VideoGrabber::~VideoGrabber()
{
closeDevices();
delete channel;
delete buffer;
videoGrabber = 0;
}
void MidiApple::updateDeviceList()
{
closeDevices();
openDevices();
emit readablePortsChanged();
emit writablePortsChanged();
}
void close()
{
if (isRunning)
{
stopThread (2000);
isRunning = false;
closeDevices();
}
}
RTC::ReturnCode_t HockeyArmController::onFinalize()
{
;
/* --- アームを停止位置(角度:(pi/2,0)[rad])に移動する --- */
g_posController[0].moveTo(0 + INIT_ENC_X, 500);
g_posController[1].moveTo(0 + INIT_ENC_Y, 500);
while (!g_posController[0].isMoved() || !g_posController[1].isMoved()) { usleep(100); }
fprintf(stderr, "ARM finalize OK!\n");
/* --- 位置決め制御を停止する --- */
g_posController[0].stop();
g_posController[1].stop();
/* --- A-IOボードをクローズする --- */
closeDevices(1, g_opened[0]);
closeDevices(2, g_opened[1]);
return RTC::RTC_OK;
}
static void
closeAndExit(int sig)
{
// Stop running threads
running = 0;
// Wait for the trheads to stop.
pthread_join(cmd_thread, NULL);
pthread_join(btn_thread, NULL);
closeButtonSHM(SHM_NAME);
closeDevices();
closeQueue();
syslog (LOG_INFO, "Program stopped by User %d", getuid());
closelog();
exit(0);
}
void SDLEventReader::closeSDL()
{
pollRateTimer.stop();
SDL_Event event;
closeDevices();
// Clear any pending events
while (SDL_PollEvent(&event) > 0)
{
}
SDL_Quit();
sdlIsOpen = false;
emit sdlClosed();
}
void VideoGrabber::Main()
{
if ( !channel ) return ;
PTRACE( 1, "Going to grab from video device" );
while ( run ) {
mutex.Wait();
State s = state;
mutex.Signal();
// prepare for the state...
closeDevices();
switch( s ) {
case SPreview:
if( !openDevices() ) {
stopPreview();
ancaInfo->setInt( VG_STATE, VG_IDLE );
}
break;
case SCall:
openReader();
break;
case SSleep:
break;
}
preparing = false;
// do
switch( s ) {
case SSleep:
case SCall:
goSleep();
break;
case SPreview:
while ( state == SPreview && run && !reconfigure ) {
channel->Read( buffer, bufferSize );
channel->Write( buffer, bufferSize );
Sleep( 50 );
}
}
}
}
MidiApple::~MidiApple()
{
closeDevices();
}
MidiWinMM::~MidiWinMM()
{
closeDevices();
}
String open (const BigInteger& inputChannels,
const BigInteger& outputChannels,
double requestedSampleRate,
int bufferSize)
{
close();
if (sampleRate != (int) requestedSampleRate)
return "Sample rate not allowed";
lastError = String::empty;
int preferredBufferSize = (bufferSize <= 0) ? getDefaultBufferSize() : bufferSize;
numDeviceInputChannels = 0;
numDeviceOutputChannels = 0;
activeOutputChans = outputChannels;
activeOutputChans.setRange (2, activeOutputChans.getHighestBit(), false);
numClientOutputChannels = activeOutputChans.countNumberOfSetBits();
activeInputChans = inputChannels;
activeInputChans.setRange (2, activeInputChans.getHighestBit(), false);
numClientInputChannels = activeInputChans.countNumberOfSetBits();
actualBufferSize = preferredBufferSize;
inputChannelBuffer.setSize (2, actualBufferSize);
inputChannelBuffer.clear();
outputChannelBuffer.setSize (2, actualBufferSize);
outputChannelBuffer.clear();
JNIEnv* env = getEnv();
if (numClientOutputChannels > 0)
{
numDeviceOutputChannels = 2;
outputDevice = GlobalRef (env->NewObject (AudioTrack, AudioTrack.constructor,
STREAM_MUSIC, sampleRate, CHANNEL_OUT_STEREO, ENCODING_PCM_16BIT,
(jint) (minBufferSizeOut * numDeviceOutputChannels * sizeof (int16)), MODE_STREAM));
if (env->CallIntMethod (outputDevice, AudioTrack.getState) != STATE_UNINITIALIZED)
isRunning = true;
else
outputDevice.clear(); // failed to open the device
}
if (numClientInputChannels > 0 && numDeviceInputChannelsAvailable > 0)
{
numDeviceInputChannels = jmin (numClientInputChannels, numDeviceInputChannelsAvailable);
inputDevice = GlobalRef (env->NewObject (AudioRecord, AudioRecord.constructor,
0 /* (default audio source) */, sampleRate,
numDeviceInputChannelsAvailable > 1 ? CHANNEL_IN_STEREO : CHANNEL_IN_MONO,
ENCODING_PCM_16BIT,
(jint) (minBufferSizeIn * numDeviceInputChannels * sizeof (int16))));
if (env->CallIntMethod (inputDevice, AudioRecord.getState) != STATE_UNINITIALIZED)
isRunning = true;
else
inputDevice.clear(); // failed to open the device
}
if (isRunning)
{
if (outputDevice != nullptr)
env->CallVoidMethod (outputDevice, AudioTrack.play);
if (inputDevice != nullptr)
env->CallVoidMethod (inputDevice, AudioRecord.startRecording);
startThread (8);
}
else
{
closeDevices();
}
return lastError;
}
