685 - First Unique Number In Stream

本文介绍了一种使用LinkedHashMap来解决寻找数组中第一个非唯一出现的数字的问题的方法。该方法适用于需要保持元素插入顺序的场景。

2017.9.29

这个题目是要求输出第一个非唯一的元素。如果直接用HashMap的话会失去顺序,所以需要使用LinkedHashMap。

public class Solution {
    /*
     * @param : a continuous stream of numbers
     * @param : a number
     * @return: returns the first unique number
     */
  	public int firstUniqueNumber(int[] nums, int number) {
        // Write your code here
		if(nums == null){
			return -1;
		}
		int res = -1;
		LinkedHashMap<Integer,Integer> map = new LinkedHashMap<>();
		boolean find = false;
		for(int i = 0; i < nums.length; i++){
			if(nums[i] == number){
				find = true;
				break;
			}
			if(!map.containsKey(nums[i])){
				map.put(nums[i], 1);
			}
			else{
				map.put(nums[i], map.get(nums[i]) + 1);
			}
		}
		if(find == false){
			return res;
		}
		Iterator ite = map.keySet().iterator();
		while(ite.hasNext()){
			int tmp = (int)ite.next();
			if(map.get(tmp) == 1){
				res = tmp;
				break;
			}
		}
		return res;
    }
};


基于STM32 F4的永磁同步电机无位置传感器控制策略研究内容概要:本文围绕基于STM32 F4的永磁同步电机(PMSM)无位置传感器控制策略展开研究,重点探讨在不依赖物理位置传感器的情况下,如何通过算法实现对电机转子位置和速度的精确估计与控制。文中结合嵌入式开发平台STM32 F4,采用如滑模观测器、扩展卡尔曼滤波或高频注入法等先进观测技术,实现对电机反电动势或磁链的估算,进而完成无传感器矢量控制(FOC)。同时,研究涵盖系统建模、控制算法设计、仿真验证(可能使用Simulink)以及在STM32硬件平台上的代码实现与调试,旨在提高电机控制系统的可靠性、降低成本并增强环境适应性。; 适合人群:具备一定电力电子、自动控制理论基础和嵌入式开发经验的电气工程、自动化及相关专业的研究生、科研人员及从事电机驱动开发的工程师。; 使用场景及目标:①掌握永磁同步电机无位置传感器控制的核心原理与实现方法;②学习如何在STM32平台上进行电机控制算法的移植与优化;③为开发高性能、低成本的电机驱动系统提供技术参考与实践指导。; 阅读建议:建议读者结合文中提到的控制理论、仿真模型与实际代码实现进行系统学习,有条件者应在实验平台上进行验证,重点关注观测器设计、参数整定及系统稳定性分析等关键环节。
[2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2406 - [AVDM]first time get avdm5 next unit, return lastest unit [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm5 block(index:0,seq:0,unit number:1,buffer offset:0x0,buffer len:1048 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] __free_a_block():837 - [AVDM]Freed a avdm5 block(index:0,seq:0,unitcnt:1,offset:0x0,len:1048 Bytes) that is never been consumed [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2515 - [AVDM]Stream 5: Unit Overwrite happened. cursor seq 0, current seq 0, state 0, latest seq 1 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2516 - [AVDM]Return lastest unit [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm5 block(index:1,seq:1,unit number:1,buffer offset:0x0,buffer len:1048 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] __free_a_block():837 - [AVDM]Freed a avdm5 block(index:1,seq:1,unitcnt:1,offset:0x0,len:1048 Bytes) that is never been consumed [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2515 - [AVDM]Stream 5: Unit Overwrite happened. cursor seq 1, current seq 1, state 0, latest seq 2 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2516 - [AVDM]Return lastest unit [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm5 block(index:2,seq:2,unit number:1,buffer offset:0x0,buffer len:1048 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] __free_a_block():837 - [AVDM]Freed a avdm5 block(index:2,seq:2,unitcnt:1,offset:0x0,len:1048 Bytes) that is never been consumed [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2515 - [AVDM]Stream 5: Unit Overwrite happened. cursor seq 2, current seq 2, state 0, latest seq 3 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2516 - [AVDM]Return lastest unit [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm5 block(index:3,seq:3,unit number:1,buffer offset:0x0,buffer len:1048 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] __free_a_block():837 - [AVDM]Freed a avdm5 block(index:3,seq:3,unitcnt:1,offset:0x0,len:1048 Bytes) that is never been consumed [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2515 - [AVDM]Stream 5: Unit Overwrite happened. cursor seq 3, current seq 3, state 0, latest seq 4 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2516 - [AVDM]Return lastest unit [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm5 block(index:4,seq:4,unit number:1,buffer offset:0x0,buffer len:1048 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] __free_a_block():837 - [AVDM]Freed a avdm5 block(index:4,seq:4,unitcnt:1,offset:0x0,len:1048 Bytes) that is never been consumed [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2515 - [AVDM]Stream 5: Unit Overwrite happened. cursor seq 4, current seq 4, state 0, latest seq 5 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2516 - [AVDM]Return lastest unit [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm5 block(index:5,seq:5,unit number:1,buffer offset:0x0,buffer len:1048 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] avdm_video_recv_cb():3514 - [AVDM]put video buffer(type:2) to avdm0 failed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm1 block(index:0,seq:90,unit number:40,buffer offset:0x7d1b4,buffer len:116436 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] __free_a_block():837 - [AVDM]Freed a avdm5 block(index:5,seq:5,unitcnt:1,offset:0x0,len:1048 Bytes) that is never been consumed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm1 new buffer offset is 0x99888, available len is 0x50000, potiental len is 0x66778 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2515 - [AVDM]Stream 5: Unit Overwrite happened. cursor seq 5, current seq 5, state 0, latest seq 6 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2516 - [AVDM]Return lastest unit [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm5 block(index:6,seq:6,unit number:1,buffer offset:0x0,buffer len:1048 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] __free_a_block():837 - [AVDM]Freed a avdm5 block(index:6,seq:6,unitcnt:1,offset:0x0,len:1048 Bytes) that is never been consumed [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2515 - [AVDM]Stream 5: Unit Overwrite happened. cursor seq 6, current seq 6, state 0, latest seq 7 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2516 - [AVDM]Return lastest unit [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm5 block(index:7,seq:7,unit number:1,buffer offset:0x0,buffer len:1048 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] __free_a_block():837 - [AVDM]Freed a avdm5 block(index:7,seq:7,unitcnt:1,offset:0x0,len:1048 Bytes) that is never been consumed [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2515 - [AVDM]Stream 5: Unit Overwrite happened. cursor seq 7, current seq 7, state 0, latest seq 8 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2516 - [AVDM]Return lastest unit [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm5 block(index:8,seq:8,unit number:1,buffer offset:0x0,buffer len:1048 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] __free_a_block():837 - [AVDM]Freed a avdm5 block(index:8,seq:8,unitcnt:1,offset:0x0,len:1048 Bytes) that is never been consumed [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2515 - [AVDM]Stream 5: Unit Overwrite happened. cursor seq 8, current seq 8, state 0, latest seq 9 [2025-10-29 13:15:44] [ERROR] _ctx_attach_next_unit():2516 - [AVDM]Return lastest unit [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2199 - [AVDM]drop P frame because previous P frame was droped [2025-10-29 13:15:44] [ERROR] avdm_video_recv_cb():3514 - [AVDM]put video buffer(type:2) to avdm0 failed [2025-10-29 13:15:44] [ERROR] __pack_block():903 - [AVDM]avdm5 block(index:9,seq:9,unit number:1,buffer offset:0x0,buffer len:1048 Bytes) has been packed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2161 - [AVDM]avdm5 new buffer offset is 0, available len is 0x40000, potiental len is 0x40000 [2025-10-29 13:15:44] [ERROR] __free_a_block():837 - [AVDM]Freed a avdm5 block(index:9,seq:9,unitcnt:1,offset:0x0,len:1048 Bytes) that is never been consumed [2025-10-29 13:15:44] [ERROR] _ctx_put_unit():2199 - [AVDM]drop P frame because previous P frame was droped这里的5是我想要取到的,但是返回报错,其中static S32 _ctx_attach_next_block(avdm_context_t *ctx, avdm_cursor_t *cur, avdm_block_t *block) { S32 ret = 0; avdm_ring_t *ring = ctx->ring; block_desc_t *bdesc = NULL; if (NULL == cur) { AVDM_ERROR("wrong params"); return -ERR_WRONG_PARAMS; } pthread_rwlock_rdlock(&ctx->rwlock); if (AVDM_BUFFER_IS_EMPTY(ctx)) { AVDM_ERROR("buffer is empty"); ret = -ERR_FRAME_NOT_READY; goto exit; } // if ((ring->last_bdesc == NULL) || (ring->last_bdesc->attr.state != DESC_STATE_OCCUPIED)) if ((ring->last_bdesc == NULL)) { AVDM_ERROR("avdm%d lastest block not ready yet", ctx->type); ret = -ERR_FRAME_NOT_READY; goto exit; } if ((ring->last_bdesc->attr.state != DESC_STATE_OCCUPIED)) { AVDM_ERROR("avdm%d lastest block not ready yet", ctx->type); ret = -ERR_FRAME_NOT_READY; goto exit; } if (NULL == cur->desc) { if (TRUE == cur->attaching) { ret = -ERR_WRONG_PARAMS; goto exit; } else { AVDM_ERROR("first time get avdm%d next block, return lastest block", ctx->type); __ctx_attach_block(ctx, ring->last_bdesc, cur, block); if (is_local_video_type(ctx) || is_network_video_type(ctx)) { cur->pre.happen_time = ring->last_bdesc->block.unique_info.video.iframe_timestamp; } ret = OK; goto exit; } } /* * 最新的已完成结点与cursor相同,表示新的block还未到来,将当前 * cursor的引用去掉,此时该线程不会引用任何avdm desc */ if ((ring->last_bdesc == (block_desc_t*)cur->desc) || (ring->last_bdesc->attr.seq == cur->seq)) { AVDM_ERROR("avdm%d next block not ready yet", ctx->type); __ctx_detach_block(ctx, cur); ret = -ERR_FRAME_NOT_READY; goto exit; } bdesc = (block_desc_t*)cur->desc; bdesc = bdesc->next_used; if (NULL == bdesc || bdesc->attr.seq != AVDM_NEXT_SEQ(cur->seq)) { /* cur的desc已经被释放(next_used为空)或者seq序号不连续,发生覆盖,获取最新的block */ if (NULL == bdesc) { AVDM_ERROR("Stream %d: Block Overwrite happened. seq %d, next desc is empty", ctx->type, cur->seq); } else { AVDM_ERROR("Stream %d: Block Overwrite happened. seq %d, nexseq %d, state %d", ctx->type, cur->seq, bdesc->attr.seq, bdesc->attr.state); } AVDM_ERROR("Return lastest block"); __ctx_detach_block(ctx, cur); __ctx_attach_block(ctx, ring->last_bdesc, cur, block); if (is_local_video_type(ctx) || is_network_video_type(ctx)) { cur->pre.happen_time = ring->last_bdesc->block.unique_info.video.iframe_timestamp; } ret = -ERR_OW_GET_LATEST; } else { /* 获取下一个block,同时更新下一次获取预录时需要比对的block信息 */ __ctx_detach_block(ctx, cur); __ctx_attach_block(ctx, bdesc, cur, block); if (is_local_video_type(ctx) || is_network_video_type(ctx)) { cur->pre.happen_time = bdesc->block.unique_info.video.iframe_timestamp; } ret = OK; } exit: pthread_rwlock_unlock(&ctx->rwlock); return ret; },这里返回了ring->last_bdesc == NULL的报错,其中/* * 描述buffer环的结构 */ typedef struct __avdm_ring { U32 bdesc_num; /* block描述符个数 */ U32 block_max_size; /* block预设最大值(可以超过) */ block_desc_t *cur_bdesc; /* 当前正在使用的block描述符 */ unit_desc_t *cur_udesc; /* 当前正在使用的unit描述符 */ block_desc_t *last_bdesc; /* 上一个已使用的block描述符 */ unit_desc_t *last_udesc; /* 上一个已使用的unit描述符 */ struct list_head unit_cblist; /* 新desc内容完成时执行cb_list的回调 */ struct list_head block_cblist; /* 新desc内容完成时执行cb_list的回调 */ unit_list_t *udesc_list; /* 指向unit空闲描述符列表 */ block_buffer_t bbuffer; /* 当前block可占用的内存空间描述 */ block_desc_t desc[0]; } avdm_ring_t;
10-30
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