AudioRecorder_nws_yarp.cpp

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#include "AudioRecorder_nws_yarp.h"
#include <yarp/os/LogStream.h>
#include <yarp/sig/AudioRecorderStatus.h>
 
using namespace yarp::dev;
using namespace yarp::os;
 
namespace {
YARP_LOG_COMPONENT(AUDIORECORDER_NWS_YARP, "yarp.device.audioRecorder_nws_yarp")
}
 
 
AudioRecorder_nws_yarp::AudioRecorder_nws_yarp()
{
    m_stamp.update();
}
 
AudioRecorder_nws_yarp::~AudioRecorder_nws_yarp()
{
    close();
}
 
bool AudioRecorder_nws_yarp::open(yarp::os::Searchable& config)
{
    if (!this->parseParams(config)) { return false; }
 
    //just info
    yCDebug(AUDIORECORDER_NWS_YARP) << "Wrapper configured to produce packets with the following size (in samples): " <<
                m_min_samples_over_network << " < samples < " << m_max_samples_over_network;
    yCDebug(AUDIORECORDER_NWS_YARP) << "Wrapper configured with max_samples_timeout: " << m_getSound_timeout << "s";
 
    // Set the streaming port
    std::string portname = m_name;
    if (m_streamingPort.open(portname + "/audio:o") == false)
    {
        yCError(AUDIORECORDER_NWS_YARP) << "Unable to open port" << portname + "/audio:o";
        return false;
    }
    if (m_statusPort.open(portname + "/status:o") == false)
    {
        yCError(AUDIORECORDER_NWS_YARP) << "Unable to open port" << portname + "/status:o";
        return false;
    }
    // Set the RPC port
    if (m_rpcPort.open(portname + "/rpc") == false)
    {
        yCError(AUDIORECORDER_NWS_YARP) << "Unable to open port" << portname + "/rpc";
        return false;
    }
    m_rpcPort.setReader(*this);
 
    return true;
}
 
bool AudioRecorder_nws_yarp::close()
{
    detach();
 
    m_streamingPort.interrupt();
    m_streamingPort.close();
    m_rpcPort.interrupt();
    m_rpcPort.close();
    m_statusPort.interrupt();
    m_statusPort.close();
 
    return true;
}
 
bool AudioRecorder_nws_yarp::read(yarp::os::ConnectionReader& connection)
{
    bool b = m_RPC.read(connection);
    if (b)
    {
        return true;
    }
    yCDebug(AUDIORECORDER_NWS_YARP) << "read() Command failed";
    return false;
}
 
bool AudioRecorder_nws_yarp::attach(PolyDriver* driver)
{
    if (driver->isValid())
    {
        driver->view(m_mic);
    }
 
    if (nullptr == m_mic)
    {
        yCError(AUDIORECORDER_NWS_YARP, "Subdevice passed to attach method is invalid");
        return false;
    }
 
    m_RPC.setInterface(m_mic);
 
    m_dataThread = std::make_unique<AudioRecorderDataThread>(this);
    m_statusThread = std::make_unique<AudioRecorderStatusThread>(this);
    m_dataThread->setPeriod(m_period);
    m_dataThread->start();
    m_statusThread->start();
 
    // Wait a little and then start if requested
    if (m_start) {
        yCDebug(AUDIORECORDER_NWS_YARP) << "Auto start requested";
        yarp::os::SystemClock::delaySystem(1);
        m_mic->startRecording();
    }
 
    return true;
}
 
bool AudioRecorder_nws_yarp::detach()
{
    if (m_dataThread)
    {
        m_dataThread->stop();
    }
    if (m_statusThread)
    {
        m_statusThread->stop();
    }
 
    if (m_mic)
    {
        m_mic->stopRecording();
        m_mic = nullptr;
    }
    return true;
}
 
void AudioRecorder_nws_yarp::AudioRecorderStatusThread::run()
{
    yarp::sig::AudioBufferSize device_buffer_current_size;
    yarp::sig::AudioBufferSize device_buffer_max_size;
    m_ARW->m_mic->getRecordingAudioBufferCurrentSize(device_buffer_current_size);
    m_ARW->m_mic->getRecordingAudioBufferMaxSize(device_buffer_max_size);
 
    if (m_ARW->m_debug_enabled)
    {
        static double printer_wdt = yarp::os::Time::now();
        if (yarp::os::Time::now() - printer_wdt > 1.0)
        {
            yCDebug(AUDIORECORDER_NWS_YARP) << device_buffer_current_size.getSamples() << "/" << device_buffer_max_size.getSamples() << "samples";
            printer_wdt = yarp::os::Time::now();
        }
    }
 
 
    bool isRecording;
    m_ARW->m_mic->isRecording(isRecording);
 
    //status port
    yarp::sig::AudioRecorderStatus status;
    status.enabled = isRecording;
    status.current_buffer_size = device_buffer_current_size.getSamples();
    status.max_buffer_size = device_buffer_max_size.getSamples();
    m_ARW->m_statusPort.write(status);
}
 
void AudioRecorder_nws_yarp::AudioRecorderDataThread::run()
{
    if (0)
    {
        //debug: print the duration of the thread
        double current_time = yarp::os::Time::now();
        yCDebug(AUDIORECORDER_NWS_YARP) << (current_time - m_ARW->m_debug_last_time);
        m_ARW->m_debug_last_time = current_time;
    }
 
    if (m_ARW->m_mic == nullptr)
    {
        yCError(AUDIORECORDER_NWS_YARP) << "The IAudioGrabberSound interface is not available yet!";
        return;
    }
 
#ifdef PRINT_DEBUG_MESSAGES
    {
        audio_buffer_size buf_max;
        audio_buffer_size buf_cur;
        mic->getRecordingAudioBufferMaxSize(buf_max);
        mic->getRecordingAudioBufferCurrentSize(buf_cur);
        yCDebug(AUDIORECORDERWRAPPER) << "BEFORE Buffer status:" << buf_cur.getBytes() << "/" << buf_max.getBytes() << "bytes";
    }
#endif
 
 
    bool isRecording;
    m_ARW->m_mic->isRecording(isRecording);
    if (isRecording)
    {
        //acquire sound data from attached device
        yarp::sig::Sound current_sound;
        m_ARW->m_mic->getSound(current_sound, m_ARW->m_min_samples_over_network, m_ARW->m_max_samples_over_network, m_ARW->m_getSound_timeout);
        if (current_sound.getSamples() < m_ARW->m_min_samples_over_network ||
            current_sound.getSamples() > m_ARW->m_max_samples_over_network)
        {
            yCWarning(AUDIORECORDER_NWS_YARP) << "subdevice->getSound() is not producing sounds of the requested size ("
                << m_ARW->m_min_samples_over_network << "<"
                << current_sound.getSamples() << "<"
                << m_ARW->m_max_samples_over_network << ") failed";
        }
        #ifdef PRINT_DEBUG_MESSAGES
        {
            audio_buffer_size buf_max;
            audio_buffer_size buf_cur;
            mic->getRecordingAudioBufferMaxSize(buf_max);
            mic->getRecordingAudioBufferCurrentSize(buf_cur);
            yCDebug(AUDIORECORDERWRAPPER) << "AFTER Buffer status:" << buf_cur.getBytes() << "/" << buf_max.getBytes() << "bytes";
        }
        #endif
        #ifdef PRINT_DEBUG_MESSAGES
            yCDebug(AUDIORECORDERWRAPPER) << "Sound size:" << current_sound.getSamples() * current_sound.getChannels() * current_sound.getBytesPerSample() << " bytes";
            yCDebug(AUDIORECORDERWRAPPER);
        #endif
 
        //when recording: accumulate data or send data
        if (current_sound.getSamples() > 0)
        {
            if (m_ARW->m_send_sound_on_stop)
            {
                m_ARW->m_listofsnds.push_back(current_sound);
            }
            else
            {
                sendSound(current_sound);
            }
        }
    }
    else //when the recording is stopped: send accumulated data all at one
    {
        if (m_ARW->m_listofsnds.size()>0)
        {
            //create the sound s with the appropriate size
            yarp::sig::Sound s;
            s.setFrequency(m_ARW->m_listofsnds.begin()->getFrequency());
            size_t total_size = 0;
            for (auto it= m_ARW->m_listofsnds.begin(); it!= m_ARW->m_listofsnds.end(); it++)
            {
                total_size += (*it).getSamples();
            }
            s.resize(total_size, m_ARW->m_listofsnds.begin()->getChannels());
 
            //fill the sound s with the sound contained in the list
            size_t offset = 0;
            for (auto it = m_ARW->m_listofsnds.begin(); it != m_ARW->m_listofsnds.end(); it++)
            {
                s.overwrite(*it,offset);
                offset+=it->getSamples();
            }
            sendSound(s);
            m_ARW->m_listofsnds.clear();
        }
    }
}
 
bool AudioRecorder_nws_yarp::AudioRecorderDataThread::sendSound(yarp::sig::Sound& s)
{
    //check before sending data
    if (s.getSamples() == 0)
    {
        yCError(AUDIORECORDER_NWS_YARP) << "Subdevice produced sound of 0 samples!";
        return false;
    }
    if (s.getChannels() == 0)
    {
        yCError(AUDIORECORDER_NWS_YARP) << "Subdevice produced sound of 0 channels!";
        return false;
    }
    if (s.getFrequency() == 0)
    {
        yCError(AUDIORECORDER_NWS_YARP) << "Subdevice produced sound with 0 frequency!";
        return false;
    }
 
    //prepare the timestamp
    m_ARW->m_stamp.update();
    m_ARW->m_streamingPort.setEnvelope(m_ARW->m_stamp);
 
    //send data
    if (m_ARW->m_streamingPort.getOutputCount()>0)
    {
        m_ARW->m_streamingPort.write(s);
    }
 
    return true;
}