HeeroYui-deprecated/audio_interface
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[DEV] update new ETK

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This commit is contained in:
Edouard DUPIN 2017-10-09 10:25:41 +02:00
parent 6f0c0f2088
commit f0e1d48838
12 changed files with 61 additions and 61 deletions
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12
audio_core/src/InterfaceInput.cpp
View File

@ -13,8 +13,8 @@
#include <boost/thread.hpp>
appl::InterfaceInput::InterfaceInput(std11::shared_ptr<audio::river::Manager> _manager,
const std::string& _input,
const std::string& _publisher,
const etk::String& _input,
const etk::String& _publisher,
bool _feedback) :
m_manager(_manager) {
ros::NodeHandle nodeHandlePrivate("~");
@ -23,9 +23,9 @@ appl::InterfaceInput::InterfaceInput(std11::shared_ptr<audio::river::Manager> _m
boost::bind(&InterfaceInput::onConnect, this, _1),
boost::bind(&InterfaceInput::onDisConnect, this, _1));
//Set stereo output:
std::vector<audio::channel> channelMap;
channelMap.push_back(audio::channel_frontLeft);
channelMap.push_back(audio::channel_frontRight);
etk::Vector<audio::channel> channelMap;
channelMap.pushBack(audio::channel_frontLeft);
channelMap.pushBack(audio::channel_frontRight);
if (_feedback == false) {
m_interface = m_manager->createInput(48000,
channelMap,
@ -71,7 +71,7 @@ void appl::InterfaceInput::onDataReceived(const void* _data,
size_t _nbChunk,
enum audio::format _format,
uint32_t _frequency,
const std::vector<audio::channel>& _map) {
const etk::Vector<audio::channel>& _map) {
if (_format != audio::format_int16) {
APPL_ERROR("call wrong type ... (need int16_t)");
}

6
audio_core/src/InterfaceInput.h
View File

@ -20,8 +20,8 @@ namespace appl {
std11::mutex mutex;
public:
InterfaceInput(std11::shared_ptr<audio::river::Manager> _manager,
const std::string& _input="microphone",
const std::string& _publisher="microphone",
const etk::String& _input="microphone",
const etk::String& _publisher="microphone",
bool _feedback=false);
~InterfaceInput();
protected:
@ -32,7 +32,7 @@ namespace appl {
size_t _nbChunk,
enum audio::format _format,
uint32_t _frequency,
const std::vector<audio::channel>& _map);
const etk::Vector<audio::channel>& _map);
};
}

12
audio_core/src/InterfaceOutput.cpp
View File

@ -9,7 +9,7 @@
#include "debug.h"
#include "InterfaceOutput.h"
appl::InterfaceOutput::InterfaceOutput(const std::string& _input, const std::string& _publisher) :
appl::InterfaceOutput::InterfaceOutput(const etk::String& _input, const etk::String& _publisher) :
m_lowLevelStreamName(_input) {
ros::NodeHandle nodeHandlePrivate("~");
m_stream = nodeHandlePrivate.subscribe<audio_msg::AudioBuffer>(_publisher,
@ -19,12 +19,12 @@ appl::InterfaceOutput::InterfaceOutput(const std::string& _input, const std::str
}
appl::InterfaceOutput::~InterfaceOutput() {
std11::unique_lock<std::mutex> lock(m_mutex);
std11::unique_lock<ethread::Mutex> lock(m_mutex);
m_list.clear();
}
void appl::InterfaceOutput::onTopicMessage(const audio_msg::AudioBuffer::ConstPtr& _msg) {
std11::unique_lock<std::mutex> lock(m_mutex);
std11::unique_lock<ethread::Mutex> lock(m_mutex);
for (size_t iii=0; iii<m_list.size(); ++iii) {
if (m_list[iii] == nullptr) {
continue;
@ -41,13 +41,13 @@ void appl::InterfaceOutput::onTopicMessage(const audio_msg::AudioBuffer::ConstPt
APPL_ERROR("can not generate new interface element...");
return;
}
m_list.push_back(newInterface);
m_list.pushBack(newInterface);
newInterface->onTopicMessage(m_lowLevelStreamName, _msg);
}
void appl::InterfaceOutput::onTimer(const ros::TimerEvent& _timer) {
std11::unique_lock<std::mutex> lock(m_mutex);
std::vector<std11::shared_ptr<appl::InterfaceOutputManager> >::iterator it = m_list.begin();
std11::unique_lock<ethread::Mutex> lock(m_mutex);
etk::Vector<std11::shared_ptr<appl::InterfaceOutputManager> >::iterator it = m_list.begin();
while (it != m_list.end()) {
if (*it == nullptr) {
it = m_list.erase(it);

6
audio_core/src/InterfaceOutput.h
View File

@ -16,13 +16,13 @@
namespace appl {
class InterfaceOutput {
public:
std::string m_lowLevelStreamName;
etk::String m_lowLevelStreamName;
ros::Subscriber m_stream;
ros::Timer m_timer;
std11::mutex m_mutex;
std::vector<std11::shared_ptr<appl::InterfaceOutputManager> > m_list;
etk::Vector<std11::shared_ptr<appl::InterfaceOutputManager> > m_list;
public:
InterfaceOutput(const std::string& _input="speaker", const std::string& _publisher="speaker");
InterfaceOutput(const etk::String& _input="speaker", const etk::String& _publisher="speaker");
~InterfaceOutput();
void onTopicMessage(const audio_msg::AudioBuffer::ConstPtr& _msg);
void onTimer(const ros::TimerEvent& _timer);

10
audio_core/src/InterfaceOutputElement.cpp
View File

@ -17,7 +17,7 @@ appl::InterfaceOutputElement::InterfaceOutputElement(const std11::shared_ptr<aud
}
appl::InterfaceOutputElement::~InterfaceOutputElement() {
std11::unique_lock<std::mutex> lock(m_mutex);
std11::unique_lock<ethread::Mutex> lock(m_mutex);
APPL_INFO("Remove interfaces (start)");
m_interface->stop();
m_interface.reset();
@ -25,8 +25,8 @@ appl::InterfaceOutputElement::~InterfaceOutputElement() {
APPL_INFO("Remove interfaces (done)");
}
void appl::InterfaceOutputElement::onTopicMessage(const std::string& _streamName, const audio_msg::AudioBuffer::ConstPtr& _msg) {
std11::unique_lock<std::mutex> lock(m_mutex);
void appl::InterfaceOutputElement::onTopicMessage(const etk::String& _streamName, const audio_msg::AudioBuffer::ConstPtr& _msg) {
std11::unique_lock<ethread::Mutex> lock(m_mutex);
if (m_interface != nullptr) {
APPL_VERBOSE("Write data : " << m_id << " size= " << _msg->data.size()/m_interface->getInterfaceFormat().getChunkSize());
m_interface->write(&_msg->data[0], _msg->data.size()/m_interface->getInterfaceFormat().getChunkSize());
@ -34,7 +34,7 @@ void appl::InterfaceOutputElement::onTopicMessage(const std::string& _streamName
return;
}
audio::format format = audio::convertFormat(_msg->channelFormat);
std::vector<enum audio::channel> map = audio::convertChannel(_msg->channelMap);
etk::Vector<enum audio::channel> map = audio::convertChannel(_msg->channelMap);
// no interface found => create a new one
m_interface = m_manager->createOutput(_msg->frequency,
map,
@ -50,7 +50,7 @@ void appl::InterfaceOutputElement::onTopicMessage(const std::string& _streamName
m_interface->write(&_msg->data[0], _msg->data.size()/m_interface->getInterfaceFormat().getChunkSize());
}
void appl::InterfaceOutputElement::onStatus(const std::string& _origin, const std::string& _status, int32_t _iii) {
void appl::InterfaceOutputElement::onStatus(const etk::String& _origin, const etk::String& _status, int32_t _iii) {
APPL_VERBOSE("status event : " << _origin << " status=" << _status << " on i=" << _iii);
m_nbConsecutiveUnderflow++;
}

4
audio_core/src/InterfaceOutputElement.h
View File

@ -35,8 +35,8 @@ namespace appl {
public:
InterfaceOutputElement(const std11::shared_ptr<audio::river::Manager>& _manager, int32_t _id);
~InterfaceOutputElement();
void onTopicMessage(const std::string& _streamName, const audio_msg::AudioBuffer::ConstPtr& _msg);
void onStatus(const std::string& _origin, const std::string& _status, int32_t _iii);
void onTopicMessage(const etk::String& _streamName, const audio_msg::AudioBuffer::ConstPtr& _msg);
void onStatus(const etk::String& _origin, const etk::String& _status, int32_t _iii);
};
}

12
audio_core/src/InterfaceOutputManager.cpp
View File

@ -9,7 +9,7 @@
#include "debug.h"
#include "InterfaceOutputManager.h"
appl::InterfaceOutputManager::InterfaceOutputManager(const std::string& _name) :
appl::InterfaceOutputManager::InterfaceOutputManager(const etk::String& _name) :
m_name(_name) {
m_manager = audio::river::Manager::create(m_name);
APPL_INFO("Create Manager : " << m_name);
@ -17,15 +17,15 @@ appl::InterfaceOutputManager::InterfaceOutputManager(const std::string& _name) :
appl::InterfaceOutputManager::~InterfaceOutputManager() {
APPL_INFO("Remove Manager : " << m_name);
std11::unique_lock<std::mutex> lock(m_mutex);
std11::unique_lock<ethread::Mutex> lock(m_mutex);
APPL_INFO("Clean list");
m_elementList.clear();
m_manager.reset();
APPL_INFO("All is done ...");
}
void appl::InterfaceOutputManager::onTopicMessage(const std::string& _streamName, const audio_msg::AudioBuffer::ConstPtr& _msg) {
std11::unique_lock<std::mutex> lock(m_mutex);
void appl::InterfaceOutputManager::onTopicMessage(const etk::String& _streamName, const audio_msg::AudioBuffer::ConstPtr& _msg) {
std11::unique_lock<ethread::Mutex> lock(m_mutex);
for (size_t iii=0; iii<m_elementList.size(); ++iii) {
if (m_elementList[iii] == nullptr) {
continue;
@ -41,13 +41,13 @@ void appl::InterfaceOutputManager::onTopicMessage(const std::string& _streamName
APPL_ERROR("nullptr interface");
return;
}
m_elementList.push_back(interface);
m_elementList.pushBack(interface);
interface->onTopicMessage(_streamName, _msg);
m_manager->generateDotAll("myDot.dot");
}
bool appl::InterfaceOutputManager::onTimer() {
std::vector<std11::shared_ptr<appl::InterfaceOutputElement> >::iterator it = m_elementList.begin();
etk::Vector<std11::shared_ptr<appl::InterfaceOutputElement> >::iterator it = m_elementList.begin();
bool oneElementRemoved = false;
while (it != m_elementList.end()) {
if (*it == nullptr) {

10
audio_core/src/InterfaceOutputManager.h
View File

@ -16,19 +16,19 @@
namespace appl {
class InterfaceOutputManager {
private:
std::string m_name;
etk::String m_name;
public:
const std::string& getName() {
const etk::String& getName() {
return m_name;
}
private:
std11::shared_ptr<audio::river::Manager> m_manager;
std::vector<std11::shared_ptr<appl::InterfaceOutputElement> > m_elementList;
etk::Vector<std11::shared_ptr<appl::InterfaceOutputElement> > m_elementList;
std11::mutex m_mutex;
public:
InterfaceOutputManager(const std::string& _name);
InterfaceOutputManager(const etk::String& _name);
~InterfaceOutputManager();
void onTopicMessage(const std::string& _streamName, const audio_msg::AudioBuffer::ConstPtr& _msg);
void onTopicMessage(const etk::String& _streamName, const audio_msg::AudioBuffer::ConstPtr& _msg);
bool onTimer();
};
}

6
audio_core/src/debug.h
View File

@ -14,12 +14,12 @@
namespace appl {
int32_t getLogId();
};
// TODO : Review this problem of multiple intanciation of "std::stringbuf sb"
// TODO : Review this problem of multiple intanciation of "etk::Stringbuf sb"
#define APPL_BASE(info,data) \
do { \
if (info <= etk::log::getLevel(appl::getLogId())) { \
std::stringbuf sb; \
std::ostream tmpStream(&sb); \
etk::Stringbuf sb; \
etk::Stream tmpStream(&sb); \
tmpStream << data; \
etk::log::logStream(appl::getLogId(), info, __LINE__, __class__, __func__, tmpStream); \
} \

10
audio_core/src/main.cpp
View File

@ -38,7 +38,7 @@ bool f_create(audio_core::create::Request& _req,
}
_res.handle = newInterface->getId();
mutex.lock();
// TODO : g_listInterafceOut.push_back(newInterface);
// TODO : g_listInterafceOut.pushBack(newInterface);
mutex.unlock();
APPL_INFO("create : [" << _res.handle << "] type: '" << _req.flowName << "'");
*/
@ -111,7 +111,7 @@ int main(int _argc, char **_argv) {
ros::init(_argc, _argv, "audio_interface");
etk::log::setLevel(etk::log::logLevelInfo);
for (int32_t iii=0; iii<_argc ; ++iii) {
std::string data = _argv[iii];
etk::String data = _argv[iii];
if (data == "-l0") {
etk::log::setLevel(etk::log::logLevelNone);
} else if (data == "-l1") {
@ -147,11 +147,11 @@ int main(int _argc, char **_argv) {
for (int32_t iii=0; iii<_argc; ++iii) {
APPL_ERROR("Argument : " << iii << " '" << _argv[iii] << "'");
}
std::string hardwareInterface="DATA:hardware.json";
etk::String hardwareInterface="DATA:hardware.json";
for (int32_t iii=0; iii<_argc; ++iii) {
std::string arg = _argv[iii];
etk::String arg = _argv[iii];
if (etk::start_with(_argv[iii], "--hardware=") == true) {
hardwareInterface = std::string(&_argv[iii][11]);
hardwareInterface = etk::String(&_argv[iii][11]);
APPL_INFO("Find hardware configuration ... : '" << hardwareInterface << "'");
}
}

28
test/test_audio_generator/src/main.cpp
View File

@ -7,7 +7,7 @@
#include <sstream>
#include <boost/thread/mutex.hpp>
int64_t audioInterface_create(ros::NodeHandle& _n, ros::Time _timeUs, int32_t _freq, const std::vector<uint8_t> _channelMap) {
int64_t audioInterface_create(ros::NodeHandle& _n, ros::Time _timeUs, int32_t _freq, const etk::Vector<uint8_t> _channelMap) {
ros::ServiceClient client = _n.serviceClient<audio_core::create>("create");
audio_core::create srv;
srv.request.stamp = _timeUs;
@ -48,14 +48,14 @@ uint32_t audioInterface_getBufferTime(ros::NodeHandle& _n, int64_t _uid) {
return 0;
}
static std::string p_channelToPlay = "/audio/speaker";
static etk::String p_channelToPlay = "/audio/speaker";
static int32_t p_sampleRate = 48000;
static int32_t p_nbChannels = 2;
static int32_t p_frequency = 440;
static int32_t baseDataSize = 0;
static double phase = 0.0;
std::vector<uint8_t> channelMap;
etk::Vector<uint8_t> channelMap;
static ros::Publisher stream;
ros::Time nextFrame;
@ -81,7 +81,7 @@ void onTimer(const ros::TimerEvent& _timer) {
// Set the format of flow
msg.channelFormat = audio_msg::AudioBuffer::FORMAT_INT16;
std::vector<int16_t> data;
etk::Vector<int16_t> data;
data.resize(baseDataSize*channelMap.size());
double baseCycle = 2.0*M_PI/(double)p_sampleRate * (double)p_frequency;
for (int32_t iii=0; iii<data.size()/channelMap.size(); iii++) {
@ -149,19 +149,19 @@ int main(int _argc, char **_argv) {
if (p_nbChannels == 1) {
channelMap.push_back(audio_msg::AudioBuffer::CHANNEL_FRONT_CENTER);
channelMap.pushBack(audio_msg::AudioBuffer::CHANNEL_FRONT_CENTER);
} else if (p_nbChannels == 2) {
channelMap.push_back(audio_msg::AudioBuffer::CHANNEL_FRONT_LEFT);
channelMap.push_back(audio_msg::AudioBuffer::CHANNEL_FRONT_RIGHT);
channelMap.pushBack(audio_msg::AudioBuffer::CHANNEL_FRONT_LEFT);
channelMap.pushBack(audio_msg::AudioBuffer::CHANNEL_FRONT_RIGHT);
} else if (p_nbChannels == 3) {
channelMap.push_back(audio_msg::AudioBuffer::CHANNEL_FRONT_LEFT);
channelMap.push_back(audio_msg::AudioBuffer::CHANNEL_FRONT_CENTER);
channelMap.push_back(audio_msg::AudioBuffer::CHANNEL_FRONT_RIGHT);
channelMap.pushBack(audio_msg::AudioBuffer::CHANNEL_FRONT_LEFT);
channelMap.pushBack(audio_msg::AudioBuffer::CHANNEL_FRONT_CENTER);
channelMap.pushBack(audio_msg::AudioBuffer::CHANNEL_FRONT_RIGHT);
} else if (p_nbChannels == 4) {
channelMap.push_back(audio_msg::AudioBuffer::CHANNEL_FRONT_LEFT);
channelMap.push_back(audio_msg::AudioBuffer::CHANNEL_FRONT_RIGHT);
channelMap.push_back(audio_msg::AudioBuffer::CHANNEL_REAR_LEFT);
channelMap.push_back(audio_msg::AudioBuffer::CHANNEL_REAR_RIGHT);
channelMap.pushBack(audio_msg::AudioBuffer::CHANNEL_FRONT_LEFT);
channelMap.pushBack(audio_msg::AudioBuffer::CHANNEL_FRONT_RIGHT);
channelMap.pushBack(audio_msg::AudioBuffer::CHANNEL_REAR_LEFT);
channelMap.pushBack(audio_msg::AudioBuffer::CHANNEL_REAR_RIGHT);
} else {
ROS_ERROR("nb chnnale supported error : %d not in [1,2,3,4]", p_nbChannels);
exit(-1);

6
test/test_audio_recorder/src/main.cpp
View File

@ -12,7 +12,7 @@ FILE* filee = NULL;
void audioCallback(const audio_msg::AudioBuffer::ConstPtr& _msg) {
audio::format format = audio::convertFormat(_msg->channelFormat);
int32_t nbByteSample = audio::getFormatBytes(format);
std::vector<enum audio::channel> channel = audio::convertChannel(_msg->channelMap);
etk::Vector<enum audio::channel> channel = audio::convertChannel(_msg->channelMap);
fwrite(&_msg->data[0], nbByteSample, _msg->data.size()/nbByteSample, filee);
ROS_INFO_STREAM("get message: freq=" << _msg->frequency << " nbChannel=" << channel << " nbSample=" << _msg->data.size()/(_msg->channelMap.size()*nbByteSample) << " format=" << format);
}
@ -31,8 +31,8 @@ int main(int argc, char **argv) {
ROS_ERROR ("not enought argument : %d", argc);
usage();
}
std::string p_channelToRecord = argv[1];
std::string p_fileToSave = argv[2];
etk::String p_channelToRecord = argv[1];
etk::String p_fileToSave = argv[2];
filee = fopen(p_fileToSave.c_str(), "w");
ros::init(argc, argv, "test_audio_recorder");