void loop() {
printf("-------------------- GO ! --------------------\n");
int i = 0;
while ( i >= 0 && !done ) {
for ( int i=0; i<num_sources; i++ ) {
mdev_poll( source_device_list[i], 0 );
}
for ( int i=0; i<num_dests; i++ ) {
mdev_poll( dest_device_list[i], 0 );
}
usleep(50 * 1000);
i++;
}
}
void wait_local_devices(int *cancel) {
int keep_waiting = 1;
while ( keep_waiting && !*cancel ) {
keep_waiting = 0;
for ( int i=0; i<num_sources; i++ ) {
mdev_poll( source_device_list[i], 0 );
if ( !mdev_ready(source_device_list[i]) ) {
keep_waiting = 1;
}
}
for ( int i=0; i<num_dests; i++ ) {
mdev_poll( dest_device_list[i], 0 );
if ( !mdev_ready(dest_device_list[i]) ) {
keep_waiting = 1;
}
}
}
//mapper_db_dump();
}
void connect_signals()
{
char source_name[1024], destination_name[1024];
printf("%s\n", mdev_name(source));
printf("%s\n", mdev_name(destination));
lo_address a = lo_address_new_from_url("osc.udp://224.0.1.3:7570");
lo_address_set_ttl(a, 1);
lo_send(a, "/link", "ss", mdev_name(source), mdev_name(destination));
int j = 50;
while (j >= 0) {
mdev_poll(source, 10);
mdev_poll(destination, 10);
j--;
}
msig_full_name(sendsig, source_name, 1024);
msig_full_name(recvsig, destination_name, 1024);
lo_send(a, "/connect", "ss", source_name, destination_name);
lo_address_free(a);
}
void connect_signals()
{
char source_name[1024], destination_name[1024];
printf("%s\n", mdev_name(source));
printf("%s\n", mdev_name(destination));
lo_address a = lo_address_new_from_url("osc.udp://224.0.1.3:7570");
lo_address_set_ttl(a, 1);
lo_send(a, "/link", "ss", mdev_name(source), mdev_name(destination));
// wait for link to be processed
int j = 50;
while (j >= 0) {
mdev_poll(source, 10);
mdev_poll(destination, 10);
j--;
}
msig_full_name(sendsig, source_name, 1024);
msig_full_name(recvsig, destination_name, 1024);
lo_send(a, "/connect", "ssssss", source_name, destination_name, "@mode", "expression", "@expression", "y=y{-1}+1");
lo_address_free(a);
// wait for connection to be processed
j = 50;
while (j >= 0) {
mdev_poll(source, 10);
mdev_poll(destination, 10);
j--;
}
}
void wait_local_devices()
{
while (!(mdev_ready(source) && mdev_ready(destination))) {
mdev_poll(source, 25);
mdev_poll(destination, 25);
}
}
void loop()
{
printf("-------------------- GO ! --------------------\n");
int i = 0;
if (automate) {
char source_name[1024], destination_name[1024];
printf("%s\n", mdev_name(source));
printf("%s\n", mdev_name(destination));
lo_address a = lo_address_new_from_url("osc.udp://224.0.1.3:7570");
lo_address_set_ttl(a, 1);
lo_send(a, "/link", "ss", mdev_name(source), mdev_name(destination));
msig_full_name(sendsig, source_name, 1024);
msig_full_name(recvsig, destination_name, 1024);
lo_send(a, "/connect", "ssss", source_name, destination_name,
"@mode", "reverse");
lo_address_free(a);
}
while (i >= 0 && !done) {
msig_update_float(recvsig, ((i % 10) * 1.0f));
printf("\ndestination value updated to %f -->\n", (i % 10) * 1.0f);
mdev_poll(destination, 1);
mdev_poll(source, 100);
i++;
}
}
void loop(int iterations)
{
printf("-------------------- GO ! --------------------\n");
int i = 0, j = 0;
float value = 0;
while (i >= 0 && iterations-- >= 0 && !done) {
// here we should create, update and destroy some instances
switch (rand() % 5) {
case 0:
// try to create a new instance
for (j = 0; j < 10; j++) {
if (!sendinst[j]) {
sendinst[j] = nextid++;
printf("--> Created new sender instance: %d\n",
sendinst[j]);
break;
}
}
break;
case 1:
// try to destroy an instance
j = rand() % 10;
if (sendinst[j]) {
printf("--> Retiring sender instance %ld\n",
(long)sendinst[j]);
msig_release_instance(sendsig,
sendinst[j],
MAPPER_TIMETAG_NOW);
sendinst[j] = 0;
break;
}
break;
default:
j = rand() % 10;
if (sendinst[j]) {
// try to update an instance
value = (rand() % 10) * 1.0f;
msig_update_instance(sendsig,
sendinst[j],
&value, 0,
MAPPER_TIMETAG_NOW);
printf("--> sender instance %d updated to %f\n",
sendinst[j], value);
sent++;
}
break;
}
print_instance_ids(sendsig);
print_instance_ids(recvsig);
printf("\n");
mdev_poll(destination, 100);
mdev_poll(source, 0);
i++;
//usleep(1 * 1000);
}
}
void wait_ready()
{
while (!(mdev_ready(source) && mdev_ready(destination))) {
mdev_poll(source, 0);
mdev_poll(destination, 0);
usleep(500 * 1000);
}
}
void wait_local_devices()
{
while (!done && !(mdev_ready(source) && mdev_ready(destination))) {
mdev_poll(source, 0);
mdev_poll(destination, 0);
usleep(50 * 1000);
}
}
void loop()
{
printf("Polling device..\n");
int i;
for (i = 0; i < 10; i++) {
mdev_poll(source, 0);
printf("Updating signal %s to %f\n",
sendsig->props.name, (i * 1.0f));
msig_update_float(sendsig, (i * 1.0f));
sent++;
usleep(250 * 1000);
mdev_poll(destination, 0);
}
}
int main()
{
signal(SIGINT, ctrlc);
mapper_device dev = mdev_new("pwm", 9000, 0);
float min0 = 0;
float max1 = 1;
float max1000 = 1000;
mdev_add_input(dev, "/freq", 1, 'f', "Hz", &min0, &max1000,
(mapper_signal_handler*)handler_freq, 0);
mdev_add_input(dev, "/gain", 1, 'f', "Hz", &min0, &max1,
(mapper_signal_handler*)handler_gain, 0);
mdev_add_input(dev, "/duty", 1, 'f', "Hz", &min0, &max1,
(mapper_signal_handler*)handler_duty, 0);
run_synth();
set_duty(0.1);
set_freq(110.0);
set_gain(0.1);
printf("Press Ctrl-C to quit.\n");
while (!done)
mdev_poll(dev, 10);
mdev_free(dev);
set_freq(0);
sleep(1);
stop_synth();
}
int setup_connection()
{
mval src_min, src_max, dest_min, dest_max;
src_min.f = 0.;
src_max.f = 1.;
dest_min.f = -10.;
dest_max.f = 10.;
mapper_monitor mon = mapper_monitor_new(source->admin, 0);
char src_name[1024], dest_name[1024];
mapper_monitor_link(mon, mdev_name(source),
mdev_name(destination), 0, 0);
msig_full_name(sendsig, src_name, 1024);
msig_full_name(recvsig, dest_name, 1024);
mapper_connection_range_t range;
range.src_min = &src_min;
range.src_max = &src_max;
range.dest_min = &dest_min;
range.dest_max = &dest_max;
range.known = CONNECTION_RANGE_KNOWN;
mapper_db_connection_t props;
props.range = range;
props.src_length = 1;
props.dest_length = 1;
props.src_type = 'f';
props.dest_type = 'f';
props.mode = MO_LINEAR;
mapper_monitor_connect(mon, src_name, dest_name, &props,
CONNECTION_RANGE_KNOWN | CONNECTION_MODE);
// poll devices for a bit to allow time for connection
int i = 0;
while (i++ < 10) {
mdev_poll(destination, 10);
mdev_poll(source, 10);
}
mapper_monitor_free(mon);
return 0;
}
void loop()
{
printf("Polling device..\n");
int i;
for (i = 0; i < 10; i++) {
mdev_poll(source, 0);
float v[3];
v[0] = (float)i;
v[1] = (float)i+1;
v[2] = (float)i+2;
printf("Updating signal %s to [%f, %f, %f]\n",
sendsig->props.name, v[0], v[1], v[2]);
msig_update(sendsig, v);
sent++;
usleep(250 * 1000);
mdev_poll(destination, 0);
}
}
int main()
{
int result = 0;
value = (float)rand();
signal(SIGINT, ctrlc);
if (setup_destination()) {
printf("Error initializing destination.\n");
result = 1;
goto done;
}
if (setup_source()) {
printf("Done initializing source.\n");
result = 1;
goto done;
}
wait_local_devices();
if (automate)
connect_signals();
// start things off
printf("STARTING TEST...\n");
times[0] = get_current_time();
msig_update_instance(sendsig, counter++, &value, 0, MAPPER_TIMETAG_NOW);
while (!done) {
mdev_poll(destination, 0);
mdev_poll(source, 0);
}
goto done;
done:
cleanup_destination();
cleanup_source();
print_results();
return result;
}
void loop()
{
printf("-------------------- GO ! --------------------\n");
int i = 0, j = 0, count;
if (automate) {
char source_name[1024], destination_name[1024];
printf("%s\n", mdev_name(source));
printf("%s\n", mdev_name(destination));
lo_address a = lo_address_new_from_url("osc.udp://224.0.1.3:7570");
lo_address_set_ttl(a, 1);
lo_send(a, "/link", "ss", mdev_name(source), mdev_name(destination));
for (int i = 0; i < 4; i++) {
msig_full_name(sendsig[i], source_name, 1024);
msig_full_name(recvsig[i], destination_name, 1024);
lo_send(a, "/connect", "ss", source_name, destination_name);
}
lo_address_free(a);
}
while (i >= 0 && !done) {
for (j = 0; j < 4; j++) {
msig_update_float(recvsig[j], ((i % 10) * 1.0f));
}
printf("\ndestination values updated to %d -->\n", i % 10);
for (j = 0; j < 4; j++) {
count = msig_query_remote(sendsig[j], dummysig[j]);
printf("Sent %i queries for sendsig[%i]\n", count, j);
}
mdev_poll(destination, 100);
mdev_poll(source, 0);
i++;
usleep(500 * 1000);
}
}
void loop()
{
printf("-------------------- GO ! --------------------\n");
int i = 0;
if (automate) {
char source_name_1[1024], destination_name_1[1024];
char source_name_2[1024], destination_name_2[1024];
printf("%s\n", mdev_name(source));
printf("%s\n", mdev_name(destination));
lo_address a = lo_address_new_from_url("osc.udp://224.0.1.3:7570");
lo_address_set_ttl(a, 1);
lo_send(a, "/link", "ss", mdev_name(source), mdev_name(destination));
msig_full_name(sendsig_1, source_name_1, 1024);
msig_full_name(recvsig_1, destination_name_1, 1024);
lo_send(a, "/connect", "ss", source_name_1, destination_name_1);
msig_full_name(sendsig_2, source_name_2, 1024);
msig_full_name(recvsig_2, destination_name_2, 1024);
lo_send(a, "/connect", "ss", source_name_2, destination_name_2);
lo_address_free(a);
}
while (i >= 0 && !done) {
mdev_poll(source, 0);
msig_update_float(source->outputs[0], ((i % 10) * 1.0f));
msig_update_float(source->outputs[1], ((i % 10) * 1.0f));
printf("source value updated to %d -->\n", i % 10);
printf("Received %i messages.\n\n", mdev_poll(destination, 100));
i++;
}
}
void loop()
{
int i = 0;
printf("Loading devices...\n");
while (i >= 0 && !done) {
for (i=0; i<5; i++)
mdev_poll(devices[i], 0);
lo_timetag_now(&system_time);
if (system_time.sec != last_update) {
last_update = system_time.sec;
if (ready) {
for (i=0; i<5; i++) {
mdev_timetag_now(devices[i], &device_times[i]);
}
// calculate standard deviation
double mean = 0;
for (i=0; i<5; i++) {
mean += mapper_timetag_get_double(device_times[i]);
}
mean /= 5;
double difference_aggregate = 0;
for (i=0; i<5; i++) {
difference_aggregate += powf(mapper_timetag_get_double(device_times[i]) - mean, 2);
}
// print current system time and device diffs
printf("%f", (double)system_time.sec +
(double)system_time.frac * 0.00000000023283064365);
for (i=0; i<5; i++) {
printf(" | %f", mapper_timetag_difference(system_time, device_times[i]));
}
printf(" | %f", sqrtf(difference_aggregate / 5));
printf("\n");
}
else {
int count = 0;
for (i=0; i<5; i++) {
count += mdev_ready(devices[i]);
}
if (count >= 5) {
printf("\nSYSTEM TIME ***** | OFFSETS *****\n");
for (i=0; i<5; i++) {
// Give each device clock a random starting offset
devices[i]->admin->clock.offset = (rand() % 100) - 50;
}
ready = 1;
}
}
}
usleep(10 * 1000);
}
}
int setup_connection()
{
int count = 0;
mapper_monitor mon = mapper_monitor_new(source->admin, 0);
if (!mon)
goto error;
char src_name[1024], dest_name[1024];
mapper_monitor_link(mon, mdev_name(source),
mdev_name(destination), 0, 0);
while (!done && !source->routers) {
if (count++ > 50)
goto error;
mdev_poll(source, 10);
mdev_poll(destination, 10);
}
msig_full_name(sendsig, src_name, 1024);
msig_full_name(recvsig, dest_name, 1024);
mapper_monitor_connect(mon, src_name, dest_name, 0, 0);
// wait until connection has been established
while (!done && !source->routers->num_connections) {
if (count++ > 50)
goto error;
mdev_poll(source, 10);
mdev_poll(destination, 10);
}
eprintf("Connection established.\n");
mapper_monitor_free(mon);
return 0;
error:
return 1;
}
struct _agentInfo *agentInit()
{
obs[0] = obs[1] = 0;
id = 0;
struct _agentInfo *info = &agentInfo;
memset(info, 0, sizeof(struct _agentInfo));
info->influence_device_name = strdup("/influence.1");
info->xagora_device_name = strdup("/XAgora_receiver.1");
info->admin = mapper_admin_new(0, 0, 0);
// add device
info->dev = mdev_new("agent", 9000 + id, info->admin);
while (!mdev_ready(info->dev)) {
mdev_poll(info->dev, 100);
}
printf("ordinal: %d\n", mdev_ordinal(info->dev));
fflush(stdout);
// add monitor and monitor callbacks
info->mon = mapper_monitor_new(info->admin, 0);
info->db = mapper_monitor_get_db(info->mon);
mapper_db_add_device_callback(info->db, dev_db_callback, info);
mapper_db_add_link_callback(info->db, link_db_callback, info);
// add signals
float mn=-1, mx=1;
mdev_add_input(info->dev, "observation", 2, 'f', "norm", &mn, &mx,
signal_handler, 0);
int imn=0, imx=WIDTH;
info->sig_pos = mdev_add_output(info->dev, "position", 2, 'i', 0, &imn, &imx);
info->sig_gain = mdev_add_output(info->dev, "gain", 1, 'f',
"normalized", &mn, &mx);
mx = 0.9;
info->sig_fade = mdev_add_output(info->dev, "fade", 1, 'f', "normalized", &mn, &mx);
mn = -1.5;
mx = 1.5;
info->sig_spin = mdev_add_output(info->dev, "spin", 1, 'f', "radians", &mn, &mx);
mn = -3.1415926;
mx = 3.1315926;
info->sig_dir = mdev_add_output(info->dev, "direction", 1, 'f', "radians", &mn, &mx);
mn = -1;
info->sig_flow = mdev_add_output(info->dev, "flow", 1, 'f', "noramlized", &mn, &mx);
return info;
}
int test_recv()
{
mapper_device md = mdev_new("synth", 0, 0);
if (!md)
goto error;
printf("Mapper device created.\n");
float mn=0, mx=1;
mapper_signal sig =
mdev_add_input(md, "/mapped1", 1, 'f', 0, &mn, &mx, handler, 0);
printf("Input signal /mapped1 registered.\n");
printf("Number of inputs: %d\n", mdev_num_inputs(md));
printf("Waiting for port/ordinal allocation..\n");
int i;
for (i = 0; i < 10; i++) {
mdev_poll(md, 500);
if (mdev_ready(md))
break;
usleep(500 * 1000);
}
if (i >= 10) {
printf("Timed out waiting for signal name.\n");
goto error;
}
char port[10];
sprintf(port, "%i", md->admin->port);
printf("using port = %s\n", port);
lo_address a = lo_address_new("localhost", port);
if (!a) {
printf("Error creating lo_address for test.\n");
return 1;
}
printf("Polling device..\n");
for (i = 0; i < 10; i++) {
lo_send(a, sig->props.name, "f", (float) i);
printf("Updating signal %s to %f\n", sig->props.name, (float) i);
sent++;
mdev_poll(md, 500);
//usleep(500 * 1000);
}
if (sent != received) {
printf("Not all sent values were received.\n");
printf("Sent %d values, but %d received.\n", sent, received);
goto error;
}
if (sent == 0) {
printf("Unable to send any values.\n");
goto error;
}
printf("Sent and received %d values.\n", sent);
mdev_free(md);
lo_address_free(a);
return 0;
error:
if (md)
mdev_free(md);
lo_address_free(a);
return 1;
}
/* This is where we test the use of select() to wait on multiple
* devices at once. */
void select_on_both_devices(int block_ms)
{
int i, updated = 0;
fd_set fdr;
int nfds1 = mdev_num_fds(source);
int nfds2 = mdev_num_fds(destination);
int *fds1 = alloca(sizeof(int)*nfds1);
int *fds2 = alloca(sizeof(int)*nfds2);
int mfd = -1;
nfds1 = mdev_get_fds(source, fds1, nfds1);
nfds2 = mdev_get_fds(destination, fds2, nfds2);
FD_ZERO(&fdr);
for (i = 0; i < nfds1; i++) {
FD_SET(fds1[i], &fdr);
if (fds1[i] > mfd) mfd = fds1[i];
}
for (i = 0; i < nfds2; i++) {
FD_SET(fds2[i], &fdr);
if (fds2[i] > mfd) mfd = fds2[i];
}
struct timeval timeout = { block_ms * 0.001, (block_ms * 1000) % 1000000 };
struct timeval now, then;
gettimeofday(&now, NULL);
then.tv_sec = now.tv_sec + block_ms * 0.001;
then.tv_usec = now.tv_usec + block_ms * 1000;
if (then.tv_usec > 1000000) {
then.tv_sec++;
then.tv_usec %= 1000000;
}
while (timercmp(&now, &then, <)) {
if (select(mfd+1, &fdr, 0, 0, &timeout) > 0)
{
for (i = 0; i < nfds1; i++) {
if (FD_ISSET(fds1[i], &fdr))
mdev_service_fd(source, fds1[i]);
}
for (i = 0; i < nfds2; i++) {
if (FD_ISSET(fds2[i], &fdr))
mdev_service_fd(destination, fds2[i]);
}
updated ++;
}
gettimeofday(&now, NULL);
// not necessary in Linux since timeout is updated by select()
timersub(&then, &now, &timeout);
}
if (!updated) {
/* If nothing happened in 100 ms, we should poll the devices
* anyways in case action needs to be taken. */
mdev_poll(source, 0);
mdev_poll(destination, 0);
}
}
int main(int argc, char *argv[])
{
if (argc > 1)
id = atoi(argv[1]);
signal(SIGINT, ctrlc);
struct _agentInfo *info = agentInit();
if (!info->dev)
goto done;
float pos[2];
pos[0] = rand()%WIDTH/2+WIDTH/4;
pos[1] = rand()%HEIGHT/2+HEIGHT/4;
float gain = 0.2;
float damping = 0.9;
float limit = 1;
float vel[2] = {0,0};
int counter = 0;
while (!done) {
mapper_monitor_poll(info->mon, 0);
if (mdev_poll(info->dev, 10)) {
vel[0] += obs[0] * gain;
vel[1] += obs[1] * gain;
pos[0] += vel[0];
pos[1] += vel[1];
vel[0] *= damping;
vel[1] *= damping;
if (vel[0] > limit) vel[0] = limit;
if (vel[0] < -limit) vel[0] = -limit;
if (vel[1] > limit) vel[1] = limit;
if (vel[1] < -limit) vel[1] = -limit;
if (pos[0] < 0) {
pos[0] = 0;
vel[0] *= -0.95;
}
if (pos[0] >= WIDTH) {
pos[0] = WIDTH-1;
vel[0] *= -0.95;
}
if (pos[1] < 0) {
pos[1] = 0;
vel[1] *= -0.95;
}
if (pos[1] >= HEIGHT) {
pos[1] = HEIGHT-1;
vel[1] *= -0.95;
}
int p[2];
p[0] = (int)pos[0];
p[1] = (int)pos[1];
msig_update(info->sig_pos, p);
counter = 0;
}
else {
if (counter++ > 100) {
int p[2];
p[0] = (int)pos[0];
p[1] = (int)pos[1];
msig_update(info->sig_pos, p);
counter = 0;
}
}
}
done:
agentLogout();
return 0;
}
