void MLProcMatrix::process(const int frames)
{
const int inputs = min(kMLMatrixMaxIns, getNumInputs());
const int outputs = min(kMLMatrixMaxOuts, getNumOutputs());
if((inputs != mInputs) || (outputs != mOutputs))
{
resize();
}
if (mParamsChanged)
{
calcCoeffs();
}
// TODO optimize, calc constants
for (int j=1; j <= outputs; ++j)
{
MLSignal& y = getOutput(j);
y.clear();
for (int i=1; i <= inputs; ++i)
{
const MLSignal& x = getInput(i);
if (mGain[i][j] > 0.)
{
for (int n=0; n < frames; ++n)
{
y[n] += x[n];
}
}
}
}
}
// Compute of the DSP, adding the controls to the input/output passed
void remote_dsp_aux::compute(int count, FAUSTFLOAT** input, FAUSTFLOAT** output){
if (fRunningFlag) {
// If count > fBufferSize : the cycle is divided in numberOfCycles NetJack cycles, and a lastCycle one
int numberOfCycles = count/fBufferSize;
int lastCycle = count%fBufferSize;
int i = 0;
for (i = 0; i < numberOfCycles; i++) {
setupBuffers(input, output, i*fBufferSize);
ControlUI::encode_midi_control(fControlInputs[0], fInControl, fCounterIn);
sendSlice(fBufferSize);
recvSlice(fBufferSize);
ControlUI::decode_midi_control(fControlOutputs[0], fOutControl, fCounterOut);
}
if (lastCycle > 0) {
setupBuffers(input, output, i*fBufferSize);
ControlUI::encode_midi_control(fControlInputs[0], fInControl, fCounterIn);
fillBufferWithZerosOffset(getNumInputs(), lastCycle, fBufferSize-lastCycle, fAudioInputs);
sendSlice(lastCycle);
recvSlice(lastCycle);
ControlUI::decode_midi_control(fControlOutputs[0], fOutControl, fCounterOut);
}
} else {
fillBufferWithZerosOffset(getNumOutputs(), 0, count, output);
}
}
vector<SXMatrix> FX::evalSX(const vector<SXMatrix>& arg){
casadi_assert_message(isInit(),"Function has not been initialized");
// Copy the arguments into a new vector with the right sparsity
casadi_assert_message(arg.size()<=getNumInputs(), "FX::evalSX: number of passed-in dependencies (" << arg.size() << ") should not exceed the number of inputs of the function (" << getNumInputs() << ").");
vector<SXMatrix> arg2 = arg;
arg2.resize(getNumInputs());
for(int iind=0; iind<arg.size(); ++iind){
// If sparsities do not match, we need to map the nonzeros onto the new pattern
if(!(arg2[iind].sparsity()==input(iind).sparsity())){
arg2[iind] = project(arg2[iind],input(iind).sparsity());
}
}
// Create result vector with correct sparsity for the result
vector<SXMatrix> res(getNumOutputs());
for(int i=0; i<res.size(); ++i){
res[i] = SXMatrix(output(i).sparsity());
}
// No sensitivities
vector<vector<SXMatrix> > dummy;
// Evaluate the algorithm
(*this)->evalSX(arg2,res,dummy,dummy,dummy,dummy,false);
// Return the result
return res;
}
RecordNode::RecordNode()
: GenericProcessor("Record Node"),
newDirectoryNeeded(true), timestamp(0)
{
isProcessing = false;
isRecording = false;
setFirstBlock = false;
settings.numInputs = 2048;
settings.numOutputs = 0;
recordingNumber = -1;
spikeElectrodeIndex = 0;
experimentNumber = 0;
hasRecorded = false;
settingsNeeded = false;
// 128 inputs, 0 outputs
setPlayConfigDetails(getNumInputs(),getNumOutputs(),44100.0,128);
m_recordThread = new RecordThread(engineArray);
m_dataQueue = new DataQueue(WRITE_BLOCK_LENGTH, DATA_BUFFER_NBLOCKS);
m_eventQueue = new EventMsgQueue(EVENT_BUFFER_NEVENTS);
m_spikeQueue = new SpikeMsgQueue(SPIKE_BUFFER_NSPIKES);
m_recordThread->setQueuePointers(m_dataQueue, m_eventQueue, m_spikeQueue);
}
AudioResamplingNode::AudioResamplingNode()
: GenericProcessor("Resampling Node"),
sourceBufferSampleRate(40000.0), destBufferSampleRate(44100.0),
ratio(1.0), lastRatio(1.0), destBuffer(0), tempBuffer(0),
destBufferIsTempBuffer(true), isTransmitting(false), destBufferPos(0)
{
settings.numInputs = 2;
settings.numOutputs = 2;
setPlayConfigDetails(getNumInputs(), // number of inputs
getNumOutputs(), // number of outputs
44100.0, // sampleRate
128); // blockSize
filter = new Dsp::SmoothedFilterDesign
<Dsp::RBJ::Design::LowPass, 1> (1024);
if (destBufferIsTempBuffer)
destBufferWidth = 1024;
else
destBufferWidth = 1000;
destBufferTimebaseSecs = 1.0;
destBuffer = new AudioSampleBuffer(16, destBufferWidth);
tempBuffer = new AudioSampleBuffer(16, destBufferWidth);
continuousDataBuffer = new int16[10000];
}
vector<vector<MX> > Function::callParallel(const vector<vector<MX> > &x,
const Dictionary& paropt) {
assertInit();
// Make sure not empty
casadi_assert_message(x.size()>1, "Function: callParallel(vector<vector<MX> >): "
"argument must be of length > 1. You supplied length "
<< x.size() << ".");
// Return object
vector<vector<MX> > ret(x.size());
// Check if we are bypassing the parallelizer
Dictionary::const_iterator ii=paropt.find("parallelization");
if (ii!=paropt.end() && ii->second=="expand") {
for (int i=0; i<x.size(); ++i) {
ret[i] = call(x[i]);
}
return ret;
}
// Create parallelizer object and initialize it
Parallelizer p(vector<Function>(x.size(), *this));
p.setOption(paropt);
p.init();
// Concatenate the arguments
vector<MX> p_in;
p_in.reserve(x.size() * getNumInputs());
for (int i=0; i<x.size(); ++i) {
p_in.insert(p_in.end(), x[i].begin(), x[i].end());
p_in.resize(p_in.size()+getNumInputs()-x[i].size());
}
// Call the parallelizer
vector<MX> p_out = p.call(p_in);
casadi_assert(p_out.size() == x.size() * getNumOutputs());
// Collect the outputs
vector<MX>::const_iterator it=p_out.begin();
for (int i=0; i<x.size(); ++i) {
ret[i].insert(ret[i].end(), it, it+getNumOutputs());
it += getNumOutputs();
}
return ret;
}
void SimpleIndefDpleInternal::evaluate() {
for (int i=0;i<getNumInputs();++i) {
std::copy(input(i).begin(), input(i).end(), f_.input(i).begin());
}
f_.evaluate();
for (int i=0;i<getNumOutputs();++i) {
std::copy(f_.output(i).begin(), f_.output(i).end(), output(i).begin());
}
}
void MLProcMatrix::disconnect(int a, int b)
{
const int inputs = min(kMLMatrixMaxIns, getNumInputs());
const int outputs = min(kMLMatrixMaxOuts, getNumOutputs());
if ((a <= inputs) && (b <= outputs))
{
mGain[a][b] = 0.;
}
}
MLProc::err MLProcMatrix::resize()
{
MLProc::err e = OK;
const int inputs = min(kMLMatrixMaxIns, getNumInputs());
const int outputs = min(kMLMatrixMaxOuts, getNumOutputs());
mInputs = inputs;
mOutputs = outputs;
return e;
}
void DpleToDle::evaluate() {
for (int i=0;i<getNumInputs();++i) {
std::copy(input(i).begin(), input(i).end(), dplesolver_.input(i).begin());
}
dplesolver_.evaluate();
for (int i=0;i<getNumOutputs();++i) {
std::copy(dplesolver_.output(i).begin(), dplesolver_.output(i).end(), output(i).begin());
}
}
void QpToImplicit::solveNonLinear() {
// Equality nonlinear constraints
solver_.input(NLP_SOLVER_LBG).set(0.);
solver_.input(NLP_SOLVER_UBG).set(0.);
// Simple constraints
vector<double>& lbx = solver_.input(NLP_SOLVER_LBX).data();
vector<double>& ubx = solver_.input(NLP_SOLVER_UBX).data();
for (int k=0; k<u_c_.size(); ++k) {
lbx[k] = u_c_[k] <= 0 ? -std::numeric_limits<double>::infinity() : 0;
ubx[k] = u_c_[k] >= 0 ? std::numeric_limits<double>::infinity() : 0;
}
// Pass initial guess
solver_.input(NLP_SOLVER_X0).set(output(iout_));
// Add auxiliary inputs
vector<double>::iterator nlp_p = solver_.input(NLP_SOLVER_P).begin();
for (int i=0; i<getNumInputs(); ++i) {
if (i!=iin_) {
std::copy(input(i).begin(), input(i).end(), nlp_p);
nlp_p += input(i).size();
}
}
// Solve the NLP
solver_.evaluate();
stats_["solver_stats"] = solver_.getStats();
// Get the implicit variable
output(iout_).set(solver_.output(NLP_SOLVER_X));
// Evaluate auxilary outputs, if necessary
if (getNumOutputs()>0) {
f_.setInput(output(iout_), iin_);
for (int i=0; i<getNumInputs(); ++i)
if (i!=iin_) f_.setInput(input(i), i);
f_.evaluate();
for (int i=0; i<getNumOutputs(); ++i) {
if (i!=iout_) f_.getOutput(output(i), i);
}
}
}
void remote_dsp_aux::setupBuffers(FAUSTFLOAT** input, FAUSTFLOAT** output, int offset)
{
for(int j=0; j<getNumInputs(); j++) {
fAudioInputs[j] = &input[j][offset];
}
for(int j=0; j<getNumOutputs(); j++) {
fAudioOutputs[j] = &output[j][offset];
}
}
void ImplicitFunctionInternal::init(){
// Initialize the residual function
if(!f_.isInit()) f_.init();
// Allocate inputs
setNumInputs(f_.getNumInputs()-1);
for(int i=0; i<getNumInputs(); ++i){
input(i) = f_.input(i+1);
}
// Allocate outputs
setNumOutputs(f_.getNumOutputs());
output(0) = f_.input(0);
for(int i=1; i<getNumOutputs(); ++i){
output(i) = f_.output(i);
}
// Call the base class initializer
FXInternal::init();
// Number of equations
N_ = output().size();
// Generate Jacobian if not provided
if(J_.isNull()) J_ = f_.jacobian(0,0);
J_.init();
casadi_assert_message(J_.output().size1()==J_.output().size2(),"ImplicitFunctionInternal::init: the jacobian must be square but got " << J_.output().dimString());
casadi_assert_message(!isSingular(J_.output().sparsity()),"ImplicitFunctionInternal::init: singularity - the jacobian is structurally rank-deficient. sprank(J)=" << sprank(J_.output()) << " (in stead of "<< J_.output().size1() << ")");
// Get the linear solver creator function
if(linsol_.isNull() && hasSetOption("linear_solver")){
linearSolverCreator linear_solver_creator = getOption("linear_solver");
// Allocate an NLP solver
linsol_ = linear_solver_creator(CRSSparsity());
// Pass options
if(hasSetOption("linear_solver_options")){
const Dictionary& linear_solver_options = getOption("linear_solver_options");
linsol_.setOption(linear_solver_options);
}
}
// Initialize the linear solver, if provided
if(!linsol_.isNull()){
linsol_.setSparsity(J_.output().sparsity());
linsol_.init();
}
// Allocate memory for directional derivatives
ImplicitFunctionInternal::updateNumSens(false);
}
void SimpleIndefDleInternal::evaluate() {
std::cout << "eval" << std::endl;
input(DLE_A).printDense();
for (int i=0;i<getNumInputs();++i) {
std::copy(input(i).begin(), input(i).end(), f_.input(i).begin());
}
f_.evaluate();
for (int i=0;i<getNumOutputs();++i) {
std::copy(f_.output(i).begin(), f_.output(i).end(), output(i).begin());
}
}
// get a single connection.
bool MLProcMatrix::getConnection(int a, int b)
{
bool r = false;
const int inputs = min(kMLMatrixMaxIns, getNumInputs());
const int outputs = min(kMLMatrixMaxOuts, getNumOutputs());
if ((a <= inputs) && (b <= outputs))
{
r = (mGain[a][b] > 0.5f);
}
return r;
}
mydsp_wrap()
{
// Creates paths
buildUserInterface(this);
// Creates JSON
JSONUI builder(getNumInputs(), getNumOutputs());
metadata(&builder);
buildUserInterface(&builder);
fJSON = builder.JSON();
}
void remote_dsp_aux::sendSlice(int buffer_size)
{
if (fRunningFlag && jack_net_master_send_slice(fNetJack, getNumInputs(), fAudioInputs, 1, (void**)fControlInputs, buffer_size) < 0){
fillBufferWithZerosOffset(getNumOutputs(), 0, buffer_size, fAudioOutputs);
if (fErrorCallback) {
printf("Is sent OK ?\n");
fRunningFlag = (fErrorCallback(WRITE_ERROR, fErrorCallbackArg) == 0);
}
}
}
// MLProc::prepareToProcess() is called after all connections in DSP graph are made.
// This is where sample rates and block sizes propagate through the graph, and
// are checked for consistency.
// Setup internal buffers and data to prepare for processing any attached input signals.
// MLProcs have no concept of enabled -- it's up to the enclosing container to disable
// itself if things go wrong here.
//
MLProc::err MLProc::prepareToProcess()
{
MLProc::err e = OK;
// debug() << "preparing " << getClassName() << " \"" << getName() << "\" : " ;
int ins = getNumInputs();
int outs = getNumOutputs();
float rate = getContextSampleRate();
int blockSize = getContextVectorSize();
// debug() << ins << " ins, " << outs << " outs, rate " << rate << ", blockSize " << blockSize << "\n";
// All inputs must have a signal connected.
// So connect unconnected inputs to null input signal.
for (int i=0; i<ins; i++)
{
if (!mInputs[i])
{
mInputs[i] = &getContext()->getNullInput();
}
}
// set size and rate of output signals
// TODO it looks like this allocation may be redundant because outputs are allocated in compile() already!?
for (int i=1; i<=outs; ++i)
{
MLSignal& out = getOutput(i);
if (&out)
{
out.setRate(rate);
MLSample* outData = out.setDims(blockSize, getOutputFrameSize(i));
if (!outData)
{
e = memErr;
goto bail;
}
}
else
{
debug() << "MLProc::prepareToProcess: null output " << i << " for " << getName() << "! \n";
}
//debug() << " out " << i << ": " << (void *)(MLSignal*)(&out) << ", " << out.getSize() << " samples.\n";
}
e = resize();
// recalc params for new sample rate
mParamsChanged = true;
bail:
return e;
}
void SimpleIndefDleInternal::init() {
DleInternal::init();
casadi_assert_message(!pos_def_,
"pos_def option set to True: Solver only handles the indefinite case.");
n_ = A_.size1();
MX As = MX::sym("A", A_);
MX Vs = MX::sym("V", V_);
MX Vss = (Vs+Vs.T())/2;
MX A_total = DMatrix::eye(n_*n_) - kron(As, As);
MX Pf = solve(A_total, vec(Vss), getOption("linear_solver"));
MX P = reshape(Pf, n_, n_);
f_ = MXFunction(dleIn("a", As, "v", Vs),
dleOut("p", MX(P(output().sparsity()))));
f_.init();
casadi_assert(getNumOutputs()==f_.getNumOutputs());
for (int i=0;i<getNumInputs();++i) {
casadi_assert_message(input(i).sparsity()==f_.input(i).sparsity(),
"Sparsity mismatch for input " << i << ":" <<
input(i).dimString() << " <-> " << f_.input(i).dimString() << ".");
}
for (int i=0;i<getNumOutputs();++i) {
casadi_assert_message(output(i).sparsity()==f_.output(i).sparsity(),
"Sparsity mismatch for output " << i << ":" <<
output(i).dimString() << " <-> " << f_.output(i).dimString() << ".");
}
}
returnValue PIDcontroller::step( double currentTime,
const Vector& _x,
const Vector& _p,
const VariablesGrid& _yRef
)
{
if ( getStatus( ) != BS_READY )
return ACADOERROR( RET_BLOCK_NOT_READY );
if ( _x.getDim( ) != getNumInputs( ) )
return ACADOERROR( RET_VECTOR_DIMENSION_MISMATCH );
/* 1) Use reference trajectory if it is defined */
// set default reference to zero
Vector xRef( _x.getDim() );
if ( _yRef.getNumPoints( ) > 0 )
{
if ( _yRef.getNumValues( ) != getNumInputs( ) )
return ACADOERROR( RET_VECTOR_DIMENSION_MISMATCH );
xRef = _yRef.getVector( 0 );
}
else
{
xRef.setZero( );
}
/* 2) Determine PID control action. */
if ( getNumOutputs( ) > 0 )
{
if ( determineControlAction( xRef-_x,u ) != SUCCESSFUL_RETURN )
return ACADOERROR( RET_CONTROLLAW_STEP_FAILED );
}
else
u.init();
p = _p;
/* 3) Call output transformator. */
if ( clipSignals( u,p ) != SUCCESSFUL_RETURN )
return ACADOERROR( RET_OUTPUTTRANSFORMATOR_STEP_FAILED );
return SUCCESSFUL_RETURN;
}
void MLProc::clearProc()
{
const int op = getNumOutputs();
//debug() << "clearing " << getName() << " (" << getClassName() << ")\n";
// clear anything left in outputs
for (int i=0; i<op; i++)
{
mOutputs[i]->clear();
}
// let subclass clear filter histories etc.
clear();
}
void CContinuousActionGradientPolicy::getGradientPre(ColumnVector *input, ColumnVector *outputErrors, CFeatureList *gradientFeatures)
{
CFeatureList *featureList = new CFeatureList();
CState *state = new CState(modelState);
for (int i = 0; i < getNumInputs(); i ++)
{
state->setContinuousState(i, input->element(i));
}
for (int i = 0; i < getNumOutputs(); i++)
{
getGradient(state, i, featureList);
gradientFeatures->add(featureList, outputErrors->element(i));
}
delete featureList;
delete state;
}
AudioNode::AudioNode()
: GenericProcessor("Audio Node"), volume(0.00001f), audioEditor(0)
{
settings.numInputs = 128;
settings.numOutputs = 2;
// 64 inputs, 2 outputs (left and right channel)
setPlayConfigDetails(getNumInputs(),getNumOutputs(),44100.0,128);
leftChan.clear();
rightChan.clear();
nextAvailableChannel = 2; // keep first two channels empty
}
void MLMultiContainer::compile()
{
const int copies = (int)mCopies.size();
for(int i=0; i<copies; i++)
{
getCopyAsContainer(i)->compile();
}
// MLProcContainer's outputs are allocated in compile(). We do a minimal verison here.
int outs = getNumOutputs();
for(int i=0; i<outs; ++i)
{
MLSignal& newSig = *allocBuffer();
setOutput(i + 1, newSig);
}
}
//==============================================================================
void WrappedJucePlugin::processBlock (AudioSampleBuffer& buffer,
MidiBuffer& midiMessages)
{
const int blockSize = buffer.getNumSamples ();
if (instance)
{
// Juce plugins put their input into (passed in) buffer, so we need to copy this out from the Jost inputBuffer
for (int i = 0; i < getNumInputs(); i++)
buffer.copyFrom(i, 0, *inputBuffer, i, 0, buffer.getNumSamples());
// Similar for midi input
MidiBuffer dud;
MidiBuffer* midiBuffer = &dud;
if (midiBuffers.size() > 0)
{
midiBuffer = midiBuffers.getUnchecked (0);
// add events from keyboards
keyboardState.processNextMidiBuffer(*midiBuffer, 0, blockSize, true);
// process midi automation
midiAutomatorManager.handleMidiMessageBuffer(*midiBuffer);
}
// apply a midi filter on the input to the synth if one is set
MidiFilter* synthInputFilter = getSynthInputChannelFilter();
if (synthInputFilter)
{
MidiManipulator manip;
manip.setMidiFilter(synthInputFilter);
manip.processEvents(*midiBuffer, blockSize);
}
// Call through to Juce plugin instance to get the VST to actually do its thing!
instance->processBlock(buffer, *midiBuffer);
// haven't worked out what jiggerying needs to be done to the midi output yet
// Juce plugins put their output into (passed in) buffer, so we need to copy this out into the Jost outputBuffer
for (int i = 0; i < getNumOutputs(); i++)
outputBuffer->copyFrom(i, 0, buffer, i, 0, buffer.getNumSamples());
}
}
void CContinuousActionGradientPolicy::getFunctionValuePre(ColumnVector *input, ColumnVector *output)
{
CState *state = new CState(modelState);
CContinuousActionData *data = dynamic_cast<CContinuousActionData *>(contAction->getNewActionData());
for (int i = 0; i < getNumInputs(); i ++)
{
state->setContinuousState(i, input->element(i));
}
getNextContinuousAction(state, data);
for (int i = 0; i < getNumOutputs(); i ++)
{
output->element(i) = state->getContinuousState(i);
}
delete state;
delete data;
}
AudioNode::AudioNode()
: GenericProcessor("Audio Node"), audioEditor(0), volume(0.00001f), noiseGateLevel(0.0f),
bufferA(2,10000),
bufferB(2,10000)
{
settings.numInputs = 2048;
settings.numOutputs = 2;
// 128 inputs, 2 outputs (left and right channel)
setPlayConfigDetails(getNumInputs(), getNumOutputs(), 44100.0, 128);
nextAvailableChannel = 2; // keep first two channels empty
numSamplesExpected = 1024;
samplesInOverflowBuffer = 0;
samplesInBackupBuffer = 0;
}
void SignalGenerator::updateSettings()
{
//std::cout << "Signal generator updating parameters" << std::endl;
while (waveformType.size() < getNumOutputs())
{
waveformType.add(SINE);
frequency.add(defaultFrequency);
amplitude.add(defaultAmplitude);
phase.add(0);
phasePerSample.add(double_Pi * 2.0 / (getSampleRate() / frequency.getLast()));
currentPhase.add(0);
}
sampleRateRatio = getSampleRate() / 44100.0;
std::cout << "Sample rate ratio: " << sampleRateRatio << std::endl;
}
SourceNode::SourceNode(const String& name_)
: GenericProcessor(name_),
dataThread(0)
{
if (getName().equalsIgnoreCase("Intan Demo Board")) {
setNumOutputs(16);
setNumInputs(0);
} else if (getName().equalsIgnoreCase("Custom FPGA")) {
setNumOutputs(32);
setNumInputs(0);
} else if (getName().equalsIgnoreCase("File Reader")) {
setNumOutputs(16);
setNumInputs(0);
}
setPlayConfigDetails(getNumInputs(), getNumOutputs(), 44100.0, 128);
//sendActionMessage("Intan Demo Board source created.");
//sendMessage("Intan Demo Board source created.");
}
remote_dsp_aux::remote_dsp_aux(remote_dsp_factory* factory){
fFactory = factory;
fNetJack = NULL;
fAudioInputs = new float*[getNumInputs()];
fAudioOutputs = new float*[getNumOutputs()];
fControlInputs = new float*[1];
fControlOutputs = new float*[1];
fCounterIn = 0;
fCounterOut = 0;
fErrorCallback = 0;
fErrorCallbackArg = 0;
fRunningFlag = true;
printf("remote_dsp_aux::remote_dsp_aux = %p\n", this);
}