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00001 /**************************************************************** 00002 * 00003 * Copyright (c) 2010 00004 * 00005 * Fraunhofer Institute for Manufacturing Engineering 00006 * and Automation (IPA) 00007 * 00008 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00009 * 00010 * Project name: care-o-bot 00011 * ROS stack name: cob_driver 00012 * ROS package name: cob_light 00013 * Description: Switch robots led color by sending data to 00014 * the led-µC over serial connection. 00015 * 00016 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00017 * 00018 * Author: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de 00019 * Supervised by: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de 00020 * 00021 * Date of creation: August 2012 00022 * ToDo: 00023 * 00024 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00025 * 00026 * Redistribution and use in source and binary forms, with or without 00027 * modification, are permitted provided that the following conditions are met: 00028 * 00029 * * Redistributions of source code must retain the above copyright 00030 * notice, this list of conditions and the following disclaimer. 00031 * * Redistributions in binary form must reproduce the above copyright 00032 * notice, this list of conditions and the following disclaimer in the 00033 * documentation and/or other materials provided with the distribution. 00034 * * Neither the name of the Fraunhofer Institute for Manufacturing 00035 * Engineering and Automation (IPA) nor the names of its 00036 * contributors may be used to endorse or promote products derived from 00037 * this software without specific prior written permission. 00038 * 00039 * This program is free software: you can redistribute it and/or modify 00040 * it under the terms of the GNU Lesser General Public License LGPL as 00041 * published by the Free Software Foundation, either version 3 of the 00042 * License, or (at your option) any later version. 00043 * 00044 * This program is distributed in the hope that it will be useful, 00045 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00046 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00047 * GNU Lesser General Public License LGPL for more details. 00048 * 00049 * You should have received a copy of the GNU Lesser General Public 00050 * License LGPL along with this program. 00051 * If not, see <http://www.gnu.org/licenses/>. 00052 * 00053 ****************************************************************/ 00054 00055 #include "beatanalyser.h" 00056 namespace mybeat 00057 { 00058 00059 BeatAnalyser::BeatAnalyser(uint16_t num_bands, uint32_t samplerate, uint16_t recordsize) 00060 : m_maxBandValue(0.0) 00061 { 00062 this->m_bandCount=num_bands; 00063 this->m_sampleRate=samplerate; 00064 this->m_recordSize=recordsize; 00065 m_SubBands = new std::vector<Band*>; 00066 for(uint16_t i=0;i<num_bands;i++) 00067 { 00068 /*Create a new subband with 4 seconds of history and 50% decrease of the allTimeMaximum after 2 seconds*/ 00069 Band *tmp = new Band(4*samplerate/recordsize, pow(0.5,(1/((double)samplerate/recordsize)))); 00070 m_SubBands->push_back(tmp); 00071 } 00072 //m_beats = new QVector<bool> (num_bands,false); 00073 m_beats = new std::vector<bool> (num_bands,false); 00074 } 00075 BeatAnalyser::~BeatAnalyser() 00076 { 00077 delete m_SubBands; 00078 delete m_beats; 00079 } 00080 void BeatAnalyser::processData() 00081 { 00082 uint16_t freq_per_band=m_recordSize/2/m_bandCount/8; 00083 //m_beats->fill(false); 00084 m_beats->assign(m_bandCount, false); 00085 for(uint16_t i=0;i<m_bandCount;i++) 00086 { 00087 double sum=0; 00088 for(uint16_t j=0;j<freq_per_band;j++) 00089 { 00090 sum+=m_FFT->get_magnitude(i*freq_per_band+j); 00091 } 00092 sum/=freq_per_band; 00093 if(sum > m_maxBandValue) 00094 m_maxBandValue = sum; 00095 00096 m_SubBands->at(i)->log(sum); 00097 if(m_SubBands->at(i)->average() < sum && m_SubBands->at(i)->getAllTimeMaximum()*0.8 < sum) 00098 { 00099 //m_beats->replace(i,true); 00100 (*m_beats)[i] = true; 00101 } 00102 } 00103 } 00104 double BeatAnalyser::getMagSpectrum(uint32_t low, uint32_t high) 00105 { 00106 static double magSpecMax = 0; 00107 double magSpec=0; 00108 uint16_t freq_per_band= m_sampleRate/m_bandCount; 00109 uint32_t low_limit=low/freq_per_band; 00110 uint32_t high_limit=high/freq_per_band; 00111 double avgAllTimeMax = 0; 00112 double avgAverage = 0; 00113 00114 for(uint16_t i=low_limit; i<high_limit;i++) 00115 { 00116 avgAllTimeMax+= m_SubBands->at(i)->getAllTimeMaximumRaw(); 00117 if(m_SubBands->at(i)->getNewest() > avgAverage) 00118 avgAverage = m_SubBands->at(i)->getNewest(); 00119 } 00120 magSpec = avgAverage / (avgAllTimeMax/(high_limit-low_limit)); 00121 if(magSpec > magSpecMax) 00122 magSpecMax = magSpec; 00123 else 00124 magSpecMax *= 0.8; 00125 magSpec = magSpec / magSpecMax; 00126 //printf("magSpec: %f\n", magSpec); 00127 return magSpec; 00128 } 00129 00130 bool BeatAnalyser::getBeat(uint16_t pos) 00131 { 00132 if(pos < m_bandCount) 00133 return m_beats->at(pos); 00134 else 00135 return false; 00136 } 00137 bool BeatAnalyser::getBeatFrequency(uint32_t frequency) 00138 { 00139 uint16_t freq_per_band=m_sampleRate/m_bandCount; 00140 return m_beats->at((int)frequency/freq_per_band); 00141 } 00142 bool BeatAnalyser::getDrumBeat() 00143 { 00144 /*We want to detect beats from 50Hz up to 200Hz*/ 00145 bool tmp=false; 00146 uint16_t freq_per_band=m_sampleRate/m_bandCount; 00147 uint32_t low_limit=50/freq_per_band; 00148 uint32_t high_limit=200/freq_per_band; 00149 if(high_limit == 0) 00150 high_limit=1; /*If we have few bands, just take the first one*/ 00151 00152 for(uint16_t i=low_limit;i<high_limit;i++) 00153 tmp |= m_beats->at(i); 00154 return tmp; 00155 } 00156 bool BeatAnalyser::getSnareBeat() 00157 { 00158 /*We want to detect beats from 1500Hz up to 2500Hz - this of course will return a beat more often due to the broad spectrum*/ 00159 bool tmp=false; 00160 uint16_t freq_per_band=m_sampleRate/m_bandCount; 00161 uint32_t low_limit=1500/freq_per_band; 00162 uint32_t high_limit=2000/freq_per_band; 00163 for(uint16_t i=low_limit;i<high_limit;i++) 00164 tmp |= m_beats->at(i); 00165 return tmp; 00166 } 00167 Band* BeatAnalyser::getBand(uint16_t pos) 00168 { 00169 if(pos < m_bandCount) 00170 return m_SubBands->at(pos); 00171 else 00172 return NULL; 00173 } 00174 }