inline void Record(T& instanceToBeRecorded)
{
typedef typename T::ReplayTag Tag;
Tag t;
Private::Record(buffer, instanceToBeRecorded, t);
//Print out the buffer for easy debugging.
buffer.Print();
printf("\n\n");
}
PRStatus FcgiParser::formatRequest(CircularBuffer& from, CircularBuffer& to, PRUint8 streamType) {
int toLen = 0;
int fromLen = 0;
char *toBuf = NULL;
int available = to.requestSpace(toBuf, toLen) - sizeof(FCGI_Header);
int dataSize = from.hasData();
int dataToBeMoved = min(dataSize, available);
if(dataToBeMoved > 0) {
if(toBuf) {
//if(makePacketHeader(streamType, maxLen, to) == PR_SUCCESS) {
if(makePacketHeader(streamType, dataToBeMoved, to) == PR_SUCCESS) {
if(from.move(to, dataToBeMoved) < dataToBeMoved)
return PR_FAILURE;
} else
return PR_FAILURE;
}
}
return PR_SUCCESS;
}
int checkForSquelch(MidiMessage& message, CircularBuffer<MidiMessage>& memory,
int mintime, int maxtime, int curtime) {
int i;
if (memory.getSize() == 0) {
return 0;
}
for (i=0; i<memory.getSize(); i++) {
if ((curtime - (int)memory[i].time) < mintime) {
continue;
}
if ((curtime - (int)memory[i].time) > maxtime) {
break;
}
if ((memory[i].p0() == message.p0()) && (memory[i].p1() == message.p1())) {
return 1;
}
}
return 0;
}
void processAudio(AudioBuffer &buffer) {
float feedback, wet, _delayTime, _tone, delaySamples;
_delayTime = getParameterValue(PARAMETER_A);
feedback = 2*getParameterValue(PARAMETER_B)+0.01;
_tone = getParameterValue(PARAMETER_C);
wet = getParameterValue(PARAMETER_D);
tone = 0.05*_tone + 0.95*tone;
tf.setTone(tone);
float* buf = buffer.getSamples(0);
for (int i = 0 ; i < buffer.getSize(); i++) {
delayTime = 0.01*_delayTime + 0.99*delayTime;
delaySamples = delayTime * (delayBuffer.getSize()-1);
buf[i] = dist(tf.processSample(buf[i] + (wet * delayBuffer.read(delaySamples))));
// delayBuffer.write(dist(tf.processSample(feedback * buf[i],0)));
delayBuffer.write(feedback * buf[i]);
}
}
void Plot::timerEvent( QTimerEvent * )
{
CircularBuffer *buffer = ( CircularBuffer * )d_curve->data();
buffer->setReferenceTime( d_clock.elapsed() / 1000.0 );
switch( d_settings.updateType )
{
case Settings::RepaintCanvas:
{
// the axes in this example doesn't change. So all we need to do
// is to repaint the canvas.
canvas()->replot();
break;
}
default:
{
replot();
}
}
}
void mainloopalgorithms(void) {
if (synth.getNoteCount() > 0) {
nextActionTime = t_time;
message = synth.extractNote();
if (message.p2() == 0) { // note off
keyCount--;
if (keyCount < 0) {
keyCount = 0;
}
switch (message.p1()) {
case C3: lastOffTime[1] = t_time; break;
case D3: lastOffTime[2] = t_time; break;
case E3: lastOffTime[3] = t_time; break;
case F3: lastOffTime[4] = t_time; break;
case G3: lastOffTime[5] = t_time; break;
case C4: lastOffTime[6] = t_time; break;
case D4: lastOffTime[7] = t_time; break;
case E4: lastOffTime[8] = t_time; break;
case F4: lastOffTime[9] = t_time; break;
case G4: lastOffTime[10] = t_time; break;
}
} else { // note on
keyCount++;
keysOn.insert(message.p1());
onKey2 = onKey1;
switch (message.p1()) {
case C3: lastOnTime[1] = t_time; onKey1 = 1; break;
case D3: lastOnTime[2] = t_time; onKey1 = 2; break;
case E3: lastOnTime[3] = t_time; onKey1 = 3; break;
case F3: lastOnTime[4] = t_time; onKey1 = 4; break;
case G3: lastOnTime[5] = t_time; onKey1 = 5; break;
case C4: lastOnTime[6] = t_time; onKey1 = 6; break;
case D4: lastOnTime[7] = t_time; onKey1 = 7; break;
case E4: lastOnTime[8] = t_time; onKey1 = 8; break;
case F4: lastOnTime[9] = t_time; onKey1 = 9; break;
case G4: lastOnTime[10] = t_time; onKey1 = 10; break;
}
}
}
if (nextActionTime + repeatRate <= t_time) {
nextActionTime = t_time;
}
event = makeEventDecision();
if (event > 0) {
if (shift) {
event = toupper(event);
}
cout << (char)event << flush;
}
}
TEST(CircularBuffer, SimplePushBackPop)
{
CircularBuffer<int, 5> cb;
cb.pushBack(123);
ASSERT_FALSE(cb.empty());
ASSERT_EQ(cb.size(), 1);
ASSERT_EQ(cb.popFront(), 123);
ASSERT_TRUE(cb.empty());
ASSERT_EQ(cb.size(), 0);
}
// Pops the next command from the thread queue, if any is available.
bool ThreadCommandQueueImpl::PopCommand(ThreadCommand::PopBuffer* popBuffer)
{
Lock::Locker lock(&QueueLock);
UByte* buffer = CommandBuffer.ReadBegin();
if (!buffer)
{
// Notify thread while in lock scope, enabling initialization of wait.
pQueue->OnPopEmpty_Locked();
return false;
}
popBuffer->InitFromBuffer(buffer);
CommandBuffer.ReadEnd(popBuffer->GetSize());
if (!BlockedProducers.IsEmpty())
{
ThreadCommand::NotifyEvent* queueAvailableEvent = BlockedProducers.GetFirst();
queueAvailableEvent->RemoveNode();
queueAvailableEvent->PulseEvent();
// Event is freed later by waiter.
}
return true;
}
bool PNGTrans::AppendToRowBuffer( void )
{
uint8 buffer[1024];
// Free space in rowbuffer
uint32 nSize = m_nRowSize - m_nRowPos;
// Adjust to available amount of data (so we don't get a deadlock)
nSize = nSize > (uint32)m_cInBuffer.Size() ? m_cInBuffer.Size() : nSize;
// Longword alignment, 24 bpp => 32 bpp size conversion
nSize = ((int)( nSize / 3 )) * 4;
// Adjust to available buffer size
nSize = nSize > sizeof( buffer ) ? sizeof(buffer) : nSize;
// dbprintf("pos: %ld, size: %ld\n", m_nRowPos, m_nRowSize);
// Read and convert RGB32 => RGB24
// dbprintf("m_cInBuffer.Read( %p, %ld )...", buffer, nSize);
m_cInBuffer.Read( buffer, nSize );
// dbprintf("Done!\n");
int i, j;
for( i = 0, j = 0; i < nSize; i+=4, j+=3 ) {
m_pRowBuffer[ m_nRowPos + j ] = buffer[ i ];
m_pRowBuffer[ m_nRowPos + j + 1 ] = buffer[ i + 1 ];
m_pRowBuffer[ m_nRowPos + j + 2 ] = buffer[ i + 2 ];
}
m_nRowPos += (nSize/4)*3;
if( m_nRowPos >= m_nRowSize ) {
// dbprintf("New row\n");
m_nRowPos = 0;
return true;
} else {
return false;
}
}
void processAudio(AudioBuffer &buffer)
{
float delayTime, feedback, wetDry,drive;
delayTime = getParameterValue(PARAMETER_A);
feedback = getParameterValue(PARAMETER_B);
drive = getParameterValue(PARAMETER_C);
wetDry = getParameterValue(PARAMETER_D);
drive += 0.03;
drive *= 40;
int newDelay;
newDelay = delayTime * (delayBuffer.getSize()-1);
float* x = buffer.getSamples(0);
float y = 0;
int size = buffer.getSize();
for (int n = 0; n < size; n++) {
y = (delayBuffer.read(delay)*(size-1-n) + delayBuffer.read(newDelay)*n)/size + x[n];
y = nonLinear(y * 1.5);
delayBuffer.write(feedback * y);
y = (nonLinear(y * drive)) * 0.25;
x[n] = (y * (1 - wetDry)) + (x[n] * wetDry);
}
delay=newDelay;
}
void AccelMaths::tick( void )
{
//********Update to the Buffers********//
//Start by filling a circular buffer
upDataBuffer.write(readFloatAccelY());
rightDataBuffer.write(readFloatAccelZ());
//outDataBuffer.write(readFloatAccelX());
//Now average the circular buffer into another
float floatTemp = 0;
for( int i = 0; i < 30; i++)
{
floatTemp += upDataBuffer.read(i);
}
upAverageBuffer.write(floatTemp / 30);
floatTemp = 0;
for( int i = 0; i < 30; i++)
{
floatTemp += rightDataBuffer.read(i);
}
rightAverageBuffer.write(floatTemp / 30);
// floatTemp = 0;
// for( int i = 0; i < 30; i++)
// {
// floatTemp += outDataBuffer.read(i);
// }
// outAverageBuffer.write(floatTemp / 30);
//********Do Buffer Specific Calculation********//
//Newer minus older
// Serial.print("\n");
// Serial.print(upAverageBuffer.read(0), 4);
// Serial.print(",");
// Serial.print(upAverageBuffer.read(1), 4);
verticalDerivativeBuffer.write( (upAverageBuffer.read(0) - upAverageBuffer.read(1) ) * 1000);
}
void dummy_function(void)
#endif
{
#if (USE_AUDIO_INPUT==true)
adc_count = 0;
startSecondAudioADC();
#endif
// read about dual pwm at http://www.openmusiclabs.com/learning/digital/pwm-dac/dual-pwm-circuits/
// sketches at http://wiki.openmusiclabs.com/wiki/PWMDAC, http://wiki.openmusiclabs.com/wiki/MiniArDSP
//if (!output_buffer.isEmpty()){
unsigned int out = output_buffer.read();
// 14 bit, 7 bits on each pin
AUDIO_CHANNEL_1_HIGHUINT8_T_REGISTER = out >> 7; // B11111110000000 becomes B1111111
AUDIO_CHANNEL_1_lowByte_REGISTER = out & 127; // B01111111
//}
}
// the main method
virtual void run() {
// update the output
new_value = buffer->pop();
if (c < new_value.x) {
//update the output
output.x = a*log(b*new_value.x + 1);
} else if (-c > new_value.x) {
// update the output
output.x = -a*log(b*(-new_value.x) + 1);
} else {
// update the output
output.x = 0.0;
}
// update the vertical
if (c < new_value.y) {
// update the output
output.y = a*log(b*new_value.y + 1);
} else if (-c > new_value.y) {
// update the output
output.y = -a*log(b*(-new_value.y) + 1);
} else {
// update the output
output.y = 0.0;
}
// send the output value to external devices
DeviceOutput<cv::Point2f>::send(output);
}
status_t PNGTrans::AddData( const void* pData, size_t nLen, bool bFinal )
{
if( !m_bWriteMode ) {
// dbprintf("PNG-Read: AddData()\n");
if ( setjmp( m_psPNGStruct->jmpbuf ) ) {
png_destroy_read_struct( &m_psPNGStruct, &m_psPNGInfo, (png_infopp)NULL );
return -1;
}
png_process_data( m_psPNGStruct, m_psPNGInfo, (png_bytep)pData, nLen );
return 0;
} else {
m_cInBuffer.Write( pData, nLen );
// dbprintf("PNG-Write: Data added!\n");
if( m_eState == STATE_INIT && m_cInBuffer.Size() > (ssize_t)sizeof( BitmapHeader ) ) {
m_cInBuffer.Read( &m_sBitmapHeader, sizeof( m_sBitmapHeader ) );
m_eState = STATE_FRAMEHDR;
}
if( m_eState == STATE_FRAMEHDR && m_cInBuffer.Size() > (ssize_t)sizeof( BitmapFrameHeader ) ) {
m_cInBuffer.Read( &m_sCurrentFrame, sizeof( m_sCurrentFrame ) );
// TODO: Verify depth, convert if not RGB32
png_set_IHDR( m_psPNGStruct, m_psPNGInfo,
m_sCurrentFrame.bf_frame.right - m_sCurrentFrame.bf_frame.left + 1,
m_sCurrentFrame.bf_frame.bottom - m_sCurrentFrame.bf_frame.top + 1,
8, PNG_COLOR_TYPE_RGB, //_ALPHA,
PNG_INTERLACE_NONE, PNG_COMPRESSION_TYPE_BASE, PNG_FILTER_TYPE_BASE );
// png_set_filler( m_psPNGStruct, 0xff, PNG_FILLER_AFTER);
png_set_bgr( m_psPNGStruct );
png_write_info( m_psPNGStruct, m_psPNGInfo );
AllocRowBuffer( m_sCurrentFrame.bf_frame.right - m_sCurrentFrame.bf_frame.left + 1 );
m_eState = STATE_READING;
}
while( m_eState == STATE_READING && m_cInBuffer.Size() ) {
if( AppendToRowBuffer() ) {
// Overflow = one row is ready
// dbprintf("PNG-Write: Found Row\n");
png_write_rows( m_psPNGStruct, &m_pRowBuffer, 1);
}
}
if( bFinal ) {
png_write_end( m_psPNGStruct, m_psPNGInfo);
}
return 0;
}
}
void Plot::setSettings( const Settings &s )
{
if ( d_timerId >= 0 )
killTimer( d_timerId );
d_timerId = startTimer( s.updateInterval );
d_grid->setPen( s.grid.pen );
d_grid->setVisible( s.grid.pen.style() != Qt::NoPen );
CircularBuffer *buffer = ( CircularBuffer * )d_curve->data();
if ( s.curve.numPoints != buffer->size() ||
s.curve.functionType != d_settings.curve.functionType )
{
switch( s.curve.functionType )
{
case Settings::Wave:
buffer->setFunction( wave );
break;
case Settings::Noise:
buffer->setFunction( noise );
break;
default:
buffer->setFunction( NULL );
}
buffer->fill( d_interval, s.curve.numPoints );
}
d_curve->setPen( s.curve.pen );
d_curve->setBrush( s.curve.brush );
d_curve->setPaintAttribute( QwtPlotCurve::ClipPolygons,
s.curve.paintAttributes & QwtPlotCurve::ClipPolygons );
d_curve->setRenderHint( QwtPlotCurve::RenderAntialiased,
s.curve.renderHint & QwtPlotCurve::RenderAntialiased );
canvas()->setAttribute( Qt::WA_PaintOnScreen, s.canvas.paintOnScreen );
canvas()->setPaintAttribute(
QwtPlotCanvas::BackingStore, s.canvas.useBackingStore );
canvas()->setPaintAttribute(
QwtPlotCanvas::ImmediatePaint, s.canvas.immediatePaint );
QwtPainter::setPolylineSplitting( s.curve.lineSplitting );
d_settings = s;
}
void dummy_function(void)
#endif
{
#if (USE_AUDIO_INPUT==true)
adc_count = 0;
startSecondAudioADC();
#endif
// read about dual pwm at http://www.openmusiclabs.com/learning/digital/pwm-dac/dual-pwm-circuits/
// sketches at http://wiki.openmusiclabs.com/wiki/PWMDAC, http://wiki.openmusiclabs.com/wiki/MiniArDSP
//if (!output_buffer.isEmpty()){
unsigned int out = output_buffer.read();
// 14 bit, 7 bits on each pin
//AUDIO_CHANNEL_1_highByte_REGISTER = out >> 7; // B00111111 10000000 becomes B1111111
// try to avoid looping over 7 shifts - need to check timing or disassemble to see what really happens
unsigned int out_high = out<<1; // B00111111 10000000 becomes B01111111 00000000
AUDIO_CHANNEL_1_highByte_REGISTER = out_high >> 8; // B01111111 00000000 produces B01111111
//
AUDIO_CHANNEL_1_lowByte_REGISTER = out & 127;
//}
}
TEST(CircularBuffer, Insert)
{
CircularBuffer<int, 5> cb;
cb.pushBack(0);
cb.pushBack(1);
cb.pushBack(3);
auto it(cb.begin());
++it;
++it;
cb.insert(it, 2);
std::vector<int> values({ 0, 1, 2, 3 });
ASSERT_TRUE(std::equal(cb.begin(), cb.end(),
values.begin()));
}
// overriding the main method
virtual void run() {
output = buffer->pop();
if (saturation < output.x) {
output.x = saturation;
} else if (-saturation > output.x) {
output.x = -saturation;
}
if (saturation < output.y) {
output.y = saturation;
} else if (-saturation > output.y) {
output.y = -saturation;
}
// send the output to external devics
DeviceOutput<cv::Point2f>::send(output);
}
ISR(TIMER1_OVF_vect, ISR_BLOCK)
{
#if (AUDIO_MODE == STANDARD_PLUS) && (AUDIO_RATE == 16384) // only update every second ISR, if lower audio rate
static boolean alternate;
alternate = !alternate;
if(alternate)
{
#endif
#if (USE_AUDIO_INPUT==true)
adc_count = 0;
startSecondAudioADC();
#endif
//if (!output_buffer.isEmpty()) {
/*
output = output_buffer.read();
AUDIO_CHANNEL_1_OUTPUT_REGISTER = output;
AUDIO_CHANNEL_2_OUTPUT_REGISTER = 0;
*/
AUDIO_CHANNEL_1_OUTPUT_REGISTER = output_buffer.read();
//}
// flip signal polarity - instead of signal going to 0 (both pins 0), it goes to pseudo-negative of its current value.
// this would set non-inverted when setting sample value, and then inverted when top is reached (in an interrupt)
// non-invert
//TCCR1A |= _BV(COM1A1);
// invert
//TCCR1A |= ~_BV(COM1A1)
#if (AUDIO_MODE == STANDARD_PLUS) && (AUDIO_RATE==16384) // all this conditional compilation is so clutsy!
}
#endif
}
void processKeyboard(void) {
MidiMessage message;
int key;
int vel;
int command;
while (synth.getNoteCount() > 0) {
message = synth.extractNote();
command = message.p0();
key = message.p1();
vel = message.p2();
if (vel == 0 || (command & 0xf0 == 0x80)) {
// note-off command section
long duration = t_time - performerNotes[key];
durations.insert(duration);
durtimes.insert(t_time);
performerNotes[key] = 0;
performerPC[key%12]--;
if (performerPC[key%12] < 0) {
performerPC[key%12] = 0;
}
} else { // note-on command
performerNotes[key] = t_time;
performerPC[key%12]++;
performerPCHistory[key%12]++;
keys.insert(key);
keytimes.insert(t_time);
volumes.insert(vel);
voltimes.insert(t_time);
} // end of the note-on command section
} // end of the while loop for processing notes from the performer
// update the time that the performer last play a note on/off:
lastPerformerTime = t_time;
updatePerformRegions();
updateDuration();
updateVolume();
}
ISR(TIMER1_OVF_vect, ISR_BLOCK)
{
#if (AUDIO_MODE == STANDARD_PLUS) && (AUDIO_RATE == 16384) // only update every second ISR, if lower audio rate
static boolean alternate;
alternate = !alternate;
if(alternate)
{
#endif
#if (USE_AUDIO_INPUT==true)
adc_count = 0;
startSecondAudioADC();
#endif
//if (!output_buffer.isEmpty()) {
AUDIO_CHANNEL_1_OUTPUT_REGISTER = output_buffer.read();
//}
#if (AUDIO_MODE == STANDARD_PLUS) && (AUDIO_RATE==16384) // all this conditional compilation is so clutsy!
}
#endif
}
void audioHook() // 2us excluding updateAudio()
{
//setPin13High();
#if (USE_AUDIO_INPUT==true)
if (!input_buffer.isEmpty())
audio_input = input_buffer.read();
#endif
if (!output_buffer.isFull()) {
#if (STEREO_HACK == true)
updateAudio(); // in hacked version, this returns void
output_buffer.write((unsigned int) (audio_out_1 + AUDIO_BIAS));
output_buffer2.write((unsigned int) (audio_out_2 + AUDIO_BIAS));
#else
output_buffer.write((unsigned int) (updateAudio() + AUDIO_BIAS));
#endif
}
//setPin13Low();
}
int main (int argc, const char * argv[])
{
//Create a new circular buffer for unsigned integers
CircularBuffer< UINT > buffer;
//Resize the buffer
buffer.resize( 10 );
//Add some values to the buffer so we fill it
for(UINT i=0; i<buffer.getSize(); i++){
cout << "Adding " << i << " to buffer\n";
buffer.push_back( i );
//Print the values in the buffer
cout << "Values: \t\t";
for(UINT j=0; j<buffer.getSize(); j++){
cout << buffer[j] << "\t";
}cout << endl;
//Print the raw values in the buffer
cout << "RawValues: \t\t";
for(UINT j=0; j<buffer.getSize(); j++){
cout << buffer(j) << "\t";
}cout << endl;
}
//Get all the data in the buffer as a vector
vector<UINT> data = buffer.getDataAsVector();
cout << "Data: \t\t\t";
for(UINT j=0; j<data.size(); j++){
cout << data[j] << "\t";
}
cout << endl;
return EXIT_SUCCESS;
}
void initialization(void) {
batonTimer.setPeriod(50); // time to get new state of baton
offTimer.setPeriod(200); // time to check buffer for forgetting
controlDisplayTimer.setPeriod(200); // time to check buffer for forgetting
// set the voice channels all to be 0 for the disklavier and so
// the channels do not have to be specified when playing the note.
for (int i=0; i<MAXVOICES; i++) {
voice[i].setChannel(0);
}
computer.setChannel(0);
computerMessage.time = t_time;
computerMessage.p0() = 0x90;
computerMessage.p1() = 0;
computerMessage.p2() = 0;
keys.setSize(1000); // store keys for memory of previous notes
keytimes.setSize(1000); // note times for keys buffer
volumes.setSize(1000); // duration of notes being held by performer
voltimes.setSize(1000); // duration of notes being held by performer
durations.setSize(1000); // duration of notes being held by performer
durtimes.setSize(1000); // duration of notes being held by performer
}
ssize_t PNGTrans::AvailableDataSize()
{
return( m_cOutBuffer.Size() );
}
status_t GIFTrans::AddData( const void* pData, size_t nLen, bool bFinal )
{
m_bEOF = bFinal;
m_cInBuffer.Write( pData, nLen );
return( 0 );
}
int main()
{
{
// Test default constructor
CircularBuffer buf;
std::cout << buf.size() << "\n";
}
{
// Test constructor taking 1 arg: size of buffer
CircularBuffer buf(32);
std::cout << buf.size() << "\n";
}
{
// Test constructor taking std::vector
std::vector<int> v = {1, 2, 3, 4, 5, 6, 7, 8, 9, 0};
CircularBuffer buf(v);
std::cout << buf.size() << "\n";
}
{
// Test copy constructor
std::vector<int> v = {1, 2, 3, 4, 5, 6, 7, 8, 9, 0};
CircularBuffer buf(v);
CircularBuffer buf2(buf);
std::cout << buf.size() << ", " << buf2.size() << "\n";
}
{
// Test move constructor
std::vector<int> v = {1, 2, 3, 4, 5, 6, 7, 8, 9, 0};
CircularBuffer buf(v);
CircularBuffer buf2(std::move(buf));
std::cout << buf.size() << ", " << buf2.size() << "\n";
}
{
// Test copy assignment
std::vector<int> v = {1, 2, 3, 4, 5, 6, 7, 8, 9, 0};
CircularBuffer buf(v);
CircularBuffer buf2(3);
std::cout << buf.size() << ", " << buf2.size() << " -> ";
buf2 = buf;
std::cout << buf.size() << ", " << buf2.size() << "\n";
}
{
// Test move assignment
std::vector<int> v = {1, 2, 3, 4, 5, 6, 7, 8, 9, 0};
CircularBuffer buf(v);
CircularBuffer buf2(3);
std::cout << buf.size() << ", " << buf2.size() << " -> ";
buf2 = std::move(buf);
std::cout << buf.size() << ", " << buf2.size() << "\n";
}
{
// Test indexing
CircularBuffer buf(10);
buf[0] = buf[2] = buf[4] = buf[6] = buf[8] = 1;
buf[1] = buf[3] = buf[5] = buf[7] = buf[9] = 2;
std::cout << buf.at(1) << " " << buf[6] << "\n";
std::cout << buf.at(32) << " " << buf[127] << "\n";
}
{
// Test indexing const object
const CircularBuffer buf({1, 2, 3, 4, 5});
std::cout << buf.at(1) << " " << buf[8] << "\n";
}
{
// Test size (already used above)
CircularBuffer buf(3);
if (buf.size() != 3)
std::cout << "Incorrect size!\n";
else
std::cout << "Correct size!\n";
}
{
// Test clear
CircularBuffer buf(5);
std::cout << buf.size() << " -> ";
buf.clear();
std::cout << buf.size() << "\n";
}
{
// Test swap
CircularBuffer buf({1, 2, 3, 4, 5});
CircularBuffer buf2({6, 7, 8, 9, 0});
std::cout << buf[0] << " " << buf[4] << " : " << buf2[0] << " "
<< buf2[4] << " -> ";
buf.swap(buf2);
std::cout << buf[0] << " " << buf[4] << " : " << buf2[0] << " "
<< buf2[4] << "\n";
}
{
// Test insert
CircularBuffer buf;
buf.insert(0, 1);
buf.insert(0, 2);
buf.insert(0, 3);
std::cout << buf.size() << " " << buf[2] << "\n";
buf.insert(200, 4);
std::cout << buf.size() << " " << buf[2] << "\n";
}
{
// Test move-insert
CircularBuffer buf;
int x = 3;
buf.insert(0, std::move(x));
int y = 2;
buf.insert(0, std::move(y));
std::cout << buf[0] << " " << buf[1] << " " << buf[2] << "\n";
}
{
// Test erase
CircularBuffer buf({1, 2, 3, 4});
std::cout << buf[0] << " " << buf.size() << " -> ";
buf.erase(0);
std::cout << buf[0] << " " << buf.size() << "\n";
}
return 0;
}
int main ( int argc, char ** argv )
{
char optChar;
char * target;
int optindx = 0;
int interval = 0;
int count = -1;
int timeout = ICMP_TIMEOUT_SECS;
bool debug = false;
size_t size = 0;
timeval tvin, tvsnt, tvo;
static struct option l_opts[] = { {"count", required_argument, 0, 'c'},
{"debug", no_argument, 0, 'd'},
{"interval", required_argument, 0, 'i'},
{"help", no_argument, 0, 'h'},
{"size", required_argument, 0, 's'},
{"version", no_argument, 0, 'v'},
{0,0,0,0}
};
if ( argc < 2 )
usage();
while ( (optChar = getopt_long(argc, argv, "c:di:hs:v", l_opts, &optindx)) != EOF )
{
switch ( optChar ) {
case 'c':
count = StringUtils::FromString<int>(optarg);
break;
case 'd':
debug = true;
break;
case 'i':
interval = StringUtils::FromString<int>(optarg);
break;
case 'h':
usage();
break;
case 's':
size = StringUtils::FromString<size_t>(optarg);
break;
case 'v':
version();
break;
default:
usage();
break;
}
}
target = strdup(argv[argc-1]);
::memset(&tvsnt, 0, sizeof(tvsnt));
::memset(&tvin, 0, sizeof(tvin));
::memset(&tvo, 0, sizeof(tvo));
if ( interval == 0 )
interval = 1000;
std::string host = target;
::free(target);
Pid = ::getpid() & 0xFFFF;
::signal(SIGPIPE, SIG_IGN);
::signal(SIGINT, &sigHandler);
ipv4addr_t dstaddr = AddrInfo::GetHostAddr(host);
if ( dstaddr == 0 ) {
std::cout << "Invalid target host: " << host << std::endl;
exit(-1);
}
Socket * icmps = new Socket(dstaddr, SOCKET_ICMP, SOCKTYPE_RAW, SOCKET_ICMP);
icmps->init(false);
dropPriv();
neticmp_h * req = NULL;
icmp_ts * its = NULL;
char * wptr = NULL;
char * wbuff = NULL;
char * data = NULL;
const char * dt = NULL;
bool sendReq = true;
sockaddr_t csock;
sockaddr_in* sa;
ipv4addr_t addr;
size_t sz, buflen, idsz;
ssize_t wt, rd;
int cnt, sent, rcvd;
float mstot, avg;
cnt = 1;
sent = 0;
rcvd = 0;
mstot = 0.0;
avg = 0.0;
buflen = 2048;
idsz = sizeof(neticmp_h) + sizeof(icmp_ts);
CircularBuffer * rbuff = new CircularBuffer(buflen);
wbuff = (char*) ::malloc(buflen);
req = (neticmp_h*) wbuff;
its = (icmp_ts*) wbuff + sizeof(neticmp_h);
data = wbuff + idsz;
req->type = ICMP_ECHO;
req->code = 0;
req->chksum = 0;
req->id = Pid;
req->seq = 0;
if ( count > 0 )
cnt = count;
if ( size > (buflen - idsz) )
size = buflen - idsz - 4;
size += Serializer::PadLen(size);
InitDataBlock(size);
dt = RandData.substr(0, size).data();
::memcpy(data, dt, size);
its->size = size;
std::cout << "Sending ";
if ( count > 0 )
std::cout << "(" << count << ") " ;
std::cout << "ICMP echo requests to " << IpAddr::ntop(dstaddr)
<< " (" << host << ")" << std::endl;
std::cout << "ICMP data size is " << size << std::endl;
while ( ! Alarm )
{
rbuff->reset();
if ( ! getTimeOfDay(tvin) )
errorOut("error in gettime");
float lastsnt = timeDiff(tvin, tvsnt);
if ( lastsnt >= interval )
sendReq = true;
if ( sendReq && cnt > 0 ) {
sz = idsz + size; // account for added data size
tvsnt = tvin;
its->secs = tvin.tv_sec;
its->usecs = tvin.tv_usec;
req->chksum = 0;
req->seq++;
req->chksum = Socket::IpChkSum((uint16_t*)req, sz);
wt = icmps->write(wbuff, sz);
if ( wt < 0 )
errorOut("Error in write " + icmps->getErrorString());
sent++;
sendReq = false;
if ( count > 0 )
cnt--;
if ( debug )
std::cout << "Request <" << sent << "> sent" << std::endl;
}
sz = rbuff->writePtrAvailable();
wptr = rbuff->getWritePtr(&sz);
if ( wptr == NULL )
errorOut("Error in writing to rbuff");
rd = icmps->readFrom(wptr, sz, csock);
if ( rd < 0 )
errorOut("Error in readFrom " + icmps->getErrorString());
sa = (sockaddr_in*) &csock;
addr = sa->sin_addr.s_addr;
rbuff->setWritePtr(rd);
if ( rd > 0 && addr == dstaddr )
{
IcmpResponse response;
if ( ! getTimeOfDay(tvin) )
errorOut("error in gettime");
rd = readIcmpHeader(rbuff, response);
if ( rd > 0 && response.icmph.id == Pid ) {
sz = rbuff->readAvailable();
rcvd++;
if ( sz == sizeof(icmp_ts) ) {
timeval tv;
char * idf = rbuff->getReadPtr(&sz);
icmp_ts * ist = (icmp_ts*) idf;
tv.tv_sec = ist->secs;
tv.tv_usec = ist->usecs;
if ( debug )
std::cout << " Received data field in echo response" << std::endl;
rbuff->setReadPtr(sz);
}
float ms = timeDiff(tvin, tvsnt);
std::cout << (rd+sz) << " bytes from " << IpAddr::ntop(addr)
<< ": seq=" << response.icmph.seq << " time=" << ms << " ms"
<< std::endl;
mstot += ms;
avg = (float) mstot / rcvd;
if ( debug )
std::cout << " mstot=" << mstot << " rcvd = " << rcvd << std::endl;
}
}
if ( cnt == 0 ) {
if ( rcvd == cnt )
break;
if ( tvo.tv_sec == 0 )
tvo.tv_sec = tvin.tv_sec;
else if ( (tvin.tv_sec - tvo.tv_sec) > timeout )
break;
}
::usleep(1000);
}
float loss;
if ( rcvd == sent )
loss = 0.0;
else
loss = ( 100.0 - ( ((float) rcvd / (float) sent) * 100.0) );
std::cout << std::endl << "Results:" << std::endl;
std::cout << " Sent " << sent << " requests, received " << rcvd
<< ": Loss=" << loss << "% : Avg Time= " << avg << " ms "
<< std::endl;
return 0;
}
void* GlassesVideo::runThread(void*)
{
VideoCapture gl_capture(3);
gl_capture.set(CV_CAP_PROP_FRAME_WIDTH , 640);
gl_capture.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
if(!gl_capture.isOpened())
{
cout << "Cannot open glasses video !" << endl;
}
Mat gl_img, gl_img_OR;
Mat curMat, preMat;
//glassesOR glOR(&gl_img_OR);
//glOR.stopRunning();
ObjectRecognition gl_or("g20111105_4.yml.gz");
Mat gl_img_bk;
Mat glres_image; //display result image
int gl_result=255;
RobotSearch robotsearch;
//robotsearch.create();
robotsearch.stopRunning();
//namedWindow("Glasses Video");
//moveWindow("Glasses Video", 645, 0);
namedWindow("Video Live");
moveWindow("Video Live", 645, 0);
namedWindow("Glasses_result",CV_WINDOW_NORMAL);
moveWindow("Glasses_result",1000,600);
//G_glassesMode = glassesOR;
while(1)
{
gl_capture >> gl_img;
cvtColor(gl_img,gl_img_bk,CV_RGB2GRAY);
imshow("Video Live",gl_img_bk);
waitKey(1);
//----------------------------glasses Motion ------------------------
preMat = gl_img.clone();
//imshow("preMat", preMat);
gl_capture >> curMat;
//imshow ("cur", curMat);
modeSwitch(preMat, curMat);
//-------------------------------------------------------------------
if(G_glassesMode == glassesOR) //OR MODE
{
//Open Glasses Objct Recognition
//glOR.runAsync();
gl_result=255;
gl_result = gl_or.find(gl_img_bk, 'G');
//if(gl_result !=255)
//{
// gl_capture >> gl_img;
// cvtColor(gl_img,gl_img_bk,CV_RGB2GRAY);
// imshow("Video Live",gl_img);
// waitKey(1);
// gl_result=255;
// gl_result = gl_or.find(gl_img_bk, 'G');
// /*if(gl_result !=255)
// {
// gl_capture >> gl_img;
// cvtColor(gl_img,gl_img_bk,CV_RGB2GRAY);
// imshow("Video Live",gl_img);
// waitKey(1);
// gl_result=255;
// gl_result = gl_or.find(gl_img_bk, 'G');
// }
// else gl_result=255;*/
//}
//gl_result=4;
if(gl_result !=255)
{
//-------------------------Display the result ------------------------
robotSpeak(gl_result, "name");
stringstream ret_src1; //result src
ObjectRecognition::loadImage(ret_src1, gl_result, 'G', 1);
glres_image = imread(ret_src1.str());
imshow("Glasses_result", glres_image);
waitKey(1);
//--------------------glasses goes to roobt search mode------------------
GlassesModeMutex.lock();
CB.clear();
G_glassesMode = robotSearch;
G_Search_Step = 0;
isDoneRobot = true;
G_Target= gl_result/5;
gl_result = 255;
HelpStartTime = time(NULL);
//RobotCommand(CameraMotion); //cameraMotion
GlassesModeMutex.unlock();
////-------------------------Open robot search thread ------------------------
if(!robotsearch.getRunning())
robotsearch.runAsync();
}
}
}
//return 0;
}
unsigned long audioTicks()
{
return output_buffer.count();
}