[DEV] first step
This commit is contained in:
457
test/main.cpp
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457
test/main.cpp
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#include "ros/ros.h"
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#include <audio_base/Manager.hpp>
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#include <audio_base/Interface.hpp>
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#include <sstream>
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class testOutWrite {
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private:
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std::vector<audio_algo_core::channel> m_channelMap;
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boost::shared_ptr<audio_base::Manager> m_manager;
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boost::shared_ptr<audio_base::Interface> m_interface;
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public:
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testOutWrite(boost::shared_ptr<audio_base::Manager> _manager) :
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m_manager(_manager){
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//Set stereo output:
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m_channelMap.push_back(audio_algo_core::channel_frontLeft);
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m_channelMap.push_back(audio_algo_core::channel_frontRight);
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m_interface = m_manager->createOutput(48000,
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m_channelMap,
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audio_algo_core::format_int16,
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"default",
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"WriteMode");
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}
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~testOutWrite() {
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}
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void run() {
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m_interface->start();
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double phase=0;
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std::vector<int16_t> data;
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data.resize(1024*m_channelMap.size());
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double baseCycle = 2.0*M_PI/(double)48000 * (double)440;
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for (int32_t kkk=0; kkk<100; ++kkk) {
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for (int32_t iii=0; iii<data.size()/m_channelMap.size(); iii++) {
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for (int32_t jjj=0; jjj<m_channelMap.size(); jjj++) {
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data[m_channelMap.size()*iii+jjj] = cos(phase) * 30000;
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}
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phase += baseCycle;
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if (phase >= 2*M_PI) {
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phase -= 2*M_PI;
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}
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}
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ROS_INFO("send data");
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m_interface->write(data);
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}
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m_interface->stop();
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}
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};
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class testOutCallback {
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private:
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boost::shared_ptr<audio_base::Manager> m_manager;
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boost::shared_ptr<audio_base::Interface> m_interface;
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double m_phase;
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public:
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testOutCallback(boost::shared_ptr<audio_base::Manager> _manager) :
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m_manager(_manager),
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m_phase(0) {
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//Set stereo output:
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std::vector<audio_algo_core::channel> channelMap;
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channelMap.push_back(audio_algo_core::channel_frontLeft);
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channelMap.push_back(audio_algo_core::channel_frontRight);
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m_interface = m_manager->createOutput(48000,
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channelMap,
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audio_algo_core::format_int16,
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"default",
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"WriteModeCallback");
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// set callback mode ...
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m_interface->setOutputCallbackInt16(1024, boost::bind(&testOutCallback::onDataNeeded, this, _1, _2, _3));
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}
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~testOutCallback() {
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}
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std::vector<int16_t> onDataNeeded(const boost::chrono::system_clock::time_point& _playTime,
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const size_t& _nbChunk,
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const std::vector<audio_algo_core::channel>& _map) {
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std::vector<int16_t> data;
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data.resize(_nbChunk*_map.size());
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double baseCycle = 2.0*M_PI/(double)48000 * (double)550;
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ROS_INFO("Get data ...");
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for (int32_t iii=0; iii<data.size()/_map.size(); iii++) {
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for (int32_t jjj=0; jjj<_map.size(); jjj++) {
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data[_map.size()*iii+jjj] = cos(m_phase) * 30000;
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}
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m_phase += baseCycle;
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if (m_phase >= 2*M_PI) {
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m_phase -= 2*M_PI;
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}
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}
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return data;
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}
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void run() {
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m_interface->start();
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// wait 2 second ...
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usleep(2000000);
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m_interface->stop();
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}
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};
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class testInRead {
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private:
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std::vector<audio_algo_core::channel> m_channelMap;
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boost::shared_ptr<audio_base::Manager> m_manager;
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boost::shared_ptr<audio_base::Interface> m_interface;
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public:
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testInRead(boost::shared_ptr<audio_base::Manager> _manager) :
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m_manager(_manager){
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//Set stereo output:
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m_channelMap.push_back(audio_algo_core::channel_frontLeft);
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m_channelMap.push_back(audio_algo_core::channel_frontRight);
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m_interface = m_manager->createInput(48000,
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m_channelMap,
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audio_algo_core::format_int16,
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"default",
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"WriteMode");
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}
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~testInRead() {
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}
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void run() {
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m_interface->start();
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std::vector<int16_t> data;
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for (int32_t kkk=0; kkk<100; ++kkk) {
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data = m_interface->read(1024);
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int64_t value = 0;
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for (size_t iii=0; iii<data.size(); ++iii) {
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value += std::abs(data[iii]);
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}
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value /= data.size();
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ROS_INFO("Get data ... average = %d", static_cast<int32_t>(value));
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}
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m_interface->stop();
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}
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};
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class testInCallback {
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private:
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boost::shared_ptr<audio_base::Manager> m_manager;
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boost::shared_ptr<audio_base::Interface> m_interface;
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double m_phase;
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public:
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testInCallback(boost::shared_ptr<audio_base::Manager> _manager) :
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m_manager(_manager),
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m_phase(0) {
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//Set stereo output:
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std::vector<audio_algo_core::channel> channelMap;
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channelMap.push_back(audio_algo_core::channel_frontLeft);
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channelMap.push_back(audio_algo_core::channel_frontRight);
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m_interface = m_manager->createInput(48000,
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channelMap,
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audio_algo_core::format_int16,
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"default",
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"WriteModeCallback");
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// set callback mode ...
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m_interface->setInputCallbackInt16(1024, boost::bind(&testInCallback::onDataReceived, this, _1, _2, _3, _4));
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}
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~testInCallback() {
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}
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void onDataReceived(const boost::chrono::system_clock::time_point& _playTime,
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const size_t& _nbChunk,
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const std::vector<audio_algo_core::channel>& _map,
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const std::vector<int16_t>& _data) {
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int64_t value = 0;
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for (size_t iii=0; iii<_data.size(); ++iii) {
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value += std::abs(_data[iii]);
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}
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value /= _data.size();
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ROS_INFO("Get data ... average = %d", static_cast<int32_t>(value));
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}
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void run() {
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m_interface->start();
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// wait 2 second ...
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usleep(2000000);
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m_interface->stop();
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}
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};
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class testOutCallbackFloat {
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private:
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boost::shared_ptr<audio_base::Manager> m_manager;
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boost::shared_ptr<audio_base::Interface> m_interface;
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double m_phase;
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float m_freq;
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int32_t m_nbChannels;
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float m_generateFreq;
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public:
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testOutCallbackFloat(boost::shared_ptr<audio_base::Manager> _manager,
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float _freq=48000.0f,
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int32_t _nbChannels=2,
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audio_algo_core::format _format=audio_algo_core::format_int16) :
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m_manager(_manager),
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m_phase(0),
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m_freq(_freq),
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m_nbChannels(_nbChannels),
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m_generateFreq(550.0f) {
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//Set stereo output:
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std::vector<audio_algo_core::channel> channelMap;
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if (m_nbChannels == 1) {
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channelMap.push_back(audio_algo_core::channel_frontCenter);
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} else if (m_nbChannels == 2) {
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channelMap.push_back(audio_algo_core::channel_frontLeft);
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channelMap.push_back(audio_algo_core::channel_frontRight);
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} else if (m_nbChannels == 4) {
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channelMap.push_back(audio_algo_core::channel_frontLeft);
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channelMap.push_back(audio_algo_core::channel_frontRight);
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channelMap.push_back(audio_algo_core::channel_rearLeft);
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channelMap.push_back(audio_algo_core::channel_rearRight);
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} else {
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ROS_ERROR("Can not generate with channel != 1,2,4");
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return;
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}
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switch (_format) {
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case audio_algo_core::format_int16:
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m_interface = m_manager->createOutput(m_freq,
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channelMap,
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_format,
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"default",
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"WriteModeCallbackI16");
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// set callback mode ...
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ROS_ERROR("Set callback");
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m_interface->setOutputCallbackInt16(1024, boost::bind(&testOutCallbackFloat::onDataNeededI16, this, _1, _2, _3));
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break;
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case audio_algo_core::format_int16_on_int32:
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m_interface = m_manager->createOutput(m_freq,
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channelMap,
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_format,
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"default",
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"WriteModeCallbackI16onI32");
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// set callback mode ...
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m_interface->setOutputCallbackInt32(1024, boost::bind(&testOutCallbackFloat::onDataNeededI16_I32, this, _1, _2, _3));
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break;
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case audio_algo_core::format_int32:
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m_interface = m_manager->createOutput(m_freq,
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channelMap,
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_format,
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"default",
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"WriteModeCallbackI32");
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// set callback mode ...
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m_interface->setOutputCallbackInt32(1024, boost::bind(&testOutCallbackFloat::onDataNeededI32, this, _1, _2, _3));
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break;
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case audio_algo_core::format_float:
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m_interface = m_manager->createOutput(m_freq,
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channelMap,
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_format,
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"default",
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"WriteModeCallbackFloat");
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// set callback mode ...
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m_interface->setOutputCallbackFloat(1024, boost::bind(&testOutCallbackFloat::onDataNeededFloat, this, _1, _2, _3));
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break;
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}
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}
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~testOutCallbackFloat() {
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}
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std::vector<int16_t> onDataNeededI16(const boost::chrono::system_clock::time_point& _playTime,
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const size_t& _nbChunk,
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const std::vector<audio_algo_core::channel>& _map) {
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std::vector<int16_t> data;
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data.resize(_nbChunk*_map.size());
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double baseCycle = 2.0*M_PI/(double)m_freq * (double)m_generateFreq;
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ROS_INFO("Get data ... %ld", _map.size());
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for (int32_t iii=0; iii<data.size()/_map.size(); iii++) {
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for (int32_t jjj=0; jjj<_map.size(); jjj++) {
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data[_map.size()*iii+jjj] = cos(m_phase) * (double)INT16_MAX;
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}
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m_phase += baseCycle;
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if (m_phase >= 2*M_PI) {
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m_phase -= 2*M_PI;
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}
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}
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return data;
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}
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std::vector<int32_t> onDataNeededI16_I32(const boost::chrono::system_clock::time_point& _playTime,
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const size_t& _nbChunk,
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const std::vector<audio_algo_core::channel>& _map) {
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std::vector<int32_t> data;
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data.resize(_nbChunk*_map.size());
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double baseCycle = 2.0*M_PI/(double)m_freq * (double)m_generateFreq;
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//ROS_INFO("Get data ...");
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for (int32_t iii=0; iii<data.size()/_map.size(); iii++) {
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for (int32_t jjj=0; jjj<_map.size(); jjj++) {
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data[_map.size()*iii+jjj] = cos(m_phase) * (double)INT16_MAX;
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}
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m_phase += baseCycle;
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if (m_phase >= 2*M_PI) {
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m_phase -= 2*M_PI;
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}
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}
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return data;
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}
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std::vector<int32_t> onDataNeededI32(const boost::chrono::system_clock::time_point& _playTime,
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const size_t& _nbChunk,
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const std::vector<audio_algo_core::channel>& _map) {
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std::vector<int32_t> data;
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data.resize(_nbChunk*_map.size());
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double baseCycle = 2.0*M_PI/(double)m_freq * (double)m_generateFreq;
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//ROS_INFO("Get data ...");
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for (int32_t iii=0; iii<data.size()/_map.size(); iii++) {
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for (int32_t jjj=0; jjj<_map.size(); jjj++) {
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data[_map.size()*iii+jjj] = cos(m_phase) * (double)INT32_MAX;
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}
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m_phase += baseCycle;
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if (m_phase >= 2*M_PI) {
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m_phase -= 2*M_PI;
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}
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}
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return data;
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}
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std::vector<float> onDataNeededFloat(const boost::chrono::system_clock::time_point& _playTime,
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const size_t& _nbChunk,
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const std::vector<audio_algo_core::channel>& _map) {
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std::vector<float> data;
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data.resize(_nbChunk*_map.size());
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double baseCycle = 2.0*M_PI/(double)m_freq * (double)m_generateFreq;
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//ROS_INFO("Get data ...");
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for (int32_t iii=0; iii<data.size()/_map.size(); iii++) {
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for (int32_t jjj=0; jjj<_map.size(); jjj++) {
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data[_map.size()*iii+jjj] = cos(m_phase);
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}
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m_phase += baseCycle;
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if (m_phase >= 2*M_PI) {
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m_phase -= 2*M_PI;
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}
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}
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return data;
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}
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void run() {
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if (m_interface != NULL) {
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m_interface->start();
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// wait 2 second ...
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usleep(1000000);
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m_interface->stop();
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} else {
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ROS_ERROR("Can not create interface !!!");
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}
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}
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};
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int main(int argc, char **argv) {
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boost::shared_ptr<audio_base::Manager> manager;
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manager = audio_base::Manager::create("testApplication");
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#if 0
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ROS_INFO("test output (Write mode)");
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{
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boost::shared_ptr<testOutWrite> process = boost::make_shared<testOutWrite>(manager);
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process->run();
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process.reset();
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}
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usleep(500000);
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#endif
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#if 0
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ROS_INFO("test output (callback mode)");
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{
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boost::shared_ptr<testOutCallback> process = boost::make_shared<testOutCallback>(manager);
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process->run();
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process.reset();
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}
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usleep(500000);
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#endif
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#if 0
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ROS_INFO("test input (Read mode)");
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{
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boost::shared_ptr<testInRead> process = boost::make_shared<testInRead>(manager);
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process->run();
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process.reset();
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}
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usleep(500000);
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#endif
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#if 0
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ROS_INFO("test input (callback mode)");
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{
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boost::shared_ptr<testInCallback> process = boost::make_shared<testInCallback>(manager);
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process->run();
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process.reset();
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}
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#endif
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#if 1
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ROS_INFO("test convert flaot to output (callback mode)");
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std::vector<float> listFreq;
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listFreq.push_back(4000);
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listFreq.push_back(8000);
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listFreq.push_back(16000);
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listFreq.push_back(32000);
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listFreq.push_back(48000);
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listFreq.push_back(48001);
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listFreq.push_back(64000);
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listFreq.push_back(96000);
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listFreq.push_back(11250);
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listFreq.push_back(2250);
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listFreq.push_back(44100);
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listFreq.push_back(88200);
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std::vector<int32_t> listChannel;
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listChannel.push_back(1);
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listChannel.push_back(2);
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listChannel.push_back(4);
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std::vector<audio_algo_core::format> listFormat;
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listFormat.push_back(audio_algo_core::format_int16);
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listFormat.push_back(audio_algo_core::format_int16_on_int32);
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listFormat.push_back(audio_algo_core::format_int32);
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listFormat.push_back(audio_algo_core::format_float);
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for (int32_t iii=0; iii<listFreq.size(); ++iii) {
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for (int32_t jjj=0; jjj<listChannel.size(); ++jjj) {
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for (std::vector<audio_algo_core::format>::iterator formatIt = listFormat.begin(); formatIt != listFormat.end(); ++formatIt) {
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float freq = listFreq[iii];
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int32_t channel = listChannel[jjj];
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ROS_INFO("freq = %f channel=%d format=%s", freq, channel, getFormatString(*formatIt).c_str());
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boost::shared_ptr<testOutCallbackFloat> process = boost::make_shared<testOutCallbackFloat>(manager, freq, channel, *formatIt);
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process->run();
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process.reset();
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usleep(500000);
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}
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}
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}
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#endif
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ROS_INFO("TEST ended");
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return 0;
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}
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