int main(int argc, char **argv)
{
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* LED灯初始化 */
switch_init(); /* 开关初始化 */
speaker_init(); /* 蜂鸣器初始化 */
motor_init(); /* 电机初始化 */
steer_init(); /* 舵机初始化 */
decoder_init(); /* 编码器初始化 */
serial_initialize((intptr_t)(NULL)); /* 初始化串口 */
//sd_init(&Fatfs); /* 初始化SD卡，并创建文件 */
//sd_create_file(&test_data, test_data_name);
/* 命令注册 */
help_cmd_initialize((intptr_t)(NULL));
light_cmd_initialize((intptr_t)(NULL));
switch_cmd_initialize((intptr_t)(NULL));
speaker_cmd_initialize((intptr_t)(NULL));
motor_cmd_initialize((intptr_t)(NULL));
decoder_cmd_initialize((intptr_t)(NULL));
control_cmd_initialize((intptr_t)(NULL));
//sd_cmd_initialize((intptr_t)(NULL));
printf("\n Welcome to k60 software platform!");
printf("\n Press 'help' to get the help! \n");
//light_open(LIGHT4);
/* ntshell测试 */
task_ntshell((intptr_t)(NULL));
}
void stride_init(void)
{
#ifdef APE
detect_init();
#else
decoder_init();
#endif
}
int main(int argc, char **argv)
{
struct stat sb;
decoder_context decoder;
const char *in_file_path = NULL;
const char *out_file_path = NULL;
FILE *fp_out;
void *data_ptr;
int fd;
int c;
while ((c = getopt(argc, argv, "i:o:")) != -1) {
switch (c) {
case 'i':
in_file_path = optarg;
break;
case 'o':
out_file_path = optarg;
break;
default:
break;
}
}
if (in_file_path == NULL || out_file_path == NULL) {
fprintf(stderr, "-i h264 input file path\n");
fprintf(stderr, "-o decoded i420 frames output file path\n");
exit(EXIT_FAILURE);
}
fd = open(in_file_path, O_RDONLY);
assert(fd != -1);
assert(fstat(fd, &sb) != -1);
fp_out = fopen(out_file_path, "w+");
assert(fp_out != NULL);
data_ptr = mmap(NULL, sb.st_size, PROT_READ, MAP_PRIVATE, fd, 0);
assert(data_ptr != MAP_FAILED);
assert(madvise(data_ptr, sb.st_size, MADV_SEQUENTIAL) == 0);
decoder_init(&decoder, data_ptr, sb.st_size);
if (out_file_path) {
decoder_set_notify(&decoder, save_decoded_frame, fp_out);
}
if (!parse_mp4(&decoder)) {
parse_annex_b(&decoder);
}
return 0;
}
int playvid_open(PlayerCtx **octx, const char *filename)
{
PlayerCtx *ctx = malloc(sizeof(PlayerCtx));
if (decoder_init(ctx, filename) < 0)
return -1;
ctx->display_mode = STOP;
ctx->cur_frame = NULL;
ctx->last_frame_pts = -1;
ctx->ev_cb = NULL;
*octx = ctx;
return 0;
}
int main(int argc, char *argv[])
{
float *buffer;
unsigned int len;
unsigned int frate;
FILE *f;
decoder_handle handle;
if(argc != 3) {
printf("USAGE: %s <MP3 File> <Output file>\n", argv[0]);
exit(-1);
}
f = fopen(argv[2], "w");
if(!f) {
printf("Cannot create %s\n", argv[2]);
exit(-1);
}
if(decoder_init(&handle)) {
printf("Cound not initialize decoder\n");
goto init_failed;
}
if(decoder_open(handle, argv[1])) {
printf("Could not open %s to decode\n", argv[1]);
goto open_failed;
}
if(decoder_start(handle)) {
printf("Could not start decoding\n");
goto start_failed;
}
while(1) {
decoder_data_pull(handle, &buffer, &len, &frate);
if(len == 0)
break;
if(write(fileno(f), buffer, len * sizeof(float)) != len * sizeof(float)) {
printf("Write failed\n");
}
free(buffer);
}
init_failed:
fclose(f);
start_failed:
if(decoder_close(handle)) {
printf("Closing decoder handle failed\n");
}
open_failed:
decoder_exit(handle);
return 0;
}
Decoder* init_decoder()
{
Decoder* obj = decoder_new();
char *filename = FILENAME;
FILE *pF = fopen( filename, "rb" );
obj->pOpaqueSource = (void*) pF;
decoder_reg_read( obj, read_fp );
decoder_reg_seek( obj, seek_fp );
decoder_init( obj );
decoder_load_info( obj );
return obj;
}
int main(int argc, char *argv[]) {
if (argc == 3 && argv[1][0] == '-' && argv[1][1] == 'l') {
g_ip = NULL;
g_port = atoi(argv[2]);
}
else if (argc == 3) {
g_ip = argv[1];
g_port = atoi(argv[2]);
}
else {
usage(argc, argv);
return 1;
}
load_settings();
if (!decoder_init(g_webcam_w, g_webcam_h)) {
return 2;
}
stream_video();
decoder_fini();
return 0;
}
int main(int argc, char **argv)
{
int robot_state = FORWARD;
int last_robot_state = FORWARD;
int front_infrared_value = 0;
int back_infrared_value = 0;
int front_infrared_num = 0;
int back_infrared_num = 0;
int front_infrared_amount = 0;
int back_infrared_amount = 0;
int front_infrared_weight = 0;
int back_infrared_weight = 0;
uint32_t car_distence = 0;
uint8_t get_char = 0;
int change_num = 0;
bool_t switch_state = 0;
int detect_num = 0;
int angle = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* 灯初始化 */
switch_init(); /* 开关初始化 */
serial_initialize((intptr_t) (NULL)); /* 初始化串口 */
motor_init(); /* 电机初始化 */
steer_init(); /* 舵机初始化 */
decoder_init((intptr_t) (NULL)); /* 编码器初始化 */
infrared_init(); /* 红外初始化 */
while(1)
{
light_open(LIGHT2);
light_open(LIGHT3);
}
// gpio_init(PORT_NO_GET(PTC0), PIN_NO_GET(PTC0), OUT_PUT, 0);
// gpio_init(PORT_NO_GET(PTC2), PIN_NO_GET(PTC2),OUT_PUT, 1);
// while(1)
// {
// motor_output(MOTOR_LEFT, 50);
// motor_output(MOTOR_RIGHT, 50);
// }
while((get_char != 's') && (switch_state != SWITCH_ON))
{
light_open_some(0x0f);
get_char = serial_get_char(UART_NO_GET(UART_NO));
switch_state = switch_read(SWITCH0);
}
while (1)
{
get_char = serial_get_char(UART_NO_GET(UART_NO));
if(get_char == 'p')
{
last_robot_state = robot_state;
robot_state = STOP;
}
/* 读取光电管的数据 */
front_infrared_value = infrared_read_loc(INFRARED_FRONT);
back_infrared_value = infrared_read_loc(INFRARED_BACK);
/* 读取红外从右第一个亮灯的位置 */
front_infrared_num = infrared_read_num(front_infrared_value);
back_infrared_num = infrared_read_num(back_infrared_value);
/* 读取传感器亮灯的总数 */
front_infrared_amount = infrared_read_amount(front_infrared_value);
back_infrared_amount = infrared_read_amount(back_infrared_value);
/* 读取权值 */
front_infrared_weight = infrared_read_weight(front_infrared_value);
back_infrared_weight = infrared_read_weight(back_infrared_value);
switch (robot_state)
{
/**********************************前进*************************************/
case FORWARD:
light_open_some(0x01);
light_bar_open(LIGHT_BAR0);
light_bar_close(LIGHT_BAR1);
if (front_infrared_amount == 1)
{
if (front_infrared_weight == 3)
{
angle = 40;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -3)
{
angle = -40;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 2)
{
angle = 20;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -2)
{
angle = -20;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 1)
{
angle = 5;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -1)
{
angle = -5;
//motor_output2(13, 13);
}
}
else if (front_infrared_amount == 2)
{
if (front_infrared_weight == 5)
{
angle = 30;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -5)
{
angle = -30;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 3)
{
angle = 10;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -3)
{
angle = -10;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 0)
{
angle = 0;
//motor_output2(13, 13);
}
}
steer_output_angle(STEER_DIR, angle);
speed_control_forward(30,angle);
if (front_infrared_amount > 4)
{
if(change_num == 4)
{
robot_state = STOP;
}
detect_num ++;
if(detect_num > 2)
{
detect_num = 0;
robot_state = FORWARD_CHANGE;
car_distence = gl_distanceTotal;
}
}
else
{
detect_num = 0;
}
break;
/**********************************前进转换1*************************************/
case FORWARD_CHANGE:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x02);
steer_output_angle(STEER_DIR, 40);
//motor_output2(-25, -10);
speed_control_backward(30,angle);
if((gl_distanceTotal - car_distence)>9)
{
robot_state = FORWARD_CHANGE2;
}
break;
/**********************************前进转换2*************************************/
case FORWARD_CHANGE2:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x02);
steer_output_angle(STEER_DIR, 40);
//motor_output2(-25, -10);
speed_control_backward(30,angle);
if((back_infrared_value & 0x30) && (!(back_infrared_value & 0x03)) && (front_infrared_amount < 3))
{
robot_state = BACKWARD;
car_distence = gl_distanceTotal;
change_num ++;
}
break;
/************************************后退****************************************/
case BACKWARD:
light_bar_open(LIGHT_BAR1);
light_bar_close(LIGHT_BAR0);
light_open_some(0x04);
if (back_infrared_amount == 1)
{
if (back_infrared_weight == 3)
{
angle = -40;
//motor_output2(-5, -22);
}
else if (back_infrared_weight == -3)
{
angle = 40;
//motor_output2(-22, -5);
}
else if (back_infrared_weight == 2)
{
angle = -40;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -2)
{
angle = 40;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 1)
{
angle = -5;
//motor_output2(-14, -14);
}
else if (back_infrared_weight == -1)
{
angle = 5;
//motor_output2(-14, -14);
}
}
else if (back_infrared_amount == 2)
{
if (back_infrared_weight == 5)
{
angle = -40;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -5)
{
angle = 40;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 3)
{
angle = -20;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -3)
{
angle = 20;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 0)
{
angle = 0;
//motor_output2(-14, -14);
}
}
steer_output_angle(STEER_DIR, angle);
speed_control_backward(30,angle);
if(back_infrared_amount > 4)
{
detect_num ++;
if(detect_num > 2)
{
detect_num = 0;
robot_state = BACKWARD_CHANGE;
car_distence = gl_distanceTotal;
}
}
else
{
detect_num = 0;
}
break;
/************************************后退转换1****************************************/
case BACKWARD_CHANGE:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x8);
steer_output_angle(STEER_DIR, -35);
speed_control_forward(30,angle);
if((gl_distanceTotal - car_distence)>7)
{
robot_state = BACKWARD_CHANGE2;
}
break;
/************************************后退转换2****************************************/
case BACKWARD_CHANGE2:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x8);
steer_output_angle(STEER_DIR, -35);
speed_control_forward(30,angle);
if((front_infrared_value & 0x38) && (!(front_infrared_value & 0x03)) && (back_infrared_amount < 3))
{
robot_state = FORWARD;
change_num ++;
}
break;
/************************************停车****************************************/
case STOP:
light_open_some(0x03);
light_bar_close(LIGHT_BAR0);
light_bar_close(LIGHT_BAR1);
motor_output2(0, 0);
steer_output_angle(STEER_DIR, 0);
if(get_char == 's')
{
robot_state = last_robot_state;
}
break;
}
}
}
static inline spectgen_session_t *spectgen_session_create(unsigned int window_size,
scale_t scale,
spect_method_t method,
unsigned int nbands)
{
spectgen_session_t *session;
int i;
unsigned int num_bands = nbands;
if(method == CEPSTOGRAM)
num_bands = (nbands - 1) * 2;
if(num_bands > (1 + (window_size / 2)))
return NULL;
session = (spectgen_session_t *)malloc(sizeof(spectgen_session_t));
if(!session)
return NULL;
session->window_size = window_size;
session->numfreqs = (window_size / 2) + 1;
session->nbands = nbands;
session->scale = scale;
session->method = method;
session->window = (float *)malloc(sizeof(float) * window_size);
if(!session->window)
goto window_creation_failed;
for(i = 0; i < window_size; i++) {
session->window[i] = 0.5 * (1 - cos(2 * M_PI * (float)i / (float)(window_size - 1)));
}
session->scale_table = generate_scale_table(num_bands, scale);
if(!session->scale_table)
goto scale_generation_failed;
session->norm_table = generate_scale_norm_table(session->scale_table, num_bands);
if(!session->norm_table)
goto norm_generation_failed;
session->fft_in_pre = (float *)fftwf_malloc(sizeof(float) * window_size);
if(!session->fft_in_pre)
goto fft_in_pre_failed;
session->fft_out_pre = (fftwf_complex *)
fftwf_malloc(sizeof(fftwf_complex) * session->numfreqs);
if(!session->fft_out_pre)
goto fft_out_pre_failed;
/* Even though we are thread safe, the planner is not. so
* serialize the calls to fftwf plan create */
pthread_mutex_lock(&planner_lock);
session->plan_pre = fftwf_plan_dft_r2c_1d(window_size, session->fft_in_pre,
session->fft_out_pre, FFTW_MEASURE | FFTW_DESTROY_INPUT);
pthread_mutex_unlock(&planner_lock);
if(!session->plan_pre)
goto plan_pre_creation_failed;
session->fft_in_post = NULL;
session->fft_out_post = NULL;
session->plan_post = 0;
if(method == CEPSTOGRAM) {
unsigned int len_out_post = nbands;
unsigned int len_in_post = num_bands;
session->fft_in_post = (float *)fftwf_malloc(sizeof(float) * len_in_post);
if(!session->fft_in_post)
goto fft_in_post_failed;
session->fft_out_post = (fftwf_complex *)
fftwf_malloc(sizeof(fftwf_complex) * len_out_post);
if(!session->fft_out_post)
goto fft_out_post_failed;
pthread_mutex_lock(&planner_lock);
session->plan_post = fftwf_plan_dft_r2c_1d(len_in_post, session->fft_in_post,
session->fft_out_post, FFTW_MEASURE | FFTW_DESTROY_INPUT);
pthread_mutex_unlock(&planner_lock);
if(!session->plan_post)
goto plan_post_creation_failed;
}
/* The reason we create is for it to be taken! */
session->busy = 1;
session->next = NULL;
pthread_mutex_init(&session->lock, NULL);
SIGNAL_INIT(&session->start_signal);
SIGNAL_INIT(&session->finished_signal);
session->active = 1;
if(decoder_init(&session->d_handle))
goto decoder_init_failed;
/* The thread will wait on the start signal */
pthread_create(&session->thread, 0, spectgen_session_thread, session);
if(!session->thread)
goto thread_creation_failed;
return session;
thread_creation_failed:
decoder_exit(session->d_handle);
decoder_init_failed:
pthread_mutex_destroy(&session->lock);
SIGNAL_DEINIT(&session->start_signal);
SIGNAL_DEINIT(&session->finished_signal);
if(session->plan_post)
fftwf_destroy_plan(session->plan_post);
plan_post_creation_failed:
if(session->fft_out_post)
fftwf_free(session->fft_out_post);
fft_out_post_failed:
if(session->fft_in_post)
fftwf_free(session->fft_in_post);
fft_in_post_failed:
fftwf_destroy_plan(session->plan_pre);
plan_pre_creation_failed:
fftwf_free(session->fft_out_pre);
fft_out_pre_failed:
fftwf_free(session->fft_in_pre);
fft_in_pre_failed:
free(session->norm_table);
norm_generation_failed:
free(session->scale_table);
scale_generation_failed:
free(session->window);
window_creation_failed:
free(session);
return NULL;
}
static void prepare_decoder(trigger_type type) {
config.trigger = type;
decoder_init(&config.decoder);
}
static GstFlowReturn
gst_tta_dec_chain (GstPad * pad, GstBuffer * in)
{
GstTtaDec *ttadec;
GstBuffer *outbuf, *buf = GST_BUFFER (in);
guchar *data, *p;
decoder *dec;
unsigned long outsize;
unsigned long size;
guint32 frame_samples;
long res;
long *prev;
ttadec = GST_TTA_DEC (GST_OBJECT_PARENT (pad));
data = GST_BUFFER_DATA (buf);
size = GST_BUFFER_SIZE (buf);
ttadec->tta_buf.bit_count = 0;
ttadec->tta_buf.bit_cache = 0;
ttadec->tta_buf.bitpos = ttadec->tta_buf.buffer_end;
ttadec->tta_buf.offset = 0;
decoder_init (ttadec->tta, ttadec->channels, ttadec->bytes);
if (GST_BUFFER_DURATION_IS_VALID (buf)) {
frame_samples =
ceil ((gdouble) (GST_BUFFER_DURATION (buf) * ttadec->samplerate) /
(gdouble) GST_SECOND);
} else {
frame_samples = ttadec->samplerate * FRAME_TIME;
}
outsize = ttadec->channels * frame_samples * ttadec->bytes;
dec = ttadec->tta;
p = ttadec->decdata;
prev = ttadec->cache;
for (res = 0;
p < ttadec->decdata + frame_samples * ttadec->channels * ttadec->bytes;) {
unsigned long unary, binary, depth, k;
long value, temp_value;
fltst *fst = &dec->fst;
adapt *rice = &dec->rice;
long *last = &dec->last;
// decode Rice unsigned
get_unary (&ttadec->tta_buf, data, size, &unary);
switch (unary) {
case 0:
depth = 0;
k = rice->k0;
break;
default:
depth = 1;
k = rice->k1;
unary--;
}
if (k) {
get_binary (&ttadec->tta_buf, data, size, &binary, k);
value = (unary << k) + binary;
} else
value = unary;
switch (depth) {
case 1:
rice->sum1 += value - (rice->sum1 >> 4);
if (rice->k1 > 0 && rice->sum1 < shift_16[rice->k1])
rice->k1--;
else if (rice->sum1 > shift_16[rice->k1 + 1])
rice->k1++;
value += bit_shift[rice->k0];
default:
rice->sum0 += value - (rice->sum0 >> 4);
if (rice->k0 > 0 && rice->sum0 < shift_16[rice->k0])
rice->k0--;
else if (rice->sum0 > shift_16[rice->k0 + 1])
rice->k0++;
}
/* this only uses a temporary variable to silence a gcc warning */
temp_value = DEC (value);
value = temp_value;
// decompress stage 1: adaptive hybrid filter
hybrid_filter (fst, &value);
// decompress stage 2: fixed order 1 prediction
switch (ttadec->bytes) {
case 1:
value += PREDICTOR1 (*last, 4);
break; // bps 8
case 2:
value += PREDICTOR1 (*last, 5);
break; // bps 16
case 3:
value += PREDICTOR1 (*last, 5);
break; // bps 24
case 4:
value += *last;
break; // bps 32
}
*last = value;
if (dec < ttadec->tta + ttadec->channels - 1) {
*prev++ = value;
dec++;
} else {
*prev = value;
if (ttadec->channels > 1) {
long *r = prev - 1;
for (*prev += *r / 2; r >= ttadec->cache; r--)
*r = *(r + 1) - *r;
for (r = ttadec->cache; r < prev; r++)
WRITE_BUFFER (r, ttadec->bytes, p);
}
WRITE_BUFFER (prev, ttadec->bytes, p);
prev = ttadec->cache;
res++;
dec = ttadec->tta;
}
}
outbuf = gst_buffer_new_and_alloc (outsize);
memcpy (GST_BUFFER_DATA (outbuf), ttadec->decdata, outsize);
GST_BUFFER_TIMESTAMP (outbuf) = GST_BUFFER_TIMESTAMP (buf);
GST_BUFFER_DURATION (outbuf) = GST_BUFFER_DURATION (buf);
gst_buffer_set_caps (outbuf, GST_PAD_CAPS (ttadec->srcpad));
return gst_pad_push (ttadec->srcpad, outbuf);
}
int main (int argc, char *argv[])
{
struct parameters params;
lists_t_strs *deferred_overrides;
lists_t_strs *args;
#ifdef HAVE_UNAME_SYSCALL
int rc;
struct utsname uts;
#endif
#ifdef PACKAGE_REVISION
logit ("This is Music On Console (revision %s)", PACKAGE_REVISION);
#else
logit ("This is Music On Console (version %s)", PACKAGE_VERSION);
#endif
#ifdef CONFIGURATION
logit ("Configured:%s", CONFIGURATION);
#endif
#ifdef HAVE_UNAME_SYSCALL
rc = uname (&uts);
if (rc == 0)
logit ("Running on: %s %s %s", uts.sysname, uts.release, uts.machine);
#endif
log_command_line (argc, argv);
files_init ();
if (get_home () == NULL)
fatal ("Could not determine user's home directory!");
memset (¶ms, 0, sizeof(params));
options_init ();
deferred_overrides = lists_strs_new (4);
/* set locale according to the environment variables */
if (!setlocale(LC_ALL, ""))
logit ("Could not set locale!");
args = process_command_line (argc, argv, ¶ms, deferred_overrides);
if (params.dont_run_iface && params.only_server)
fatal ("-c, -a and -p options can't be used with --server!");
if (!params.config_file)
params.config_file = xstrdup (create_file_name ("config"));
options_parse (params.config_file);
if (params.config_file)
free (params.config_file);
params.config_file = NULL;
process_deferred_overrides (deferred_overrides);
lists_strs_free (deferred_overrides);
deferred_overrides = NULL;
check_moc_dir ();
io_init ();
rcc_init ();
decoder_init (params.debug);
srand (time(NULL));
if (!params.only_server && params.dont_run_iface)
server_command (¶ms, args);
else
start_moc (¶ms, args);
lists_strs_free (args);
options_free ();
decoder_cleanup ();
io_cleanup ();
rcc_cleanup ();
files_cleanup ();
compat_cleanup ();
exit (EXIT_SUCCESS);
}
