial.print("You showed me "); 96 | Serial.println(label[classification]); 97 | 98 | } 99 | 100 | 101 | void readColor(float color[]) { 102 | int red, green, blue, proximity, colorTotal = 0; 103 | 104 | // Wait for the object to move close 105 | while (!APDS.proximityAvailable() || APDS.readProximity() > 0){} 106 | 107 | // Wait until we have a color bright enough 108 | while (colorTotal < THRESHOLD) { 109 | 110 | // Sample if color is available and object is close 111 | if (APDS.colorAvailable()) { 112 | 113 | // Read color and proximity 114 | APDS.readColor(red, green, blue); 115 | colorTotal = (red + green + blue); 116 | } 117 | } 118 | 119 | // Normalise the color sample data and put it in the classifier input array 120 | color[0] = (float)red / colorTotal; 121 | color[1] = (float)green / colorTotal; 122 | color[2] = (float)blue / colorTotal; 123 | 124 | // Print the red, green and blue percentage values 125 | Serial.print(color[0]); 126 | Serial.print(","); 127 | Serial.print(color[1]); 128 | Serial.print(","); 129 | Serial.println(color[2]); 130 | } 131 | -------------------------------------------------------------------------------- /examples/BoardOrientation/BoardOrientation.ino: -------------------------------------------------------------------------------- 1 | /* 2 | KNN - Board Orientation 3 | 4 | This example presents the user with the option to either 5 | classify or train the board's current orientation as one of 6 | 6 categories using a KNN classifier. The IMU's acceleration sensor 7 | is used as input. 8 | 9 | NOTE: Make sure Serial Monitor's line ending setting 10 | is configured for "Newline" or "Both NL & CR". 11 | 12 | The circuit: 13 | - Arduino Nano 33 BLE or Arduino Nano 33 BLE Sense 14 | 15 | This example code is in the public domain. 16 | */ 17 | 18 | #include 19 | #include 20 | 21 | const String BOARD_ORIENTATIONS[] = { 22 | "unknown", 23 | "up", // flat, processor facing up 24 | "down", // flat, processor facing down 25 | "digital pins up", // landscape, analog pins down 26 | "analog pins up", // landscape, analog pins up 27 | "connector up", // portrait, USB connector up 28 | "connector down" // portrait, USB connector down 29 | }; 30 | 31 | // create KNN classifier, input will be array of 3 floats 32 | KNNClassifier myKNN(3); 33 | 34 | // used to store sensor reading from IMU's acceleration sensor 35 | float acceleration[3]; 36 | 37 | void setup() { 38 | Serial.begin(9600); 39 | while (!Serial); 40 | 41 | Serial.println("Board Orientation KNN"); 42 | Serial.println(); 43 | 44 | if (!IMU.begin()) { 45 | Serial.println("Failed to initialize IMU!"); 46 | while (1); 47 | } 48 | } 49 | 50 | void loop() { 51 | // prompt the user 52 | Serial.println("Select an option: "); 53 | Serial.println(); 54 | Serial.println("1) Classify board orientation"); 55 | Serial.println("2) Train board orientation"); 56 | Serial.println(); 57 | 58 | int option = readNumber(); 59 | 60 | // process option 61 | if (option == 1) { 62 | classifyBoardOrientation(); 63 | } else if (option == 2) { 64 | trainBoardOrientation(); 65 | } 66 | } 67 | 68 | void classifyBoardOrientation() { 69 | // read acceleration into array 70 | readAcceleration(acceleration); 71 | 72 | // use the KNN classifier to classify acceleration data 73 | int boardOrientation = myKNN.classify(acceleration, 1); // K = 1 74 | 75 | // print the classification out 76 | if (boardOrientation >= 1 && boardOrientation <= 6) { 77 | Serial.print("Predicted board orientation is: "); 78 | 79 | // use BOARD_ORIENTATIONS array to map board orientation from int to String 80 | Serial.println(BOARD_ORIENTATIONS[boardOrientation]); 81 | } else { 82 | Serial.println("Unknown board orientation! Did you train me?"); 83 | } 84 | Serial.println(); 85 | } 86 | 87 | void trainBoardOrientation() { 88 | // prompt the user 89 | Serial.println("Select an orientation to train: "); 90 | Serial.println(); 91 | 92 | // print all board orientation options 93 | for (int i = 1; i <= 6; i++) { // start at 1, skip "unknown" 94 | Serial.print(i); 95 | Serial.print(") "); 96 | Serial.println(BOARD_ORIENTATIONS[i]); 97 | } 98 | Serial.println(); 99 | 100 | // read option 101 | int boardOrientation = readNumber(); 102 | 103 | if (boardOrientation >= 1 && boardOrientation <= 6) { 104 | // read acceleration into array 105 | readAcceleration(acceleration); 106 | 107 | // add acceleration as example to KNN 108 | myKNN.addExample(acceleration, boardOrientation); 109 | 110 | Serial.print("Learned current board orientation is: "); 111 | Serial.println(BOARD_ORIENTATIONS[boardOrientation]); 112 | Serial.println(); 113 | } 114 | } 115 | 116 | // reads a number from the Serial Monitor 117 | // expects new line 118 | int readNumber() { 119 | String line; 120 | 121 | while (1) { 122 | if (Serial.available()) { 123 | char c = Serial.read(); 124 | 125 | if (c == '\r') { 126 | // ignore 127 | continue; 128 | } else if (c == '\n') { 129 | break; 130 | } 131 | 132 | line += c; 133 | } 134 | } 135 | 136 | return line.toInt(); 137 | } 138 | 139 | // read acceleration data from the IMU 140 | void readAcceleration(float acceleration[]) { 141 | // wait for new acceleration data to be available(); 142 | while (!IMU.accelerationAvailable()); 143 | 144 | // read acceleration data 145 | IMU.readAcceleration(acceleration[0], acceleration[1], acceleration[2]); 146 | } 147 | -------------------------------------------------------------------------------- /.github/workflows/sync-labels.yml: -------------------------------------------------------------------------------- 1 | # Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/sync-labels.md 2 | name: Sync Labels 3 | 4 | # See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows 5 | on: 6 | push: 7 | paths: 8 | - ".github/workflows/sync-labels.ya?ml" 9 | - ".github/label-configuration-files/*.ya?ml" 10 | pull_request: 11 | paths: 12 | - ".github/workflows/sync-labels.ya?ml" 13 | - ".github/label-configuration-files/*.ya?ml" 14 | schedule: 15 | # Run daily at 8 AM UTC to sync with changes to shared label configurations. 16 | - cron: "0 8 * * *" 17 | workflow_dispatch: 18 | repository_dispatch: 19 | 20 | env: 21 | CONFIGURATIONS_FOLDER: .github/label-configuration-files 22 | CONFIGURATIONS_ARTIFACT: label-configuration-files 23 | 24 | jobs: 25 | check: 26 | runs-on: ubuntu-latest 27 | 28 | steps: 29 | - name: Checkout repository 30 | uses: actions/checkout@v3 31 | 32 | - name: Download JSON schema for labels configuration file 33 | id: download-schema 34 | uses: carlosperate/download-file-action@v1 35 | with: 36 | file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/arduino-tooling-gh-label-configuration-schema.json 37 | location: ${{ runner.temp }}/label-configuration-schema 38 | 39 | - name: Install JSON schema validator 40 | run: | 41 | sudo npm install \ 42 | --global \ 43 | ajv-cli \ 44 | ajv-formats 45 | 46 | - name: Validate local labels configuration 47 | run: | 48 | # See: https://github.com/ajv-validator/ajv-cli#readme 49 | ajv validate \ 50 | --all-errors \ 51 | -c ajv-formats \ 52 | -s "${{ steps.download-schema.outputs.file-path }}" \ 53 | -d "${{ env.CONFIGURATIONS_FOLDER }}/*.{yml,yaml}" 54 | 55 | download: 56 | needs: check 57 | runs-on: ubuntu-latest 58 | 59 | strategy: 60 | matrix: 61 | filename: 62 | # Filenames of the shared configurations to apply to the repository in addition to the local configuration. 63 | # https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/assets/sync-labels 64 | - universal.yml 65 | 66 | steps: 67 | - name: Download 68 | uses: carlosperate/download-file-action@v1 69 | with: 70 | file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/${{ matrix.filename }} 71 | 72 | - name: Pass configuration files to next job via workflow artifact 73 | uses: actions/upload-artifact@v3 74 | with: 75 | path: | 76 | *.yaml 77 | *.yml 78 | if-no-files-found: error 79 | name: ${{ env.CONFIGURATIONS_ARTIFACT }} 80 | 81 | sync: 82 | needs: download 83 | runs-on: ubuntu-latest 84 | 85 | steps: 86 | - name: Set environment variables 87 | run: | 88 | # See: https://docs.github.com/en/actions/reference/workflow-commands-for-github-actions#setting-an-environment-variable 89 | echo "MERGED_CONFIGURATION_PATH=${{ runner.temp }}/labels.yml" >> "$GITHUB_ENV" 90 | 91 | - name: Determine whether to dry run 92 | id: dry-run 93 | if: > 94 | github.event_name == 'pull_request' || 95 | ( 96 | ( 97 | github.event_name == 'push' || 98 | github.event_name == 'workflow_dispatch' 99 | ) && 100 | github.ref != format('refs/heads/{0}', github.event.repository.default_branch) 101 | ) 102 | run: | 103 | # Use of this flag in the github-label-sync command will cause it to only check the validity of the 104 | # configuration. 105 | echo "::set-output name=flag::--dry-run" 106 | 107 | - name: Checkout repository 108 | uses: actions/checkout@v3 109 | 110 | - name: Download configuration files artifact 111 | uses: actions/download-artifact@v3 112 | with: 113 | name: ${{ env.CONFIGURATIONS_ARTIFACT }} 114 | path: ${{ env.CONFIGURATIONS_FOLDER }} 115 | 116 | - name: Remove unneeded artifact 117 | uses: geekyeggo/delete-artifact@v1 118 | with: 119 | name: ${{ env.CONFIGURATIONS_ARTIFACT }} 120 | 121 | - name: Merge label configuration files 122 | run: | 123 | # Merge all configuration files 124 | shopt -s extglob 125 | cat "${{ env.CONFIGURATIONS_FOLDER }}"/*.@(yml|yaml) > "${{ env.MERGED_CONFIGURATION_PATH }}" 126 | 127 | - name: Install github-label-sync 128 | run: sudo npm install --global github-label-sync 129 | 130 | - name: Sync labels 131 | env: 132 | GITHUB_ACCESS_TOKEN: ${{ secrets.GITHUB_TOKEN }} 133 | run: | 134 | # See: https://github.com/Financial-Times/github-label-sync 135 | github-label-sync \ 136 | --labels "${{ env.MERGED_CONFIGURATION_PATH }}" \ 137 | ${{ steps.dry-run.outputs.flag }} \ 138 | ${{ github.repository }} 139 | -------------------------------------------------------------------------------- /src/KNNClassifier.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This file is part of the Arduino_KNN library. 3 | Copyright (c) 2020 Arduino SA. All rights reserved. 4 | 5 | This library is free software; you can redistribute it and/or 6 | modify it under the terms of the GNU Lesser General Public 7 | License as published by the Free Software Foundation; either 8 | version 2.1 of the License, or (at your option) any later version. 9 | 10 | This library is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 | Lesser General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public 16 | License along with this library; if not, write to the Free Software 17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 18 | */ 19 | 20 | #include 21 | #include 22 | 23 | #include "utility/KNNNode.h" 24 | 25 | #include "KNNClassifier.h" 26 | 27 | KNNClassifier::KNNClassifier(int inputLength) : 28 | _inputLength(inputLength), 29 | _examples(NULL) 30 | { 31 | } 32 | 33 | KNNClassifier::~KNNClassifier() 34 | { 35 | clearAllClasses(); 36 | } 37 | 38 | void KNNClassifier::addExample(const float input[], int class_) 39 | { 40 | // create new node 41 | KNNNode* newNode = new KNNNode(input, _inputLength, class_); 42 | 43 | // add new node to examples list 44 | if (_examples == NULL) { 45 | _examples = newNode; 46 | } else { 47 | KNNNode* node = _examples; 48 | 49 | while (1) { 50 | KNNNode* next = node->next(); 51 | 52 | if (next == NULL) { 53 | node->setNext(newNode); 54 | 55 | break; 56 | } 57 | 58 | node = next; 59 | } 60 | } 61 | } 62 | 63 | int KNNClassifier::classify(const float input[], int k) 64 | { 65 | if (k == 0 || k > getCount()) { 66 | _confidence = NAN; 67 | 68 | return 0; 69 | } 70 | 71 | struct { 72 | float distance; 73 | int class_; 74 | } nearestNeighbors[k]; 75 | 76 | // default values 77 | for (int i = 0; i < k; i++) { 78 | nearestNeighbors[i].distance = FLT_MAX; 79 | nearestNeighbors[i].class_ = INT_MIN; 80 | } 81 | 82 | // find the K nearest neighbours 83 | KNNNode* node = _examples; 84 | 85 | while (node != NULL) { 86 | float distance = node->distance(input, _inputLength); 87 | 88 | for (int i = 0; i < k; i++) { 89 | if (distance < nearestNeighbors[i].distance) { 90 | // shift current k's by one 91 | for (int j = k - 1; j > i; j--) { 92 | nearestNeighbors[j] = nearestNeighbors[j - 1]; 93 | } 94 | 95 | // insert new k 96 | nearestNeighbors[i].distance = distance; 97 | nearestNeighbors[i].class_ = node->class_(); 98 | 99 | break; 100 | } 101 | } 102 | 103 | node = node->next(); 104 | } 105 | 106 | // count the class numbers 107 | struct { 108 | int class_; 109 | int count; 110 | } classCounts[k]; 111 | 112 | // default values 113 | for (int i = 0; i < k; i++) { 114 | classCounts[i].count = 0; 115 | classCounts[i].class_ = 0; 116 | } 117 | 118 | for (int i = 0; i < k; i++) { 119 | int class_ = nearestNeighbors[i].class_; 120 | bool classFound = false; 121 | 122 | // try to find an existing slot 123 | for (int j = 0; j < k; j++) { 124 | if (classCounts[j].class_ == class_) { 125 | classCounts[j].count++; 126 | 127 | classFound = true; 128 | break; 129 | } 130 | } 131 | 132 | if (classFound) { 133 | // done this nearest neighbor 134 | continue; 135 | } 136 | 137 | // insert class in the first free slot 138 | for (int j = 0; j < k; j++) { 139 | if (classCounts[j].count == 0) { 140 | classCounts[j].count = 1; 141 | classCounts[j].class_ = class_; 142 | break; 143 | } 144 | } 145 | } 146 | 147 | int maxCount = 0; 148 | int class_ = 0; 149 | 150 | for (int i = 0; i < k; i++) { 151 | int count = classCounts[i].count; 152 | 153 | if (maxCount < count) { 154 | maxCount = count; 155 | class_ = classCounts[i].class_; 156 | } 157 | } 158 | 159 | _confidence = (float)maxCount / (float)k; 160 | 161 | return class_; 162 | } 163 | 164 | float KNNClassifier::confidence() 165 | { 166 | return _confidence; 167 | } 168 | 169 | void KNNClassifier::clearClass(int class_) 170 | { 171 | KNNNode* previous = NULL; 172 | KNNNode* node = _examples; 173 | 174 | while (node != NULL) { 175 | KNNNode* next = node->next(); 176 | 177 | if (node->class_() == class_) { 178 | if (previous == NULL) { 179 | _examples = next; 180 | } else { 181 | previous->setNext(next); 182 | } 183 | 184 | delete node; 185 | } else { 186 | previous = node; 187 | } 188 | 189 | node = next; 190 | } 191 | } 192 | 193 | void KNNClassifier::clearAllClasses() 194 | { 195 | KNNNode* node = _examples; 196 | 197 | while (node != NULL) { 198 | KNNNode* next = node->next(); 199 | 200 | delete node; 201 | 202 | node = next; 203 | } 204 | 205 | _examples = NULL; 206 | } 207 | 208 | int KNNClassifier::getCountByClass(int class_) 209 | { 210 | int count = 0; 211 | 212 | KNNNode* node = _examples; 213 | 214 | while (node != NULL) { 215 | if (node->class_() == class_) { 216 | count++; 217 | } 218 | 219 | node = node->next(); 220 | } 221 | 222 | return count; 223 | } 224 | 225 | int KNNClassifier::getCount() 226 | { 227 | int count = 0; 228 | 229 | KNNNode* node = _examples; 230 | 231 | while (node != NULL) { 232 | count++; 233 | 234 | node = node->next(); 235 | } 236 | 237 | return count; 238 | } 239 | 240 | // int KNNClassifier::save(Print& out) 241 | // { 242 | // } 243 | 244 | // int KNNClassifier::load(Stream& in) 245 | // { 246 | // } 247 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU LESSER GENERAL PUBLIC LICENSE 2 | Version 2.1, February 1999 3 | 4 | Copyright (C) 1991, 1999 Free Software Foundation, Inc. 5 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 6 | Everyone is permitted to copy and distribute verbatim copies 7 | of this license document, but changing it is not allowed. 8 | 9 | [This is the first released version of the Lesser GPL. It also counts 10 | as the successor of the GNU Library Public License, version 2, hence 11 | the version number 2.1.] 12 | 13 | Preamble 14 | 15 | The licenses for most software are designed to take away your 16 | freedom to share and change it. By contrast, the GNU General Public 17 | Licenses are intended to guarantee your freedom to share and change 18 | free software--to make sure the software is free for all its users. 19 | 20 | This license, the Lesser General Public License, applies to some 21 | specially designated software packages--typically libraries--of the 22 | Free Software Foundation and other authors who decide to use it. You 23 | can use it too, but we suggest you first think carefully about whether 24 | this license or the ordinary General Public License is the better 25 | strategy to use in any particular case, based on the explanations below. 26 | 27 | When we speak of free software, we are referring to freedom of use, 28 | not price. Our General Public Licenses are designed to make sure that 29 | you have the freedom to distribute copies of free software (and charge 30 | for this service if you wish); that you receive source code or can get 31 | it if you want it; that you can change the software and use pieces of 32 | it in new free programs; and that you are informed that you can do 33 | these things. 34 | 35 | To protect your rights, we need to make restrictions that forbid 36 | distributors to deny you these rights or to ask you to surrender these 37 | rights. These restrictions translate to certain responsibilities for 38 | you if you distribute copies of the library or if you modify it. 39 | 40 | For example, if you distribute copies of the library, whether gratis 41 | or for a fee, you must give the recipients all the rights that we gave 42 | you. You must make sure that they, too, receive or can get the source 43 | code. If you link other code with the library, you must provide 44 | complete object files to the recipients, so that they can relink them 45 | with the library after making changes to the library and recompiling 46 | it. And you must show them these terms so they know their rights. 47 | 48 | We protect your rights with a two-step method: (1) we copyright the 49 | library, and (2) we offer you this license, which gives you legal 50 | permission to copy, distribute and/or modify the library. 51 | 52 | To protect each distributor, we want to make it very clear that 53 | there is no warranty for the free library. Also, if the library is 54 | modified by someone else and passed on, the recipients should know 55 | that what they have is not the original version, so that the original 56 | author's reputation will not be affected by problems that might be 57 | introduced by others. 58 | 59 | Finally, software patents pose a constant threat to the existence of 60 | any free program. We wish to make sure that a company cannot 61 | effectively restrict the users of a free program by obtaining a 62 | restrictive license from a patent holder. Therefore, we insist that 63 | any patent license obtained for a version of the library must be 64 | consistent with the full freedom of use specified in this license. 65 | 66 | Most GNU software, including some libraries, is covered by the 67 | ordinary GNU General Public License. This license, the GNU Lesser 68 | General Public License, applies to certain designated libraries, and 69 | is quite different from the ordinary General Public License. We use 70 | this license for certain libraries in order to permit linking those 71 | libraries into non-free programs. 72 | 73 | When a program is linked with a library, whether statically or using 74 | a shared library, the combination of the two is legally speaking a 75 | combined work, a derivative of the original library. The ordinary 76 | General Public License therefore permits such linking only if the 77 | entire combination fits its criteria of freedom. The Lesser General 78 | Public License permits more lax criteria for linking other code with 79 | the library. 80 | 81 | We call this license the "Lesser" General Public License because it 82 | does Less to protect the user's freedom than the ordinary General 83 | Public License. It also provides other free software developers Less 84 | of an advantage over competing non-free programs. These disadvantages 85 | are the reason we use the ordinary General Public License for many 86 | libraries. However, the Lesser license provides advantages in certain 87 | special circumstances. 88 | 89 | For example, on rare occasions, there may be a special need to 90 | encourage the widest possible use of a certain library, so that it becomes 91 | a de-facto standard. To achieve this, non-free programs must be 92 | allowed to use the library. A more frequent case is that a free 93 | library does the same job as widely used non-free libraries. In this 94 | case, there is little to gain by limiting the free library to free 95 | software only, so we use the Lesser General Public License. 96 | 97 | In other cases, permission to use a particular library in non-free 98 | programs enables a greater number of people to use a large body of 99 | free software. For example, permission to use the GNU C Library in 100 | non-free programs enables many more people to use the whole GNU 101 | operating system, as well as its variant, the GNU/Linux operating 102 | system. 103 | 104 | Although the Lesser General Public License is Less protective of the 105 | users' freedom, it does ensure that the user of a program that is 106 | linked with the Library has the freedom and the wherewithal to run 107 | that program using a modified version of the Library. 108 | 109 | The precise terms and conditions for copying, distribution and 110 | modification follow. Pay close attention to the difference between a 111 | "work based on the library" and a "work that uses the library". The 112 | former contains code derived from the library, whereas the latter must 113 | be combined with the library in order to run. 114 | 115 | GNU LESSER GENERAL PUBLIC LICENSE 116 | TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION 117 | 118 | 0. This License Agreement applies to any software library or other 119 | program which contains a notice placed by the copyright holder or 120 | other authorized party saying it may be distributed under the terms of 121 | this Lesser General Public License (also called "this License"). 122 | Each licensee is addressed as "you". 123 | 124 | A "library" means a collection of software functions and/or data 125 | prepared so as to be conveniently linked with application programs 126 | (which use some of those functions and data) to form executables. 127 | 128 | The "Library", below, refers to any such software library or work 129 | which has been distributed under these terms. A "work based on the 130 | Library" means either the Library or any derivative work under 131 | copyright law: that is to say, a work containing the Library or a 132 | portion of it, either verbatim or with modifications and/or translated 133 | straightforwardly into another language. (Hereinafter, translation is 134 | included without limitation in the term "modification".) 135 | 136 | "Source code" for a work means the preferred form of the work for 137 | making modifications to it. For a library, complete source code means 138 | all the source code for all modules it contains, plus any associated 139 | interface definition files, plus the scripts used to control compilation 140 | and installation of the library. 141 | 142 | Activities other than copying, distribution and modification are not 143 | covered by this License; they are outside its scope. The act of 144 | running a program using the Library is not restricted, and output from 145 | such a program is covered only if its contents constitute a work based 146 | on the Library (independent of the use of the Library in a tool for 147 | writing it). Whether that is true depends on what the Library does 148 | and what the program that uses the Library does. 149 | 150 | 1. You may copy and distribute verbatim copies of the Library's 151 | complete source code as you receive it, in any medium, provided that 152 | you conspicuously and appropriately publish on each copy an 153 | appropriate copyright notice and disclaimer of warranty; keep intact 154 | all the notices that refer to this License and to the absence of any 155 | warranty; and distribute a copy of this License along with the 156 | Library. 157 | 158 | You may charge a fee for the physical act of transferring a copy, 159 | and you may at your option offer warranty protection in exchange for a 160 | fee. 161 | 162 | 2. You may modify your copy or copies of the Library or any portion 163 | of it, thus forming a work based on the Library, and copy and 164 | distribute such modifications or work under the terms of Section 1 165 | above, provided that you also meet all of these conditions: 166 | 167 | a) The modified work must itself be a software library. 168 | 169 | b) You must cause the files modified to carry prominent notices 170 | stating that you changed the files and the date of any change. 171 | 172 | c) You must cause the whole of the work to be licensed at no 173 | charge to all third parties under the terms of this License. 174 | 175 | d) If a facility in the modified Library refers to a function or a 176 | table of data to be supplied by an application program that uses 177 | the facility, other than as an argument passed when the facility 178 | is invoked, then you must make a good faith effort to ensure that, 179 | in the event an application does not supply such function or 180 | table, the facility still operates, and performs whatever part of 181 | its purpose remains meaningful. 182 | 183 | (For example, a function in a library to compute square roots has 184 | a purpose that is entirely well-defined independent of the 185 | application. Therefore, Subsection 2d requires that any 186 | application-supplied function or table used by this function must 187 | be optional: if the application does not supply it, the square 188 | root function must still compute square roots.) 189 | 190 | These requirements apply to the modified work as a whole. If 191 | identifiable sections of that work are not derived from the Library, 192 | and can be reasonably considered independent and separate works in 193 | themselves, then this License, and its terms, do not apply to those 194 | sections when you distribute them as separate works. But when you 195 | distribute the same sections as part of a whole which is a work based 196 | on the Library, the distribution of the whole must be on the terms of 197 | this License, whose permissions for other licensees extend to the 198 | entire whole, and thus to each and every part regardless of who wrote 199 | it. 200 | 201 | Thus, it is not the intent of this section to claim rights or contest 202 | your rights to work written entirely by you; rather, the intent is to 203 | exercise the right to control the distribution of derivative or 204 | collective works based on the Library. 205 | 206 | In addition, mere aggregation of another work not based on the Library 207 | with the Library (or with a work based on the Library) on a volume of 208 | a storage or distribution medium does not bring the other work under 209 | the scope of this License. 210 | 211 | 3. You may opt to apply the terms of the ordinary GNU General Public 212 | License instead of this License to a given copy of the Library. To do 213 | this, you must alter all the notices that refer to this License, so 214 | that they refer to the ordinary GNU General Public License, version 2, 215 | instead of to this License. (If a newer version than version 2 of the 216 | ordinary GNU General Public License has appeared, then you can specify 217 | that version instead if you wish.) Do not make any other change in 218 | these notices. 219 | 220 | Once this change is made in a given copy, it is irreversible for 221 | that copy, so the ordinary GNU General Public License applies to all 222 | subsequent copies and derivative works made from that copy. 223 | 224 | This option is useful when you wish to copy part of the code of 225 | the Library into a program that is not a library. 226 | 227 | 4. You may copy and distribute the Library (or a portion or 228 | derivative of it, under Section 2) in object code or executable form 229 | under the terms of Sections 1 and 2 above provided that you accompany 230 | it with the complete corresponding machine-readable source code, which 231 | must be distributed under the terms of Sections 1 and 2 above on a 232 | medium customarily used for software interchange. 233 | 234 | If distribution of object code is made by offering access to copy 235 | from a designated place, then offering equivalent access to copy the 236 | source code from the same place satisfies the requirement to 237 | distribute the source code, even though third parties are not 238 | compelled to copy the source along with the object code. 239 | 240 | 5. A program that contains no derivative of any portion of the 241 | Library, but is designed to work with the Library by being compiled or 242 | linked with it, is called a "work that uses the Library". Such a 243 | work, in isolation, is not a derivative work of the Library, and 244 | therefore falls outside the scope of this License. 245 | 246 | However, linking a "work that uses the Library" with the Library 247 | creates an executable that is a derivative of the Library (because it 248 | contains portions of the Library), rather than a "work that uses the 249 | library". The executable is therefore covered by this License. 250 | Section 6 states terms for distribution of such executables. 251 | 252 | When a "work that uses the Library" uses material from a header file 253 | that is part of the Library, the object code for the work may be a 254 | derivative work of the Library even though the source code is not. 255 | Whether this is true is especially significant if the work can be 256 | linked without the Library, or if the work is itself a library. The 257 | threshold for this to be true is not precisely defined by law. 258 | 259 | If such an object file uses only numerical parameters, data 260 | structure layouts and accessors, and small macros and small inline 261 | functions (ten lines or less in length), then the use of the object 262 | file is unrestricted, regardless of whether it is legally a derivative 263 | work. (Executables containing this object code plus portions of the 264 | Library will still fall under Section 6.) 265 | 266 | Otherwise, if the work is a derivative of the Library, you may 267 | distribute the object code for the work under the terms of Section 6. 268 | Any executables containing that work also fall under Section 6, 269 | whether or not they are linked directly with the Library itself. 270 | 271 | 6. As an exception to the Sections above, you may also combine or 272 | link a "work that uses the Library" with the Library to produce a 273 | work containing portions of the Library, and distribute that work 274 | under terms of your choice, provided that the terms permit 275 | modification of the work for the customer's own use and reverse 276 | engineering for debugging such modifications. 277 | 278 | You must give prominent notice with each copy of the work that the 279 | Library is used in it and that the Library and its use are covered by 280 | this License. You must supply a copy of this License. If the work 281 | during execution displays copyright notices, you must include the 282 | copyright notice for the Library among them, as well as a reference 283 | directing the user to the copy of this License. Also, you must do one 284 | of these things: 285 | 286 | a) Accompany the work with the complete corresponding 287 | machine-readable source code for the Library including whatever 288 | changes were used in the work (which must be distributed under 289 | Sections 1 and 2 above); and, if the work is an executable linked 290 | with the Library, with the complete machine-readable "work that 291 | uses the Library", as object code and/or source code, so that the 292 | user can modify the Library and then relink to produce a modified 293 | executable containing the modified Library. (It is understood 294 | that the user who changes the contents of definitions files in the 295 | Library will not necessarily be able to recompile the application 296 | to use the modified definitions.) 297 | 298 | b) Use a suitable shared library mechanism for linking with the 299 | Library. A suitable mechanism is one that (1) uses at run time a 300 | copy of the library already present on the user's computer system, 301 | rather than copying library functions into the executable, and (2) 302 | will operate properly with a modified version of the library, if 303 | the user installs one, as long as the modified version is 304 | interface-compatible with the version that the work was made with. 305 | 306 | c) Accompany the work with a written offer, valid for at 307 | least three years, to give the same user the materials 308 | specified in Subsection 6a, above, for a charge no more 309 | than the cost of performing this distribution. 310 | 311 | d) If distribution of the work is made by offering access to copy 312 | from a designated place, offer equivalent access to copy the above 313 | specified materials from the same place. 314 | 315 | e) Verify that the user has already received a copy of these 316 | materials or that you have already sent this user a copy. 317 | 318 | For an executable, the required form of the "work that uses the 319 | Library" must include any data and utility programs needed for 320 | reproducing the executable from it. However, as a special exception, 321 | the materials to be distributed need not include anything that is 322 | normally distributed (in either source or binary form) with the major 323 | components (compiler, kernel, and so on) of the operating system on 324 | which the executable runs, unless that component itself accompanies 325 | the executable. 326 | 327 | It may happen that this requirement contradicts the license 328 | restrictions of other proprietary libraries that do not normally 329 | accompany the operating system. Such a contradiction means you cannot 330 | use both them and the Library together in an executable that you 331 | distribute. 332 | 333 | 7. You may place library facilities that are a work based on the 334 | Library side-by-side in a single library together with other library 335 | facilities not covered by this License, and distribute such a combined 336 | library, provided that the separate distribution of the work based on 337 | the Library and of the other library facilities is otherwise 338 | permitted, and provided that you do these two things: 339 | 340 | a) Accompany the combined library with a copy of the same work 341 | based on the Library, uncombined with any other library 342 | facilities. This must be distributed under the terms of the 343 | Sections above. 344 | 345 | b) Give prominent notice with the combined library of the fact 346 | that part of it is a work based on the Library, and explaining 347 | where to find the accompanying uncombined form of the same work. 348 | 349 | 8. You may not copy, modify, sublicense, link with, or distribute 350 | the Library except as expressly provided under this License. Any 351 | attempt otherwise to copy, modify, sublicense, link with, or 352 | distribute the Library is void, and will automatically terminate your 353 | rights under this License. However, parties who have received copies, 354 | or rights, from you under this License will not have their licenses 355 | terminated so long as such parties remain in full compliance. 356 | 357 | 9. You are not required to accept this License, since you have not 358 | signed it. However, nothing else grants you permission to modify or 359 | distribute the Library or its derivative works. These actions are 360 | prohibited by law if you do not accept this License. Therefore, by 361 | modifying or distributing the Library (or any work based on the 362 | Library), you indicate your acceptance of this License to do so, and 363 | all its terms and conditions for copying, distributing or modifying 364 | the Library or works based on it. 365 | 366 | 10. Each time you redistribute the Library (or any work based on the 367 | Library), the recipient automatically receives a license from the 368 | original licensor to copy, distribute, link with or modify the Library 369 | subject to these terms and conditions. You may not impose any further 370 | restrictions on the recipients' exercise of the rights granted herein. 371 | You are not responsible for enforcing compliance by third parties with 372 | this License. 373 | 374 | 11. If, as a consequence of a court judgment or allegation of patent 375 | infringement or for any other reason (not limited to patent issues), 376 | conditions are imposed on you (whether by court order, agreement or 377 | otherwise) that contradict the conditions of this License, they do not 378 | excuse you from the conditions of this License. If you cannot 379 | distribute so as to satisfy simultaneously your obligations under this 380 | License and any other pertinent obligations, then as a consequence you 381 | may not distribute the Library at all. For example, if a patent 382 | license would not permit royalty-free redistribution of the Library by 383 | all those who receive copies directly or indirectly through you, then 384 | the only way you could satisfy both it and this License would be to 385 | refrain entirely from distribution of the Library. 386 | 387 | If any portion of this section is held invalid or unenforceable under any 388 | particular circumstance, the balance of the section is intended to apply, 389 | and the section as a whole is intended to apply in other circumstances. 390 | 391 | It is not the purpose of this section to induce you to infringe any 392 | patents or other property right claims or to contest validity of any 393 | such claims; this section has the sole purpose of protecting the 394 | integrity of the free software distribution system which is 395 | implemented by public license practices. Many people have made 396 | generous contributions to the wide range of software distributed 397 | through that system in reliance on consistent application of that 398 | system; it is up to the author/donor to decide if he or she is willing 399 | to distribute software through any other system and a licensee cannot 400 | impose that choice. 401 | 402 | This section is intended to make thoroughly clear what is believed to 403 | be a consequence of the rest of this License. 404 | 405 | 12. If the distribution and/or use of the Library is restricted in 406 | certain countries either by patents or by copyrighted interfaces, the 407 | original copyright holder who places the Library under this License may add 408 | an explicit geographical distribution limitation excluding those countries, 409 | so that distribution is permitted only in or among countries not thus 410 | excluded. In such case, this License incorporates the limitation as if 411 | written in the body of this License. 412 | 413 | 13. The Free Software Foundation may publish revised and/or new 414 | versions of the Lesser General Public License from time to time. 415 | Such new versions will be similar in spirit to the present version, 416 | but may differ in detail to address new problems or concerns. 417 | 418 | Each version is given a distinguishing version number. If the Library 419 | specifies a version number of this License which applies to it and 420 | "any later version", you have the option of following the terms and 421 | conditions either of that version or of any later version published by 422 | the Free Software Foundation. If the Library does not specify a 423 | license version number, you may choose any version ever published by 424 | the Free Software Foundation. 425 | 426 | 14. If you wish to incorporate parts of the Library into other free 427 | programs whose distribution conditions are incompatible with these, 428 | write to the author to ask for permission. For software which is 429 | copyrighted by the Free Software Foundation, write to the Free 430 | Software Foundation; we sometimes make exceptions for this. Our 431 | decision will be guided by the two goals of preserving the free status 432 | of all derivatives of our free software and of promoting the sharing 433 | and reuse of software generally. 434 | 435 | NO WARRANTY 436 | 437 | 15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO 438 | WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW. 439 | EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR 440 | OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY 441 | KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE 442 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 443 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE 444 | LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME 445 | THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 446 | 447 | 16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN 448 | WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY 449 | AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU 450 | FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR 451 | CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE 452 | LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING 453 | RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A 454 | FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF 455 | SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH 456 | DAMAGES. 457 | 458 | END OF TERMS AND CONDITIONS 459 | 460 | How to Apply These Terms to Your New Libraries 461 | 462 | If you develop a new library, and you want it to be of the greatest 463 | possible use to the public, we recommend making it free software that 464 | everyone can redistribute and change. You can do so by permitting 465 | redistribution under these terms (or, alternatively, under the terms of the 466 | ordinary General Public License). 467 | 468 | To apply these terms, attach the following notices to the library. It is 469 | safest to attach them to the start of each source file to most effectively 470 | convey the exclusion of warranty; and each file should have at least the 471 | "copyright" line and a pointer to where the full notice is found. 472 | 473 | 474 | Copyright (C) 475 | 476 | This library is free software; you can redistribute it and/or 477 | modify it under the terms of the GNU Lesser General Public 478 | License as published by the Free Software Foundation; either 479 | version 2.1 of the License, or (at your option) any later version. 480 | 481 | This library is distributed in the hope that it will be useful, 482 | but WITHOUT ANY WARRANTY; without even the implied warranty of 483 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 484 | Lesser General Public License for more details. 485 | 486 | You should have received a copy of the GNU Lesser General Public 487 | License along with this library; if not, write to the Free Software 488 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 489 | USA 490 | 491 | Also add information on how to contact you by electronic and paper mail. 492 | 493 | You should also get your employer (if you work as a programmer) or your 494 | school, if any, to sign a "copyright disclaimer" for the library, if 495 | necessary. Here is a sample; alter the names: 496 | 497 | Yoyodyne, Inc., hereby disclaims all copyright interest in the 498 | library `Frob' (a library for tweaking knobs) written by James Random 499 | Hacker. 500 | 501 | , 1 April 1990 502 | Ty Coon, President of Vice 503 | 504 | That's all there is to it! 505 | --------------------------------------------------------------------------------