#include "alsoundprocessing.h"
#include <alcommon/alproxy.h>
#include <iostream>
ALSoundProcessing::ALSoundProcessing(boost::shared_ptr<ALBroker> pBroker,
std::string pName)
: ALSoundExtractor(pBroker, pName)
{
setModuleDescription("This module processes the data collected by the "
"microphones and output in the ALMemory the RMS power "
"of each of the four channels.");
}
void ALSoundProcessing::init()
{
fALMemoryKeys.push_back("ALSoundProcessing/leftMicEnergy");
fALMemoryKeys.push_back("ALSoundProcessing/rightMicEnergy");
fALMemoryKeys.push_back("ALSoundProcessing/frontMicEnergy");
fALMemoryKeys.push_back("ALSoundProcessing/rearMicEnergy");
fProxyToALMemory.insertData(fALMemoryKeys[0],0.0f);
fProxyToALMemory.insertData(fALMemoryKeys[1],0.0f);
fProxyToALMemory.insertData(fALMemoryKeys[2],0.0f);
fProxyToALMemory.insertData(fALMemoryKeys[3],0.0f);
audioDevice->callVoid("setClientPreferences",
getName(), //Name of this module
48000, //48000 Hz requested
(int)ALLCHANNELS, //4 Channels requested
1 //Deinterleaving requested
);
startDetection();
}
ALSoundProcessing::~ALSoundProcessing()
{
stopDetection();
}
/// Description: The name of this method should not be modified as this
/// method is automatically called by the AudioDevice Module.
void ALSoundProcessing::process(const int & nbOfChannels,
const int & nbOfSamplesByChannel,
const AL_SOUND_FORMAT * buffer,
const ALValue & timeStamp)
{
/// Computation of the RMS power of the signal delivered by
/// each microphone on a 170ms buffer
/// init RMS power to 0
std::vector<float> fMicsEnergy;
for(int i=0 ; i<nbOfChannels ; i++)
{
fMicsEnergy.push_back(0.0f);
}
/// Calculation of the RMS power
for(int channelInd = 0 ; channelInd < nbOfChannels ; channelInd++)
{
for(int i = 0 ; i < nbOfSamplesByChannel ; i++)
{
fMicsEnergy[channelInd] += (float)buffer[nbOfSamplesByChannel*channelInd + i]
*(float)buffer[nbOfSamplesByChannel*channelInd + i];
}
fMicsEnergy[channelInd] /= (float)nbOfSamplesByChannel;
fMicsEnergy[channelInd] = sqrtf(fMicsEnergy[channelInd]);
}
/// Puts the result in ALMemory
/// (for example to be easily retrieved by another module)
for(int i=0 ; i<nbOfChannels ; i++)
{
fProxyToALMemory.insertData(fALMemoryKeys[i],fMicsEnergy[i]);
}
/// Displays the results on the Naoqi console
std::cout << "ALSoundProcessing Energy Left = " << fMicsEnergy[0] << std::endl;
std::cout << "ALSoundProcessing Energy Right = " << fMicsEnergy[1] << std::endl;
std::cout << "ALSoundProcessing Energy Front = " << fMicsEnergy[2] << std::endl;
std::cout << "ALSoundProcessing Energy Rear = " << fMicsEnergy[3] << std::endl;
}