alsarecorder.cpp

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_light
 * Description: Switch robots led color by sending data to
 * the led-µC over serial connection.
 *                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *          
 * Author: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
 * Supervised by: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
 *
 * Date of creation: August 2012
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

#include <alsarecorder.h>

namespace mybeat
{

AlsaRecorder::AlsaRecorder(uint32_t samplerate, uint8_t channels, std::vector<SoundBuffer*> mySoundBuffers,uint16_t recordsize)
 :m_started(false)
{
    this->m_sampleSize=samplerate;
    this->m_SoundBuffers=mySoundBuffers;
    this->m_channels=channels;
    this->m_recordSize=recordsize;
    m_captureEnabled=false;
    m_signal = new int16_t[recordsize*channels];
}

AlsaRecorder::~AlsaRecorder()
{
    delete[] m_signal;
    m_captureEnabled=false;
    //Wait until run(); has finished
    this->join();
}
void AlsaRecorder::stop()
{
    m_captureEnabled=false;
}
bool AlsaRecorder::initSound()
{
    snd_pcm_hw_params_t *hw_params;
    char pcm_name[]="default";
    //char pcm_name[]="plughw:0,0";
    int err;


    if ((err = snd_pcm_open (&m_captureHandle, pcm_name, SND_PCM_STREAM_CAPTURE, 0)) < 0)
    {
        printf("cannot open audio device (%s)\n",
                 snd_strerror (err));
        return false;
    }
    if ((err = snd_pcm_hw_params_malloc (&hw_params)) < 0)
    {
        printf("cannot allocate hardware parameter structure (%s)\n",
                 snd_strerror (err));
        return false;
    }
    if ((err = snd_pcm_hw_params_any (m_captureHandle, hw_params)) < 0)
    {
        printf("cannot initialize hardware parameter structure (%s)\n",
                 snd_strerror (err));
        return false;
    }
    if ((err = snd_pcm_hw_params_set_access (m_captureHandle, hw_params, SND_PCM_ACCESS_RW_INTERLEAVED)) < 0)
    {
        printf("cannot set access type (%s)\n",
                 snd_strerror (err));
        return false;
    }
    if ((err = snd_pcm_hw_params_set_format (m_captureHandle, hw_params, SND_PCM_FORMAT_S16_LE)) < 0)
    {
        printf("cannot set sample format (%s)\n",
                 snd_strerror (err));
        return false;
    }
    if ((err = snd_pcm_hw_params_set_rate_near (m_captureHandle, hw_params, (unsigned int *) &m_sampleSize, 0)) < 0)
    {
        printf("cannot set sample rate (%s)\n",
                 snd_strerror (err));
        return false;
    }
    if ((err = snd_pcm_hw_params_set_channels (m_captureHandle, hw_params, m_channels)) < 0)
    {
        printf("cannot set channel count (%s)\n",
                 snd_strerror (err));
        return false;
    }
    if ((err = snd_pcm_hw_params (m_captureHandle, hw_params)) < 0)
    {
        printf("cannot set parameters (%s)\n",
                 snd_strerror (err));
        return false;
    }
    snd_pcm_hw_params_free (hw_params);
    return true;
}
void AlsaRecorder::closeSound()
{
    snd_pcm_close (m_captureHandle);
}
void AlsaRecorder::run()
{
    int err;
    //stop will set this to false
    m_captureEnabled=true;
    if(initSound())
    {
        m_started = true;
        while(m_captureEnabled)
        {
            if ((err = snd_pcm_readi (m_captureHandle, m_signal, m_recordSize)) != m_recordSize)
            {
                if ((err = snd_pcm_prepare (m_captureHandle)) < 0)
                {
                    printf("cannot prepare audio interface for use (%s)\n",
                             snd_strerror (err));

                }
            }
            //Write data to Buffer
            for(uint16_t i=0;i<m_recordSize*m_channels;i+=m_channels)
            {
                int32_t sum=0;

                for(uint8_t j=0;j<m_channels;j++)
                    m_SoundBuffers.at(j)->write(i/m_channels,(int16_t)m_signal[i+j]);

                //m_SoundBuffer->write(i/m_channels,(int16_t)sum/m_channels);
            }
            //Emit signal and notify connected modules that new data is ready for processing
            m_sigNewDataReady();
        }
    }
    closeSound();
}
} //namespace mybeat