void THRESHOLD_GATE::analyze(SAMPLE_BUFFER* sbuf)
{
if (rms_rep == true)
avolume_rep = SAMPLE_BUFFER_FUNCTIONS::RMS_volume(*sbuf) / SAMPLE_SPECS::max_amplitude;
else
avolume_rep = SAMPLE_BUFFER_FUNCTIONS::average_amplitude(*sbuf) / SAMPLE_SPECS::max_amplitude;
if (is_opened_rep == false) {
if (avolume_rep > openlevel_rep) {
open_gate();
ECA_LOG_MSG(ECA_LOGGER::user_objects, "Threshold gate opened (reopen count = " + kvu_numtostr(reopens_left_rep) + ")");
is_opened_rep = true;
is_closed_rep = false;
}
}
else if (is_closed_rep == false) {
if (avolume_rep < closelevel_rep) {
close_gate();
ECA_LOG_MSG(ECA_LOGGER::user_objects, "Threshold gate closed (reopens left = " + kvu_numtostr(reopens_left_rep) + ")");
is_closed_rep = true;
if (reopens_left_rep != 0) {
is_opened_rep = false;
if (reopens_left_rep > 0)
--reopens_left_rep;
} else {
// - Could we stop the engine and exit here, maybe? -AL/2008-Jul
// - Not from a chain operator, but the audio object
// that writes the stream to a file could in
// theory react in a special way to the 0-length
// samplebuffers we generate when the gate is closed... -KV/2008-Jul
}
}
}
}
void TIME_CROP_GATE::analyze(SAMPLE_BUFFER* sbuf)
{
parameter_t etime = begtime_rep + durtime_rep;
parameter_t curtime = static_cast<parameter_t>(position_in_samples_rep) / samples_per_second();
if (curtime >= begtime_rep) {
/* note: handle the special case where a zero open time
* has been requested */
if (begtime_rep == etime)
open_gate();
else if (curtime < etime)
open_gate();
else
close_gate();
}
else
close_gate();
position_in_samples_rep += sbuf->length_in_samples();
}
void MANUAL_GATE::analyze(SAMPLE_BUFFER* sbuf)
{
if (is_open() == true &&
open_rep != true) {
close_gate();
ECA_LOG_MSG(ECA_LOGGER::user_objects, "Manual gate closed");
}
else if (is_open() != true &&
open_rep == true) {
open_gate();
ECA_LOG_MSG(ECA_LOGGER::user_objects, "Manual gate opened");
}
}
// get ball behaviour, should only occur at hopper approach
void get_ball() {
Layer& get = layers[LAYER_GET];
if (!get.active) return;
if (LAYER_GET == active_layer) {
SERIAL_PRINT(layers[LAYER_GET].speed);
SERIAL_PRINT('|');
SERIAL_PRINTLN(layers[LAYER_GET].angle);
}
// either going forward or backward, always no angle
// go forward until ball is detected or arbitrary additional distance travelled
if (ball_status < CAUGHT_BALL) {
if (caught_ball()) ++ball_status;
get.speed = GET_SPEED;
if (abs(boundaries[active_hopper].theta) < THETA_TOLERANCE) get.angle = 0;
// turn slightly to face hopper
else if (boundaries[active_hopper].theta < 0) get.angle = -GET_TURN;
else get.angle = GET_TURN;
if (ball_status == CAUGHT_BALL) {
// got to the ball, can also correct for position to be near hopper
correct_to_hopper();
// then close servo gate
close_gate();
hard_break(LAYER_GET);
get_initial_distance = tot_distance;
}
}
// after securing ball, drive backwards
else if (ball_status == SECURED_BALL) {
// initial kick to go straight
static int kick_cycle = 0;
if (get.speed > -GET_SPEED) {get.angle = 13; }
else if (get.angle > 0) {
if (kick_cycle <= 0) {
if (get.angle < 7) kick_cycle = 7 - get.angle;
--get.angle;
}
else --kick_cycle;
}
get.speed = -GET_SPEED;
// get.angle = 0;
if (paused) resume_drive(LAYER_GET);
// back up until you hit a line to correct position
if (on_line(CENTER)) {
corrected_while_backing_up = true;
correct_to_grid();
SERIAL_PRINTLN("CWB");
}
// backed up far enough
if (tot_distance - get_initial_distance > 5*GET_DISTANCE) {
// corrected_while_backing_up &&
// after getting ball, return to rendezvous point
corrected_while_backing_up = false;
layers[LAYER_GET].active = false;
close_hoppers();
return_from_hopper();
// hard_break(LAYER_GET, 3);
}
}
// in the middle of closing the gate, wait a couple cycles
else {
++ball_status;
}
}
