/* doBlock:
* Set positions of block sn and its child blocks.
*/
static void doBlock(Agraph_t * g, block_t * sn, double min_dist)
{
block_t *child;
nodelist_t *longest_path;
int childCount, length;
double centerAngle = M_PI;
/* layout child subtrees */
childCount = 0;
for (child = sn->children.first; child; child = child->next) {
doBlock(g, child, min_dist);
childCount++;
}
/* layout this block */
longest_path = layout_block(g, sn, min_dist);
sn->circle_list = longest_path;
length = sizeNodelist(longest_path); /* path contains everything in block */
/* attach children */
if (childCount > 0)
centerAngle =
position(g, childCount, length, longest_path, sn, min_dist);
if ((length == 1) && (BLK_PARENT(sn))) {
sn->parent_pos = centerAngle;
if (sn->parent_pos < 0)
sn->parent_pos += 2 * M_PI;
}
}
void GoaliePen::decide()
{
Vector Me;
vector <int> opps = pWorldData->mr_found_opponents();
Point ballPos = pWorldData->basedCenter(pWorldData->ball());
Point closestOppToBalll;
if(opps.size() != 0)
pWorldData->basedCenter(pWorldData->opponent(pWorldData->getNearstOppToPoint(ballPos)));
Point me;
me.x = Me.getX();
me.y = Me.getY();
if(pBasicPlayer->can_kick())
doClear();
else
{
if(me.getDistance(closestOppToBalll) > ballPos.getDistance(closestOppToBalll) && opps.size() != 0)
doBlock();
else
doGo();
}
}
void DotBuilder::doElement(ASTElement* element)
{
switch (element->getElementType())
{
case MELEMENT_BLOCK:
doBlock(reinterpret_cast<ASTBlock*>(element));
break;
case MELEMENT_CONSTANT:
doConstant(reinterpret_cast<ASTConstant*>(element));
break;
case MELEMENT_VARIABLE:
doVariable(reinterpret_cast<ASTVariable*>(element));
break;
case MELEMENT_OPERATOR:
doOperator(reinterpret_cast<ASTOperator*>(element));
break;
case MELEMENT_CALL:
doCall(reinterpret_cast<ASTCall*>(element));
break;
case MELEMENT_TRANSFORM:
doTransform(reinterpret_cast<ASTTransform*>(element));
break;
default:
MP_ASSERT_NOT_REACHED();
}
}
char dtmf(short *audio){
//find number of frequencies
numoffreq = sizeof(freq)/sizeof(int);
//allocate DFT arrays
float normfreq[numoffreq];
float coef[numoffreq];
float fmag[numoffreq];
float sam0[numoffreq];
float sam1[numoffreq];
float sam2[numoffreq];
//used in counters
int i;
//compute normalized frequencies
for(i = 0; i != numoffreq; i++) {
normfreq[i] = (float)freq[i]/((float)sampleRate*((float)interp+1));
}
//compute coefficents
for(i = 0; i != numoffreq; i++) {
coef[i] = 2*cos(2*pi*normfreq[i]);
}
//buffers
short int readBuffer[windowmov];
short int blockBuffer[blockln];
float interpBuffer[(int)blockln*(interp + 1)];
//clear buffers
for(i=0; i != blockln; i++) {
blockBuffer[i] = 0;
}
for(i=0; i != windowmov; i++) {
readBuffer[i] = 0;
}
for(i=0; i != (blockln*interp); i++){
interpBuffer[i] = 0.0;
}
//instead of useing a file we need to have the function take an address of an array
//and put the contence of the array into buffer b
//keep analyzing if you haven't got to EOF
//while(!feof(pfile)){
int audioSize = sizeof(audio);
//for all of the data in our array that was passed, keep grabbing data.
int k;
for(k=0; (k*windowmov) < audioSize; k++) {
//read: windomov amount of, short int, once, and place in buffer b
//fread(&readBuffer[0], sizeof(readBuffer), 1, pfile);
for(i=0; i < windowmov && ( (k*windowmov)+i) < audioSize; i++) {
readBuffer[i] = audio[(k*windowmov)+i];
}
//move samples in buffer windowmov ammount to the left
for(i=windowmov; i != blockln; i++) {
blockBuffer[(i-(int)windowmov)] = blockBuffer[i];
}
//put the windowmov amount of new samples at the end of the buffer
for(i=windowmov; i != 0; i--) {
blockBuffer[(int)(blockln-i)] = readBuffer[(int)windowmov-i];
}
//interpolate in-between the samples
for(i=0; i != blockln; i++) {
//find the step in-between samples
float step = (blockBuffer[i+1] - blockBuffer[i])/(interp+1);
//interpolate between the two given samples
int j = 0;
for(j=0; j != (interp+1); j++) {
interpBuffer[(i*(interp+1))+j] = blockBuffer[i]+(j)*step;
}
}
//do calculations on current block of samples
//then find the magnitude of the tones
doBlock(&interpBuffer[0], &sam0[0], &sam1[0], &sam2[0], &coef[0]);
findMag(&fmag[0], &sam0[0], &sam1[0], &sam2[0], &coef[0]);
//dtmf decision making
for(i=0; i < numoffreq; i++){
if (fmag[i] != fmag[i]) break;
toneAvg += fmag[i]/(float)numoffreq;
}
printf("\navg: %f\n\n", toneAvg);
//the two tones that are present for a single key will be above this average
char col = 'e';
char row = 'e';
//if dtmf tones are not at the begining of the
//freq array, these two for loops will need changed
for(i=0; i < 4; i++){
if(fmag[i] > toneAvg){
row = i;
printf("above%d", i);
}
}
for(i=4; i < 8; i++){
if(fmag[i]>toneAvg){
col = i;
printf("above%d", i);
}
}
sum = 0;
toneAvg = 0;
printf("\n\n%c %d %d\n\n", keys[(int)row][(int)col], row, col);
return keys[(int)row][(int)col];
}
// Should never get here?
return -1;
}
void circPos(Agraph_t * g, block_t * sn, circ_state * state)
{
doBlock(g, sn, state->min_dist);
}
static void convert_to_fft(SNDFILE * infile, FILE * outfile, int channels)
{
float buf1 [channels * BLOCK_SIZE] ;
float buf2 [channels * BLOCK_SIZE] ;
float block [channels * BLOCK_SIZE] ;
int k, m, readcount ;
double edge, val, time = 0;
int index = -1;
int seconds = 0;
int firstRun = 1;
double mult;
// Init peak hold
for(int i = 0; i < BLOCK_SIZE; i++)
for(int j = 0; j < g_channels; j++)
{
peakhold[j][i] = -100000;
otherEnergy[j] = 0.0;
peakEnergy[j] = 0.0;
}
/* Ignore first few blocks - hack to avoid 0's in start of wav */
while(1)
{
if((readcount = sf_readf_float (infile, buf1, 1)) <= 0)
{
exit(1);
}
if(buf1[0] != 0.0)
break;
}
if((readcount = sf_readf_float (infile, buf1, BLOCK_SIZE)) <= 0)
exit(1);
while (1)
{
readcount = sf_readf_float (infile, buf2, BLOCK_SIZE);
if(readcount < 0)
{
break;
}
else if(readcount != BLOCK_SIZE)
{
fprintf(stderr, "Info: Dropped last block\n");
break;
}
for(int i = 0; i < (BLOCK_SIZE); i++)
{
block[i] = buf1[i+(BLOCK_SIZE)];
}
for(int i = 0; i < (BLOCK_SIZE); i++)
{
block[i+(BLOCK_SIZE)] = buf2[i];
}
index = doBlock(block, readcount, index);
index = doBlock(buf2, readcount, index);
readcount = sf_readf_float(infile, buf1, BLOCK_SIZE);
if(readcount < 0)
{
break;
}
else if(readcount != BLOCK_SIZE)
{
fprintf(stderr, "Info: Dropped last block\n");
break;
}
for(int i = 0; i < (BLOCK_SIZE); i++)
{
block[i] = buf2[i+(BLOCK_SIZE)];
}
for(int i = 0; i < (BLOCK_SIZE); i++)
{
block[i+(BLOCK_SIZE)] = buf1[i];
}
index = doBlock(block, readcount, index);
index = doBlock(buf1, readcount, index);
} ;
/* Print out the output */
for(int i = 0; i < BLOCK_SIZE; i++)
{
fprintf(outfile, "%10d ", (int)(i*g_div));
for(int c = 0; c<g_channels; c++)
{
fprintf(outfile, "%10g ", peakhold[c][i]);
}
fprintf(outfile, "\n");
}
#define PEAK_RANGE 5
for(int c = 0; c < g_channels; c++)
{
int othercount = 0;
int peakIndex = g_peakIndex[c];
for(int i = (-PEAK_RANGE); i< PEAK_RANGE; i++)
{
peakEnergy[c] += peakhold[c][g_peakIndex[c]+i];
}
for(int i = 0; i < BLOCK_SIZE; i++)
{
if((i < (peakIndex-PEAK_RANGE)) || (i > (peakIndex+PEAK_RANGE)))
{
if(peakhold[c][i] > -200)
{
otherEnergy[c] -= peakhold[c][i];
othercount++;
}
}
}
peakEnergy[c] /= (PEAK_RANGE*2+1);
otherEnergy[c] /= (othercount-(PEAK_RANGE*2+1));
otherEnergy[c] *= -1;
/* Convert to freq */
g_peakIndex[c] = (int)((double)g_peakIndex[c]*g_div);
fprintf(stderr, "Channel %d : Peak found at approx %d Hz, Peak avg: %10g, Other Freqs: %10g\n", c, g_peakIndex[c], (peakEnergy[c]), otherEnergy[c]);
if(otherEnergy[c] > -85)
{
fprintf(stderr, "Suspect glitch on this channel!\n\n");
}
else
{
fprintf(stderr, "Looks okay - manual inspect to be sure!\n\n");
}
}
return ;
} /* convert_to_fft */
