andrewm@0: /*
andrewm@0:  *  RTAudio.cpp
andrewm@0:  *
andrewm@0:  *  Central control code for hard real-time audio on BeagleBone Black
andrewm@0:  *  using PRU and Xenomai Linux extensions. This code began as part
andrewm@0:  *  of the Hackable Instruments project (EPSRC) at Queen Mary University
andrewm@0:  *  of London, 2013-14.
andrewm@0:  *
andrewm@0:  *  (c) 2014 Victor Zappi and Andrew McPherson
andrewm@0:  *  Queen Mary University of London
andrewm@0:  */
andrewm@0: 
andrewm@0: 
andrewm@0: #include <stdio.h>
andrewm@0: #include <stdlib.h>
andrewm@0: #include <string.h>
andrewm@0: #include <strings.h>
andrewm@0: #include <math.h>
andrewm@0: #include <iostream>
andrewm@0: #include <signal.h>		// interrupt handler
andrewm@0: #include <assert.h>
andrewm@0: #include <vector>
andrewm@0: #include <dirent.h>		// to handle files in dirs
andrewm@0: #include <mntent.h>		// to check if device is mounted
andrewm@0: #include <sys/mount.h>	// mount()
andrewm@0: #include <sys/time.h>	// elapsed time
andrewm@0: #include <NE10.h>		// neon library
andrewm@0: 
andrewm@0: // thread priority
andrewm@0: #include <pthread.h>
andrewm@0: #include <sched.h>
andrewm@0: 
andrewm@0: // get_opt_long
andrewm@0: #include <getopt.h>
andrewm@0: 
andrewm@0: #include "../../include/RTAudio.h"
andrewm@0: #include "config.h"
andrewm@0: #include "sensors.h"
andrewm@0: #include "OscillatorBank.h"
andrewm@0: #include "StatusLED.h"
andrewm@0: #include "logger.h"
andrewm@0: 
andrewm@0: using namespace std;
andrewm@0: 
andrewm@0: //----------------------------------------
andrewm@0: // main variables
andrewm@0: //----------------------------------------
andrewm@0: vector<OscillatorBank*> gOscBanks;
andrewm@0: int gCurrentOscBank = 0;
andrewm@0: int gNextOscBank = 0;
andrewm@0: int oscBnkOversampling 				 = 1;	// oscillator bank frame oversampling
andrewm@0: 
andrewm@0: const int kStatusLEDPin 	 = 30;	// P9-11 controls status LED
andrewm@0: StatusLED gStatusLED;
andrewm@0: 
andrewm@0: pthread_t keyboardThread;
andrewm@0: pthread_t logThread;
andrewm@0: 
andrewm@0: // general settings
andrewm@0: int gVerbose		= 0;        			// verbose flag
andrewm@0: bool forceKeyboard 	= true;					// activate/deactivate keyboard control
andrewm@0: bool forceSensors	= false;				// activate/deactivate sensor control
andrewm@0: bool forceLog		= true;					// activate/deactivate log on boot partition
andrewm@0: bool useSD   		= true;    				// activate/deactivate file loading from SD [as opposed to emmc]
andrewm@0: bool useAudioTest   = false;    			// activate/deactivate sensors and test audio only
andrewm@0: 
andrewm@0: // audio settings
andrewm@0: unsigned int gPeriodSize = 8;				// period size for audio
andrewm@0: char* gPartialFilename = 0;					// name of the partials file to load
andrewm@0: bool gAudioIn = false;						// stereo audio in status
andrewm@0: 
andrewm@0: int touchSensor0Address = 0x0C;				// I2C addresses of touch sensors
andrewm@0: int touchSensor1Address = 0x0B;
andrewm@15: int sensorType = 0;
andrewm@0: 
andrewm@0: char sdPath[256]			= "/dev/mmcblk0p2";			// system path of the SD, partition 2
andrewm@0: char mountPath[256]			= "/root/d-box/usersounds";	// mount point of SD partition 2 [where user files are]
andrewm@0: char gUserDirName[256] 		= "usersounds";				// Directory in which user analysis files can be found [dir of mountPath]
andrewm@0: char gDefaultDirName[256] 	= "sounds";					// Directory in which built in analysis files can be found
andrewm@0: char *gDirName;
andrewm@0: bool gIsLoading 			= false;
andrewm@0: int fileCnt 				= 0;
andrewm@0: std::vector <std::string> files;
andrewm@0: 
andrewm@0: char gId	= 'f';	// from 0 to 14, hexadecimal [0-d]! f means not set
andrewm@0: char gGroup	= '2';	// 0 is no info, 1 info.   2 is not set
andrewm@0: 
andrewm@0: // audio in filter
andrewm@0: extern ne10_float32_t *filterState[2];
andrewm@0: extern ne10_float32_t *filterIn[2];
andrewm@0: extern ne10_float32_t *filterOut[2];
andrewm@0: 
andrewm@0: struct arg_data
andrewm@0: {
andrewm@0:    int  argc;
andrewm@0:    char **argv;
andrewm@0: };
andrewm@0: 
andrewm@0: arg_data args;
andrewm@0: 
andrewm@0: 
andrewm@0: int readFiles()
andrewm@0: {
andrewm@0: 	if(useSD)
andrewm@0: 		gDirName = gUserDirName;
andrewm@0: 	else
andrewm@0: 		gDirName = gDefaultDirName;
andrewm@0: 	DIR *dir;
andrewm@0: 	struct dirent *ent;
andrewm@0: 
andrewm@0: 	// From http://stackoverflow.com/questions/612097/how-can-i-get-a-list-of-files-in-a-directory-using-c-or-c
andrewm@0: 	if ((dir = opendir (gDirName)) != NULL) {
andrewm@0: 		/* print all the files and directories within directory */
andrewm@0: 		while ((ent = readdir (dir)) != NULL) {
andrewm@0: 			// Ignore dotfiles and . and .. paths
andrewm@0: 			if(!strncmp(ent->d_name, ".", 1))
andrewm@0: 				continue;
andrewm@0: 
andrewm@0: 			//dbox_printf("%s\n", ent->d_name);
andrewm@0: 
andrewm@0: 			// take only .dbx and .txt files
andrewm@0: 			string name = string(ent->d_name);
andrewm@0: 			int len		= name.length();
andrewm@0: 
andrewm@0: 			bool dboxFile = false;
andrewm@0: 
andrewm@0: 			if( (name[len-4]=='.') && (name[len-3]=='d') && (name[len-2]=='b') && (name[len-1]=='x') )
andrewm@0: 				dboxFile = true;
andrewm@0: 			if( (name[len-4]=='.') && (name[len-3]=='t') && (name[len-2]=='x') && (name[len-1]=='t') )
andrewm@0: 				dboxFile = true;
andrewm@0: 
andrewm@0: 			if(dboxFile)
andrewm@0: 			{
andrewm@0: 				fileCnt++;
andrewm@0: 				//dbox_printf("%s\n", ent->d_name);
andrewm@0: 				files.push_back( std::string( ent->d_name ) );
andrewm@0: 			}
andrewm@0: 		}
andrewm@0: 		closedir (dir);
andrewm@0: 	} else {
andrewm@0: 		/* could not open directory */
andrewm@0: 		printf("Could not open directory %s\n", gDirName);
andrewm@0: 		return 1;
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	// order by name
andrewm@0: 	std::sort( files.begin(), files.end() );
andrewm@0: 
andrewm@0: 	if(fileCnt==0)
andrewm@0: 	{
andrewm@0: 		printf("No .dbx or .txt files in %s!\n", gDirName);
andrewm@0: 		return 1;
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	return 0;
andrewm@0: }
andrewm@0: 
andrewm@0: /* Load sounds from the directory */
andrewm@0: void loadAudioFiles(bool loadFirstFile)
andrewm@0: {
andrewm@0: 	char fullFileName[256];
andrewm@0: 
andrewm@0: 	if(loadFirstFile) {
andrewm@0: 		strcpy(fullFileName, gDirName);
andrewm@0: 		strcat(fullFileName, "/");
andrewm@0: 		strncat(fullFileName, files[0].c_str(), 255 - strlen(gDirName));
andrewm@0: 		dbox_printf("Loading first file %s...\n", fullFileName);
andrewm@0: 		OscillatorBank *bank = new OscillatorBank(fullFileName);
andrewm@0: 		if(bank->initBank(oscBnkOversampling)) {
andrewm@0: 			bank->setLoopHops(100, bank->getLastHop());
andrewm@0: 			gOscBanks.push_back(bank);
andrewm@0: 		}
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	else {
andrewm@0: 		for(int i=1; i<fileCnt; i++){
andrewm@0: 			strcpy(fullFileName, gDirName);
andrewm@0: 			strcat(fullFileName, "/");
andrewm@0: 			strncat(fullFileName, files[i].c_str(), 255 - strlen(gDirName));
andrewm@0: 			dbox_printf("Loading file %s...\n", fullFileName);
andrewm@0: 			OscillatorBank *bank = new OscillatorBank(fullFileName);
andrewm@0: 			if(bank->initBank(oscBnkOversampling)) {
andrewm@0: 				bank->setLoopHops(100, bank->getLastHop());
andrewm@0: 				gOscBanks.push_back(bank);
andrewm@0: 			}
andrewm@0: 		}
andrewm@0: 	}
andrewm@0: }
andrewm@0: 
andrewm@0: // adapted from http://program-nix.blogspot.co.uk/2008/08/c-language-check-filesystem-is-mounted.html
andrewm@0: int checkIfMounted (char * dev_path)
andrewm@0: {
andrewm@0: 	FILE * mtab				= NULL;
andrewm@0: 	struct mntent * part	= NULL;
andrewm@0: 	int is_mounted			= 0;
andrewm@0: 
andrewm@0: 	if ( ( mtab = setmntent ("/etc/mtab", "r") ) != NULL)
andrewm@0: 	{
andrewm@0: 		while ( ( part = getmntent ( mtab) ) != NULL)
andrewm@0: 		{
andrewm@0: 			if ( ( part->mnt_fsname != NULL ) && ( strcmp ( part->mnt_fsname, dev_path ) ) == 0 )
andrewm@0: 			   is_mounted = 1;
andrewm@0: 		}
andrewm@0: 	endmntent(mtab);
andrewm@0: 	}
andrewm@0: 	return is_mounted;
andrewm@0: }
andrewm@0: 
andrewm@0: int mountSDuserPartition()
andrewm@0: {
andrewm@0: 	if(checkIfMounted(sdPath))
andrewm@0: 	{
andrewm@0: 		printf("device %s already mounted, fair enough, let's move on\n", sdPath);
andrewm@0: 		return 0;
andrewm@0: 	}
andrewm@0: 	// if mount rootfs from SD [rootfs eMMC not used] or from eMMC via properly formatted SD [SD rootfs used as storage volume]
andrewm@0: 	// we always use rootfs on SD as storage volume ----> "/dev/mmcblk0p2"
andrewm@0: 	int ret = mount(sdPath, "/root/d-box/usersounds", "vfat",  0, NULL);
andrewm@0: 	if (ret!=0)
andrewm@0: 	{
andrewm@0: 			printf("Error in mount...%s\n", strerror(ret));
andrewm@0: 			return 1;
andrewm@0: 	}
andrewm@0: 	return 0;
andrewm@0: }
andrewm@0: 
andrewm@0: int initSoundFiles()
andrewm@0: {
andrewm@0: 	if(gVerbose==1)
andrewm@0: 		cout << "---------------->Init Audio Thread" << endl;
andrewm@0: 
andrewm@0: 	if(useSD)
andrewm@0: 	{
andrewm@0: 		// mount the SD partition where user sounds are located
andrewm@0: 		// [this is p2, p1 is already mounted and we will log data there]
andrewm@0: 		if(mountSDuserPartition()!=0)
andrewm@0: 			return -1;
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	gIsLoading = true;
andrewm@0: 
andrewm@0: 	// read files from SD and order them alphabetically
andrewm@0: 	if(readFiles()!=0)
andrewm@0: 		return 1;
andrewm@0: 
andrewm@0: 	// load first file into oscBank
andrewm@0: 	loadAudioFiles(true);
andrewm@0: 
andrewm@0: 	return 0;
andrewm@0: }
andrewm@0: 
andrewm@0: //---------------------------------------------------------------------------------------------------------
andrewm@0: 
andrewm@0: // Handle Ctrl-C
andrewm@0: void interrupt_handler(int var)
andrewm@0: {
andrewm@0: 	// kill keyboard thread mercilessly
andrewm@0: 	if(forceKeyboard)
andrewm@0: 		pthread_cancel(keyboardThread);
andrewm@0: 
andrewm@0: 	gShouldStop = true;
andrewm@0: }
andrewm@0: 
andrewm@0: 
andrewm@5: void parseArguments(arg_data args, RTAudioSettings *settings)
andrewm@0: {
andrewm@0: 	// Default filename;
andrewm@0: 	gPartialFilename = strdup("D-Box_sound_250_60_40_h88_2.txt");
andrewm@0: 
andrewm@0: 	// TODO: complete this
andrewm@0: 	struct option long_option[] =
andrewm@0: 	{
andrewm@0: 		{"help", 0, NULL, 'h'},
andrewm@0: 		{"audioin", 1, NULL, 'i'},
andrewm@0: 		{"file", 1, NULL, 'f'},
andrewm@0: 		{"keyboard", 1, NULL, 'k'},
andrewm@5: 		{"audio-test", 0, NULL, 'T'},
andrewm@15: 		{"sensor-type", 1, NULL, 'S'},
andrewm@0: 		{"sensor0", 1, NULL, 'Q'},
andrewm@0: 		{"sensor1", 1, NULL, 'R'},
andrewm@0: 		{"log", 1, NULL, 'l'},
andrewm@0: 		{"usesd", 1, NULL, 'u'},
andrewm@0: 		{"oversamp", 1, NULL, 'o'},
andrewm@0: 		{"boxnumber", 1, NULL, 'n'},
andrewm@0: 		{"group", 1, NULL, 'g'},
andrewm@0: 		{NULL, 0, NULL, 0},
andrewm@0: 	};
andrewm@0: 	int morehelp = 0;
andrewm@0: 	int tmp = -1;
andrewm@0: 
andrewm@5: 	BeagleRT_defaultSettings(settings);
andrewm@5: 
andrewm@0: 	while (1)
andrewm@0: 	{
andrewm@0: 		int c;
andrewm@15: 		if ((c = BeagleRT_getopt_long(args.argc, args.argv, "hf:ki:sTQ:R:S:l:u:o:n:g:", long_option, settings)) < 0)
andrewm@0: 				break;
andrewm@0: 		switch (c)
andrewm@0: 		{
andrewm@0: 		case 'h':
andrewm@0: 				morehelp++;
andrewm@0: 				break;
andrewm@0: 		case 'f':
andrewm@0: 				free(gPartialFilename);
andrewm@0: 				gPartialFilename = strdup(optarg);
andrewm@0: 				break;
andrewm@0: 		case 'k':
andrewm@0: 				forceKeyboard = true;
andrewm@0: 				break;
andrewm@0: 		case 'i':
andrewm@0: 				gAudioIn = (atoi(optarg)==0) ? false : true;
andrewm@0: 				break;
andrewm@0: 		case 's':
andrewm@0: 				forceSensors = true;
andrewm@0: 				break;
andrewm@5: 		case 'T':
andrewm@0: 				useAudioTest = true;
andrewm@0: 				break;
andrewm@0: 		case 'S':
andrewm@15: 				sensorType = atoi(optarg);
andrewm@0: 				break;
andrewm@0: 		case 'Q':
andrewm@0: 				touchSensor0Address = atoi(optarg);
andrewm@0: 				break;
andrewm@0: 		case 'R':
andrewm@0: 				touchSensor1Address = atoi(optarg);
andrewm@0: 				break;
andrewm@0: 		case 'l':
andrewm@0: 				tmp = atoi(optarg);
andrewm@0: 				if(tmp==0)
andrewm@0: 					forceLog = false;
andrewm@0: 				else if(tmp>0)
andrewm@0: 					forceLog = true;
andrewm@0: 				break;
andrewm@0: 		case 'u':
andrewm@0: 				tmp = atoi(optarg);
andrewm@0: 				if(tmp==0)
andrewm@0: 					useSD = false;
andrewm@0: 				else if(tmp>0)
andrewm@0: 					useSD = true;
andrewm@0: 				break;
andrewm@0: 		case 'o':
andrewm@0: 				oscBnkOversampling = atoi(optarg);
andrewm@0: 				break;
andrewm@0: 		case 'n':
andrewm@0: 				gId = *optarg;
andrewm@0: 				cout << "-set box number to: " << gId << endl;
andrewm@0: 				break;
andrewm@0: 		case 'g':
andrewm@0: 				gGroup = *optarg;
andrewm@0: 				cout << "-set group to: " << gId << endl;
andrewm@0: 				break;
andrewm@0: 		default:
andrewm@0: 				break;
andrewm@0: 		}
andrewm@0: 	}
andrewm@5: 
andrewm@5: 	gPeriodSize = settings->periodSize;
andrewm@5: 	gVerbose = settings->verbose;
andrewm@0: }
andrewm@0: 
andrewm@0: int main(int argc, char *argv[])
andrewm@0: {
andrewm@5: 	RTAudioSettings settings;	// Standard audio settings
andrewm@0: 	RT_TASK rtSensorThread;
andrewm@0: 	const char rtSensorThreadName[] = "dbox-sensor";
andrewm@0: 	int oscBankHopSize;
andrewm@0: 
andrewm@0: 	// Parse command-line arguments
andrewm@0: 	args.argc = argc;
andrewm@0: 	args.argv = argv;
andrewm@5: 	parseArguments(args, &settings);
andrewm@0: 
andrewm@0: 	setVerboseLevel(gVerbose);
andrewm@0: 	if(gVerbose == 1 && useAudioTest)
andrewm@0: 		cout << "main() : running in audio test mode" << endl;
andrewm@0: 
andrewm@0: 	// Load sound files from directory
andrewm@0: 	if(initSoundFiles() != 0)
andrewm@0: 		return -1;
andrewm@0: 
andrewm@0: 	oscBankHopSize = gOscBanks[gCurrentOscBank]->getHopSize()/gOscBanks[gCurrentOscBank]->getMinSpeed();
andrewm@0: 
andrewm@0: 	// Initialise the audio device
andrewm@5: 	if(BeagleRT_initAudio(&settings, &oscBankHopSize) != 0)
andrewm@0: 		return -1;
andrewm@0: 
andrewm@0: 	// Initialise the status LED
andrewm@0: 	if(!gStatusLED.init(kStatusLEDPin)) {
andrewm@0: 		if(gVerbose)
andrewm@0: 			cout << "Couldn't initialise status LED pin\n";
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	// Free file name string which is no longer needed
andrewm@0: 	if(gPartialFilename != 0)
andrewm@0: 		free(gPartialFilename);
andrewm@0: 
andrewm@0: 	if(!useAudioTest) {
andrewm@15: 		if(initSensorLoop(touchSensor0Address, touchSensor1Address, sensorType) != 0)
andrewm@0: 			return -1;
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	if(gVerbose == 1)
andrewm@0: 		cout << "main() : creating audio thread" << endl;
andrewm@0: 
andrewm@5: 	if(BeagleRT_startAudio()) {
andrewm@0: 		cout << "Error: unable to start real-time audio" << endl;
andrewm@0: 		return -1;
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	// LED on...
andrewm@0: 	gStatusLED.on();
andrewm@0: 
andrewm@0: 	if(forceSensors && !useAudioTest) {
andrewm@0: 		if(gVerbose==1)
andrewm@0: 			cout << "main() : creating control thread" << endl;
andrewm@0: 
andrewm@0: 		if(rt_task_create(&rtSensorThread, rtSensorThreadName, 0, 95, T_JOINABLE | T_FPU)) {
andrewm@0: 			  cout << "Error:unable to create Xenomai control thread" << endl;
andrewm@0: 			  return -1;
andrewm@0: 		}
andrewm@0: 		if(rt_task_start(&rtSensorThread, &sensorLoop, 0)) {
andrewm@0: 			  cout << "Error:unable to start Xenomai control thread" << endl;
andrewm@0: 			  return -1;
andrewm@0: 		}
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	if(forceKeyboard) {
andrewm@0: 		if(gVerbose==1)
andrewm@0: 			cout << "main() : creating keyboard thread" << endl;
andrewm@0: 
andrewm@0: 		if ( pthread_create(&keyboardThread, NULL, keyboardLoop, NULL) ) {
andrewm@0: 		  cout << "Error:unable to create keyboard thread" << endl;
andrewm@0: 		  return -1;
andrewm@0: 		}
andrewm@0: 	}
andrewm@0: 
andrewm@0: 	if(forceLog) {
andrewm@0: 		if(gVerbose==1)
andrewm@0: 			cout << "main() : creating log thread" << endl;
andrewm@0: 
andrewm@0: 		if(initLogLoop()!=0) {
andrewm@0: 			cout << "Error:unable to create log thread" << endl;
andrewm@0: 			return -1;
andrewm@0: 		}
andrewm@0: 
andrewm@0: 		if ( pthread_create(&logThread, NULL, logLoop, NULL) ) {
andrewm@0: 		  cout << "Error:unable to create keyboard thread" << endl;
andrewm@0: 		  return -1;
andrewm@0: 		}
andrewm@0: 	}
andrewm@0: 
andrewm@15: 	// Set up interrupt handler to catch Control-C and SIGTERM
andrewm@0: 	signal(SIGINT, interrupt_handler);
andrewm@15: 	signal(SIGTERM, interrupt_handler);
andrewm@0: 
andrewm@0: 	// load all other files into oscBanks
andrewm@0: 	loadAudioFiles(false);
andrewm@0: 	cout << "Finished loading analysis files\n";
andrewm@0: 	gIsLoading = false;
andrewm@0: 
andrewm@0: 	// Run until told to stop
andrewm@0: 	while(!gShouldStop) {
andrewm@0: 		usleep(100000);
andrewm@0: 	}
andrewm@0: 
andrewm@5: 	BeagleRT_stopAudio();
andrewm@0: 
andrewm@0: 	if(!useAudioTest)
andrewm@0: 		rt_task_join(&rtSensorThread);
andrewm@0: 
andrewm@5: 	BeagleRT_cleanupAudio();
andrewm@0: 
andrewm@0: 	pthread_join( keyboardThread, NULL);
andrewm@0: 	pthread_join( logThread, NULL);
andrewm@0: 
andrewm@0: 	for(unsigned int i = 0; i < gOscBanks.size(); i++)
andrewm@0: 		delete gOscBanks[i];
andrewm@0: 
andrewm@0: 	NE10_FREE(filterState[0]);
andrewm@0: 	NE10_FREE(filterState[1]);
andrewm@0: 	NE10_FREE(filterIn[0]);
andrewm@0: 	NE10_FREE(filterIn[1]);
andrewm@0: 	NE10_FREE(filterOut[0]);
andrewm@0: 	NE10_FREE(filterOut[1]);
andrewm@0: 
andrewm@0: 	printf("Program ended\nBye bye\n");
andrewm@0: 	return 0;
andrewm@0: }