bool MainObject::StartAudioDevice()
{
//
// Create Ringbuffers
//
if(sir_config->audioBitrateQuantity()==0) { // For VBR modes
sir_ringbuffers.
push_back(new Ringbuffer(RINGBUFFER_SIZE,sir_config->audioChannels()));
}
else {
for(unsigned i=0;i<sir_config->audioBitrateQuantity();i++) {
sir_ringbuffers.
push_back(new Ringbuffer(RINGBUFFER_SIZE,sir_config->audioChannels()));
}
}
//
// Start Audio Device
//
QString err;
if((sir_audio_device=
AudioDeviceFactory(sir_config->audioDevice(),sir_config->audioChannels(),
sir_config->audioSamplerate(),
&sir_ringbuffers,this))==NULL) {
Log(LOG_ERR,
QString().sprintf("%s devices not supported",
(const char *)AudioDevice::deviceTypeText(sir_config->audioDevice()).toUtf8()));
exit(256);
}
connect(sir_audio_device,SIGNAL(hasStopped()),
this,SLOT(audioDeviceStoppedData()));
if(!sir_audio_device->processOptions(&err,sir_config->deviceKeys(),
sir_config->deviceValues())) {
Log(LOG_ERR,err);
exit(256);
}
if(!sir_audio_device->start(&err)) {
Log(LOG_ERR,err);
exit(256);
}
sir_meter_timer=new QTimer(this);
connect(sir_meter_timer,SIGNAL(timeout()),this,SLOT(meterData()));
if(sir_config->meterData()) {
sir_meter_timer->start(AUDIO_METER_INTERVAL);
}
return true;
}
void stopTurn(ros::Publisher vel_pub)
{
if (hasStopped())
{
ROS_INFO("Reached goal");
g_state = FORWARD;
g_goal.x = cos(g_pose->theta) * 2 + g_pose->x;
g_goal.y = sin(g_pose->theta) * 2 + g_pose->y;
g_goal.theta = g_pose->theta;
printGoal();
}
else
{
commandFly(vel_pub, 0, 0);
}
}
void stopForward(ros::Publisher vel_pub)
{
if (hasStopped())
{
ROS_INFO("Reached goal");
g_state = TURN;
g_goal.x = g_pose->x;
g_goal.y = g_pose->y;
g_goal.theta = fmod(g_pose->theta + PI/2.0, 2*PI);
printGoal();
}
else
{
commandFly(vel_pub, 0, 0);
}
}
// detiene el movimiento de giro
void stopTurn(ros::Publisher twist_pub)
{
if (hasStopped()) // si el giro se ha detenido:
{
ROS_INFO("Reached goal");
g_state = FORWARD;
g_goal.x = distance[d]* cos(g_pose->theta) + g_pose->x;
g_goal.y = distance[d]* sin(g_pose->theta) + g_pose->y;
g_goal.theta = g_pose->theta;
d++;
printGoal();
}
else // sino, da la orden de detener el giro:
{
commandTurtle(twist_pub, 0, 0);
}
}
// detiene el movimiento forward
void stopForward(ros::Publisher twist_pub)
{
double temp;
if (hasStopped()) // si la tortuga se ha detenido:
{
ROS_INFO("Reached goal");
g_state = TURN;
g_goal.x = g_pose->x; // mantiene los valores de x e y
g_goal.y = g_pose->y;
if((g_pose->theta + angle[a]) >= 2*PI) {
g_goal.theta =g_pose->theta + angle[a] - 2*PI; // mantiene el valor de theta menor a 2*PI
}
else g_goal.theta =g_pose->theta + angle[a];
a++;
printGoal();
}
else // sino, da la orden de detenerla
{
commandTurtle(twist_pub, 0, 0);
}
}
