int initialize_espeak(struct synth_t *s)
{
int rate;
/* initialize espeak */
rate = espeak_Initialize(AUDIO_OUTPUT_PLAYBACK, 50, NULL, 0);
if (rate < 0) {
fprintf(stderr, "Unable to initialize espeak.\n");
return -1;
}
/* We need a callback in acsint mode, but not in speakup mode. */
if (espeakup_mode == ESPEAKUP_MODE_ACSINT)
espeak_SetSynthCallback(acsint_callback);
/* Setup initial voice parameters */
if (defaultVoice) {
set_voice(s, defaultVoice);
free(defaultVoice);
defaultVoice = NULL;
}
set_frequency(s, defaultFrequency, ADJ_SET);
set_pitch(s, defaultPitch, ADJ_SET);
set_rate(s, defaultRate, ADJ_SET);
set_volume(s, defaultVolume, ADJ_SET);
espeak_SetParameter(espeakCAPITALS, 0, 0);
return 0;
}
static void queue_process_entry(struct synth_t *s)
{
espeak_ERROR error;
static struct espeak_entry_t *current = NULL;
if (current != queue_peek(synth_queue)) {
if (current)
free_espeak_entry(current);
current = (struct espeak_entry_t *) queue_remove(synth_queue);
}
pthread_mutex_unlock(&queue_guard);
if (current->cmd != CMD_PAUSE && paused_espeak) {
reinitialize_espeak(s);
}
switch (current->cmd) {
case CMD_SET_FREQUENCY:
error = set_frequency(s, current->value, current->adjust);
break;
case CMD_SET_PITCH:
error = set_pitch(s, current->value, current->adjust);
break;
case CMD_SET_PUNCTUATION:
error = set_punctuation(s, current->value, current->adjust);
break;
case CMD_SET_RATE:
error = set_rate(s, current->value, current->adjust);
break;
case CMD_SET_VOICE:
error = EE_OK;
break;
case CMD_SET_VOLUME:
error = set_volume(s, current->value, current->adjust);
break;
case CMD_SPEAK_TEXT:
s->buf = current->buf;
s->len = current->len;
error = speak_text(s);
break;
case CMD_PAUSE:
if (!paused_espeak) {
espeak_Cancel();
espeak_Terminate();
paused_espeak = 1;
}
break;
default:
break;
}
if (error == EE_OK) {
free_espeak_entry(current);
current = NULL;
}
}
void adjustByIMUData(sensor_msgs::PointCloud& cloud) {
for(int i = 0; i < cloud.points.size(); ++i) {
geometry_msgs::Point32 curPoint = cloud.points[i];
Eigen::Vector3f curVec(curPoint.x, curPoint.y, curPoint.z);
curVec = set_pitch(imu_pitch) * set_roll(imu_roll) * curVec;
cloud.points[i].x = curVec[0];
cloud.points[i].y = curVec[1];
cloud.points[i].z = curVec[2];
}
}
void std_hts_engine_impl::do_synthesize()
{
set_speed();
set_pitch();
load_labels();
set_time_info();
if(!HTS_Engine_generate_parameter_sequence(engine.get()))
throw synthesis_error();
if(!HTS_Engine_generate_sample_sequence(engine.get()))
throw synthesis_error();
}
int main ()
{
char message [512];
int n = 1;
int tps = 1;
if (initialize_socket(DEST_IP_AT, DEST_PORT_AT) != 0)
{
printf("[FAILED] Socket initialization failed\n");
}
else
{
sleep(1);
set_trim(message, n++);
usleep(500000);
////////////// take off //////////////////////////
while(tps < 167) //100 avec 50ms
{
take_off(message, n++);
usleep(30000);
tps++;
}
tps = 0;
////////////// WAIT ////////////////////
while(tps < 133) //80
{
reset_com(message);
usleep(30000);
tps++;
}
tps = 0;
////////////// GO ////////////////////
while(tps < 58) //35
{
set_pitch(message, n++, FRONT, 0.25);
usleep(30000);
tps++;
}
tps = 0;
while(tps < 17) //10
{
set_pitch(message, n++, BACK, 0.25);
usleep(30000);
tps++;
}
tps = 0;
while(tps < 17)
{
set_pitch(message, n++, FRONT, 0.0);
usleep(30000);
tps++;
}
tps = 0;
////////////// WAIT ////////////////////
while(tps < 25)
{
reset_com(message);
usleep(30000);
tps++;
}
tps = 0;
////////////// ROTATE ////////////////////
while(tps < 110) //140
{
set_yaw(message, n++, LEFT, 0.4);
usleep(30000);
tps++;
}
tps = 0;
set_yaw(message, n++, RIGHT, 0.0);
usleep(30000);
////////////// WAIT ////////////////////
while(tps < 80)
{
reset_com(message);
usleep(30000);
tps++;
}
tps = 0;
////////////// RETURN ////////////////////
while(tps < 58)
{
set_pitch(message, n++, FRONT, 0.25);
usleep(30000);
tps++;
}
tps = 0;
while(tps < 17)
{
set_pitch(message, n++, BACK, 0.25);
usleep(30000);
tps++;
}
tps = 0;
while(tps < 17)
{
set_pitch(message, n++, FRONT, 0.0);
usleep(30000);
tps++;
}
tps = 0;
////////////// WAIT ////////////////////
while(tps < 167)
{
reset_com(message);
usleep(30000);
tps++;
}
tps = 0;
////////////// LAND ////////////////////
landing(message, n++);
sleep(1);
}
close_socket();
return 0;
}
static void term_handle_key(mpg123_handle *fr, out123_handle *ao, char val)
{
debug1("term_handle_key: %c", val);
switch(tolower(val))
{
case MPG123_BACK_KEY:
out123_pause(ao);
out123_drop(ao);
if(paused) pause_cycle=(int)(LOOP_CYCLES/mpg123_tpf(fr));
if(mpg123_seek_frame(fr, 0, SEEK_SET) < 0)
error1("Seek to begin failed: %s", mpg123_strerror(fr));
framenum=0;
break;
case MPG123_NEXT_KEY:
out123_pause(ao);
out123_drop(ao);
next_track();
break;
case MPG123_NEXT_DIR_KEY:
out123_pause(ao);
out123_drop(ao);
next_dir();
break;
case MPG123_QUIT_KEY:
debug("QUIT");
if(stopped)
{
stopped = 0;
out123_pause(ao); /* no chance for annoying underrun warnings */
out123_drop(ao);
}
set_intflag();
offset = 0;
break;
case MPG123_PAUSE_KEY:
paused=1-paused;
out123_pause(ao); /* underrun awareness */
out123_drop(ao);
if(paused)
{
/* Not really sure if that is what is wanted
This jumps in audio output, but has direct reaction to pausing loop. */
out123_param_float(ao, OUT123_PRELOAD, 0.);
pause_recycle(fr);
}
else
out123_param_float(ao, OUT123_PRELOAD, param.preload);
if(stopped)
stopped=0;
if(param.verbose)
print_stat(fr, 0, ao);
else
fprintf(stderr, "%s", (paused) ? MPG123_PAUSED_STRING : MPG123_EMPTY_STRING);
break;
case MPG123_STOP_KEY:
case ' ':
/* TODO: Verify/ensure that there is no "chirp from the past" when
seeking while stopped. */
stopped=1-stopped;
if(paused) {
paused=0;
offset -= pause_cycle;
}
if(stopped)
out123_pause(ao);
else
{
if(offset) /* If position changed, old is outdated. */
out123_drop(ao);
/* No out123_continue(), that's triggered by out123_play(). */
}
if(param.verbose)
print_stat(fr, 0, ao);
else
fprintf(stderr, "%s", (stopped) ? MPG123_STOPPED_STRING : MPG123_EMPTY_STRING);
break;
case MPG123_FINE_REWIND_KEY:
seekmode(fr, ao);
offset--;
break;
case MPG123_FINE_FORWARD_KEY:
seekmode(fr, ao);
offset++;
break;
case MPG123_REWIND_KEY:
seekmode(fr, ao);
offset-=10;
break;
case MPG123_FORWARD_KEY:
seekmode(fr, ao);
offset+=10;
break;
case MPG123_FAST_REWIND_KEY:
seekmode(fr, ao);
offset-=50;
break;
case MPG123_FAST_FORWARD_KEY:
seekmode(fr, ao);
offset+=50;
break;
case MPG123_VOL_UP_KEY:
mpg123_volume_change(fr, 0.02);
break;
case MPG123_VOL_DOWN_KEY:
mpg123_volume_change(fr, -0.02);
break;
case MPG123_PITCH_UP_KEY:
case MPG123_PITCH_BUP_KEY:
case MPG123_PITCH_DOWN_KEY:
case MPG123_PITCH_BDOWN_KEY:
case MPG123_PITCH_ZERO_KEY:
{
double new_pitch = param.pitch;
switch(val) /* Not tolower here! */
{
case MPG123_PITCH_UP_KEY: new_pitch += MPG123_PITCH_VAL; break;
case MPG123_PITCH_BUP_KEY: new_pitch += MPG123_PITCH_BVAL; break;
case MPG123_PITCH_DOWN_KEY: new_pitch -= MPG123_PITCH_VAL; break;
case MPG123_PITCH_BDOWN_KEY: new_pitch -= MPG123_PITCH_BVAL; break;
case MPG123_PITCH_ZERO_KEY: new_pitch = 0.0; break;
}
set_pitch(fr, ao, new_pitch);
fprintf(stderr, "New pitch: %f\n", param.pitch);
}
break;
case MPG123_VERBOSE_KEY:
param.verbose++;
if(param.verbose > VERBOSE_MAX)
{
param.verbose = 0;
clear_stat();
}
mpg123_param(fr, MPG123_VERBOSE, param.verbose, 0);
break;
case MPG123_RVA_KEY:
if(++param.rva > MPG123_RVA_MAX) param.rva = 0;
if(param.verbose)
fprintf(stderr, "\n");
mpg123_param(fr, MPG123_RVA, param.rva, 0);
mpg123_volume_change(fr, 0.);
break;
case MPG123_PREV_KEY:
out123_pause(ao);
out123_drop(ao);
prev_track();
break;
case MPG123_PREV_DIR_KEY:
out123_pause(ao);
out123_drop(ao);
prev_dir();
break;
case MPG123_PLAYLIST_KEY:
fprintf(stderr, "%s\nPlaylist (\">\" indicates current track):\n", param.verbose ? "\n" : "");
print_playlist(stderr, 1);
fprintf(stderr, "\n");
break;
case MPG123_TAG_KEY:
fprintf(stderr, "%s\n", param.verbose ? "\n" : "");
print_id3_tag(fr, param.long_id3, stderr);
fprintf(stderr, "\n");
break;
case MPG123_MPEG_KEY:
if(param.verbose) print_stat(fr,0,ao); /* Make sure that we are talking about the correct frame. */
fprintf(stderr, "\n");
if(param.verbose > 1)
print_header(fr);
else
print_header_compact(fr);
fprintf(stderr, "\n");
break;
case MPG123_HELP_KEY:
{ /* This is more than the one-liner before, but it's less spaghetti. */
int i;
fprintf(stderr,"\n\n -= terminal control keys =-\n");
for(i=0; i<(sizeof(term_help)/sizeof(struct keydef)); ++i)
{
if(term_help[i].key2) fprintf(stderr, "[%c] or [%c]", term_help[i].key, term_help[i].key2);
else fprintf(stderr, "[%c]", term_help[i].key);
fprintf(stderr, "\t%s\n", term_help[i].desc);
}
fprintf(stderr, "\nAlso, the number row (starting at 1, ending at 0) gives you jump points into the current track at 10%% intervals.\n");
fprintf(stderr, "\n");
}
break;
case MPG123_FRAME_INDEX_KEY:
case MPG123_VARIOUS_INFO_KEY:
if(param.verbose) fprintf(stderr, "\n");
switch(val) /* because of tolower() ... */
{
case MPG123_FRAME_INDEX_KEY:
print_index(fr);
{
long accurate;
if(mpg123_getstate(fr, MPG123_ACCURATE, &accurate, NULL) == MPG123_OK)
fprintf(stderr, "Accurate position: %s\n", (accurate == 0 ? "no" : "yes"));
else
error1("Unable to get state: %s", mpg123_strerror(fr));
}
break;
case MPG123_VARIOUS_INFO_KEY:
{
const char* curdec = mpg123_current_decoder(fr);
if(curdec == NULL) fprintf(stderr, "Cannot get decoder info!\n");
else fprintf(stderr, "Active decoder: %s\n", curdec);
}
}
break;
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9':
{
off_t len;
int num;
num = val == '0' ? 10 : val - '0';
--num; /* from 0 to 9 */
/* Do not swith to seekmode() here, as we are jumping once to a
specific position. Dropping buffer contents is enough and there
is no race filling the buffer or waiting for more incremental
seek orders. */
len = mpg123_length(fr);
out123_pause(ao);
out123_drop(ao);
if(len > 0)
mpg123_seek(fr, (off_t)( (num/10.)*len ), SEEK_SET);
}
break;
case MPG123_BOOKMARK_KEY:
continue_msg("BOOKMARK");
break;
default:
;
}
}
void SWITCH_DRONE_COMMANDE(int _order)
{
char message [64];
switch(_order){
case 0 :
reset_com(message);
break;
case 1 :
landing(message);
inC.flag_land = 0;
break;
case 2 :
//printf("SWITCH COMMANDE take off\n");
take_off(message);
inC.flag_takeoff = 0;
break;
case 3 :
//printf("case 3 : set_roll, roll_power=%f\n", roll_power);
set_roll(message, roll_move, roll_power);
inC.flag_rollcalled = 0;
break;
case 4 :
//printf("case 4 : set_pitch, pitch_power=%f, yaw_power=%f\n", pitch_power, yaw_power);
set_pitch(message, pitch_move, pitch_power);
inC.flag_pitchcalled = 0;
break;
case 5 :
set_yaw(message, yaw_move, yaw_power);
inC.flag_yawcalled = 0;
break;
case 6 :
set_roll(message, roll_move, roll_power);
set_pitch(message, pitch_move, pitch_power);
inC.flag_rollpitchcalled = 0;
break;
case 7 :
set_trim(message);
inC.flag_calibH = 0;
break;
case 8 :
calibrate_magneto(message);
sleep(3);
while(1)
{
set_yaw(message, RIGHT, 0.1);
while(isControllerReady()==0);
Main_Nav = getNavdata();
if (Main_Nav.magneto.heading_fusion_unwrapped > 0.0)
nav_suiv = Main_Nav.magneto.heading_fusion_unwrapped - 360.0;
else
nav_suiv = Main_Nav.magneto.heading_fusion_unwrapped + 360.0;
printf("angle_trouve et angle +/- 360 = %.2f, %.2f \r", Main_Nav.magneto.heading_fusion_unwrapped, nav_suiv);
if(nav_suiv < 0.0 && nav_prec > 0.0 || nav_suiv > 0.0 && nav_prec < 0.0)
{
inC.flag_calibM = 0;
printf("\nnav_suiv = %.2f | nav_prec = %.2f\n", nav_suiv, nav_prec);
break;
}
nav_prec = nav_suiv;
}
set_yaw(message, LEFT, 0.0);
inC.flag_calibM = 0;
break;
case 9 :
//set_emergency(message);
inC.flag_emergency = 0;
set_gaz(message, UP, 0.2);// this is an ugly hack (don't commit this)
break;
case 10 :
//anti_emergency(message);
inC.falg_antiemergency = 0;
set_gaz(message, UP, 0.0);// this is an ugly hack (don't commit this)
break;
case 20 :
calcul_mission();
break;
default :
printf("Scade ne marche pas si bien que ça finalement\n");
break;
}
}
static void term_handle_input(mpg123_handle *fr, audio_output_t *ao, int do_delay)
{
int n = 1;
/* long offset = 0; */
while(n > 0) {
fd_set r;
struct timeval t;
char val;
t.tv_sec=0;
t.tv_usec=(do_delay) ? 10*1000 : 0;
FD_ZERO(&r);
FD_SET(0,&r);
n = select(1,&r,NULL,NULL,&t);
if(n > 0 && FD_ISSET(0,&r)) {
if(read(0,&val,1) <= 0)
break;
switch(tolower(val)) {
case MPG123_BACK_KEY:
if(!param.usebuffer) ao->flush(ao);
else buffer_resync();
if(paused) pause_cycle=(int)(LOOP_CYCLES/mpg123_tpf(fr));
if(mpg123_seek_frame(fr, 0, SEEK_SET) < 0)
error1("Seek to begin failed: %s", mpg123_strerror(fr));
framenum=0;
break;
case MPG123_NEXT_KEY:
if(!param.usebuffer) ao->flush(ao);
else buffer_resync(); /* was: plain_buffer_resync */
next_track();
break;
case MPG123_QUIT_KEY:
debug("QUIT");
if(stopped)
{
stopped = 0;
if(param.usebuffer)
{
buffer_resync();
buffer_start();
}
}
set_intflag();
offset = 0;
break;
case MPG123_PAUSE_KEY:
paused=1-paused;
if(paused) {
/* Not really sure if that is what is wanted
This jumps in audio output, but has direct reaction to pausing loop. */
if(param.usebuffer) buffer_resync();
pause_recycle(fr);
}
if(stopped)
{
stopped=0;
if(param.usebuffer) buffer_start();
}
fprintf(stderr, "%s", (paused) ? MPG123_PAUSED_STRING : MPG123_EMPTY_STRING);
break;
case MPG123_STOP_KEY:
case ' ':
/* when seeking while stopped and then resuming, I want to prevent the chirp from the past */
if(!param.usebuffer) ao->flush(ao);
stopped=1-stopped;
if(paused) {
paused=0;
offset -= pause_cycle;
}
if(param.usebuffer)
{
if(stopped) buffer_stop();
else
{
/* When we stopped buffer for seeking, we must resync. */
if(offset) buffer_resync();
buffer_start();
}
}
fprintf(stderr, "%s", (stopped) ? MPG123_STOPPED_STRING : MPG123_EMPTY_STRING);
break;
case MPG123_FINE_REWIND_KEY:
if(param.usebuffer) seekmode();
offset--;
break;
case MPG123_FINE_FORWARD_KEY:
seekmode();
offset++;
break;
case MPG123_REWIND_KEY:
seekmode();
offset-=10;
break;
case MPG123_FORWARD_KEY:
seekmode();
offset+=10;
break;
case MPG123_FAST_REWIND_KEY:
seekmode();
offset-=50;
break;
case MPG123_FAST_FORWARD_KEY:
seekmode();
offset+=50;
break;
case MPG123_VOL_UP_KEY:
mpg123_volume_change(fr, 0.02);
break;
case MPG123_VOL_DOWN_KEY:
mpg123_volume_change(fr, -0.02);
break;
case MPG123_PITCH_UP_KEY:
case MPG123_PITCH_BUP_KEY:
case MPG123_PITCH_DOWN_KEY:
case MPG123_PITCH_BDOWN_KEY:
case MPG123_PITCH_ZERO_KEY:
{
double new_pitch = param.pitch;
switch(val) /* Not tolower here! */
{
case MPG123_PITCH_UP_KEY: new_pitch += MPG123_PITCH_VAL; break;
case MPG123_PITCH_BUP_KEY: new_pitch += MPG123_PITCH_BVAL; break;
case MPG123_PITCH_DOWN_KEY: new_pitch -= MPG123_PITCH_VAL; break;
case MPG123_PITCH_BDOWN_KEY: new_pitch -= MPG123_PITCH_BVAL; break;
case MPG123_PITCH_ZERO_KEY: new_pitch = 0.0; break;
}
set_pitch(fr, ao, new_pitch);
fprintf(stderr, "New pitch: %f\n", param.pitch);
}
break;
case MPG123_VERBOSE_KEY:
param.verbose++;
if(param.verbose > VERBOSE_MAX)
{
param.verbose = 0;
clear_stat();
}
mpg123_param(fr, MPG123_VERBOSE, param.verbose, 0);
break;
case MPG123_RVA_KEY:
if(++param.rva > MPG123_RVA_MAX) param.rva = 0;
mpg123_param(fr, MPG123_RVA, param.rva, 0);
mpg123_volume_change(fr, 0.);
break;
case MPG123_PREV_KEY:
if(!param.usebuffer) ao->flush(ao);
else buffer_resync(); /* was: plain_buffer_resync */
prev_track();
break;
case MPG123_PLAYLIST_KEY:
fprintf(stderr, "%s\nPlaylist (\">\" indicates current track):\n", param.verbose ? "\n" : "");
print_playlist(stderr, 1);
fprintf(stderr, "\n");
break;
case MPG123_TAG_KEY:
fprintf(stderr, "%s\n", param.verbose ? "\n" : "");
print_id3_tag(fr, param.long_id3, stderr);
fprintf(stderr, "\n");
break;
case MPG123_MPEG_KEY:
if(param.verbose) print_stat(fr,0,0); /* Make sure that we are talking about the correct frame. */
fprintf(stderr, "\n");
print_header(fr);
fprintf(stderr, "\n");
break;
case MPG123_HELP_KEY:
{ /* This is more than the one-liner before, but it's less spaghetti. */
int i;
fprintf(stderr,"\n\n -= terminal control keys =-\n");
for(i=0; i<(sizeof(term_help)/sizeof(struct keydef)); ++i)
{
if(term_help[i].key2) fprintf(stderr, "[%c] or [%c]", term_help[i].key, term_help[i].key2);
else fprintf(stderr, "[%c]", term_help[i].key);
fprintf(stderr, "\t%s\n", term_help[i].desc);
}
fprintf(stderr, "\n");
}
break;
case MPG123_FRAME_INDEX_KEY:
case MPG123_VARIOUS_INFO_KEY:
if(param.verbose) fprintf(stderr, "\n");
switch(val) /* because of tolower() ... */
{
case MPG123_FRAME_INDEX_KEY:
print_index(fr);
{
long accurate;
if(mpg123_getstate(fr, MPG123_ACCURATE, &accurate, NULL) == MPG123_OK)
fprintf(stderr, "Accurate position: %s\n", (accurate == 0 ? "no" : "yes"));
else
error1("Unable to get state: %s", mpg123_strerror(fr));
}
break;
case MPG123_VARIOUS_INFO_KEY:
{
const char* curdec = mpg123_current_decoder(fr);
if(curdec == NULL) fprintf(stderr, "Cannot get decoder info!\n");
else fprintf(stderr, "Active decoder: %s\n", curdec);
}
}
break;
default:
;
}
}
}
}
void note(int p_note, int duration)
{
uc_led_all_off();
if(p_note == 0x00){
/*B3 - 246.94 Hz*/
Note.pre = 0x01;
Note.scale = 0xA2;
Note.period = 0xFA;
Note.duty = 0xC8;
Note.led = 1;
}
else if (p_note == 0x01){
/*C4 - 261.63*/
Note.pre = 2;
Note.scale = 149;
Note.period = 255;
Note.duty = 204;
Note.led = 2;
}
else if (p_note == 0x02){
/*C#4 - 277.18*/
Note.pre = 0x01;
Note.scale = 0xCD;
Note.period = 0xB0;
Note.duty = 0x84;
Note.led = 3;
}
else if (p_note == 0x03){
/*D4 - 293.66*/
Note.pre = 0x01;
Note.scale = 0xC6;
Note.period = 0xAC;
Note.duty = 0x81;
Note.led = 4;
}
else if (p_note == 0x04){
/*D#4 - 311.13*/
Note.pre = 0x01;
Note.scale = 0xCE;
Note.period = 0x9C;
Note.duty = 0x75;
Note.led = 1;
}
else if (p_note == 0x05){
/*E4 - 329.63*/
Note.pre = 0x01;
Note.scale = 0xED;
Note.period = 0x80;
Note.duty = 0x60;
Note.led = 2;
}
else if (p_note == 0x06){
/*F4 - 349.23*/
Note.pre = 0x00;
Note.scale = 0xE6;
Note.period = 0xF9;
Note.duty = 0xBB;
Note.led = 3;
}
else if (p_note == 0x07){
/*F#4 - 369.99*/
Note.pre = 0x00;
Note.scale = 0xE8;
Note.period = 0xE9;
Note.duty = 0xAF;
Note.led = 4;
}
else if (p_note == 0x08){
/*G4 - 392.00*/
Note.pre = 0x00;
Note.scale = 0xEA;
Note.period = 0xDA;
Note.duty = 0xA4;
Note.led = 1;
}
else if (p_note == 0x09){
/*G#4 - 415.30*/
Note.pre = 0x00;
Note.scale = 0xF2;
Note.period = 0xC7;
Note.duty = 0x95;
Note.led = 2;
}
else if (p_note == 0x0A){
/*A4 - 440 Hz*/
Note.pre = 0x00;
Note.scale = 0xF3;
Note.period = 0xBB;
Note.duty = 0x8C;
Note.led = 3;
}
else if (p_note == 0x0B){
/*A#4 - 466.16*/
Note.pre = 0x00;
Note.scale = 0xBD;
Note.period = 0xE3;
Note.duty = 0xAA;
Note.led = 4;
}
else if (p_note == 0x0C){
/*B3 - 246.94 Hz*/
Note.pre = 0x00;
Note.scale = 0xA2;
Note.period = 0xFA;
Note.duty = 0xC8;
Note.led = 1;
}
else if (p_note == 0x0D){
/*C5 - 523.25*/
Note.pre = 0x00;
Note.scale = 0xF5;
Note.period = 0x9C;
Note.duty = 0x75;
Note.led = 1;
}
else{
//pause
Note.pre = 0x00;
Note.scale = 0x0;
Note.period = 0x0;
Note.duty = 0x0;
Note.led = 4;
}
set_pitch(Note.pre, Note.scale, Note.period, Note.duty);
set_note_length(duration);
uc_led_on(Note.led);
}
int control_generic (mpg123_handle *fr)
{
struct timeval tv;
fd_set fds;
int n;
/* ThOr */
char alive = 1;
char silent = 0;
/* responses to stderr for frontends needing audio data from stdout */
if (param.remote_err)
outstream = stderr;
else
outstream = stdout;
#ifndef WIN32
setlinebuf(outstream);
#else /* perhaps just use setvbuf as it's C89 */
/*
fprintf(outstream, "You are on Win32 and want to use the control interface... tough luck: We need a replacement for select on STDIN first.\n");
return 0;
setvbuf(outstream, (char*)NULL, _IOLBF, 0);
*/
#endif
/* the command behaviour is different, so is the ID */
/* now also with version for command availability */
fprintf(outstream, "@R MPG123 (ThOr) v8\n");
#ifdef FIFO
if(param.fifo)
{
if(param.fifo[0] == 0)
{
error("You wanted an empty FIFO name??");
return 1;
}
#ifndef WANT_WIN32_FIFO
unlink(param.fifo);
if(mkfifo(param.fifo, 0666) == -1)
{
error2("Failed to create FIFO at %s (%s)", param.fifo, strerror(errno));
return 1;
}
debug("going to open named pipe ... blocking until someone gives command");
#endif /* WANT_WIN32_FIFO */
#ifdef WANT_WIN32_FIFO
control_file = win32_fifo_mkfifo(param.fifo);
#else
control_file = open(param.fifo,O_RDONLY);
#endif /* WANT_WIN32_FIFO */
debug("opened");
}
#endif
while (alive)
{
tv.tv_sec = 0;
tv.tv_usec = 0;
FD_ZERO(&fds);
FD_SET(control_file, &fds);
/* play frame if no command needs to be processed */
if (mode == MODE_PLAYING) {
#ifdef WANT_WIN32_FIFO
n = win32_fifo_read_peek(&tv);
#else
n = select(32, &fds, NULL, NULL, &tv);
#endif
if (n == 0) {
if (!play_frame())
{
/* When the track ended, user may want to keep it open (to seek back),
so there is a decision between stopping and pausing at the end. */
if(param.keep_open)
{
mode = MODE_PAUSED;
/* Hm, buffer should be stopped already, shouldn't it? */
if(param.usebuffer) out123_pause(ao);
generic_sendmsg("P 1");
}
else
{
mode = MODE_STOPPED;
close_track();
generic_sendmsg("P 0");
}
continue;
}
if (init) {
print_remote_header(fr);
init = 0;
}
if(silent == 0)
{
generic_sendstat(fr);
if(mpg123_meta_check(fr) & MPG123_NEW_ICY)
{
char *meta;
if(mpg123_icy(fr, &meta) == MPG123_OK)
generic_sendmsg("I ICY-META: %s", meta != NULL ? meta : "<nil>");
}
}
}
}
else {
/* wait for command */
while (1) {
#ifdef WANT_WIN32_FIFO
n = win32_fifo_read_peek(NULL);
#else
n = select(32, &fds, NULL, NULL, NULL);
#endif
if (n > 0)
break;
}
}
/* on error */
if (n < 0) {
fprintf(stderr, "Error waiting for command: %s\n", strerror(errno));
return 1;
}
/* read & process commands */
if (n > 0)
{
short int len = 1; /* length of buffer */
char *cmd, *arg; /* variables for parsing, */
char *comstr = NULL; /* gcc thinks that this could be used uninitialited... */
char buf[REMOTE_BUFFER_SIZE];
short int counter;
char *next_comstr = buf; /* have it initialized for first command */
/* read as much as possible, maybe multiple commands */
/* When there is nothing to read (EOF) or even an error, it is the end */
#ifdef WANT_WIN32_FIFO
len = win32_fifo_read(buf,REMOTE_BUFFER_SIZE);
#else
len = read(control_file, buf, REMOTE_BUFFER_SIZE);
#endif
if(len < 1)
{
#ifdef FIFO
if(len == 0 && param.fifo)
{
debug("fifo ended... reopening");
#ifdef WANT_WIN32_FIFO
win32_fifo_mkfifo(param.fifo);
#else
close(control_file);
control_file = open(param.fifo,O_RDONLY|O_NONBLOCK);
#endif
if(control_file < 0) {
error1("open of fifo failed... %s", strerror(errno));
break;
}
continue;
}
#endif
if(len < 0) error1("command read error: %s", strerror(errno));
break;
}
debug1("read %i bytes of commands", len);
/* one command on a line - separation by \n -> C strings in a row */
for(counter = 0; counter < len; ++counter)
{
/* line end is command end */
if( (buf[counter] == '\n') || (buf[counter] == '\r') )
{
debug1("line end at counter=%i", counter);
buf[counter] = 0; /* now it's a properly ending C string */
comstr = next_comstr;
/* skip the additional line ender of \r\n or \n\r */
if( (counter < (len - 1)) && ((buf[counter+1] == '\n') || (buf[counter+1] == '\r')) ) buf[++counter] = 0;
/* next "real" char is first of next command */
next_comstr = buf + counter+1;
/* directly process the command now */
debug1("interpreting command: %s", comstr);
if(strlen(comstr) == 0) continue;
/* PAUSE */
if (!strcasecmp(comstr, "P") || !strcasecmp(comstr, "PAUSE")) {
if(mode != MODE_STOPPED)
{
if (mode == MODE_PLAYING) {
mode = MODE_PAUSED;
out123_pause(ao);
generic_sendmsg("P 1");
} else {
mode = MODE_PLAYING;
out123_continue(ao);
generic_sendmsg("P 2");
}
} else generic_sendmsg("P 0");
continue;
}
/* STOP */
if (!strcasecmp(comstr, "S") || !strcasecmp(comstr, "STOP")) {
if (mode != MODE_STOPPED) {
/* Do we want to drop here? */
out123_drop(ao);
out123_stop(ao);
close_track();
mode = MODE_STOPPED;
generic_sendmsg("P 0");
} else generic_sendmsg("P 0");
continue;
}
/* SILENCE */
if(!strcasecmp(comstr, "SILENCE")) {
silent = 1;
generic_sendmsg("silence");
continue;
}
if(!strcasecmp(comstr, "T") || !strcasecmp(comstr, "TAG")) {
generic_sendalltag(fr);
continue;
}
if(!strcasecmp(comstr, "SCAN"))
{
if(mode != MODE_STOPPED)
{
if(mpg123_scan(fr) == MPG123_OK)
generic_sendmsg("SCAN done");
else
generic_sendmsg("E %s", mpg123_strerror(fr));
}
else generic_sendmsg("E No track loaded!");
continue;
}
if(!strcasecmp(comstr, "SAMPLE"))
{
off_t pos = mpg123_tell(fr);
off_t len = mpg123_length(fr);
/* I need to have portable printf specifiers that do not truncate the type... more autoconf... */
if(len < 0) generic_sendmsg("E %s", mpg123_strerror(fr));
else generic_sendmsg("SAMPLE %li %li", (long)pos, (long)len);
continue;
}
if(!strcasecmp(comstr, "FORMAT"))
{
long rate;
int ch;
int ret = mpg123_getformat(fr, &rate, &ch, NULL);
/* I need to have portable printf specifiers that do not truncate the type... more autoconf... */
if(ret < 0) generic_sendmsg("E %s", mpg123_strerror(fr));
else generic_sendmsg("FORMAT %li %i", rate, ch);
continue;
}
if(!strcasecmp(comstr, "SHOWEQ"))
{
int i;
generic_sendmsg("SHOWEQ {");
for(i=0; i<32; ++i)
{
generic_sendmsg("SHOWEQ %i : %i : %f", MPG123_LEFT, i, mpg123_geteq(fr, MPG123_LEFT, i));
generic_sendmsg("SHOWEQ %i : %i : %f", MPG123_RIGHT, i, mpg123_geteq(fr, MPG123_RIGHT, i));
}
generic_sendmsg("SHOWEQ }");
continue;
}
if(!strcasecmp(comstr, "STATE"))
{
long val;
generic_sendmsg("STATE {");
/* Get some state information bits and display them. */
if(mpg123_getstate(fr, MPG123_ACCURATE, &val, NULL) == MPG123_OK)
generic_sendmsg("STATE accurate %li", val);
generic_sendmsg("STATE }");
continue;
}
/* QUIT */
if (!strcasecmp(comstr, "Q") || !strcasecmp(comstr, "QUIT")) {
alive = FALSE;
continue;
}
/* some HELP */
if (!strcasecmp(comstr, "H") || !strcasecmp(comstr, "HELP")) {
generic_sendmsg("H {");
generic_sendmsg("H HELP/H: command listing (LONG/SHORT forms), command case insensitve");
generic_sendmsg("H LOAD/L <trackname>: load and start playing resource <trackname>");
generic_sendmsg("H LOADPAUSED/LP <trackname>: load but do not start playing resource <trackname>");
generic_sendmsg("H LOADLIST/LL <entry> <url>: load a playlist from given <url>, and display its entries, optionally load and play one of these specificed by the integer <entry> (<0: just list, 0: play last track, >0:play track with that position in list)");
generic_sendmsg("H PAUSE/P: pause playback");
generic_sendmsg("H STOP/S: stop playback (closes file)");
generic_sendmsg("H JUMP/J <frame>|<+offset>|<-offset>|<[+|-]seconds>s: jump to mpeg frame <frame> or change position by offset, same in seconds if number followed by \"s\"");
generic_sendmsg("H VOLUME/V <percent>: set volume in % (0..100...); float value");
generic_sendmsg("H RVA off|(mix|radio)|(album|audiophile): set rva mode");
generic_sendmsg("H EQ/E <channel> <band> <value>: set equalizer value for frequency band 0 to 31 on channel %i (left) or %i (right) or %i (both)", MPG123_LEFT, MPG123_RIGHT, MPG123_LR);
generic_sendmsg("H EQFILE <filename>: load EQ settings from a file");
generic_sendmsg("H SHOWEQ: show all equalizer settings (as <channel> <band> <value> lines in a SHOWEQ block (like TAG))");
generic_sendmsg("H SEEK/K <sample>|<+offset>|<-offset>: jump to output sample position <samples> or change position by offset");
generic_sendmsg("H SCAN: scan through the file, building seek index");
generic_sendmsg("H SAMPLE: print out the sample position and total number of samples");
generic_sendmsg("H FORMAT: print out sampling rate in Hz and channel count");
generic_sendmsg("H SEQ <bass> <mid> <treble>: simple eq setting...");
generic_sendmsg("H PITCH <[+|-]value>: adjust playback speed (+0.01 is 1 %% faster)");
generic_sendmsg("H SILENCE: be silent during playback (meaning silence in text form)");
generic_sendmsg("H STATE: Print auxiliary state info in several lines (just try it to see what info is there).");
generic_sendmsg("H TAG/T: Print all available (ID3) tag info, for ID3v2 that gives output of all collected text fields, using the ID3v2.3/4 4-character names. NOTE: ID3v2 data will be deleted on non-forward seeks.");
generic_sendmsg("H The output is multiple lines, begin marked by \"@T {\", end by \"@T }\".");
generic_sendmsg("H ID3v1 data is like in the @I info lines (see below), just with \"@T\" in front.");
generic_sendmsg("H An ID3v2 data field is introduced via ([ ... ] means optional):");
generic_sendmsg("H @T ID3v2.<NAME>[ [lang(<LANG>)] desc(<description>)]:");
generic_sendmsg("H The lines of data follow with \"=\" prefixed:");
generic_sendmsg("H @T =<one line of content in UTF-8 encoding>");
generic_sendmsg("H meaning of the @S stream info:");
generic_sendmsg("H %s", remote_header_help);
generic_sendmsg("H The @I lines after loading a track give some ID3 info, the format:");
generic_sendmsg("H @I ID3:artist album year comment genretext");
generic_sendmsg("H where artist,album and comment are exactly 30 characters each, year is 4 characters, genre text unspecified.");
generic_sendmsg("H You will encounter \"@I ID3.genre:<number>\" and \"@I ID3.track:<number>\".");
generic_sendmsg("H Then, there is an excerpt of ID3v2 info in the structure");
generic_sendmsg("H @I ID3v2.title:Blabla bla Bla");
generic_sendmsg("H for every line of the \"title\" data field. Likewise for other fields (author, album, etc).");
generic_sendmsg("H }");
continue;
}
/* commands with arguments */
cmd = NULL;
arg = NULL;
cmd = strtok(comstr," \t"); /* get the main command */
arg = strtok(NULL,""); /* get the args */
if (cmd && strlen(cmd) && arg && strlen(arg))
{
#ifndef NO_EQUALIZER
/* Simple EQ: SEQ <BASS> <MID> <TREBLE> */
if (!strcasecmp(cmd, "SEQ")) {
double b,m,t;
int cn;
if(sscanf(arg, "%lf %lf %lf", &b, &m, &t) == 3)
{
/* Consider adding mpg123_seq()... but also, on could define a nicer courve for that. */
if ((t >= 0) && (t <= 3))
for(cn=0; cn < 1; ++cn) mpg123_eq(fr, MPG123_LEFT|MPG123_RIGHT, cn, b);
if ((m >= 0) && (m <= 3))
for(cn=1; cn < 2; ++cn) mpg123_eq(fr, MPG123_LEFT|MPG123_RIGHT, cn, m);
if ((b >= 0) && (b <= 3))
for(cn=2; cn < 32; ++cn) mpg123_eq(fr, MPG123_LEFT|MPG123_RIGHT, cn, t);
generic_sendmsg("bass: %f mid: %f treble: %f", b, m, t);
}
else generic_sendmsg("E invalid arguments for SEQ: %s", arg);
continue;
}
/* Equalizer control :) (JMG) */
if (!strcasecmp(cmd, "E") || !strcasecmp(cmd, "EQ")) {
double e; /* ThOr: equalizer is of type real... whatever that is */
int c, v;
/*generic_sendmsg("%s",updown);*/
if(sscanf(arg, "%i %i %lf", &c, &v, &e) == 3)
{
if(mpg123_eq(fr, c, v, e) == MPG123_OK)
generic_sendmsg("%i : %i : %f", c, v, e);
else
generic_sendmsg("E failed to set eq: %s", mpg123_strerror(fr));
}
else generic_sendmsg("E invalid arguments for EQ: %s", arg);
continue;
}
if(!strcasecmp(cmd, "EQFILE"))
{
equalfile = arg;
if(load_equalizer(fr) == 0)
generic_sendmsg("EQFILE done");
else
generic_sendmsg("E failed to parse given eq file");
continue;
}
#endif
/* SEEK to a sample offset */
if(!strcasecmp(cmd, "K") || !strcasecmp(cmd, "SEEK"))
{
off_t soff;
off_t oldpos;
off_t newpos;
char *spos = arg;
int whence = SEEK_SET;
if(mode == MODE_STOPPED)
{
generic_sendmsg("E No track loaded!");
continue;
}
oldpos = mpg123_tell(fr);
soff = (off_t) atobigint(spos);
if(spos[0] == '-' || spos[0] == '+') whence = SEEK_CUR;
if(0 > (soff = mpg123_seek(fr, soff, whence)))
{
generic_sendmsg("E Error while seeking: %s", mpg123_strerror(fr));
mpg123_seek(fr, 0, SEEK_SET);
}
out123_drop(ao);
newpos = mpg123_tell(fr);
if(newpos <= oldpos) mpg123_meta_free(fr);
generic_sendmsg("K %"OFF_P, (off_p)newpos);
continue;
}
/* JUMP */
if (!strcasecmp(cmd, "J") || !strcasecmp(cmd, "JUMP")) {
char *spos;
off_t offset;
off_t oldpos;
double secs;
spos = arg;
if(mode == MODE_STOPPED)
{
generic_sendmsg("E No track loaded!");
continue;
}
oldpos = framenum;
if(spos[strlen(spos)-1] == 's' && sscanf(arg, "%lf", &secs) == 1) offset = mpg123_timeframe(fr, secs);
else offset = atol(spos);
/* totally replaced that stuff - it never fully worked
a bit usure about why +pos -> spos+1 earlier... */
if (spos[0] == '-' || spos[0] == '+') offset += framenum;
if(0 > (framenum = mpg123_seek_frame(fr, offset, SEEK_SET)))
{
generic_sendmsg("E Error while seeking");
mpg123_seek_frame(fr, 0, SEEK_SET);
}
out123_drop(ao);
if(framenum <= oldpos) mpg123_meta_free(fr);
generic_sendmsg("J %d", framenum);
continue;
}
/* VOLUME in percent */
if(!strcasecmp(cmd, "V") || !strcasecmp(cmd, "VOLUME"))
{
double v;
mpg123_volume(fr, atof(arg)/100);
mpg123_getvolume(fr, &v, NULL, NULL); /* Necessary? */
generic_sendmsg("V %f%%", v * 100);
continue;
}
/* PITCH (playback speed) in percent */
if(!strcasecmp(cmd, "PITCH"))
{
double p;
if(sscanf(arg, "%lf", &p) == 1)
{
set_pitch(fr, ao, p);
generic_sendmsg("PITCH %f", param.pitch);
}
else generic_sendmsg("E invalid arguments for PITCH: %s", arg);
continue;
}
/* RVA mode */
if(!strcasecmp(cmd, "RVA"))
{
if(!strcasecmp(arg, "off")) param.rva = MPG123_RVA_OFF;
else if(!strcasecmp(arg, "mix") || !strcasecmp(arg, "radio")) param.rva = MPG123_RVA_MIX;
else if(!strcasecmp(arg, "album") || !strcasecmp(arg, "audiophile")) param.rva = MPG123_RVA_ALBUM;
mpg123_volume_change(fr, 0.);
generic_sendmsg("RVA %s", rva_name[param.rva]);
continue;
}
/* LOAD - actually play */
if (!strcasecmp(cmd, "L") || !strcasecmp(cmd, "LOAD")) {
generic_load(fr, arg, MODE_PLAYING);
continue;
}
if (!strcasecmp(cmd, "LL") || !strcasecmp(cmd, "LOADLIST")) {
generic_loadlist(fr, arg);
continue;
}
/* LOADPAUSED */
if (!strcasecmp(cmd, "LP") || !strcasecmp(cmd, "LOADPAUSED")) {
generic_load(fr, arg, MODE_PAUSED);
continue;
}
/* no command matched */
generic_sendmsg("E Unknown command: %s", cmd); /* unknown command */
} /* end commands with arguments */
else generic_sendmsg("E Unknown command or no arguments: %s", comstr); /* unknown command */
} /* end of single command processing */
} /* end of scanning the command buffer */
/*
when last command had no \n... should I discard it?
Ideally, I should remember the part and wait for next
read() to get the rest up to a \n. But that can go
to infinity. Too long commands too quickly are just
bad. Cannot/Won't change that. So, discard the unfinished
command and have fingers crossed that the rest of this
unfinished one qualifies as "unknown".
*/
if(buf[len-1] != 0)
{
char lasti = buf[len-1];
buf[len-1] = 0;
generic_sendmsg("E Unfinished command: %s%c", comstr, lasti);
}
} /* end command reading & processing */
} /* end main (alive) loop */
debug("going to end");
/* quit gracefully */
debug("closing control");
#ifdef FIFO
#if WANT_WIN32_FIFO
win32_fifo_close();
#else
close(control_file); /* be it FIFO or STDIN */
if(param.fifo) unlink(param.fifo);
#endif /* WANT_WIN32_FIFO */
#endif
debug("control_generic returning");
return 0;
}
