bool PortAudioDeviceDriver::renderSound(yarp::sig::Sound& sound)
{
int freq = sound.getFrequency();
int chans = sound.getChannels();
if (freq != this->frequency ||
chans != this->numChannels)
{
//wait for current playback to finish
while (Pa_IsStreamStopped(stream )==0)
{
yarp::os::Time::delay(SLEEP_TIME);
}
//reset the driver
printf("***** driver configuration changed, resetting *****\n");
this->close();
driverConfig.channels = chans;
driverConfig.rate = freq;
bool ok = open(driverConfig);
if (ok == false)
{
printf("error occurred during driver reconfiguration, aborting\n");
return false;
}
}
if (renderMode == RENDER_IMMEDIATE)
return immediateSound(sound);
else if (renderMode == RENDER_APPEND)
return appendSound(sound);
return false;
}
bool MicrophoneDeviceDriver::getSound(yarp::sig::Sound& sound) {
// main loop to capture the waveform audio data
unsigned char *data = pulsecode;
int begun = 1;
int bytes_to_grab = NUM_SAMPLES / 16;
int bytes_to_save = NUM_SAMPLES;
while ( bytes_to_save > 0 )
{
int nbytes = read( dsp, data, bytes_to_grab );
if ( !begun )
{
int max = 0;
for (int i = 0; i < nbytes; i++)
if ( data[i] > max ) max = data[i];
if ( max > 0x99 ) begun = 1;
else continue;
}
bytes_to_save -= nbytes;
data += nbytes;
}
sound.resize(NUM_SAMPLES);
double total = 0;
for (int i=0; i<NUM_SAMPLES; i++) {
sound.set(pulsecode[i],i);
total += abs(pulsecode[i]-128);
}
printf( "grabbing a chunk of %d samples... magnitude: %g\n",
NUM_SAMPLES, total);
return true;
}
bool PortAudioDeviceDriver::getSound(yarp::sig::Sound& sound)
{
if (pThread.something_to_record == false)
{
this->startRecording();
}
int buff_size = 0;
static int buff_size_wdt = 0;
while (buff_size<this->numSamples*this->numChannels)
{
buff_size = dataBuffers.recData->size();
if (buff_size == 0 && buff_size_wdt++ == 100) break;
yarp::os::SystemClock::delaySystem(SLEEP_TIME);
}
buff_size_wdt = 0;
if (sound.getChannels()!=this->numChannels && sound.getSamples() != this->numSamples)
{
sound.resize(this->numSamples,this->numChannels);
}
sound.setFrequency(this->driverConfig.rate);
for (int i=0; i<this->numSamples; i++)
for (int j=0; j<this->numChannels; j++)
{
SAMPLE s = dataBuffers.recData->read();
sound.set(s,i,j);
}
return true;
}
bool PortAudioDeviceDriver::appendSound(yarp::sig::Sound& sound)
{
//unsigned char* dataP= sound.getRawData();
int num_bytes = sound.getBytesPerSample();
int num_channels = sound.getChannels();
int num_samples = sound.getRawDataSize()/num_channels/num_bytes;
// memcpy(data.samplesBuffer,dataP,num_samples/**num_bytes*num_channels*/);
for (int i=0; i<num_samples; i++)
for (int j=0; j<num_channels; j++)
dataBuffers.playData->write (sound.get(i,j));
pThread.something_to_play = true;
return true;
}
bool FfmpegGrabber::getAudioVisual(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image,
yarp::sig::Sound& sound) {
FfmpegHelper& helper = HELPER(system_resource);
DecoderState& videoDecoder = helper.videoDecoder;
DecoderState& audioDecoder = helper.audioDecoder;
bool tryAgain = false;
bool triedAgain = false;
do {
bool gotAudio = false;
bool gotVideo = false;
if (startTime<0.5) {
startTime = Time::now();
}
double time_target = 0;
while(av_read_frame(pFormatCtx, &packet)>=0) {
// Is this a packet from the video stream?
DBG printf("frame ");
bool done = false;
if (packet.stream_index==videoDecoder.getIndex()) {
DBG printf("video ");
done = videoDecoder.getVideo(packet);
image.resize(1,1);
if (done) {
//printf("got a video frame\n");
gotVideo = true;
}
} if (packet.stream_index==audioDecoder.getIndex()) {
DBG printf("audio ");
done = audioDecoder.getAudio(packet,sound);
if (done) {
//printf("got an audio frame\n");
gotAudio = true;
}
} else {
DBG printf("other ");
}
AVRational& time_base = pFormatCtx->streams[packet.stream_index]->time_base;
double rbase = av_q2d(time_base);
DBG printf(" time=%g ", packet.pts*rbase);
time_target = packet.pts*rbase;
av_free_packet(&packet);
DBG printf(" %d\n", done);
if (((imageSync?gotVideo:videoDecoder.haveFrame())||!_hasVideo)&&
((imageSync?1:gotAudio)||!_hasAudio)) {
if (_hasVideo) {
videoDecoder.getVideo(image);
} else {
image.resize(0,0);
}
if (needRateControl) {
double now = (Time::now()-startTime)*pace;
double delay = time_target-now;
if (delay>0) {
DBG printf("DELAY %g ", delay);
Time::delay(delay);
} else {
DBG printf("NODELAY %g ", delay);
}
}
DBG printf("IMAGE size %dx%d ", image.width(), image.height());
DBG printf("SOUND size %d\n", sound.getSamples());
if (!_hasAudio) {
sound.resize(0,0);
}
return true;
}
}
tryAgain = !triedAgain;
if (tryAgain) {
if (!shouldLoop) {
return false;
}
av_seek_frame(pFormatCtx,-1,0,AVSEEK_FLAG_BACKWARD);
startTime = Time::now();
}
} while (tryAgain);
return false;
}