int main(int argc, char* argv[])
{
//--- File IO ----
FILE* inp;
FILE* outp;
char inname[500];
char outname[500];
/* Runtime statistics */
double rate;
double rateRCU;
unsigned long totalbits = 0;
unsigned long totalBitsRCU = 0;
unsigned long totalsmpls =0;
WebRtc_Word32 bottleneck = 39;
WebRtc_Word16 frameSize = 30; /* ms */
WebRtc_Word16 codingMode = 1;
WebRtc_Word16 shortdata[FRAMESAMPLES_SWB_10ms];
WebRtc_Word16 decoded[MAX_FRAMESAMPLES_SWB];
//WebRtc_UWord16 streamdata[1000];
WebRtc_Word16 speechType[1];
WebRtc_Word16 payloadLimit;
WebRtc_Word32 rateLimit;
ISACStruct* ISAC_main_inst;
WebRtc_Word16 stream_len = 0;
WebRtc_Word16 declen;
WebRtc_Word16 err;
WebRtc_Word16 cur_framesmpls;
int endfile;
#ifdef WIN32
double length_file;
double runtime;
char outDrive[10];
char outPath[500];
char outPrefix[500];
char outSuffix[500];
char bitrateFileName[500];
FILE* bitrateFile;
double starttime;
double rateLB = 0;
double rateUB = 0;
#endif
FILE* histFile;
FILE* averageFile;
int sampFreqKHz;
int samplesIn10Ms;
WebRtc_Word16 maxStreamLen = 0;
char histFileName[500];
char averageFileName[500];
unsigned int hist[600];
unsigned int tmpSumStreamLen = 0;
unsigned int packetCntr = 0;
unsigned int lostPacketCntr = 0;
WebRtc_UWord16 payload[600];
WebRtc_UWord16 payloadRCU[600];
WebRtc_UWord16 packetLossPercent = 0;
WebRtc_Word16 rcuStreamLen = 0;
int onlyEncode;
int onlyDecode;
BottleNeckModel packetData;
packetData.arrival_time = 0;
packetData.sample_count = 0;
packetData.rtp_number = 0;
memset(hist, 0, sizeof(hist));
/* handling wrong input arguments in the command line */
if(argc < 5)
{
int size;
WebRtcIsac_AssignSize(&size);
printf("\n\nWrong number of arguments or flag values.\n\n");
printf("Usage:\n\n");
printf("%s infile outfile -bn bottelneck [options] \n\n", argv[0]);
printf("with:\n");
printf("-I................... indicates encoding in instantaneous mode.\n");
printf("-bn bottleneck....... the value of the bottleneck in bit/sec, e.g. 39742,\n");
printf(" in instantaneous (channel-independent) mode.\n\n");
printf("infile............... Normal speech input file\n\n");
printf("outfile.............. Speech output file\n\n");
printf("OPTIONS\n");
printf("-------\n");
printf("-fs sampFreq......... sampling frequency of codec 16 or 32 (default) kHz.\n");
printf("-plim payloadLim..... payload limit in bytes,\n");
printf(" default is the maximum possible.\n");
printf("-rlim rateLim........ rate limit in bits/sec, \n");
printf(" default is the maimum possible.\n");
printf("-h file.............. record histogram and *append* to 'file'.\n");
printf("-ave file............ record average rate of 3 sec intervales and *append* to 'file'.\n");
printf("-ploss............... packet-loss percentage.\n");
printf("-enc................. do only encoding and store the bit-stream\n");
printf("-dec................. the input file is a bit-stream, decode it.\n");
printf("\n");
printf("Example usage:\n\n");
printf("%s speechIn.pcm speechOut.pcm -B 40000 -fs 32 \n\n", argv[0]);
printf("structure size %d bytes\n", size);
exit(0);
}
/* Get Bottleneck value */
bottleneck = readParamInt(argc, argv, "-bn", 50000);
fprintf(stderr,"\nfixed bottleneck rate of %d bits/s\n\n", bottleneck);
/* Get Input and Output files */
sscanf(argv[1], "%s", inname);
sscanf(argv[2], "%s", outname);
codingMode = readSwitch(argc, argv, "-I");
sampFreqKHz = (WebRtc_Word16)readParamInt(argc, argv, "-fs", 32);
if(readParamString(argc, argv, "-h", histFileName, 500) > 0)
{
histFile = fopen(histFileName, "a");
if(histFile == NULL)
{
printf("cannot open hist file %s", histFileName);
exit(0);
}
}
else
{
// NO recording of hitstogram
histFile = NULL;
}
packetLossPercent = readParamInt(argc, argv, "-ploss", 0);
if(readParamString(argc, argv, "-ave", averageFileName, 500) > 0)
{
averageFile = fopen(averageFileName, "a");
if(averageFile == NULL)
{
printf("cannot open file to write rate %s", averageFileName);
exit(0);
}
}
else
{
averageFile = NULL;
}
onlyEncode = readSwitch(argc, argv, "-enc");
onlyDecode = readSwitch(argc, argv, "-dec");
switch(sampFreqKHz)
{
case 16:
{
samplesIn10Ms = 160;
break;
}
case 32:
{
samplesIn10Ms = 320;
break;
}
default:
printf("A sampling frequency of %d kHz is not supported,\
valid values are 8 and 16.\n", sampFreqKHz);
exit(-1);
}
payloadLimit = (WebRtc_Word16)readParamInt(argc, argv, "-plim", 400);
rateLimit = readParamInt(argc, argv, "-rlim", 106800);
if ((inp = fopen(inname,"rb")) == NULL) {
printf(" iSAC: Cannot read file %s.\n", inname);
exit(1);
}
if ((outp = fopen(outname,"wb")) == NULL) {
printf(" iSAC: Cannot write file %s.\n", outname);
exit(1);
}
#ifdef WIN32
_splitpath(outname, outDrive, outPath, outPrefix, outSuffix);
_makepath(bitrateFileName, outDrive, outPath, "bitrate", ".txt");
bitrateFile = fopen(bitrateFileName, "a");
fprintf(bitrateFile, "% %%s \n", inname);
#endif
printf("\n");
printf("Input.................... %s\n", inname);
printf("Output................... %s\n", outname);
printf("Encoding Mode............ %s\n",
(codingMode == 1)? "Channel-Independent":"Channel-Adaptive");
printf("Bottleneck............... %d bits/sec\n", bottleneck);
printf("Packet-loss Percentage... %d\n", packetLossPercent);
printf("\n");
#ifdef WIN32
starttime = clock()/(double)CLOCKS_PER_SEC; /* Runtime statistics */
#endif
/* Initialize the ISAC and BN structs */
err = WebRtcIsac_Create(&ISAC_main_inst);
WebRtcIsac_SetEncSampRate(ISAC_main_inst, (sampFreqKHz == 16)? kIsacWideband: kIsacSuperWideband);
WebRtcIsac_SetDecSampRate(ISAC_main_inst, (sampFreqKHz == 16)? kIsacWideband: kIsacSuperWideband);
/* Error check */
if (err < 0) {
fprintf(stderr,"\n\n Error in create.\n\n");
exit(EXIT_FAILURE);
}
framecnt = 0;
endfile = 0;
/* Initialize encoder and decoder */
if(WebRtcIsac_EncoderInit(ISAC_main_inst, codingMode) < 0)
{
printf("cannot initialize encoder\n");
return -1;
}
if(WebRtcIsac_DecoderInit(ISAC_main_inst) < 0)
{
printf("cannot initialize decoder\n");
return -1;
}
//{
// WebRtc_Word32 b1, b2;
// FILE* fileID = fopen("GetBNTest.txt", "w");
// b2 = 32100;
// while(b2 <= 52000)
// {
// WebRtcIsac_Control(ISAC_main_inst, b2, frameSize);
// WebRtcIsac_GetUplinkBw(ISAC_main_inst, &b1);
// fprintf(fileID, "%5d %5d\n", b2, b1);
// b2 += 10;
// }
//}
if(codingMode == 1)
{
if(WebRtcIsac_Control(ISAC_main_inst, bottleneck, frameSize) < 0)
{
printf("cannot set bottleneck\n");
return -1;
}
}
else
{
if(WebRtcIsac_ControlBwe(ISAC_main_inst, 15000, 30, 1) < 0)
{
printf("cannot configure BWE\n");
return -1;
}
}
if(WebRtcIsac_SetMaxPayloadSize(ISAC_main_inst, payloadLimit) < 0)
{
printf("cannot set maximum payload size %d.\n", payloadLimit);
return -1;
}
if (rateLimit < 106800) {
if(WebRtcIsac_SetMaxRate(ISAC_main_inst, rateLimit) < 0)
{
printf("cannot set the maximum rate %d.\n", rateLimit);
return -1;
}
}
//=====================================
//#ifdef HAVE_DEBUG_INFO
// if(setupDebugStruct(&debugInfo) < 0)
// {
// exit(1);
// }
//#endif
while (endfile == 0)
{
fprintf(stderr," \rframe = %7li", framecnt);
//============== Readind from the file and encoding =================
cur_framesmpls = 0;
stream_len = 0;
if(onlyDecode)
{
WebRtc_UWord8 auxUW8;
size_t auxSizet;
if(fread(&auxUW8, sizeof(WebRtc_UWord8), 1, inp) < 1)
{
break;
}
stream_len = ((WebRtc_UWord8)auxUW8) << 8;
if(fread(&auxUW8, sizeof(WebRtc_UWord8), 1, inp) < 1)
{
break;
}
stream_len |= (WebRtc_UWord16)auxUW8;
auxSizet = (size_t)stream_len;
if(fread(payload, 1, auxSizet, inp) < auxSizet)
{
printf("last payload is corrupted\n");
break;
}
}
else
{
while(stream_len == 0)
{
// Read 10 ms speech block
endfile = readframe(shortdata, inp, samplesIn10Ms);
if(endfile)
{
break;
}
cur_framesmpls += samplesIn10Ms;
//-------- iSAC encoding ---------
stream_len = WebRtcIsac_Encode(ISAC_main_inst, shortdata,
(WebRtc_Word16*)payload);
if(stream_len < 0)
{
// exit if returned with error
//errType=WebRtcIsac_GetErrorCode(ISAC_main_inst);
fprintf(stderr,"\nError in encoder\n");
getchar();
exit(EXIT_FAILURE);
}
}
//===================================================================
if(endfile)
{
break;
}
rcuStreamLen = WebRtcIsac_GetRedPayload(ISAC_main_inst, (WebRtc_Word16*)payloadRCU);
get_arrival_time(cur_framesmpls, stream_len, bottleneck, &packetData,
sampFreqKHz * 1000, sampFreqKHz * 1000);
if(WebRtcIsac_UpdateBwEstimate(ISAC_main_inst,
payload, stream_len, packetData.rtp_number,
packetData.sample_count,
packetData.arrival_time) < 0)
{
printf(" BWE Error at client\n");
return -1;
}
}
if(endfile)
{
break;
}
maxStreamLen = (stream_len > maxStreamLen)? stream_len:maxStreamLen;
packetCntr++;
hist[stream_len]++;
if(averageFile != NULL)
{
tmpSumStreamLen += stream_len;
if(packetCntr == 100)
{
// kbps
fprintf(averageFile, "%8.3f ", (double)tmpSumStreamLen * 8.0 / (30.0 * packetCntr));
packetCntr = 0;
tmpSumStreamLen = 0;
}
}
if(onlyEncode)
{
WebRtc_UWord8 auxUW8;
auxUW8 = (WebRtc_UWord8)(((stream_len & 0x7F00) >> 8) & 0xFF);
fwrite(&auxUW8, sizeof(WebRtc_UWord8), 1, outp);
auxUW8 = (WebRtc_UWord8)(stream_len & 0xFF);
fwrite(&auxUW8, sizeof(WebRtc_UWord8), 1, outp);
fwrite(payload, 1, stream_len, outp);
}
else
{
//======================= iSAC decoding ===========================
if((rand() % 100) < packetLossPercent)
{
declen = WebRtcIsac_DecodeRcu(ISAC_main_inst, payloadRCU,
rcuStreamLen, decoded, speechType);
lostPacketCntr++;
}
else
{
declen = WebRtcIsac_Decode(ISAC_main_inst, payload,
stream_len, decoded, speechType);
}
if(declen <= 0)
{
//errType=WebRtcIsac_GetErrorCode(ISAC_main_inst);
fprintf(stderr,"\nError in decoder.\n");
getchar();
exit(1);
}
// Write decoded speech frame to file
fwrite(decoded, sizeof(WebRtc_Word16), declen, outp);
cur_framesmpls = declen;
}
// Update Statistics
framecnt++;
totalsmpls += cur_framesmpls;
if(stream_len > 0)
{
totalbits += 8 * stream_len;
}
if(rcuStreamLen > 0)
{
totalBitsRCU += 8 * rcuStreamLen;
}
}
void Plane::read_control_switch()
{
static bool switch_debouncer;
uint8_t switchPosition = readSwitch();
// If switchPosition = 255 this indicates that the mode control channel input was out of range
// If we get this value we do not want to change modes.
if(switchPosition == 255) return;
if (failsafe.ch3_failsafe || failsafe.ch3_counter > 0) {
// when we are in ch3_failsafe mode then RC input is not
// working, and we need to ignore the mode switch channel
return;
}
if (millis() - failsafe.last_valid_rc_ms > 100) {
// only use signals that are less than 0.1s old.
return;
}
// we look for changes in the switch position. If the
// RST_SWITCH_CH parameter is set, then it is a switch that can be
// used to force re-reading of the control switch. This is useful
// when returning to the previous mode after a failsafe or fence
// breach. This channel is best used on a momentary switch (such
// as a spring loaded trainer switch).
if (oldSwitchPosition != switchPosition ||
(g.reset_switch_chan != 0 &&
hal.rcin->read(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
if (switch_debouncer == false) {
// this ensures that mode switches only happen if the
// switch changes for 2 reads. This prevents momentary
// spikes in the mode control channel from causing a mode
// switch
switch_debouncer = true;
return;
}
set_mode((enum FlightMode)(flight_modes[switchPosition].get()));
oldSwitchPosition = switchPosition;
}
if (g.reset_mission_chan != 0 &&
hal.rcin->read(g.reset_mission_chan-1) > RESET_SWITCH_CHAN_PWM) {
mission.start();
prev_WP_loc = current_loc;
}
switch_debouncer = false;
if (g.inverted_flight_ch != 0) {
// if the user has configured an inverted flight channel, then
// fly upside down when that channel goes above INVERTED_FLIGHT_PWM
inverted_flight = (control_mode != MANUAL && hal.rcin->read(g.inverted_flight_ch-1) > INVERTED_FLIGHT_PWM);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (g.override_channel > 0) {
// if the user has configured an override channel then check it
bool override = (hal.rcin->read(g.override_channel-1) >= PX4IO_OVERRIDE_PWM);
if (override && !px4io_override_enabled) {
// we only update the mixer if we are not armed. This is
// important as otherwise we will need to temporarily
// disarm to change the mixer
if (hal.util->get_soft_armed() || setup_failsafe_mixing()) {
px4io_override_enabled = true;
// disable output channels to force PX4IO override
gcs_send_text_P(SEVERITY_LOW, PSTR("PX4IO Override enabled"));
} else {
// we'll try again next loop. The PX4IO code sometimes
// rejects a mixer, probably due to it being busy in
// some way?
gcs_send_text_P(SEVERITY_LOW, PSTR("PX4IO Override enable failed"));
}
} else if (!override && px4io_override_enabled) {
void Plane::read_control_switch()
{
static bool switch_debouncer;
uint8_t switchPosition = readSwitch();
// If switchPosition = 255 this indicates that the mode control channel input was out of range
// If we get this value we do not want to change modes.
if(switchPosition == 255) return;
if (failsafe.rc_failsafe || failsafe.throttle_counter > 0) {
// when we are in rc_failsafe mode then RC input is not
// working, and we need to ignore the mode switch channel
return;
}
if (millis() - failsafe.last_valid_rc_ms > 100) {
// only use signals that are less than 0.1s old.
return;
}
// we look for changes in the switch position. If the
// RST_SWITCH_CH parameter is set, then it is a switch that can be
// used to force re-reading of the control switch. This is useful
// when returning to the previous mode after a failsafe or fence
// breach. This channel is best used on a momentary switch (such
// as a spring loaded trainer switch).
if (oldSwitchPosition != switchPosition ||
(g.reset_switch_chan != 0 &&
RC_Channels::get_radio_in(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
if (switch_debouncer == false) {
// this ensures that mode switches only happen if the
// switch changes for 2 reads. This prevents momentary
// spikes in the mode control channel from causing a mode
// switch
switch_debouncer = true;
return;
}
set_mode((enum FlightMode)(flight_modes[switchPosition].get()), MODE_REASON_TX_COMMAND);
oldSwitchPosition = switchPosition;
}
if (g.reset_mission_chan != 0 &&
RC_Channels::get_radio_in(g.reset_mission_chan-1) > RESET_SWITCH_CHAN_PWM) {
mission.start();
prev_WP_loc = current_loc;
}
switch_debouncer = false;
#if PARACHUTE == ENABLED
if (g.parachute_channel > 0) {
if (RC_Channels::get_radio_in(g.parachute_channel-1) >= 1700) {
parachute_manual_release();
}
}
#endif
#if HAVE_PX4_MIXER
if (g.override_channel > 0) {
// if the user has configured an override channel then check it
bool override_requested = (RC_Channels::get_radio_in(g.override_channel-1) >= PX4IO_OVERRIDE_PWM);
if (override_requested && !px4io_override_enabled) {
if (hal.util->get_soft_armed() || (last_mixer_crc != -1)) {
px4io_override_enabled = true;
// disable output channels to force PX4IO override
gcs().send_text(MAV_SEVERITY_WARNING, "PX4IO override enabled");
} else {
// we'll let the one second loop reconfigure the mixer. The
// PX4IO code sometimes rejects a mixer, probably due to it
// being busy in some way?
gcs().send_text(MAV_SEVERITY_WARNING, "PX4IO override enable failed");
}
} else if (!override_requested && px4io_override_enabled) {
px4io_override_enabled = false;
SRV_Channels::enable_aux_servos();
gcs().send_text(MAV_SEVERITY_WARNING, "PX4IO override disabled");
}
if (px4io_override_enabled &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED &&
g.override_safety == 1) {
// we force safety off, so that if this override is used
// with a in-flight reboot it gives a way for the pilot to
// re-arm and take manual control
hal.rcout->force_safety_off();
}
}
#endif // HAVE_PX4_MIXER
}
bool WRL1BASE::ReadNode( WRLPROC& proc, WRL1NODE* aParent, WRL1NODE** aNode )
{
// This function reads a node and stores a pointer to it in aNode.
// A value 'true' is returned if a node is successfully read or,
// if the node is not supported, successfully discarded. Callers
// must always check the value of aNode when the function returns
// 'true' since it will be NULL if the node type is not supported.
if( NULL != aNode )
*aNode = NULL;
if( NULL == aParent )
{
#ifdef DEBUG_VRML1
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [BUG] invalid parent pointer (NULL)";
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
std::string glob;
WRL1NODES ntype;
if( !proc.ReadName( glob ) )
{
#if defined( DEBUG_VRML1 ) && ( DEBUG_VRML1 > 1 )
if( !proc.eof() )
{
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << proc.GetError();
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
}
#endif
return false;
}
// Process node name:
// the names encountered at this point should be one of the
// built-in node names or one of:
// DEF, USE
if( !glob.compare( "USE" ) )
{
if( !implementUse( proc, aParent, aNode ) )
{
#if defined( DEBUG_VRML1 ) && ( DEBUG_VRML1 > 1 )
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << proc.GetError();
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
return true;
}
if( !glob.compare( "DEF" ) )
{
if( !implementDef( proc, aParent, aNode ) )
{
#if defined( DEBUG_VRML1 ) && ( DEBUG_VRML1 > 1 )
do {
std::ostringstream ostr;
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << proc.GetError();
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
return true;
}
ntype = getNodeTypeID( glob );
size_t line = 0;
size_t column = 0;
proc.GetFilePosData( line, column );
#if defined( DEBUG_VRML1 ) && ( DEBUG_VRML1 > 2 )
do {
std::ostringstream ostr;
ostr << " * [INFO] Processing node '" << glob << "' ID: " << ntype;
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
switch( ntype )
{
case WRL1_GROUP:
if( !readGroup( proc, aParent, aNode ) )
return false;
break;
case WRL1_SEPARATOR:
if( !readSeparator( proc, aParent, aNode ) )
return false;
break;
case WRL1_SWITCH:
if( !readSwitch( proc, aParent, aNode ) )
return false;
break;
case WRL1_MATERIAL:
if( !readMaterial( proc, aParent, aNode ) )
return false;
break;
case WRL1_MATERIALBINDING:
if( !readMatBinding( proc, aParent, aNode ) )
return false;
break;
case WRL1_COORDINATE3:
if( !readCoords( proc, aParent, aNode ) )
return false;
break;
case WRL1_INDEXEDFACESET:
if( !readFaceSet( proc, aParent, aNode ) )
return false;
break;
case WRL1_TRANSFORM:
case WRL1_TRANSLATION:
case WRL1_ROTATION:
case WRL1_SCALE:
if( !readTransform( proc, aParent, aNode ) )
return false;
break;
case WRL1_SHAPEHINTS:
if( !readShapeHints( proc, aParent, aNode ) )
return false;
break;
//
// items not implemented or for optional future implementation:
//
default:
proc.GetFilePosData( line, column );
if( !proc.DiscardNode() )
{
#if defined( DEBUG_VRML1 ) && ( DEBUG_VRML1 > 1 )
do {
std::ostringstream ostr;
ostr << proc.GetError() << "\n";
ostr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << "\n";
ostr << " * [INFO] could not discard node at line " << line;
ostr << ", column " << column;
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
} while( 0 );
#endif
return false;
}
#if defined( DEBUG_VRML1 ) && ( DEBUG_VRML1 > 1 )
else
{
std::ostringstream ostr;
ostr << " * [INFO] discarded node '" << glob << "' at line ";
ostr << line << ", col " << column << " (currently unsupported)";
wxLogTrace( MASK_VRML, "%s\n", ostr.str().c_str() );
}
#endif
break;
}
return true;
}