From 03ba29f3917f040d04bb065fba0623b86cbf73fd Mon Sep 17 00:00:00 2001 From: melkercarlsson123 Date: Thu, 1 Aug 2024 14:38:50 +0200 Subject: [PATCH 01/43] sinc delay working, needs optimization --- src/dsp/delay.cpp | 128 +++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 127 insertions(+), 1 deletion(-) diff --git a/src/dsp/delay.cpp b/src/dsp/delay.cpp index e20d5fb..8e931ff 100644 --- a/src/dsp/delay.cpp +++ b/src/dsp/delay.cpp @@ -33,4 +33,130 @@ void delay(float *out, const float *signal, const float fraction) { } } -#endif \ No newline at end of file +#if 0 + +const float filter_coeffs [101][8] = { + { 0.0000000, -0.0000002, 0.0000017, -0.0000077, 1.0000000, 0.0000077, -0.0000017, 0.0000002}, + { 0.0000000, -0.0002207, 0.0016913, -0.0076579, 0.9998608, 0.0078126, -0.0017083, 0.0002222}, + { 0.0000000, -0.0004398, 0.0033645, -0.0151593, 0.9994433, 0.0157780, -0.0034324, 0.0004457}, + { 0.0000000, -0.0006571, 0.0050183, -0.0225025, 0.9987477, 0.0238944, -0.0051712, 0.0006703}, + { 0.0000000, -0.0008724, 0.0066518, -0.0296858, 0.9977741, 0.0321596, -0.0069233, 0.0008959}, + { 0.0000000, -0.0010855, 0.0082638, -0.0367078, 0.9965230, 0.0405718, -0.0086876, 0.0011223}, + { 0.0000000, -0.0012964, 0.0098533, -0.0435669, 0.9949948, 0.0491286, -0.0104628, 0.0013493}, + { 0.0000000, -0.0015048, 0.0114193, -0.0502617, 0.9931902, 0.0578280, -0.0122476, 0.0015767}, + { 0.0000000, -0.0017105, 0.0129607, -0.0567908, 0.9911097, 0.0666675, -0.0140407, 0.0018043}, + { 0.0000000, -0.0019136, 0.0144765, -0.0631531, 0.9887541, 0.0756449, -0.0158408, 0.0020319}, + { 0.0000000, -0.0021137, 0.0159658, -0.0693473, 0.9861243, 0.0847578, -0.0176464, 0.0022595}, + { 0.0000000, -0.0023108, 0.0174277, -0.0753722, 0.9832214, 0.0940036, -0.0194563, 0.0024867}, + { 0.0000000, -0.0025046, 0.0188613, -0.0812269, 0.9800463, 0.1033797, -0.0212691, 0.0027134}, + { 0.0000000, -0.0026952, 0.0202656, -0.0869105, 0.9766003, 0.1128837, -0.0230833, 0.0029393}, + { 0.0000000, -0.0028823, 0.0216399, -0.0924219, 0.9728846, 0.1225127, -0.0248975, 0.0031644}, + { 0.0000000, -0.0030657, 0.0229832, -0.0977604, 0.9689006, 0.1322641, -0.0267102, 0.0033884}, + { 0.0000000, -0.0032455, 0.0242949, -0.1029253, 0.9646499, 0.1421349, -0.0285201, 0.0036111}, + { 0.0000000, -0.0034213, 0.0255741, -0.1079158, 0.9601339, 0.1521223, -0.0303255, 0.0038324}, + { 0.0000000, -0.0035932, 0.0268200, -0.1127315, 0.9553545, 0.1622234, -0.0321251, 0.0040519}, + { 0.0000000, -0.0037610, 0.0280321, -0.1173718, 0.9503133, 0.1724351, -0.0339173, 0.0042696}, + { 0.0000000, -0.0039246, 0.0292095, -0.1218362, 0.9450122, 0.1827544, -0.0357005, 0.0044852}, + { 0.0000000, -0.0040838, 0.0303516, -0.1261245, 0.9394533, 0.1931780, -0.0374732, 0.0046985}, + { 0.0000000, -0.0042386, 0.0314577, -0.1302363, 0.9336386, 0.2037029, -0.0392338, 0.0049094}, + { 0.0000000, -0.0043888, 0.0325274, -0.1341714, 0.9275703, 0.2143257, -0.0409808, 0.0051176}, + { 0.0000000, -0.0045344, 0.0335598, -0.1379297, 0.9212506, 0.2250431, -0.0427125, 0.0053230}, + { 0.0000000, -0.0046752, 0.0345547, -0.1415111, 0.9146820, 0.2358518, -0.0444274, 0.0055252}, + { 0.0000000, -0.0048112, 0.0355113, -0.1449156, 0.9078669, 0.2467483, -0.0461238, 0.0057242}, + { 0.0000000, -0.0049422, 0.0364291, -0.1481435, 0.9008078, 0.2577290, -0.0478001, 0.0059198}, + { 0.0000000, -0.0050682, 0.0373079, -0.1511947, 0.8935074, 0.2687905, -0.0494546, 0.0061117}, + { 0.0000000, -0.0051891, 0.0381469, -0.1540696, 0.8859685, 0.2799292, -0.0510857, 0.0062997}, + { 0.0000000, -0.0053048, 0.0389460, -0.1567684, 0.8781939, 0.2911414, -0.0526916, 0.0064837}, + { 0.0000000, -0.0054153, 0.0397046, -0.1592916, 0.8701864, 0.3024233, -0.0542708, 0.0066634}, + { 0.0000000, -0.0055203, 0.0404224, -0.1616397, 0.8619493, 0.3137712, -0.0558215, 0.0068386}, + { 0.0000000, -0.0056200, 0.0410992, -0.1638131, 0.8534854, 0.3251813, -0.0573420, 0.0070093}, + { 0.0000000, -0.0057142, 0.0417345, -0.1658125, 0.8447981, 0.3366497, -0.0588305, 0.0071750}, + { 0.0000000, -0.0058029, 0.0423281, -0.1676386, 0.8358906, 0.3481725, -0.0602854, 0.0073357}, + { 0.0000000, -0.0058860, 0.0428797, -0.1692921, 0.8267664, 0.3597457, -0.0617050, 0.0074912}, + { 0.0000000, -0.0059634, 0.0433893, -0.1707738, 0.8174288, 0.3713654, -0.0630874, 0.0076413}, + { 0.0000000, -0.0060351, 0.0438564, -0.1720848, 0.8078814, 0.3830274, -0.0644310, 0.0077858}, + { 0.0000000, -0.0061011, 0.0442811, -0.1732258, 0.7981278, 0.3947276, -0.0657340, 0.0079245}, + { 0.0000000, -0.0061613, 0.0446631, -0.1741980, 0.7881718, 0.4064620, -0.0669946, 0.0080571}, + { 0.0000000, -0.0062157, 0.0450023, -0.1750025, 0.7780171, 0.4182262, -0.0682111, 0.0081836}, + { 0.0000000, -0.0062643, 0.0452987, -0.1756404, 0.7676676, 0.4300162, -0.0693816, 0.0083038}, + { 0.0000000, -0.0063069, 0.0455523, -0.1761131, 0.7571273, 0.4418275, -0.0705045, 0.0084174}, + { 0.0000000, -0.0063436, 0.0457629, -0.1764218, 0.7464001, 0.4536560, -0.0715779, 0.0085243}, + { 0.0000000, -0.0063745, 0.0459306, -0.1765679, 0.7354903, 0.4654972, -0.0726000, 0.0086243}, + { 0.0000000, -0.0063993, 0.0460555, -0.1765529, 0.7244019, 0.4773468, -0.0735691, 0.0087172}, + { 0.0000000, -0.0064182, 0.0461375, -0.1763783, 0.7131393, 0.4892003, -0.0744834, 0.0088029}, + { 0.0000000, -0.0064312, 0.0461768, -0.1760457, 0.7017068, 0.5010533, -0.0753412, 0.0088812}, + { 0.0000000, -0.0064381, 0.0461735, -0.1755568, 0.6901088, 0.5129012, -0.0761405, 0.0089518}, + { 0.0000000, -0.0064391, 0.0461278, -0.1749132, 0.6783497, 0.5247397, -0.0768796, 0.0090148}, + { 0.0000000, -0.0064342, 0.0460397, -0.1741168, 0.6664341, 0.5365641, -0.0775568, 0.0090699}, + { 0.0000000, -0.0064232, 0.0459095, -0.1731694, 0.6543667, 0.5483699, -0.0781703, 0.0091169}, + { 0.0000000, -0.0064064, 0.0457375, -0.1720730, 0.6421520, 0.5601524, -0.0787182, 0.0091557}, + { 0.0000000, -0.0063836, 0.0455238, -0.1708294, 0.6297950, 0.5719070, -0.0791989, 0.0091861}, + { 0.0000000, -0.0063548, 0.0452687, -0.1694407, 0.6173002, 0.5836290, -0.0796104, 0.0092080}, + { 0.0000000, -0.0063202, 0.0449725, -0.1679090, 0.6046727, 0.5953139, -0.0799512, 0.0092213}, + { 0.0000000, -0.0062797, 0.0446356, -0.1662366, 0.5919174, 0.6069568, -0.0802193, 0.0092258}, + { 0.0000000, -0.0062334, 0.0442583, -0.1644255, 0.5790392, 0.6185531, -0.0804131, 0.0092213}, + { 0.0000000, -0.0061813, 0.0438410, -0.1624781, 0.5660433, 0.6300980, -0.0805307, 0.0092078}, + { 0.0000000, -0.0061234, 0.0433841, -0.1603967, 0.5529346, 0.6415867, -0.0805705, 0.0091852}, + { 0.0000000, -0.0060599, 0.0428880, -0.1581836, 0.5397185, 0.6530145, -0.0805307, 0.0091532}, + { 0.0000000, -0.0059906, 0.0423531, -0.1558414, 0.5264001, 0.6643766, -0.0804095, 0.0091118}, + { 0.0000000, -0.0059158, 0.0417800, -0.1533725, 0.5129846, 0.6756682, -0.0802053, 0.0090609}, + { 0.0000000, -0.0058354, 0.0411691, -0.1507795, 0.4994775, 0.6868844, -0.0799164, 0.0090003}, + { 0.0000000, -0.0057494, 0.0405209, -0.1480650, 0.4858840, 0.6980205, -0.0795410, 0.0089300}, + { 0.0000000, -0.0056581, 0.0398360, -0.1452315, 0.4722096, 0.7090717, -0.0790775, 0.0088498}, + { 0.0000000, -0.0055614, 0.0391150, -0.1422820, 0.4584597, 0.7200329, -0.0785242, 0.0087598}, + { 0.0000000, -0.0054594, 0.0383585, -0.1392190, 0.4446399, 0.7308996, -0.0778794, 0.0086597}, + { 0.0000000, -0.0053521, 0.0375670, -0.1360454, 0.4307557, 0.7416667, -0.0771414, 0.0085495}, + { 0.0000000, -0.0052397, 0.0367413, -0.1327640, 0.4168127, 0.7523294, -0.0763088, 0.0084292}, + { 0.0000000, -0.0051223, 0.0358819, -0.1293778, 0.4028165, 0.7628829, -0.0753798, 0.0082986}, + { 0.0000000, -0.0049999, 0.0349895, -0.1258897, 0.3887727, 0.7733224, -0.0743528, 0.0081577}, + { 0.0000000, -0.0048725, 0.0340650, -0.1223026, 0.3746872, 0.7836429, -0.0732263, 0.0080064}, + { 0.0000000, -0.0047404, 0.0331089, -0.1186197, 0.3605655, 0.7938397, -0.0719986, 0.0078448}, + { 0.0000000, -0.0046036, 0.0321220, -0.1148440, 0.3464134, 0.8039078, -0.0706683, 0.0076727}, + { 0.0000000, -0.0044622, 0.0311051, -0.1109785, 0.3322368, 0.8138426, -0.0692339, 0.0074901}, + { 0.0000000, -0.0043162, 0.0300589, -0.1070266, 0.3180415, 0.8236391, -0.0676937, 0.0072970}, + { 0.0000000, -0.0041659, 0.0289844, -0.1029912, 0.3038332, 0.8332926, -0.0660464, 0.0070933}, + { 0.0000000, -0.0040113, 0.0278822, -0.0988758, 0.2896180, 0.8427982, -0.0642904, 0.0068791}, + { 0.0000000, -0.0038525, 0.0267533, -0.0946835, 0.2754015, 0.8521511, -0.0624243, 0.0066544}, + { 0.0000000, -0.0036897, 0.0255985, -0.0904176, 0.2611899, 0.8613467, -0.0604468, 0.0064190}, + { 0.0000000, -0.0035229, 0.0244186, -0.0860816, 0.2469889, 0.8703802, -0.0583563, 0.0061732}, + { 0.0000000, -0.0033523, 0.0232146, -0.0816787, 0.2328045, 0.8792468, -0.0561516, 0.0059167}, + { 0.0000000, -0.0031780, 0.0219874, -0.0772123, 0.2186427, 0.8879418, -0.0538313, 0.0056498}, + { 0.0000000, -0.0030002, 0.0207380, -0.0726860, 0.2045094, 0.8964605, -0.0513941, 0.0053724}, + { 0.0000000, -0.0028189, 0.0194672, -0.0681031, 0.1904106, 0.9047984, -0.0488386, 0.0050845}, + { 0.0000000, -0.0026343, 0.0181760, -0.0634672, 0.1763523, 0.9129507, -0.0461637, 0.0047862}, + { 0.0000000, -0.0024465, 0.0168654, -0.0587817, 0.1623405, 0.9209128, -0.0433681, 0.0044776}, + { 0.0000000, -0.0022558, 0.0155364, -0.0540502, 0.1483811, 0.9286803, -0.0404506, 0.0041587}, + { 0.0000000, -0.0020621, 0.0141900, -0.0492762, 0.1344802, 0.9362485, -0.0374099, 0.0038296}, + { 0.0000000, -0.0018657, 0.0128272, -0.0444634, 0.1206437, 0.9436129, -0.0342451, 0.0034904}, + { 0.0000000, -0.0016667, 0.0114491, -0.0396154, 0.1068777, 0.9507692, -0.0309549, 0.0031411}, + { 0.0000000, -0.0014653, 0.0100567, -0.0347357, 0.0931880, 0.9577127, -0.0275384, 0.0027819}, + { 0.0000000, -0.0012616, 0.0086510, -0.0298280, 0.0795807, 0.9644393, -0.0239943, 0.0024129}, + { 0.0000000, -0.0010557, 0.0072332, -0.0248960, 0.0660618, 0.9709444, -0.0203219, 0.0020342}, + { 0.0000000, -0.0008479, 0.0058043, -0.0199433, 0.0526372, 0.9772238, -0.0165200, 0.0016459}, + { 0.0000000, -0.0006382, 0.0043654, -0.0149737, 0.0393128, 0.9832733, -0.0125877, 0.0012482}, + { 0.0000000, -0.0004269, 0.0029177, -0.0099908, 0.0260945, 0.9890886, -0.0085242, 0.0008412}, + { 0.0000000, -0.0002141, 0.0014622, -0.0049983, 0.0129883, 0.9946655, -0.0043286, 0.0004251}, + { 0.0000000, -0.0000002, 0.0000015, -0.0000050, 0.0000129, 0.9999948, -0.0000044, 0.0000004} +}; + + +#define COEFF_SIZE 8 // Filter coefficient size (assuming it is 8) + +void delay(float *out, const float *signal, const float fraction) { + float get_filter = (1-fraction) * 100.0f + 0.5f; + int delay_int = (int)get_filter; + + for (int n = 0; n < N_SAMPLES; ++n) { + for(int i = 0; i < 8; ++i){ + + out[n] += filter_coeffs[delay_int][i]*signal[n+i]; + + } + +} + +} + +#endif + +#endif From c48e0a014f1e68674df66d4905d570ed94d41d54 Mon Sep 17 00:00:00 2001 From: Irreq Date: Fri, 2 Aug 2024 11:53:26 +0200 Subject: [PATCH 02/43] Updated Delay --- src/dsp/delay.cpp | 135 +++++----------------------------------------- src/dsp/delay.h | 5 ++ 2 files changed, 17 insertions(+), 123 deletions(-) diff --git a/src/dsp/delay.cpp b/src/dsp/delay.cpp index 8e931ff..4b5bb45 100644 --- a/src/dsp/delay.cpp +++ b/src/dsp/delay.cpp @@ -25,138 +25,27 @@ void delay(float *out, const float *signal, const float fraction) { } } -#else - -void delay(float *out, const float *signal, const float fraction) { - for (int i = 0; i < N_SAMPLES; i++) { - out[i] += signal[i + 1] + fraction * (signal[i] - signal[i + 1]); - } -} - -#if 0 - -const float filter_coeffs [101][8] = { - { 0.0000000, -0.0000002, 0.0000017, -0.0000077, 1.0000000, 0.0000077, -0.0000017, 0.0000002}, - { 0.0000000, -0.0002207, 0.0016913, -0.0076579, 0.9998608, 0.0078126, -0.0017083, 0.0002222}, - { 0.0000000, -0.0004398, 0.0033645, -0.0151593, 0.9994433, 0.0157780, -0.0034324, 0.0004457}, - { 0.0000000, -0.0006571, 0.0050183, -0.0225025, 0.9987477, 0.0238944, -0.0051712, 0.0006703}, - { 0.0000000, -0.0008724, 0.0066518, -0.0296858, 0.9977741, 0.0321596, -0.0069233, 0.0008959}, - { 0.0000000, -0.0010855, 0.0082638, -0.0367078, 0.9965230, 0.0405718, -0.0086876, 0.0011223}, - { 0.0000000, -0.0012964, 0.0098533, -0.0435669, 0.9949948, 0.0491286, -0.0104628, 0.0013493}, - { 0.0000000, -0.0015048, 0.0114193, -0.0502617, 0.9931902, 0.0578280, -0.0122476, 0.0015767}, - { 0.0000000, -0.0017105, 0.0129607, -0.0567908, 0.9911097, 0.0666675, -0.0140407, 0.0018043}, - { 0.0000000, -0.0019136, 0.0144765, -0.0631531, 0.9887541, 0.0756449, -0.0158408, 0.0020319}, - { 0.0000000, -0.0021137, 0.0159658, -0.0693473, 0.9861243, 0.0847578, -0.0176464, 0.0022595}, - { 0.0000000, -0.0023108, 0.0174277, -0.0753722, 0.9832214, 0.0940036, -0.0194563, 0.0024867}, - { 0.0000000, -0.0025046, 0.0188613, -0.0812269, 0.9800463, 0.1033797, -0.0212691, 0.0027134}, - { 0.0000000, -0.0026952, 0.0202656, -0.0869105, 0.9766003, 0.1128837, -0.0230833, 0.0029393}, - { 0.0000000, -0.0028823, 0.0216399, -0.0924219, 0.9728846, 0.1225127, -0.0248975, 0.0031644}, - { 0.0000000, -0.0030657, 0.0229832, -0.0977604, 0.9689006, 0.1322641, -0.0267102, 0.0033884}, - { 0.0000000, -0.0032455, 0.0242949, -0.1029253, 0.9646499, 0.1421349, -0.0285201, 0.0036111}, - { 0.0000000, -0.0034213, 0.0255741, -0.1079158, 0.9601339, 0.1521223, -0.0303255, 0.0038324}, - { 0.0000000, -0.0035932, 0.0268200, -0.1127315, 0.9553545, 0.1622234, -0.0321251, 0.0040519}, - { 0.0000000, -0.0037610, 0.0280321, -0.1173718, 0.9503133, 0.1724351, -0.0339173, 0.0042696}, - { 0.0000000, -0.0039246, 0.0292095, -0.1218362, 0.9450122, 0.1827544, -0.0357005, 0.0044852}, - { 0.0000000, -0.0040838, 0.0303516, -0.1261245, 0.9394533, 0.1931780, -0.0374732, 0.0046985}, - { 0.0000000, -0.0042386, 0.0314577, -0.1302363, 0.9336386, 0.2037029, -0.0392338, 0.0049094}, - { 0.0000000, -0.0043888, 0.0325274, -0.1341714, 0.9275703, 0.2143257, -0.0409808, 0.0051176}, - { 0.0000000, -0.0045344, 0.0335598, -0.1379297, 0.9212506, 0.2250431, -0.0427125, 0.0053230}, - { 0.0000000, -0.0046752, 0.0345547, -0.1415111, 0.9146820, 0.2358518, -0.0444274, 0.0055252}, - { 0.0000000, -0.0048112, 0.0355113, -0.1449156, 0.9078669, 0.2467483, -0.0461238, 0.0057242}, - { 0.0000000, -0.0049422, 0.0364291, -0.1481435, 0.9008078, 0.2577290, -0.0478001, 0.0059198}, - { 0.0000000, -0.0050682, 0.0373079, -0.1511947, 0.8935074, 0.2687905, -0.0494546, 0.0061117}, - { 0.0000000, -0.0051891, 0.0381469, -0.1540696, 0.8859685, 0.2799292, -0.0510857, 0.0062997}, - { 0.0000000, -0.0053048, 0.0389460, -0.1567684, 0.8781939, 0.2911414, -0.0526916, 0.0064837}, - { 0.0000000, -0.0054153, 0.0397046, -0.1592916, 0.8701864, 0.3024233, -0.0542708, 0.0066634}, - { 0.0000000, -0.0055203, 0.0404224, -0.1616397, 0.8619493, 0.3137712, -0.0558215, 0.0068386}, - { 0.0000000, -0.0056200, 0.0410992, -0.1638131, 0.8534854, 0.3251813, -0.0573420, 0.0070093}, - { 0.0000000, -0.0057142, 0.0417345, -0.1658125, 0.8447981, 0.3366497, -0.0588305, 0.0071750}, - { 0.0000000, -0.0058029, 0.0423281, -0.1676386, 0.8358906, 0.3481725, -0.0602854, 0.0073357}, - { 0.0000000, -0.0058860, 0.0428797, -0.1692921, 0.8267664, 0.3597457, -0.0617050, 0.0074912}, - { 0.0000000, -0.0059634, 0.0433893, -0.1707738, 0.8174288, 0.3713654, -0.0630874, 0.0076413}, - { 0.0000000, -0.0060351, 0.0438564, -0.1720848, 0.8078814, 0.3830274, -0.0644310, 0.0077858}, - { 0.0000000, -0.0061011, 0.0442811, -0.1732258, 0.7981278, 0.3947276, -0.0657340, 0.0079245}, - { 0.0000000, -0.0061613, 0.0446631, -0.1741980, 0.7881718, 0.4064620, -0.0669946, 0.0080571}, - { 0.0000000, -0.0062157, 0.0450023, -0.1750025, 0.7780171, 0.4182262, -0.0682111, 0.0081836}, - { 0.0000000, -0.0062643, 0.0452987, -0.1756404, 0.7676676, 0.4300162, -0.0693816, 0.0083038}, - { 0.0000000, -0.0063069, 0.0455523, -0.1761131, 0.7571273, 0.4418275, -0.0705045, 0.0084174}, - { 0.0000000, -0.0063436, 0.0457629, -0.1764218, 0.7464001, 0.4536560, -0.0715779, 0.0085243}, - { 0.0000000, -0.0063745, 0.0459306, -0.1765679, 0.7354903, 0.4654972, -0.0726000, 0.0086243}, - { 0.0000000, -0.0063993, 0.0460555, -0.1765529, 0.7244019, 0.4773468, -0.0735691, 0.0087172}, - { 0.0000000, -0.0064182, 0.0461375, -0.1763783, 0.7131393, 0.4892003, -0.0744834, 0.0088029}, - { 0.0000000, -0.0064312, 0.0461768, -0.1760457, 0.7017068, 0.5010533, -0.0753412, 0.0088812}, - { 0.0000000, -0.0064381, 0.0461735, -0.1755568, 0.6901088, 0.5129012, -0.0761405, 0.0089518}, - { 0.0000000, -0.0064391, 0.0461278, -0.1749132, 0.6783497, 0.5247397, -0.0768796, 0.0090148}, - { 0.0000000, -0.0064342, 0.0460397, -0.1741168, 0.6664341, 0.5365641, -0.0775568, 0.0090699}, - { 0.0000000, -0.0064232, 0.0459095, -0.1731694, 0.6543667, 0.5483699, -0.0781703, 0.0091169}, - { 0.0000000, -0.0064064, 0.0457375, -0.1720730, 0.6421520, 0.5601524, -0.0787182, 0.0091557}, - { 0.0000000, -0.0063836, 0.0455238, -0.1708294, 0.6297950, 0.5719070, -0.0791989, 0.0091861}, - { 0.0000000, -0.0063548, 0.0452687, -0.1694407, 0.6173002, 0.5836290, -0.0796104, 0.0092080}, - { 0.0000000, -0.0063202, 0.0449725, -0.1679090, 0.6046727, 0.5953139, -0.0799512, 0.0092213}, - { 0.0000000, -0.0062797, 0.0446356, -0.1662366, 0.5919174, 0.6069568, -0.0802193, 0.0092258}, - { 0.0000000, -0.0062334, 0.0442583, -0.1644255, 0.5790392, 0.6185531, -0.0804131, 0.0092213}, - { 0.0000000, -0.0061813, 0.0438410, -0.1624781, 0.5660433, 0.6300980, -0.0805307, 0.0092078}, - { 0.0000000, -0.0061234, 0.0433841, -0.1603967, 0.5529346, 0.6415867, -0.0805705, 0.0091852}, - { 0.0000000, -0.0060599, 0.0428880, -0.1581836, 0.5397185, 0.6530145, -0.0805307, 0.0091532}, - { 0.0000000, -0.0059906, 0.0423531, -0.1558414, 0.5264001, 0.6643766, -0.0804095, 0.0091118}, - { 0.0000000, -0.0059158, 0.0417800, -0.1533725, 0.5129846, 0.6756682, -0.0802053, 0.0090609}, - { 0.0000000, -0.0058354, 0.0411691, -0.1507795, 0.4994775, 0.6868844, -0.0799164, 0.0090003}, - { 0.0000000, -0.0057494, 0.0405209, -0.1480650, 0.4858840, 0.6980205, -0.0795410, 0.0089300}, - { 0.0000000, -0.0056581, 0.0398360, -0.1452315, 0.4722096, 0.7090717, -0.0790775, 0.0088498}, - { 0.0000000, -0.0055614, 0.0391150, -0.1422820, 0.4584597, 0.7200329, -0.0785242, 0.0087598}, - { 0.0000000, -0.0054594, 0.0383585, -0.1392190, 0.4446399, 0.7308996, -0.0778794, 0.0086597}, - { 0.0000000, -0.0053521, 0.0375670, -0.1360454, 0.4307557, 0.7416667, -0.0771414, 0.0085495}, - { 0.0000000, -0.0052397, 0.0367413, -0.1327640, 0.4168127, 0.7523294, -0.0763088, 0.0084292}, - { 0.0000000, -0.0051223, 0.0358819, -0.1293778, 0.4028165, 0.7628829, -0.0753798, 0.0082986}, - { 0.0000000, -0.0049999, 0.0349895, -0.1258897, 0.3887727, 0.7733224, -0.0743528, 0.0081577}, - { 0.0000000, -0.0048725, 0.0340650, -0.1223026, 0.3746872, 0.7836429, -0.0732263, 0.0080064}, - { 0.0000000, -0.0047404, 0.0331089, -0.1186197, 0.3605655, 0.7938397, -0.0719986, 0.0078448}, - { 0.0000000, -0.0046036, 0.0321220, -0.1148440, 0.3464134, 0.8039078, -0.0706683, 0.0076727}, - { 0.0000000, -0.0044622, 0.0311051, -0.1109785, 0.3322368, 0.8138426, -0.0692339, 0.0074901}, - { 0.0000000, -0.0043162, 0.0300589, -0.1070266, 0.3180415, 0.8236391, -0.0676937, 0.0072970}, - { 0.0000000, -0.0041659, 0.0289844, -0.1029912, 0.3038332, 0.8332926, -0.0660464, 0.0070933}, - { 0.0000000, -0.0040113, 0.0278822, -0.0988758, 0.2896180, 0.8427982, -0.0642904, 0.0068791}, - { 0.0000000, -0.0038525, 0.0267533, -0.0946835, 0.2754015, 0.8521511, -0.0624243, 0.0066544}, - { 0.0000000, -0.0036897, 0.0255985, -0.0904176, 0.2611899, 0.8613467, -0.0604468, 0.0064190}, - { 0.0000000, -0.0035229, 0.0244186, -0.0860816, 0.2469889, 0.8703802, -0.0583563, 0.0061732}, - { 0.0000000, -0.0033523, 0.0232146, -0.0816787, 0.2328045, 0.8792468, -0.0561516, 0.0059167}, - { 0.0000000, -0.0031780, 0.0219874, -0.0772123, 0.2186427, 0.8879418, -0.0538313, 0.0056498}, - { 0.0000000, -0.0030002, 0.0207380, -0.0726860, 0.2045094, 0.8964605, -0.0513941, 0.0053724}, - { 0.0000000, -0.0028189, 0.0194672, -0.0681031, 0.1904106, 0.9047984, -0.0488386, 0.0050845}, - { 0.0000000, -0.0026343, 0.0181760, -0.0634672, 0.1763523, 0.9129507, -0.0461637, 0.0047862}, - { 0.0000000, -0.0024465, 0.0168654, -0.0587817, 0.1623405, 0.9209128, -0.0433681, 0.0044776}, - { 0.0000000, -0.0022558, 0.0155364, -0.0540502, 0.1483811, 0.9286803, -0.0404506, 0.0041587}, - { 0.0000000, -0.0020621, 0.0141900, -0.0492762, 0.1344802, 0.9362485, -0.0374099, 0.0038296}, - { 0.0000000, -0.0018657, 0.0128272, -0.0444634, 0.1206437, 0.9436129, -0.0342451, 0.0034904}, - { 0.0000000, -0.0016667, 0.0114491, -0.0396154, 0.1068777, 0.9507692, -0.0309549, 0.0031411}, - { 0.0000000, -0.0014653, 0.0100567, -0.0347357, 0.0931880, 0.9577127, -0.0275384, 0.0027819}, - { 0.0000000, -0.0012616, 0.0086510, -0.0298280, 0.0795807, 0.9644393, -0.0239943, 0.0024129}, - { 0.0000000, -0.0010557, 0.0072332, -0.0248960, 0.0660618, 0.9709444, -0.0203219, 0.0020342}, - { 0.0000000, -0.0008479, 0.0058043, -0.0199433, 0.0526372, 0.9772238, -0.0165200, 0.0016459}, - { 0.0000000, -0.0006382, 0.0043654, -0.0149737, 0.0393128, 0.9832733, -0.0125877, 0.0012482}, - { 0.0000000, -0.0004269, 0.0029177, -0.0099908, 0.0260945, 0.9890886, -0.0085242, 0.0008412}, - { 0.0000000, -0.0002141, 0.0014622, -0.0049983, 0.0129883, 0.9946655, -0.0043286, 0.0004251}, - { 0.0000000, -0.0000002, 0.0000015, -0.0000050, 0.0000129, 0.9999948, -0.0000044, 0.0000004} -}; - +#elif USE_FILTER #define COEFF_SIZE 8 // Filter coefficient size (assuming it is 8) void delay(float *out, const float *signal, const float fraction) { - float get_filter = (1-fraction) * 100.0f + 0.5f; - int delay_int = (int)get_filter; + float get_filter = (1 - fraction) * 100.0f + 0.5f; + int delay_int = (int) get_filter; for (int n = 0; n < N_SAMPLES; ++n) { - for(int i = 0; i < 8; ++i){ - - out[n] += filter_coeffs[delay_int][i]*signal[n+i]; - + for (int i = 0; i < COEFF_SIZE; ++i) { + out[n] += filter_coeffs[delay_int][i] * signal[n + i]; } - + } } -} +#else -#endif +void delay(float *out, const float *signal, const float fraction) { + for (int i = 0; i < N_SAMPLES; i++) { + out[i] += signal[i + 1] + fraction * (signal[i] - signal[i + 1]); + } +} #endif diff --git a/src/dsp/delay.h b/src/dsp/delay.h index 7755f2c..71837dc 100644 --- a/src/dsp/delay.h +++ b/src/dsp/delay.h @@ -16,6 +16,11 @@ #endif #define SAFETY_CHECK 0 +#define USE_FILTER 1 + +#if USE_FILTER +#include "filter.h" +#endif /** * @brief Applies a fractional delay to the input signal and stores the result in the output buffer. From 9043bfe19dcbf30a516e84e4894bfc4591486254 Mon Sep 17 00:00:00 2001 From: Irreq Date: Fri, 2 Aug 2024 11:53:50 +0200 Subject: [PATCH 03/43] Moved coeff --- src/dsp/filter.h | 810 ++++++----------------------------------------- 1 file changed, 102 insertions(+), 708 deletions(-) diff --git a/src/dsp/filter.h b/src/dsp/filter.h index 02e8d92..7157d97 100644 --- a/src/dsp/filter.h +++ b/src/dsp/filter.h @@ -9,714 +9,108 @@ // Keep in mind: the modes 5-7 are just pretty bad low pass filters, not bandpass like the rest -const float filter_coeffs [7][101][56] = {{{0,8.041364e-13,2.331457e-11,-6.990959e-11,9.331946e-11,-1.871356e-10,3.785823e-10,-5.161739e-10,7.610838e-10,-1.232497e-09,1.691805e-09,-2.307213e-09,3.313866e-09,-4.555261e-09,6.282439e-09,-9.099961e-09,1.397884e-08,-2.45432e-08,-0.0004931602,-0.01646315,-0.02386099,0.008828866,0.06960823,0.06903378,-0.04070986,-0.1490897,-0.09905755,0.08352309,0.1870474,0.08352673,-0.09905471,-0.1490906,-0.04071264,0.06903258,0.0696092,0.008829979,-0.0238608,-0.01646352,-0.000493321,2.454351e-08,-1.397895e-08,9.100017e-09,-6.282469e-09,4.555279e-09,-3.313877e-09,2.307219e-09,-1.691809e-09,1.232499e-09,-7.610854e-10,5.161748e-10,-3.785829e-10,1.871359e-10,-9.33196e-11,6.990968e-11,-2.33146e-11,-8.041373e-13}, -{0,8.035329e-10,2.329721e-08,-6.98535e-08,9.323476e-08,-1.869616e-07,3.782207e-07,-5.156186e-07,7.601916e-07,-1.230976e-06,1.689449e-06,-2.303555e-06,3.307973e-06,-4.545725e-06,6.266359e-06,-9.070506e-06,1.391729e-05,-2.438442e-05,-0.0004139276,-0.01627799,-0.02395152,0.008274872,0.06912294,0.069626,-0.03932037,-0.1486171,-0.1004717,0.08170084,0.1870357,0.08534025,-0.09762531,-0.1495455,-0.04210259,0.0684278,0.070088,0.009387729,-0.023766,-0.0166478,-0.0005746839,2.469585e-05,-1.403641e-05,9.126668e-06,-6.296569e-06,4.563361e-06,-3.318705e-06,2.310133e-06,-1.693617e-06,1.23362e-06,-7.617307e-07,5.165624e-07,-3.788213e-07,1.872489e-07,-9.337393e-08,6.9943e-08,-2.332437e-08,-8.044788e-10}, -{0,1.605335e-09,4.654449e-08,-1.395493e-07,1.862394e-07,-3.734536e-07,7.554722e-07,-1.029791e-06,1.518105e-06,-2.458112e-06,3.373091e-06,-4.598306e-06,6.602032e-06,-9.069472e-06,1.249659e-05,-1.807649e-05,2.770327e-05,-4.843836e-05,-0.0003367414,-0.01609181,-0.0240379,0.007724129,0.06863079,0.07020624,-0.03793013,-0.1481264,-0.101872,0.07986828,0.1870007,0.0871466,-0.09617945,-0.149983,-0.04349419,0.06780989,0.07056066,0.009949737,-0.0236668,-0.01683134,-0.0006582604,4.968354e-05,-2.817955e-05,1.830103e-05,-1.261738e-05,9.139981e-06,-6.644938e-06,4.624607e-06,-3.389758e-06,2.468684e-06,-1.524258e-06,1.033565e-06,-7.578732e-07,3.746023e-07,-1.867958e-07,1.399071e-07,-4.66531e-08,-1.609117e-09}, -{0,2.404624e-09,6.971917e-08,-2.090195e-07,2.789234e-07,-5.592944e-07,1.131387e-06,-1.542019e-06,2.273004e-06,-3.680219e-06,5.0493e-06,-6.882042e-06,9.879017e-06,-1.356694e-05,1.868486e-05,-2.700969e-05,4.1346e-05,-7.214334e-05,-0.0002616778,-0.01590483,-0.02412004,0.007177243,0.0681324,0.07077388,-0.03654073,-0.1476183,-0.1032567,0.07802749,0.1869423,0.08894372,-0.09471873,-0.1504026,-0.04488586,0.06717949,0.07102659,0.01051539,-0.02356328,-0.0170139,-0.0007439717,7.494291e-05,-4.241682e-05,2.751453e-05,-1.895641e-05,1.372545e-05,-9.975478e-06,6.941173e-06,-5.08677e-06,3.703985e-06,-2.286838e-06,1.550502e-06,-1.136785e-06,5.618768e-07,-2.801743e-07,2.098239e-07,-6.996334e-08,-2.413126e-09}, -{0,3.200621e-09,9.279866e-08,-2.781963e-07,3.711965e-07,-7.443034e-07,1.505601e-06,-2.051804e-06,3.024159e-06,-4.896115e-06,6.716458e-06,-9.15257e-06,1.313579e-05,-1.803385e-05,2.482537e-05,-3.5862e-05,5.483375e-05,-9.548141e-05,-0.0001887315,-0.0157171,-0.02419798,0.006634264,0.06762787,0.07132888,-0.03515236,-0.1470929,-0.1046257,0.07617872,0.1868606,0.09073134,-0.09324331,-0.1508042,-0.0462774,0.06653662,0.07148567,0.01108464,-0.02345542,-0.01719544,-0.000831819,0.0001004533,-5.673545e-05,3.675851e-05,-2.530759e-05,1.831534e-05,-1.330709e-05,9.257573e-06,-6.782996e-06,4.938317e-06,-3.048725e-06,2.066868e-06,-1.515186e-06,7.48889e-07,-3.734178e-07,2.796247e-07,-9.323224e-08,-3.215719e-09}, -{0,3.992552e-09,1.157605e-07,-3.470126e-07,4.629692e-07,-9.283009e-07,1.877749e-06,-2.558653e-06,3.770842e-06,-6.104625e-06,8.372962e-06,-1.140772e-05,1.636926e-05,-2.2466e-05,3.091241e-05,-4.462538e-05,6.815504e-05,-0.0001184352,-0.0001178966,-0.01552868,-0.02427173,0.006095241,0.06711735,0.07187123,-0.03376522,-0.1465502,-0.1059789,0.07432224,0.1867556,0.09250923,-0.09175337,-0.1511877,-0.04766861,0.06588133,0.07193776,0.01165743,-0.0233432,-0.01737592,-0.0009218025,0.0001261935,-7.112244e-05,4.602424e-05,-3.166481e-05,2.29052e-05,-1.663652e-05,1.157154e-05,-8.476777e-06,6.17047e-06,-3.809171e-06,2.582156e-06,-1.892704e-06,9.354555e-07,-4.664348e-07,3.492412e-07,-1.16437e-07,-4.016107e-09}, 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-{0,1.173695e-07,-6.250448e-07,1.892463e-06,-4.50293e-06,9.33832e-06,-2.188625e-05,-0.0005904448,-0.0002531944,0.0001085464,0.0006433923,0.001444116,0.002601313,0.004183709,0.006236911,0.0087802,0.01180492,0.01527423,0.01912428,0.0232667,0.02759229,0.03197587,0.03628179,0.04037014,0.0441031,0.0473513,0.04999982,0.05195352,0.05314144,0.05352016,0.05307577,0.05182459,0.04981234,0.04711203,0.04382058,0.04005427,0.03594337,0.0316261,0.02724228,0.02292692,0.01880414,0.01498161,0.01154588,0.00855871,0.006054704,0.004040257,0.00249371,0.001368856,0.0005895692,8.124241e-05,-0.0002946681,-0.0005714828,1.370927e-05,-3.779617e-06,1.028302e-06,-1.73149e-07}, -{0,8.817441e-08,-4.693957e-07,1.420389e-06,-3.376506e-06,6.988528e-06,-1.628075e-05,-0.0005893785,-0.0002576056,0.0001045743,0.0006368327,0.001434481,0.002587736,0.004165611,0.006213961,0.008752343,0.01177238,0.01523752,0.01908416,0.02322416,0.02754852,0.03193217,0.03623956,0.04033078,0.04406795,0.0473216,0.04997663,0.05193767,0.05313352,0.05352045,0.05308427,0.05184098,0.04983602,0.04714215,0.04385606,0.04009388,0.03598575,0.03166985,0.02728601,0.02296932,0.01884405,0.01501805,0.0115781,0.008586225,0.006077306,0.004058022,0.002507034,0.001378037,0.0005964639,8.410252e-05,-0.0002887204,-0.0005751518,1.042365e-05,-2.85891e-06,7.764164e-07,-1.306207e-07}, -{0,5.886345e-08,-3.132445e-07,9.473371e-07,-2.249882e-06,4.647608e-06,-1.076324e-05,-0.0005881838,-0.000262034,0.0001006237,0.0006302992,0.001424882,0.002574202,0.00414756,0.006191061,0.008724533,0.01173989,0.01520084,0.01904407,0.02318164,0.02750475,0.03188847,0.03619731,0.04029138,0.04403276,0.04729184,0.04995337,0.05192175,0.05312551,0.05352066,0.05309268,0.05185729,0.04985963,0.04717221,0.0438915,0.04013345,0.0360281,0.03171359,0.02732974,0.02301175,0.01888399,0.01505453,0.01161037,0.008613788,0.006099957,0.004075834,0.002520401,0.001387253,0.0006033859,8.697887e-05,-0.0002827817,-0.0005786969,7.043419e-06,-1.92167e-06,5.209405e-07,-8.756304e-08}, -{0,2.94631e-08,-1.567321e-07,4.737324e-07,-1.12405e-06,2.31747e-06,-5.335685e-06,-0.0005868605,-0.0002664788,9.669421e-05,0.0006237916,0.001415318,0.002560711,0.004129556,0.006168209,0.008696773,0.01170744,0.01516421,0.019004,0.02313914,0.02746099,0.03184476,0.03615504,0.04025195,0.04399752,0.04726202,0.04993004,0.05190575,0.05311743,0.05352078,0.05310101,0.05187352,0.04988317,0.04720221,0.04392688,0.04017298,0.03607044,0.03175732,0.02737348,0.02305419,0.01892397,0.01509105,0.01164268,0.0086414,0.006122657,0.004093693,0.00253381,0.001396504,0.0006103347,8.987276e-05,-0.0002768541,-0.0005821163,3.568783e-06,-9.684936e-07,2.620685e-07,-4.401096e-08}, -{0,2.948556e-11,-1.567947e-10,4.736548e-10,-1.122831e-09,2.310518e-09,-5.289171e-09,-0.0005854101,-0.000270935,9.278936e-05,0.0006173164,0.0014058,0.002547275,0.004111617,0.006145429,0.008669088,0.01167507,0.01512765,0.01896401,0.02309669,0.02741727,0.03180108,0.03611279,0.04021253,0.04396226,0.04723218,0.04990666,0.05188969,0.05310927,0.05352082,0.05310926,0.05188966,0.04990662,0.04723212,0.04396219,0.04021245,0.03611271,0.031801,0.02741719,0.02309661,0.01896393,0.01512757,0.011675,0.008669033,0.006145384,0.004111581,0.002547249,0.001405781,0.000617303,9.278254e-05,-0.0002709454,-0.0005854053,3.615712e-09,-9.759333e-10,2.635975e-10,-4.422815e-11}, -},}; +const float filter_coeffs[101][8] = { + {0.0000000, -0.0000002, 0.0000017, -0.0000077, 1.0000000, 0.0000077, -0.0000017, 0.0000002}, + {0.0000000, -0.0002207, 0.0016913, -0.0076579, 0.9998608, 0.0078126, -0.0017083, 0.0002222}, + {0.0000000, -0.0004398, 0.0033645, -0.0151593, 0.9994433, 0.0157780, -0.0034324, 0.0004457}, + {0.0000000, -0.0006571, 0.0050183, -0.0225025, 0.9987477, 0.0238944, -0.0051712, 0.0006703}, + {0.0000000, -0.0008724, 0.0066518, -0.0296858, 0.9977741, 0.0321596, -0.0069233, 0.0008959}, + {0.0000000, -0.0010855, 0.0082638, -0.0367078, 0.9965230, 0.0405718, -0.0086876, 0.0011223}, + {0.0000000, -0.0012964, 0.0098533, -0.0435669, 0.9949948, 0.0491286, -0.0104628, 0.0013493}, + {0.0000000, -0.0015048, 0.0114193, -0.0502617, 0.9931902, 0.0578280, -0.0122476, 0.0015767}, + {0.0000000, -0.0017105, 0.0129607, -0.0567908, 0.9911097, 0.0666675, -0.0140407, 0.0018043}, + {0.0000000, -0.0019136, 0.0144765, -0.0631531, 0.9887541, 0.0756449, -0.0158408, 0.0020319}, + {0.0000000, -0.0021137, 0.0159658, -0.0693473, 0.9861243, 0.0847578, -0.0176464, 0.0022595}, + {0.0000000, -0.0023108, 0.0174277, -0.0753722, 0.9832214, 0.0940036, -0.0194563, 0.0024867}, + {0.0000000, -0.0025046, 0.0188613, -0.0812269, 0.9800463, 0.1033797, -0.0212691, 0.0027134}, + {0.0000000, -0.0026952, 0.0202656, -0.0869105, 0.9766003, 0.1128837, -0.0230833, 0.0029393}, + {0.0000000, -0.0028823, 0.0216399, -0.0924219, 0.9728846, 0.1225127, -0.0248975, 0.0031644}, + {0.0000000, -0.0030657, 0.0229832, -0.0977604, 0.9689006, 0.1322641, -0.0267102, 0.0033884}, + {0.0000000, -0.0032455, 0.0242949, -0.1029253, 0.9646499, 0.1421349, -0.0285201, 0.0036111}, + {0.0000000, -0.0034213, 0.0255741, -0.1079158, 0.9601339, 0.1521223, -0.0303255, 0.0038324}, + {0.0000000, -0.0035932, 0.0268200, -0.1127315, 0.9553545, 0.1622234, -0.0321251, 0.0040519}, + {0.0000000, -0.0037610, 0.0280321, -0.1173718, 0.9503133, 0.1724351, -0.0339173, 0.0042696}, + {0.0000000, -0.0039246, 0.0292095, -0.1218362, 0.9450122, 0.1827544, -0.0357005, 0.0044852}, + {0.0000000, -0.0040838, 0.0303516, -0.1261245, 0.9394533, 0.1931780, -0.0374732, 0.0046985}, + {0.0000000, -0.0042386, 0.0314577, -0.1302363, 0.9336386, 0.2037029, -0.0392338, 0.0049094}, + {0.0000000, -0.0043888, 0.0325274, -0.1341714, 0.9275703, 0.2143257, -0.0409808, 0.0051176}, + {0.0000000, -0.0045344, 0.0335598, -0.1379297, 0.9212506, 0.2250431, -0.0427125, 0.0053230}, + {0.0000000, -0.0046752, 0.0345547, -0.1415111, 0.9146820, 0.2358518, -0.0444274, 0.0055252}, + {0.0000000, -0.0048112, 0.0355113, -0.1449156, 0.9078669, 0.2467483, -0.0461238, 0.0057242}, + {0.0000000, -0.0049422, 0.0364291, -0.1481435, 0.9008078, 0.2577290, -0.0478001, 0.0059198}, + {0.0000000, -0.0050682, 0.0373079, -0.1511947, 0.8935074, 0.2687905, -0.0494546, 0.0061117}, + {0.0000000, -0.0051891, 0.0381469, -0.1540696, 0.8859685, 0.2799292, -0.0510857, 0.0062997}, + {0.0000000, -0.0053048, 0.0389460, -0.1567684, 0.8781939, 0.2911414, -0.0526916, 0.0064837}, + {0.0000000, -0.0054153, 0.0397046, -0.1592916, 0.8701864, 0.3024233, -0.0542708, 0.0066634}, + {0.0000000, -0.0055203, 0.0404224, -0.1616397, 0.8619493, 0.3137712, -0.0558215, 0.0068386}, + {0.0000000, -0.0056200, 0.0410992, -0.1638131, 0.8534854, 0.3251813, -0.0573420, 0.0070093}, + {0.0000000, -0.0057142, 0.0417345, -0.1658125, 0.8447981, 0.3366497, -0.0588305, 0.0071750}, + {0.0000000, -0.0058029, 0.0423281, -0.1676386, 0.8358906, 0.3481725, -0.0602854, 0.0073357}, + {0.0000000, -0.0058860, 0.0428797, -0.1692921, 0.8267664, 0.3597457, -0.0617050, 0.0074912}, + {0.0000000, -0.0059634, 0.0433893, -0.1707738, 0.8174288, 0.3713654, -0.0630874, 0.0076413}, + {0.0000000, -0.0060351, 0.0438564, -0.1720848, 0.8078814, 0.3830274, -0.0644310, 0.0077858}, + {0.0000000, -0.0061011, 0.0442811, -0.1732258, 0.7981278, 0.3947276, -0.0657340, 0.0079245}, + {0.0000000, -0.0061613, 0.0446631, -0.1741980, 0.7881718, 0.4064620, -0.0669946, 0.0080571}, + {0.0000000, -0.0062157, 0.0450023, -0.1750025, 0.7780171, 0.4182262, -0.0682111, 0.0081836}, + {0.0000000, -0.0062643, 0.0452987, -0.1756404, 0.7676676, 0.4300162, -0.0693816, 0.0083038}, + {0.0000000, -0.0063069, 0.0455523, -0.1761131, 0.7571273, 0.4418275, -0.0705045, 0.0084174}, + {0.0000000, -0.0063436, 0.0457629, -0.1764218, 0.7464001, 0.4536560, -0.0715779, 0.0085243}, + {0.0000000, -0.0063745, 0.0459306, -0.1765679, 0.7354903, 0.4654972, -0.0726000, 0.0086243}, + {0.0000000, -0.0063993, 0.0460555, -0.1765529, 0.7244019, 0.4773468, -0.0735691, 0.0087172}, + {0.0000000, -0.0064182, 0.0461375, -0.1763783, 0.7131393, 0.4892003, -0.0744834, 0.0088029}, + {0.0000000, -0.0064312, 0.0461768, -0.1760457, 0.7017068, 0.5010533, -0.0753412, 0.0088812}, + {0.0000000, -0.0064381, 0.0461735, -0.1755568, 0.6901088, 0.5129012, -0.0761405, 0.0089518}, + {0.0000000, -0.0064391, 0.0461278, -0.1749132, 0.6783497, 0.5247397, -0.0768796, 0.0090148}, + {0.0000000, -0.0064342, 0.0460397, -0.1741168, 0.6664341, 0.5365641, -0.0775568, 0.0090699}, + {0.0000000, -0.0064232, 0.0459095, -0.1731694, 0.6543667, 0.5483699, -0.0781703, 0.0091169}, + {0.0000000, -0.0064064, 0.0457375, -0.1720730, 0.6421520, 0.5601524, -0.0787182, 0.0091557}, + {0.0000000, -0.0063836, 0.0455238, -0.1708294, 0.6297950, 0.5719070, -0.0791989, 0.0091861}, + {0.0000000, -0.0063548, 0.0452687, -0.1694407, 0.6173002, 0.5836290, -0.0796104, 0.0092080}, + {0.0000000, -0.0063202, 0.0449725, -0.1679090, 0.6046727, 0.5953139, -0.0799512, 0.0092213}, + {0.0000000, -0.0062797, 0.0446356, -0.1662366, 0.5919174, 0.6069568, -0.0802193, 0.0092258}, + {0.0000000, -0.0062334, 0.0442583, -0.1644255, 0.5790392, 0.6185531, -0.0804131, 0.0092213}, + {0.0000000, -0.0061813, 0.0438410, -0.1624781, 0.5660433, 0.6300980, -0.0805307, 0.0092078}, + {0.0000000, -0.0061234, 0.0433841, -0.1603967, 0.5529346, 0.6415867, -0.0805705, 0.0091852}, + {0.0000000, -0.0060599, 0.0428880, -0.1581836, 0.5397185, 0.6530145, -0.0805307, 0.0091532}, + {0.0000000, -0.0059906, 0.0423531, -0.1558414, 0.5264001, 0.6643766, -0.0804095, 0.0091118}, + {0.0000000, -0.0059158, 0.0417800, -0.1533725, 0.5129846, 0.6756682, -0.0802053, 0.0090609}, + {0.0000000, -0.0058354, 0.0411691, -0.1507795, 0.4994775, 0.6868844, -0.0799164, 0.0090003}, + {0.0000000, -0.0057494, 0.0405209, -0.1480650, 0.4858840, 0.6980205, -0.0795410, 0.0089300}, + {0.0000000, -0.0056581, 0.0398360, -0.1452315, 0.4722096, 0.7090717, -0.0790775, 0.0088498}, + {0.0000000, -0.0055614, 0.0391150, -0.1422820, 0.4584597, 0.7200329, -0.0785242, 0.0087598}, + {0.0000000, -0.0054594, 0.0383585, -0.1392190, 0.4446399, 0.7308996, -0.0778794, 0.0086597}, + {0.0000000, -0.0053521, 0.0375670, -0.1360454, 0.4307557, 0.7416667, -0.0771414, 0.0085495}, + {0.0000000, -0.0052397, 0.0367413, -0.1327640, 0.4168127, 0.7523294, -0.0763088, 0.0084292}, + {0.0000000, -0.0051223, 0.0358819, -0.1293778, 0.4028165, 0.7628829, -0.0753798, 0.0082986}, + {0.0000000, -0.0049999, 0.0349895, -0.1258897, 0.3887727, 0.7733224, -0.0743528, 0.0081577}, + {0.0000000, -0.0048725, 0.0340650, -0.1223026, 0.3746872, 0.7836429, -0.0732263, 0.0080064}, + {0.0000000, -0.0047404, 0.0331089, -0.1186197, 0.3605655, 0.7938397, -0.0719986, 0.0078448}, + {0.0000000, -0.0046036, 0.0321220, -0.1148440, 0.3464134, 0.8039078, -0.0706683, 0.0076727}, + {0.0000000, -0.0044622, 0.0311051, -0.1109785, 0.3322368, 0.8138426, -0.0692339, 0.0074901}, + {0.0000000, -0.0043162, 0.0300589, -0.1070266, 0.3180415, 0.8236391, -0.0676937, 0.0072970}, + {0.0000000, -0.0041659, 0.0289844, -0.1029912, 0.3038332, 0.8332926, -0.0660464, 0.0070933}, + {0.0000000, -0.0040113, 0.0278822, -0.0988758, 0.2896180, 0.8427982, -0.0642904, 0.0068791}, + {0.0000000, -0.0038525, 0.0267533, -0.0946835, 0.2754015, 0.8521511, -0.0624243, 0.0066544}, + {0.0000000, -0.0036897, 0.0255985, -0.0904176, 0.2611899, 0.8613467, -0.0604468, 0.0064190}, + {0.0000000, -0.0035229, 0.0244186, -0.0860816, 0.2469889, 0.8703802, -0.0583563, 0.0061732}, + {0.0000000, -0.0033523, 0.0232146, -0.0816787, 0.2328045, 0.8792468, -0.0561516, 0.0059167}, + {0.0000000, -0.0031780, 0.0219874, -0.0772123, 0.2186427, 0.8879418, -0.0538313, 0.0056498}, + {0.0000000, -0.0030002, 0.0207380, -0.0726860, 0.2045094, 0.8964605, -0.0513941, 0.0053724}, + {0.0000000, -0.0028189, 0.0194672, -0.0681031, 0.1904106, 0.9047984, -0.0488386, 0.0050845}, + {0.0000000, -0.0026343, 0.0181760, -0.0634672, 0.1763523, 0.9129507, -0.0461637, 0.0047862}, + {0.0000000, -0.0024465, 0.0168654, -0.0587817, 0.1623405, 0.9209128, -0.0433681, 0.0044776}, + {0.0000000, -0.0022558, 0.0155364, -0.0540502, 0.1483811, 0.9286803, -0.0404506, 0.0041587}, + {0.0000000, -0.0020621, 0.0141900, -0.0492762, 0.1344802, 0.9362485, -0.0374099, 0.0038296}, + {0.0000000, -0.0018657, 0.0128272, -0.0444634, 0.1206437, 0.9436129, -0.0342451, 0.0034904}, + {0.0000000, -0.0016667, 0.0114491, -0.0396154, 0.1068777, 0.9507692, -0.0309549, 0.0031411}, + {0.0000000, -0.0014653, 0.0100567, -0.0347357, 0.0931880, 0.9577127, -0.0275384, 0.0027819}, + {0.0000000, -0.0012616, 0.0086510, -0.0298280, 0.0795807, 0.9644393, -0.0239943, 0.0024129}, + {0.0000000, -0.0010557, 0.0072332, -0.0248960, 0.0660618, 0.9709444, -0.0203219, 0.0020342}, + {0.0000000, -0.0008479, 0.0058043, -0.0199433, 0.0526372, 0.9772238, -0.0165200, 0.0016459}, + {0.0000000, -0.0006382, 0.0043654, -0.0149737, 0.0393128, 0.9832733, -0.0125877, 0.0012482}, + {0.0000000, -0.0004269, 0.0029177, -0.0099908, 0.0260945, 0.9890886, -0.0085242, 0.0008412}, + {0.0000000, -0.0002141, 0.0014622, -0.0049983, 0.0129883, 0.9946655, -0.0043286, 0.0004251}, + {0.0000000, -0.0000002, 0.0000015, -0.0000050, 0.0000129, 0.9999948, -0.0000044, 0.0000004}}; #endif From ce41c27f666e5679e2b1ec75054823af076ad19c Mon Sep 17 00:00:00 2001 From: Irreq Date: Fri, 2 Aug 2024 11:54:08 +0200 Subject: [PATCH 04/43] Hyperparams --- src/dsp/gradient_ascend.cpp | 177 +++++++++++++++++++++++++++++++----- src/dsp/gradient_ascend.h | 14 +-- 2 files changed, 160 insertions(+), 31 deletions(-) diff --git a/src/dsp/gradient_ascend.cpp b/src/dsp/gradient_ascend.cpp index dcc3102..eb27f40 100644 --- a/src/dsp/gradient_ascend.cpp +++ b/src/dsp/gradient_ascend.cpp @@ -22,7 +22,7 @@ void GradientParticle::findNearby() { } } -void GradientParticle::step(const double rate) { +void GradientParticle::step(const double rate, const double reference) { findNearby(); #if USE_HORIZONTAL float power[MONOPULSE_DIRECTIONS] = {0.0}; @@ -59,11 +59,18 @@ void GradientParticle::step(const double rate) { double phi = (q1 + q4) - (q2 + q3); double theta = (q3 + q4) - (q1 + q2); - directionGradient.theta = theta / sum; - directionGradient.phi = phi / sum; + gradientError = (abs(phi) + abs(theta)) / sum; - directionGradient.radius = sum; - gradientError = abs(directionGradient.theta) + abs(directionGradient.phi); +#if RELATIVE + directionGradient.theta = theta / reference; + directionGradient.phi = phi / reference; +#else + directionGradient.theta = theta; + directionGradient.phi = phi; +#endif + + directionGradient.radius = sum / 4;// / reference; + //gradientError = abs(directionGradient.theta) + abs(directionGradient.phi); #endif Particle::step(rate); @@ -117,10 +124,55 @@ void SphericalGradient::initialize_particles() { seekers.clear(); for (int i = 0; i < swarm_size; i++) { - seekers.push_back(GradientSeeker(this->antenna, this->streams, this->fov, seekerSpread + drandom() * TO_RADIANS(20))); + seekers.push_back(GradientSeeker(this->antenna, this->streams, this->fov, seekerSpread));// + drandom() * TO_RADIANS(20))); } } +#include +#include +#include +#include +#include + +std::string timePointToString(const std::chrono::time_point &tp, const int id) { + // Get the time since epoch + //auto duration = tp.time_since_epoch(); + //auto millis = std::chrono::duration_cast(duration).count(); + + // Capture the end time + auto end = std::chrono::high_resolution_clock::now(); + // Calculate the duration + //duration = std::chrono::duration_cast(end - tp); + + // Print the duration + //std::cout << "Duration since start: " << duration.count() << " milliseconds" << std::endl; + + + // Convert to std::time_t + //std::time_t time = millis / 1000; + + // Create a time string stream + std::stringstream ss; + //ss << std::put_time(std::localtime(&time), "%Y-%m-%d %H:%M:%S"); + + ss << " :" << id << " "; + + //ss << duration.count() << "s"; + + // Calculate the duration + std::chrono::duration duration = end - tp; + + // Print the duration rounded to 2 decimal places + ss << std::fixed << std::setprecision(2); + ss << duration.count() << "s"; + + + // Add milliseconds + //ss << '.' << std::setw(3) << std::setfill('0') << (millis % 1000); + + return ss.str(); +} + /** * Draw heatmap */ @@ -129,7 +181,22 @@ void SphericalGradient::populateHeatmap(cv::Mat *heatmap) { double y_res = (double) heatmap->cols; float ratio = (float) sin((double) fov); + int n_trackers = 0; + + // Define font face + int fontFace = cv::FONT_HERSHEY_SIMPLEX; + + // Define font scale (size) + double fontScale = 1; + + // Define font color (here it's white) + cv::Scalar color(255, 255, 255); + + // Define thickness of the text + int thickness = 2; + int i = 0; for (GradientTracker &particle: trackers) { + i++; if (!particle.tracking) { continue; } @@ -142,14 +209,39 @@ void SphericalGradient::populateHeatmap(cv::Mat *heatmap) { int y = static_cast(y_res * (position.y / ratio / 2.0 + 0.5)); float gradientError = 1.0 - clip(particle.gradientError, 0.0, 2.0) / 2.0; + gradientError = 1.0; int m = 255; cv::Mat &frame = *heatmap; - cv::circle(*heatmap, cv::Point(x, y_res - y - 1), 1 + (int) (gradientError * 15.0), cv::Scalar(m, m, m), cv::FILLED, 8, 0); + // Define the size of the square + int size = 20; + + // Define the color of the square (B, G, R) + cv::Scalar color(255, 255, 255); + + // Define the thickness of the square edges + int thickness = 2; + + // Draw the hollow square + cv::rectangle(*heatmap, cv::Point(x - size, y_res - y - 1 - size), cv::Point(x + size, y_res - y - 1 + size), color, thickness); + + + //cv::circle(*heatmap, cv::Point(x, y_res - y - 1), 1 + (int) (gradientError * 15.0), cv::Scalar(m, m, m), cv::FILLED, 8, 0); + + n_trackers++; + + // Draw the text onto the image + cv::putText(*heatmap, timePointToString(particle.start, i), cv::Point(x, y_res - y - 1 + 10), fontFace, fontScale, color, thickness); } + std::stringstream ss; + + ss << "Tracking: " << n_trackers; + cv::putText(*heatmap, ss.str(), cv::Point(0,0), fontFace, fontScale, color, thickness); + + #if DEBUG_GRADIENT double maxValue = 0.0; for (GradientSeeker &particle: seekers) { @@ -192,20 +284,32 @@ void SphericalGradient::reset() { } void SphericalGradient::update() { - // double reference = + float tmp_reference = 0.0; + + if (canContinue()) { + float *out = streams->get_signal(0, N_SAMPLES); + for (int i = 1; i < N_SAMPLES - 1; i++) { + float MA = out[i] * 0.5f - 0.25f * (out[i + 1] + out[i - 1]); + tmp_reference += powf(MA, 2); + } + } + + + tmp_reference /= static_cast(N_SAMPLES - 2); + double reference = static_cast(tmp_reference); while (canContinue()) { + double maxPower = 0.0; + Spherical bestDirection; + bool better = false; + // Run trackers int n_tracking = 0; for (auto &tracker: trackers) { if (tracker.tracking) { - for (int i = 0; i < trackerSteps; i++) - tracker.step(PARTICLE_RATE * trackerSlowdown); - //if (tracker.gradientError > TRACKER_ERROR_THRESHOLD) { - // tracker.tracking = false; - //} else { - // n_tracking++; - //} + for (int i = 0; i < trackerSteps; i++) { + tracker.step(PARTICLE_RATE * trackerSlowdown, reference); + } n_tracking++; } } @@ -223,7 +327,9 @@ void SphericalGradient::update() { if (trackers[m].isClose(trackers[n], trackerCloseness)) { if (trackers[m] > trackers[n]) { - trackers[m].tracking = false; + trackers[m].stopTracking(); + } else { + trackers[n].stopTracking(); } } } @@ -234,7 +340,7 @@ void SphericalGradient::update() { // Run seekers for (auto &seeker: seekers) { - seeker.step(PARTICLE_RATE); + seeker.step(PARTICLE_RATE, reference); // Compare with trackers and jump if too close bool jumped = false; @@ -254,18 +360,39 @@ void SphericalGradient::update() { validCount++; tmpMean += seeker.directionGradient.radius; + if (seeker.directionGradient.radius > maxPower && seeker.gradientError < trackerErrorThreshold) { + maxPower = seeker.directionGradient.radius; + bestDirection = seeker.directionCurrent; + better = true; + //std::cout << "Found better " << bestDirection << std::endl; + } + + + } + + if (better) { if (n_tracking < trackerMax) { - if (seeker.gradientError < trackerErrorThreshold && - seeker.directionGradient.radius > mean) { - for (auto &tracker: trackers) { - if (!tracker.tracking) { - tracker.startTracking(seeker.directionCurrent); - seeker.jump(); - } + //std::cout << "Can track" << std::endl; + for (auto &tracker: trackers) { + if (!tracker.tracking) { + tracker.startTracking(bestDirection); + //std::cout << "Starting tracking: " << bestDirection << std::endl; + //seeker.jump(); } } } } + //if (n_tracking < trackerMax) { + // if (seeker.gradientError < trackerErrorThreshold && + // seeker.directionGradient.radius > mean) { + // for (auto &tracker: trackers) { + // if (!tracker.tracking) { + // tracker.startTracking(seeker.directionCurrent); + // seeker.jump(); + // } + // } + // } + //} mean = tmpMean / static_cast(validCount); } @@ -273,7 +400,7 @@ void SphericalGradient::update() { // Fill the tracking vector to the DSP chain tracking.clear(); for (GradientTracker &tracker: trackers) { - if (tracker.directionGradient.radius < mean * 0.5) { + if (tracker.directionGradient.radius < mean || tracker.directionGradient.radius < reference || tracker.gradientError > trackerErrorThreshold) { tracker.stopTracking(); continue; } diff --git a/src/dsp/gradient_ascend.h b/src/dsp/gradient_ascend.h index 2132022..9463d4b 100644 --- a/src/dsp/gradient_ascend.h +++ b/src/dsp/gradient_ascend.h @@ -22,16 +22,18 @@ #define SEEKER_SPREAD TO_RADIANS(7) // Angle fov for seeker #define TRACKER_STEPS 5 // Number of individual steps for tracker #define TRACKER_SLOWDOWN 0.1 // How much slower tracker steps -#define TRACKER_CLOSENESS TO_RADIANS(4)// Angle between trackers before they are absorbed -#define TRACKER_ERROR_THRESHOLD 5e-2 // Error before tracker dies -#define TRACKER_MAX 5 // Number of trackers +#define TRACKER_CLOSENESS TO_RADIANS(5) // Angle between trackers before they are absorbed +#define TRACKER_ERROR_THRESHOLD 1 // Error before tracker dies +#define TRACKER_MAX 10 // Number of trackers #define TRACKER_SPREAD TO_RADIANS(2) // Angle fov for tracker -#define PARTICLE_RATE 5e-1 // Stepsize for particles +#define PARTICLE_RATE 5e-4 // Stepsize for particles -#define DEBUG_GRADIENT 1 +#define DEBUG_GRADIENT 0 #define MONOPULSE_DIRECTIONS 4// Quadrants #define USE_HORIZONTAL 0 // Horizontal or quadrant monopulse +#define RELATIVE 1 + /** * @brief TODO: */ @@ -68,7 +70,7 @@ struct GradientParticle : public Particle { * Step in the current direction using the result from the monopulse response as * guidance */ - void step(const double rate); + void step(const double rate, const double reference); }; /** From d49185588b1743bada358e8d61098453f9fd7e9d Mon Sep 17 00:00:00 2001 From: Irreq Date: Fri, 2 Aug 2024 11:54:26 +0200 Subject: [PATCH 05/43] Better mimo --- src/dsp/mimo.cpp | 35 ++++++++++++++++++++++++----------- src/dsp/mimo.h | 1 + 2 files changed, 25 insertions(+), 11 deletions(-) diff --git a/src/dsp/mimo.cpp b/src/dsp/mimo.cpp index 88d74d2..7b0d244 100644 --- a/src/dsp/mimo.cpp +++ b/src/dsp/mimo.cpp @@ -80,10 +80,10 @@ void MIMOWorker::populateHeatmap(cv::Mat *heatmap) { for (int c = 0; c < columns; c++) { #if USE_DB double db = pow((powerdB[i] - minV) / (maxV - minV), 3); - std::cout << db << std::endl; + //std::cout << db << std::endl; db = 20 * log10(db * 1e12); #else - double db = pow(powerdB[i] / maxV, 5); + double db = pow(powerdB[i] / maxV, 1); #endif db *= 255.0; db = clip(db, 0.0, 255.0); @@ -95,7 +95,7 @@ void MIMOWorker::populateHeatmap(cv::Mat *heatmap) { } void MIMOWorker::update() { - const float norm = 1.0 / static_cast(antenna.usable);//.usable; + const float norm = 1.0 / static_cast(antenna.usable); float signals[ELEMENTS][N_ITEMS_BUFFER]; for (int l = 0; l < antenna.usable; l++) { @@ -104,17 +104,20 @@ void MIMOWorker::update() { #if USE_REFERENCE float reference = 0.0; - for (int l = 0; l < antenna.usable; l++) { - for (int i = 0; i < N_SAMPLES; i++) { - reference += powf(signals[antenna.index[l]][i + N_SAMPLES], 2); - } + + float *out = &signals[antenna.index[0]][N_SAMPLES]; + for (int i = 1; i < N_SAMPLES - 1; i++) { + float MA = out[i] * 0.5f - 0.25f * (out[i + 1] + out[i - 1]); + reference += powf(MA, 2); } - reference /= static_cast(N_SAMPLES * antenna.usable); + reference /= static_cast(N_SAMPLES - 2); #endif +#if DEBUG_MIMO float powMax = 0.0; float powMin = 1000000.0; +#endif for (int m = 0; m < maxIndex; m++) { float out[N_SAMPLES] = {0.0}; int count = 0; @@ -126,18 +129,28 @@ void MIMOWorker::update() { count++; } float power = 0.0; - for (int i = 0; i < N_SAMPLES; i++) { - power += powf(out[i], 2); + for (int i = 1; i < N_SAMPLES - 1; i++) { + float MA = out[i] * 0.5f - 0.25f * (out[i + 1] + out[i - 1]); + power += powf(MA, 2); } power /= static_cast(N_SAMPLES * count); +#if DEBUG_MIMO + if (power > powMax) powMax = power; + if (power < powMin) powMin = power; +#endif + #if USE_REFERENCE - if (power < reference * 10.0) { + if (power < reference) { power = 0.0; } #endif powerdB[m] = power; } + +#if DEBUG_MIMO + std::cout << powMax << " " << powMin << " " << reference << std::endl; +#endif } \ No newline at end of file diff --git a/src/dsp/mimo.h b/src/dsp/mimo.h index 3f29c4a..53b7023 100644 --- a/src/dsp/mimo.h +++ b/src/dsp/mimo.h @@ -16,6 +16,7 @@ #define USE_REFERENCE 0// If mimo should reference a single mic #define USE_DB 0 // Decibel scale +#define DEBUG_MIMO 0 /** * @class MIMOWorker From 23ad23cdad6799a7117a03c24c1daba68a38c494 Mon Sep 17 00:00:00 2001 From: Irreq Date: Fri, 2 Aug 2024 11:54:53 +0200 Subject: [PATCH 06/43] Added bandpass --- src/dsp/particle.cpp | 10 +++++++++- src/dsp/particle.h | 2 ++ 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/src/dsp/particle.cpp b/src/dsp/particle.cpp index 772d371..02eb136 100644 --- a/src/dsp/particle.cpp +++ b/src/dsp/particle.cpp @@ -65,9 +65,17 @@ double Particle::beam() { delay(&out[0], signal, fraction); } float power_accumulator = 0.0f; + +#if USE_BANDPASS + for (int i = 1; i < N_SAMPLES - 1; i++) { + float MA = out[i] * 0.5f - 0.25f * (out[i + 1] + out[i - 1]); + power_accumulator += powf(MA, 2); + } +#else for (int i = 0; i < N_SAMPLES; i++) { - power_accumulator += powf(out[i] * norm, 2); + power_accumulator += powf(out[i], 2); } +#endif power_accumulator /= static_cast(N_SAMPLES); diff --git a/src/dsp/particle.h b/src/dsp/particle.h index 707811c..8ac4fae 100644 --- a/src/dsp/particle.h +++ b/src/dsp/particle.h @@ -13,6 +13,8 @@ #include "streams.hpp" #include "worker.h" +#define USE_BANDPASS 1 + inline void normalizeSpherical(Spherical &direction, double theta_limit) { direction.phi = wrapAngle(direction.phi); direction.theta = clip(direction.theta, 0.0, theta_limit); From 883aad3187b5d25afc360cce705d526c7ff7e23c Mon Sep 17 00:00:00 2001 From: Irreq Date: Fri, 2 Aug 2024 11:55:10 +0200 Subject: [PATCH 07/43] Updates --- src/aw_processing_unit/main.cpp | 25 ++++++++++++++++++++----- 1 file changed, 20 insertions(+), 5 deletions(-) diff --git a/src/aw_processing_unit/main.cpp b/src/aw_processing_unit/main.cpp index fe76f4c..f3e6343 100644 --- a/src/aw_processing_unit/main.cpp +++ b/src/aw_processing_unit/main.cpp @@ -18,7 +18,7 @@ #define X_RES 1024 #define Y_RES 1024 -#define BLUR_KERNEL_SIZE 5 +#define BLUR_KERNEL_SIZE 11 /** * Create a name for the video file @@ -105,8 +105,8 @@ void setupArgumentParser(argparse::ArgumentParser& program) { .help("Program output"); program.add_argument("--fov") - .scan<'f', float>() - .default_value(FOV) + .default_value(static_cast(180.0f)) + .scan<'g', float>() .help("Field of view"); program.add_argument("--port") @@ -168,6 +168,7 @@ int main(int argc, char* argv[]) { if (use_camera) { + fov = FOV; cap = cv::VideoCapture(camera); if (!cap.isOpened()) { std::cerr << "Error: Could not open the webcam." << std::endl; @@ -263,8 +264,8 @@ int main(int argc, char* argv[]) { awpus[i]->draw(&smallFrames[i], &bigFrames[i]); // Blur the image with a Gaussian kernel - cv::GaussianBlur(bigFrames[i], bigFrames[i], - cv::Size(BLUR_KERNEL_SIZE, BLUR_KERNEL_SIZE), 0); + //cv::GaussianBlur(bigFrames[i], bigFrames[i], + // cv::Size(BLUR_KERNEL_SIZE, BLUR_KERNEL_SIZE), 0); // Pretty colors cv::applyColorMap(bigFrames[i], bigFrames[i], cv::COLORMAP_JET); @@ -294,6 +295,20 @@ int main(int argc, char* argv[]) { bigFrames[i].copyTo(result, mask); bigFrames[i] = result; } + + // Define font face + int fontFace = cv::FONT_HERSHEY_SIMPLEX; + + // Define font scale (size) + double fontScale = 1; + + // Define font color (here it's white) + cv::Scalar color(255, 255, 255); + + std::stringstream ss; + + ss << "Trackers: " << awpus[i]->targets().size(); + cv::putText(bigFrames[i], ss.str(), cv::Point(0, 20), fontFace, fontScale, color, 2); } if (awpu_count == 0) { From e6caf7058b58f4e6c4a8ac81089c6142236a2272 Mon Sep 17 00:00:00 2001 From: Irreq Date: Fri, 2 Aug 2024 12:00:21 +0200 Subject: [PATCH 08/43] Removed unused code --- src/aw_processing_unit/main.cpp | 11 +++---- src/dsp/gradient_ascend.cpp | 52 ++++----------------------------- src/dsp/particle.h | 2 +- src/dsp/worker.h | 11 +------ 4 files changed, 14 insertions(+), 62 deletions(-) diff --git a/src/aw_processing_unit/main.cpp b/src/aw_processing_unit/main.cpp index f3e6343..6602eaa 100644 --- a/src/aw_processing_unit/main.cpp +++ b/src/aw_processing_unit/main.cpp @@ -20,6 +20,8 @@ #define BLUR_KERNEL_SIZE 11 +#define BLUR_EFFECT false + /** * Create a name for the video file */ @@ -199,8 +201,6 @@ int main(int argc, char* argv[]) { AWProcessingUnit* awpu = new AWProcessingUnit(ip_address.c_str(), port, fov, mimo_res, verbose, audio); awpus.push_back(awpu); - //awpus.emplace_back(ip_address.c_str(), port, fov, mimo_res, verbose); - //AWProcessingUnit &awpu = awpus.back(); // Start different modes if (tracking) { awpu->start(GRADIENT); } @@ -263,10 +263,11 @@ int main(int argc, char* argv[]) { // Draw onto frames awpus[i]->draw(&smallFrames[i], &bigFrames[i]); +#if BLUR_EFFECT // Blur the image with a Gaussian kernel - //cv::GaussianBlur(bigFrames[i], bigFrames[i], - // cv::Size(BLUR_KERNEL_SIZE, BLUR_KERNEL_SIZE), 0); - + cv::GaussianBlur(bigFrames[i], bigFrames[i], + cv::Size(BLUR_KERNEL_SIZE, BLUR_KERNEL_SIZE), 0); +#endif // Pretty colors cv::applyColorMap(bigFrames[i], bigFrames[i], cv::COLORMAP_JET); diff --git a/src/dsp/gradient_ascend.cpp b/src/dsp/gradient_ascend.cpp index eb27f40..9ba7baa 100644 --- a/src/dsp/gradient_ascend.cpp +++ b/src/dsp/gradient_ascend.cpp @@ -4,6 +4,11 @@ #include "gradient_ascend.h" +#include +#include +#include +#include +#include /** * @brief Parent Gradient particle @@ -69,8 +74,7 @@ void GradientParticle::step(const double rate, const double reference) { directionGradient.phi = phi; #endif - directionGradient.radius = sum / 4;// / reference; - //gradientError = abs(directionGradient.theta) + abs(directionGradient.phi); + directionGradient.radius = sum / 4; #endif Particle::step(rate); @@ -128,37 +132,15 @@ void SphericalGradient::initialize_particles() { } } -#include -#include -#include -#include -#include - std::string timePointToString(const std::chrono::time_point &tp, const int id) { - // Get the time since epoch - //auto duration = tp.time_since_epoch(); - //auto millis = std::chrono::duration_cast(duration).count(); - // Capture the end time auto end = std::chrono::high_resolution_clock::now(); - // Calculate the duration - //duration = std::chrono::duration_cast(end - tp); - - // Print the duration - //std::cout << "Duration since start: " << duration.count() << " milliseconds" << std::endl; - - - // Convert to std::time_t - //std::time_t time = millis / 1000; // Create a time string stream std::stringstream ss; - //ss << std::put_time(std::localtime(&time), "%Y-%m-%d %H:%M:%S"); ss << " :" << id << " "; - //ss << duration.count() << "s"; - // Calculate the duration std::chrono::duration duration = end - tp; @@ -166,10 +148,6 @@ std::string timePointToString(const std::chrono::time_point mean) { - // for (auto &tracker: trackers) { - // if (!tracker.tracking) { - // tracker.startTracking(seeker.directionCurrent); - // seeker.jump(); - // } - // } - // } - //} mean = tmpMean / static_cast(validCount); } diff --git a/src/dsp/particle.h b/src/dsp/particle.h index 8ac4fae..85249d0 100644 --- a/src/dsp/particle.h +++ b/src/dsp/particle.h @@ -13,7 +13,7 @@ #include "streams.hpp" #include "worker.h" -#define USE_BANDPASS 1 +#define USE_BANDPASS 1 // If bandpass filter will be used inline void normalizeSpherical(Spherical &direction, double theta_limit) { direction.phi = wrapAngle(direction.phi); diff --git a/src/dsp/worker.h b/src/dsp/worker.h index 6a11ebf..afe6c22 100644 --- a/src/dsp/worker.h +++ b/src/dsp/worker.h @@ -47,10 +47,7 @@ struct Target { } Target(Spherical direction, float power, float probability, std::chrono::time_point start) : - direction(direction), power(power), probability(probability), start(start) { - // Record the time of object creation - //start = std::chrono::high_resolution_clock::now(); - }; + direction(direction), power(power), probability(probability), start(start) {}; }; /** @@ -97,11 +94,7 @@ class Worker { */ ~Worker() { looping = false; - //std::cout << "Waiting for thread to return" << std::endl; thread_loop.join(); - //std::cout << "thread returned" << std::endl; - - //std::cout << "Destroyed worker" << std::endl; }; /** @@ -137,7 +130,6 @@ class Worker { */ void draw(cv::Mat *heatmap) { lock.lock(); - //std::cout << "Wrong drawer" << std::endl; populateHeatmap(heatmap); lock.unlock(); }; @@ -157,7 +149,6 @@ class Worker { * @return */ bool canContinue() { - //std::cout << start <<" "<< pipeline->mostRecent() << std::endl; return (start == pipeline->mostRecent()); } From e48f0e8c815e4cc0eaa3875fbe2a00a8590fd534 Mon Sep 17 00:00:00 2001 From: Irreq Date: Fri, 2 Aug 2024 13:58:20 +0200 Subject: [PATCH 09/43] Updated style --- src/aw_processing_unit/aw_processing_unit.cpp | 2 +- src/aw_processing_unit/main.cpp | 21 +++++++++- src/dsp/gradient_ascend.cpp | 42 ++++++++++++++++++- 3 files changed, 62 insertions(+), 3 deletions(-) diff --git a/src/aw_processing_unit/aw_processing_unit.cpp b/src/aw_processing_unit/aw_processing_unit.cpp index 2f445ed..b34932c 100644 --- a/src/aw_processing_unit/aw_processing_unit.cpp +++ b/src/aw_processing_unit/aw_processing_unit.cpp @@ -77,7 +77,7 @@ bool AWProcessingUnit::start(const worker_t worker) { job = nullptr; break; case GRADIENT: - job = new SphericalGradient(pipeline, antennas[0], &running, 50, 10, fov); + job = new SphericalGradient(pipeline, antennas[0], &running, 16, 10, fov); break; default: return false; diff --git a/src/aw_processing_unit/main.cpp b/src/aw_processing_unit/main.cpp index 6602eaa..450eb0d 100644 --- a/src/aw_processing_unit/main.cpp +++ b/src/aw_processing_unit/main.cpp @@ -236,6 +236,10 @@ int main(int argc, char* argv[]) { bigFrames.push_back(cv::Mat(Y_RES, X_RES, CV_8UC1)); } + // Initialize variables for FPS calculation + auto start = std::chrono::high_resolution_clock::now(); + int frameCount = 0; + while (running) { cv::Mat frame; @@ -269,7 +273,7 @@ int main(int argc, char* argv[]) { cv::Size(BLUR_KERNEL_SIZE, BLUR_KERNEL_SIZE), 0); #endif // Pretty colors - cv::applyColorMap(bigFrames[i], bigFrames[i], cv::COLORMAP_JET); + cv::applyColorMap(bigFrames[i], bigFrames[i], cv::COLORMAP_OCEAN); // Overlay onto camera if (use_camera) { @@ -326,6 +330,21 @@ int main(int argc, char* argv[]) { videoWriter.write(combinedFrame); } + // Calculate FPS + frameCount++; + auto end = std::chrono::high_resolution_clock::now(); + std::chrono::duration elapsed = end - start; + if (elapsed.count() >= 1.0) { + fps = frameCount / elapsed.count(); + frameCount = 0; + start = end; + } + + // Display FPS on the frame + std::string fpsText = "FPS: " + std::to_string(fps); + cv::putText(combinedFrame, fpsText, cv::Point(10, 60), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(255, 255, 255), 2); + + // Display the frame cv::imshow(APPLICATION_NAME, combinedFrame); diff --git a/src/dsp/gradient_ascend.cpp b/src/dsp/gradient_ascend.cpp index 9ba7baa..5ad49b6 100644 --- a/src/dsp/gradient_ascend.cpp +++ b/src/dsp/gradient_ascend.cpp @@ -173,6 +173,10 @@ void SphericalGradient::populateHeatmap(cv::Mat *heatmap) { // Define thickness of the text int thickness = 2; int i = 0; + double bestValue = 0.0; + auto end = std::chrono::high_resolution_clock::now(); + bool hasBest = false; + cv::Point best; for (GradientTracker &particle: trackers) { i++; if (!particle.tracking) { @@ -186,6 +190,22 @@ void SphericalGradient::populateHeatmap(cv::Mat *heatmap) { int x = static_cast(x_res * (position.x / ratio / 2.0 + 0.5)); int y = static_cast(y_res * (position.y / ratio / 2.0 + 0.5)); +#if 0 + if (particle.directionGradient.radius > bestValue) { + bestValue = particle.directionGradient.radius; + hasBest = true; + best = cv::Point(x, y_res - y - 1); + } +#else + if (particle.start < end) { + bestValue = particle.directionGradient.radius; + end = particle.start; + hasBest = true; + best = cv::Point(x, y_res - y - 1); + } + +#endif + float gradientError = 1.0 - clip(particle.gradientError, 0.0, 2.0) / 2.0; gradientError = 1.0; @@ -215,7 +235,27 @@ void SphericalGradient::populateHeatmap(cv::Mat *heatmap) { ss << "Tracking: " << n_trackers; cv::putText(*heatmap, ss.str(), cv::Point(0,0), fontFace, fontScale, color, thickness); - + if (hasBest) { + int length = 1000; + int extra = 20; + // Draw the hollow square + //cv::rectangle(*heatmap, cv::Point(best.x - extra, best.y - extra), cv::Point(best.x + extra, best.y + extra), color, thickness); + + // Draw the vertical line of the cross + cv::line(*heatmap, cv::Point(best.x, best.y - length), cv::Point(best.x, best.y - extra), color, thickness); + cv::line(*heatmap, cv::Point(best.x, best.y + extra), cv::Point(best.x, best.y + length), color, thickness); + // Draw the horizontal line of the cross + cv::line(*heatmap, cv::Point(best.x - length, best.y), cv::Point(best.x - extra, best.y), color, thickness); + cv::line(*heatmap, cv::Point(best.x + extra, best.y), cv::Point(best.x + length, best.y), color, thickness); + //// Draw the vertical line of the cross + //cv::line(*heatmap, cv::Point(best.x, best.y - length), cv::Point(best.x, best.y + length), color, thickness); + //// Draw the horizontal line of the cross + //cv::line(*heatmap, cv::Point(best.x - length, best.y), cv::Point(best.x + length, best.y), color, thickness); + std::stringstream ss; + ss << std::scientific << std::setprecision(2); + ss << "Mag: " << bestValue << "W"; + cv::putText(*heatmap, ss.str(), cv::Point(best.x + 30, best.y - 10), fontFace, fontScale, color, thickness); + } #if DEBUG_GRADIENT double maxValue = 0.0; From f57b5530272107016165737c387c80b0cb67cc03 Mon Sep 17 00:00:00 2001 From: Janne Schyffert Date: Fri, 2 Aug 2024 14:30:02 +0200 Subject: [PATCH 10/43] Remove unused functions --- dockerbuild/CMakeCache.txt | 535 +++++++++++ .../CMakeFiles/3.23.0/CMakeCCompiler.cmake | 72 ++ .../CMakeFiles/3.23.0/CMakeCXXCompiler.cmake | 83 ++ .../3.23.0/CMakeDetermineCompilerABI_C.bin | Bin 0 -> 15968 bytes .../3.23.0/CMakeDetermineCompilerABI_CXX.bin | Bin 0 -> 15992 bytes .../CMakeFiles/3.23.0/CMakeSystem.cmake | 15 + .../3.23.0/CompilerIdC/CMakeCCompilerId.c | 828 ++++++++++++++++++ .../CompilerIdCXX/CMakeCXXCompilerId.cpp | 816 +++++++++++++++++ dockerbuild/CMakeFiles/CMakeOutput.log | 497 +++++++++++ dockerbuild/CMakeFiles/cmake.check_cache | 1 + src/target_handler/target_handler.h | 6 - src/target_handler/triangulate.cpp | 5 + 12 files changed, 2852 insertions(+), 6 deletions(-) create mode 100644 dockerbuild/CMakeCache.txt create mode 100644 dockerbuild/CMakeFiles/3.23.0/CMakeCCompiler.cmake create mode 100644 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__GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(1) +# if defined(__LCC__) +# define COMPILER_VERSION_MINOR DEC(__LCC__- 100) +# endif +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/dockerbuild/CMakeFiles/3.23.0/CompilerIdCXX/CMakeCXXCompilerId.cpp b/dockerbuild/CMakeFiles/3.23.0/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..57a7a85 --- /dev/null +++ b/dockerbuild/CMakeFiles/3.23.0/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,816 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +#if !defined(__has_include) +/* If the compiler does not have __has_include, pretend the answer is + always no. */ +# define __has_include(x) 0 +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(1) +# if defined(__LCC__) +# define COMPILER_VERSION_MINOR DEC(__LCC__- 100) +# endif +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} diff --git 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'/usr/src/app/dockerbuild/CMakeFiles/CMakeTmp' + + +Source file was: +#include + +static void* test_func(void* data) +{ + return data; +} + +int main(void) +{ + pthread_t thread; + pthread_create(&thread, NULL, test_func, NULL); + pthread_detach(thread); + pthread_cancel(thread); + pthread_join(thread, NULL); + pthread_atfork(NULL, NULL, NULL); + pthread_exit(NULL); + + return 0; +} + diff --git a/dockerbuild/CMakeFiles/cmake.check_cache b/dockerbuild/CMakeFiles/cmake.check_cache new file mode 100644 index 0000000..3dccd73 --- /dev/null +++ b/dockerbuild/CMakeFiles/cmake.check_cache @@ -0,0 +1 @@ +# This file is generated by cmake for dependency checking of the CMakeCache.txt file diff --git a/src/target_handler/target_handler.h b/src/target_handler/target_handler.h index 8686f2e..0cd1d9f 100644 --- a/src/target_handler/target_handler.h +++ b/src/target_handler/target_handler.h @@ -50,12 +50,6 @@ class TargetHandler { */ void Stop(); - /** - * @brief Sets the minimum required target gradient - * @param sensitivity minimum target gradient to be valid for interferemetry - */ - void SetSensitivity(double sensitivity); - std::vector getTargets(); /** diff --git a/src/target_handler/triangulate.cpp b/src/target_handler/triangulate.cpp index a3d5eec..55ac686 100644 --- a/src/target_handler/triangulate.cpp +++ b/src/target_handler/triangulate.cpp @@ -22,8 +22,13 @@ Eigen::Vector3d triangulatePoint(Eigen::ParametrizedLine &l1, Eigen:: const Vec3 closestPoint1 = r1 + e1 * t1; const Vec3 closestPoint2 = r2 + e2 * t2; +<<<<<<< Updated upstream if(constexpr double min_dist = 0, max_dist = 1; (closestPoint1 - closestPoint2).norm() > distance_threshold +======= + if (constexpr double min_dist = 0, max_dist = 1; + (closestPoint1 - closestPoint2).norm() > distance_threshold +>>>>>>> Stashed changes || (closestPoint1 + closestPoint2).z() < min_dist // Targets behind us are not valid || ((closestPoint1 + closestPoint2) / 2).z() < max_dist) { // Targets too close are usually from static noise return Vec3::Zero(); From 87c0bb71b88b366911cd1da334b8f16d16dd882c Mon Sep 17 00:00:00 2001 From: IvarNilsson Date: Mon, 5 Aug 2024 11:19:24 +0200 Subject: [PATCH 11/43] updates to track and triangulation scripts for plotting the data --- ...riangulate_track.py => track_algorithm.py} | 24 +- math_toolbox/track_plot.py | 298 ++++++++++++++++++ math_toolbox/triangulate_plot.py | 187 +++++++++++ 3 files changed, 496 insertions(+), 13 deletions(-) rename math_toolbox/{triangulate_track.py => track_algorithm.py} (94%) create mode 100644 math_toolbox/track_plot.py create mode 100644 math_toolbox/triangulate_plot.py diff --git a/math_toolbox/triangulate_track.py b/math_toolbox/track_algorithm.py similarity index 94% rename from math_toolbox/triangulate_track.py rename to math_toolbox/track_algorithm.py index affb2bf..89784f4 100644 --- a/math_toolbox/triangulate_track.py +++ b/math_toolbox/track_algorithm.py @@ -4,17 +4,17 @@ import math ## MAGIC NUMBERS START## -intersection_grace_radius = 1 # meters between two vectors to find a intersect +intersection_grace_radius = 0.5 # meters between two vectors to find a intersect -min_track_distance = 1 -max_track_distance = 2 +min_track_distance = 0.2 +max_track_distance = 0.5 track_distance_factor = 1 # factor to change the kill_time -min_track_kill_time = 1 # min numger of second this is a baseline for new targets with very few hits -max_track_kill_time = 2 # max number of seconds the kill_time can acheve for a target with many hits +min_track_kill_time = 0.1 # min numger of second this is a baseline for new targets with very few hits +max_track_kill_time = 0.4 # max number of seconds the kill_time can acheve for a target with many hits kill_time_factor = 1 # factor to change the kill_time -plt_pause_on = False +plt_pause_on = True # True/False = 3d plot/no 3d plot, no 3d plot makes the program run faster plt_pause_factor = 0.1 # make the pauses shorter ## MAGIC NUMBERS END ## @@ -67,16 +67,14 @@ def read_file(direction_1, direction_2, timestamps, file_name): return direction_1, direction_2, timestamps -direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "tests/Targets2.txt") +direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/Targets_3m_dator.txt") def triangulatePoints(r1, e1, r2, e2): n = cross(e1, e2) - # print("n", n) t1 = dot(cross(e2, n), (r2 - r1)) / dot(n, n) t2 = dot(cross(e1, n), (r2 - r1)) / dot(n, n) - # print("t", t1, t2) p1 = r1 + t1 * e1 p2 = r2 + t2 * e2 @@ -208,7 +206,7 @@ def plot_best_target(ax, colors, max_nr_colors, best_target, best_track_id): def plot_all_targets(ax, colors, max_nr_colors, target_list): targets = [] for i, (track_point, time_since_last_hit, total_hits, timestamp) in enumerate(target_list): - if total_hits > 0: + if total_hits > 10: color = colors[i % max_nr_colors] targets.append( ax.scatter( @@ -265,16 +263,16 @@ def setup_3d_plot(ax): p = (p1 + p2) / 2 current_time = timestamps[i] - if np.linalg.norm(p1 - p2) > intersection_grace_radius or p[2] < 0 or np.linalg.norm(p) > 20: + if np.linalg.norm(p1 - p2) > intersection_grace_radius or p[2] < 0 or np.linalg.norm(p) > 20 or p[2] < 1: p = np.zeros(3) if p.all() == 0: failed_intersect_count += 1 else: if plt_pause_on: - print((current_time - last_hit_time) * 10**-9) + # print((current_time - last_hit_time) * 10**-9) plt.pause( - (current_time - last_hit_time) * 10**-9 * plt_pause_on * plt_pause_factor + (current_time - last_hit_time) * 10**-9 * plt_pause_on * plt_pause_factor + 0.000000001 ) # Pause for a short time to update the plot last_hit_time = current_time diff --git a/math_toolbox/track_plot.py b/math_toolbox/track_plot.py new file mode 100644 index 0000000..480e6a3 --- /dev/null +++ b/math_toolbox/track_plot.py @@ -0,0 +1,298 @@ +import numpy as np +from numpy import cross, dot +import matplotlib.pyplot as plt +import math + +## MAGIC NUMBERS START## +intersection_grace_radius = 0.2 # meters between two vectors to find a intersect + +min_track_distance = 0.2 +max_track_distance = 0.2 +track_distance_factor = 1 # factor to change the kill_time + +min_track_kill_time = 0.1 # min numger of second this is a baseline for new targets with very few hits +max_track_kill_time = 0.1 # max number of seconds the kill_time can acheve for a target with many hits +kill_time_factor = 1 # factor to change the kill_time + +plt_pause_on = True # True/False = 3d plot/no 3d plot, no 3d plot makes the program run faster +plt_pause_factor = 0.1 # make the pauses shorter +## MAGIC NUMBERS END ## + +# Initialize empty lists to read data +origin_1 = np.array([1, 0, 0]) +direction_1 = [] +origin_2 = np.array([-1, 0, 0]) +direction_2 = [] +timestamps = [] + + +def read_file(direction_1, direction_2, timestamps, file_name): + with open(file_name, "r") as file: + for line in file: + parts = line.split(";") + first_half = parts[0].split(",") + second_half = parts[1].split(",") + + first_half_origin_1 = first_half[0].split() + first_half_direction_1 = first_half[1].split() + + second_half_origin_1 = second_half[0].split() + second_half_direction_1 = second_half[1].split() + + # Extract data for the first half + direction_1.append( + [ + float(first_half_direction_1[0]), + float(first_half_direction_1[1]), + float(first_half_direction_1[2]), + ] + ) + + # Extract data for the second half + direction_2.append( + [ + float(second_half_direction_1[0]), + float(second_half_direction_1[1]), + float(second_half_direction_1[2]), + ] + ) + timestamps.append(int(parts[2].strip())) + + # print(len(direction_1)) + + # Convert lists to numpy arrays + direction_1 = np.array(direction_1) + direction_2 = np.array(direction_2) + timestamps = np.array(timestamps) + return direction_1, direction_2, timestamps + + +direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/Targets_3m_dator.txt") + + +def triangulatePoints(r1, e1, r2, e2): + n = cross(e1, e2) + + t1 = dot(cross(e2, n), (r2 - r1)) / dot(n, n) + t2 = dot(cross(e1, n), (r2 - r1)) / dot(n, n) + + p1 = r1 + t1 * e1 + p2 = r2 + t2 * e2 + + return p1, p2 + + +target_list = [] +history_target_list = [] + + +def track(p, timestamp, same_hit_count, unique_hit_count): + # check if target are close to any old targets + new_track = True + same_track = False + current_time = timestamp + for i, (track_point, time_since_last_hit, total_hits, timestamp) in enumerate(target_list): + track_distance = track_distance_generation(total_hits, min_track_distance, max_track_distance, track_distance_factor) + # print("track_distance", track_distance) + if ( + np.abs(track_point[0] - p[0]) < track_distance + and np.abs(track_point[1] - p[1]) < track_distance + and np.abs(track_point[2] - p[2]) < track_distance + ): + if track_point[0] == p[0] and track_point[1] == p[1] and track_point[2] == p[2]: + # same exact point + same_track = True + new_track = False + same_hit_count = same_hit_count + 1 + break + else: + target_list[i] = (p, 0, total_hits + 1, current_time) + new_track = False + # print("old target") + break + + # adds new target (no match found) + if new_track: + target_list.append((p, 0, 1, current_time)) + # print("new target") + + # add +1 to all time_since_last_hit (make them older) (this includes current hit) + if same_track == False: + unique_hit_count = unique_hit_count + 1 + for i, (track_point, time_since_last_hit, total_hits, timestamp) in enumerate(target_list): + target_list[i] = (track_point, time_since_last_hit + 1, total_hits, timestamp) + + # find old tracks (with time greate than kill_time) to remove + for i, (track_point, time_since_last_hit, total_hits, timestamp) in enumerate(target_list): + if ( + int(current_time) - int(timestamp) + > kill_time_generation(total_hits, min_track_kill_time, max_track_kill_time, kill_time_factor) * 10**9 + ): + target_list[i] = (track_point, time_since_last_hit, 0, timestamp) + + # find best hit to return + best_nr_hits = 0 + best_point = np.zeros(3) + best_track_id = 99 + for i, (track_point, time_since_last_hit, total_hits, timestamp) in enumerate(target_list): + if total_hits > best_nr_hits: + best_nr_hits = total_hits + best_point = track_point + best_track_id = i + history_target_list.append([[*target_list], current_time]) + return best_point, best_track_id, best_nr_hits, same_hit_count, unique_hit_count + + +def track_distance_generation(total_hits, min_value, max_value, track_distance_factor): + if total_hits < 1: + return 0 # stop killed points from gathering more targets + + # y=0.325 ln(x+1)+0.5 + result = 0.325 * math.log(total_hits + 1) + 0.5 + if result < min_value: + result = min_value + elif result > max_value: + result = max_value + + return result * track_distance_factor + + +def kill_time_generation(total_hits, min_value, max_value, kill_time_factor): + # y=ln(x+1)+0.5 + result = math.log(total_hits + 1) + 0.5 + if result < min_value: + result = min_value + elif result > max_value: + result = max_value + + return result * kill_time_factor + + +def plot_direction_vectors(ax, origin_1, direction_1, origin_2, direction_2): + line_space = np.linspace(0, 15, 100) # Range for the line + line_points_1 = origin_1 + line_space[:, np.newaxis] * direction_1[i] + line_points_2 = origin_2 + line_space[:, np.newaxis] * direction_2[i] + ax.plot( + line_points_1[:, 0], + line_points_1[:, 1], + line_points_1[:, 2], + color="b", + linewidth=0.5, + ) + ax.plot( + line_points_2[:, 0], + line_points_2[:, 1], + line_points_2[:, 2], + color="y", + linewidth=0.5, + ) + + +def plot_intersections(ax, p, p1, p2): + ax.scatter(p1[0], p1[1], p1[2], color="b", s=3) + ax.scatter(p2[0], p2[1], p2[2], color="y", s=3) + ax.scatter(p[0], p[1], p[2], color="g", s=3) + + +def plot_best_target(ax, colors, max_nr_colors, best_target, best_track_id, best_nr_hits): + color = colors[best_track_id % max_nr_colors] + + targets = [] + targets.append(ax.scatter(best_target[0], best_target[1], best_target[2], color=color, s=75 + best_nr_hits / 2, marker="x")) + return targets + + +def plot_all_targets(ax, colors, max_nr_colors, target_list): + targets = [] + for i, (track_point, time_since_last_hit, total_hits, timestamp) in enumerate(target_list): + if total_hits > 0: + color = colors[i % max_nr_colors] + targets.append( + ax.scatter( + track_point[0], + track_point[1], + track_point[2], + color=color, + s=10 + total_hits / 2, + ) + ) + return targets + + +failed_intersect_count = 0 + +fig = plt.figure() +ax = fig.add_subplot(111, projection="3d") +plt.ion() # Turn on interactive mode + +max_nr_colors = 20 +tab20 = plt.get_cmap("tab20") +colors = [tab20(i % 20) for i in range(20)] + + +def setup_3d_plot(ax): + ax.set_xlabel("X") + ax.set_ylabel("Y") + ax.set_zlabel("Z") + + ax.set_xlim([-6, 6]) + ax.set_ylim([-6, 6]) + ax.set_zlim([-1, 15]) + ax.view_init(elev=-30, azim=91, roll=0) + + origin = np.array([0, 0, 0]) + ax.scatter(origin[0], origin[1], origin[2], color="r", s=30) + ax.scatter(origin_1[0], origin_1[1], origin_1[2], color="g", s=100) + ax.scatter(origin_2[0], origin_2[1], origin_2[2], color="g", s=100) + + +setup_3d_plot(ax) + +same_hit_count = 0 +unique_hit_count = 0 + +best_target = [] +all_targets = [] + +last_hit_time = timestamps[0] +current_time = timestamps[0] + +for i in range(3000, len(direction_1)): + p1, p2 = triangulatePoints(origin_1, direction_1[i], origin_2, direction_2[i]) + p = (p1 + p2) / 2 + + current_time = timestamps[i] + if np.linalg.norm(p1 - p2) > intersection_grace_radius or p[2] < 0 or np.linalg.norm(p) > 20 or p[2] < 2: + p = np.zeros(3) + + if p.all() == 0: + failed_intersect_count += 1 + else: + if plt_pause_on: + # print((current_time - last_hit_time) * 10**-9) + plt.pause( + (current_time - last_hit_time) * 10**-9 * plt_pause_on * plt_pause_factor + 0.000000001 + ) # Pause for a short time to update the plot + last_hit_time = current_time + + # plot_direction_vectors(ax, origin_1, direction_1, origin_2, direction_2) + # plot_intersections(ax, p, p1, p2) + + for target in all_targets: + target.remove() + + for target in best_target: + target.remove() + + best_target_point, best_track_id, same_hit_count, unique_hit_count, best_nr_hits = track( + p, timestamps[i], same_hit_count, unique_hit_count + ) + best_target = plot_best_target(ax, colors, max_nr_colors, best_target_point, best_track_id, best_nr_hits) + all_targets = plot_all_targets(ax, colors, max_nr_colors, target_list) + + plt.draw() + + +plt.ioff() # Turn off interactive mode +plt.close() +print("Done!") diff --git a/math_toolbox/triangulate_plot.py b/math_toolbox/triangulate_plot.py new file mode 100644 index 0000000..9e927c2 --- /dev/null +++ b/math_toolbox/triangulate_plot.py @@ -0,0 +1,187 @@ +import numpy as np +from numpy import cross, dot +import matplotlib.pyplot as plt +import math + +## MAGIC NUMBERS START## +intersection_grace_radius = 0.2 # meters between two vectors to find a intersect + +plt_pause_on = True # True/False = 3d plot/no 3d plot, no 3d plot makes the program run faster +plt_pause_factor = 0.1 # make the pauses shorter +## MAGIC NUMBERS END ## + +# Initialize empty lists to read data +origin_1 = np.array([1, 0, 0]) +direction_1 = [] +origin_2 = np.array([-1, 0, 0]) +direction_2 = [] +timestamps = [] + + +def read_file(direction_1, direction_2, timestamps, file_name): + with open(file_name, "r") as file: + for line in file: + parts = line.split(";") + first_half = parts[0].split(",") + second_half = parts[1].split(",") + + first_half_origin_1 = first_half[0].split() + first_half_direction_1 = first_half[1].split() + + second_half_origin_1 = second_half[0].split() + second_half_direction_1 = second_half[1].split() + + # Extract data for the first half + direction_1.append( + [ + float(first_half_direction_1[0]), + float(first_half_direction_1[1]), + float(first_half_direction_1[2]), + ] + ) + + # Extract data for the second half + direction_2.append( + [ + float(second_half_direction_1[0]), + float(second_half_direction_1[1]), + float(second_half_direction_1[2]), + ] + ) + timestamps.append(int(parts[2].strip())) + + # print(len(direction_1)) + + # Convert lists to numpy arrays + direction_1 = np.array(direction_1) + direction_2 = np.array(direction_2) + timestamps = np.array(timestamps) + return direction_1, direction_2, timestamps + + +direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/intersections_demo_plot.txt") + + +def triangulatePoints(r1, e1, r2, e2): + n = cross(e1, e2) + + t1 = dot(cross(e2, n), (r2 - r1)) / dot(n, n) + t2 = dot(cross(e1, n), (r2 - r1)) / dot(n, n) + + p1 = r1 + t1 * e1 + p2 = r2 + t2 * e2 + + return p1, p2 + + +def plot_direction_vector(ax, origin_1, direction_1_i, color): + line_space = np.linspace(0, 15, 100) # Range for the line + line_points_1 = origin_1 + line_space[:, np.newaxis] * direction_1_i + vector = ax.plot( + line_points_1[:, 0], + line_points_1[:, 1], + line_points_1[:, 2], + color=color, + linewidth=0.5, + ) + return vector[0] # Return the first Line2D object + + +def plot_intersections(ax, p, p1, p2): + # ax.scatter(p1[0], p1[1], p1[2], color="b", s=3) + # ax.scatter(p2[0], p2[1], p2[2], color="y", s=3) + intersection = ax.scatter(p[0], p[1], p[2], color="g", s=15) + return intersection + + +failed_intersect_count = 0 + +fig = plt.figure() +ax = fig.add_subplot(111, projection="3d") +plt.ion() # Turn on interactive mode + +max_nr_colors = 20 +tab20 = plt.get_cmap("tab20") +colors = [tab20(i % 20) for i in range(20)] + + +def setup_3d_plot(ax): + ax.set_xlabel("X") + ax.set_ylabel("Y") + ax.set_zlabel("Z") + + ax.set_xlim([-6, 6]) + ax.set_ylim([-6, 6]) + ax.set_zlim([-1, 15]) + ax.view_init(elev=-30, azim=91, roll=0) + + origin = np.array([0, 0, 0]) + ax.scatter(origin[0], origin[1], origin[2], color="r", s=30) + ax.scatter(origin_1[0], origin_1[1], origin_1[2], color="y", s=100) + ax.scatter(origin_2[0], origin_2[1], origin_2[2], color="b", s=100) + + +setup_3d_plot(ax) + +plt_intersection = 0 +plt_pause = 0 + +vector_1 = [] +vector_2 = [] +intersections = [] + +last_hit_time = timestamps[0] +current_time = timestamps[0] + + +for i in range(3000, len(direction_1)): + p1, p2 = triangulatePoints(origin_1, direction_1[i], origin_2, direction_2[i]) + p = (p1 + p2) / 2 + + current_time = timestamps[i] + if np.linalg.norm(p1 - p2) > intersection_grace_radius or p[2] < 0 or np.linalg.norm(p) > 20 or p[2] < 2: + p = np.zeros(3) + + if p.all() == 0: + failed_intersect_count += 1 + + else: + plt_intersection += 1 + intersections.append(plot_intersections(ax, p, p1, p2)) + + vector_1.append(plot_direction_vector(ax, origin_1, direction_1[i], color="y")) + vector_2.append(plot_direction_vector(ax, origin_2, direction_2[i], color="b")) + plt.draw() + plt_pause += 1 + + if min(len(vector_1), len(vector_2)) > 5: + + if plt_pause_on: + # print((current_time - last_hit_time) * 10**-9) + plt.pause( + (current_time - last_hit_time) * 10**-9 * plt_pause_on * plt_pause_factor + 0.000000001 + ) # Pause for a short time to update the plot + last_hit_time = current_time + else: + if plt_intersection > 0: + plt.pause(0.5) + else: + plt.pause(0.2) + + plt_pause = 0 + plt_intersection = 0 + for vector in vector_1: + vector.remove() + for vector in vector_2: + vector.remove() + for intersection in intersections: + intersection.remove() + + vector_1 = [] + vector_2 = [] + intersections = [] + + +plt.ioff() # Turn off interactive mode +plt.close() +print("Done!") From 9c026f9bca424975428c1ee3ecd35a281a6769d5 Mon Sep 17 00:00:00 2001 From: IvarNilsson Date: Mon, 5 Aug 2024 11:23:48 +0200 Subject: [PATCH 12/43] fixed file paht and gitignore --- .gitignore | 3 +++ math_toolbox/track_algorithm.py | 2 +- math_toolbox/track_plot.py | 2 +- math_toolbox/triangulate_plot.py | 2 +- 4 files changed, 6 insertions(+), 3 deletions(-) diff --git a/.gitignore b/.gitignore index 780d7f0..ae08bf9 100644 --- a/.gitignore +++ b/.gitignore @@ -80,3 +80,6 @@ dkms.conf /udp/recorded /.env .idea/ +.venv + +math_toolbox/recorded_data diff --git a/math_toolbox/track_algorithm.py b/math_toolbox/track_algorithm.py index 89784f4..6a9b010 100644 --- a/math_toolbox/track_algorithm.py +++ b/math_toolbox/track_algorithm.py @@ -67,7 +67,7 @@ def read_file(direction_1, direction_2, timestamps, file_name): return direction_1, direction_2, timestamps -direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/Targets_3m_dator.txt") +direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/recorderd_data/Targets_3m_dator.txt") def triangulatePoints(r1, e1, r2, e2): diff --git a/math_toolbox/track_plot.py b/math_toolbox/track_plot.py index 480e6a3..2899171 100644 --- a/math_toolbox/track_plot.py +++ b/math_toolbox/track_plot.py @@ -67,7 +67,7 @@ def read_file(direction_1, direction_2, timestamps, file_name): return direction_1, direction_2, timestamps -direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/Targets_3m_dator.txt") +direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/recorderd_data/Targets_3m_dator.txt") def triangulatePoints(r1, e1, r2, e2): diff --git a/math_toolbox/triangulate_plot.py b/math_toolbox/triangulate_plot.py index 9e927c2..d32d960 100644 --- a/math_toolbox/triangulate_plot.py +++ b/math_toolbox/triangulate_plot.py @@ -59,7 +59,7 @@ def read_file(direction_1, direction_2, timestamps, file_name): return direction_1, direction_2, timestamps -direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/intersections_demo_plot.txt") +direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/recorderd_data/intersections_demo_plot.txt") def triangulatePoints(r1, e1, r2, e2): From c37d82ca9706f69ad80c478404792ff4544d24c0 Mon Sep 17 00:00:00 2001 From: Tuva Date: Tue, 6 Aug 2024 08:54:18 +0200 Subject: [PATCH 13/43] fix stash error --- src/target_handler/triangulate.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/src/target_handler/triangulate.cpp b/src/target_handler/triangulate.cpp index 55ac686..46c3a74 100644 --- a/src/target_handler/triangulate.cpp +++ b/src/target_handler/triangulate.cpp @@ -22,13 +22,8 @@ Eigen::Vector3d triangulatePoint(Eigen::ParametrizedLine &l1, Eigen:: const Vec3 closestPoint1 = r1 + e1 * t1; const Vec3 closestPoint2 = r2 + e2 * t2; -<<<<<<< Updated upstream - if(constexpr double min_dist = 0, max_dist = 1; - (closestPoint1 - closestPoint2).norm() > distance_threshold -======= if (constexpr double min_dist = 0, max_dist = 1; (closestPoint1 - closestPoint2).norm() > distance_threshold ->>>>>>> Stashed changes || (closestPoint1 + closestPoint2).z() < min_dist // Targets behind us are not valid || ((closestPoint1 + closestPoint2) / 2).z() < max_dist) { // Targets too close are usually from static noise return Vec3::Zero(); From 95b1424354740e24b89583c749955737b40dc87d Mon Sep 17 00:00:00 2001 From: Irreq Date: Tue, 6 Aug 2024 11:53:26 +0200 Subject: [PATCH 14/43] Added tracker for screen with nice effect and future prediction --- src/aw_processing_unit/main.cpp | 73 +++++++++++++++++++++++++++++++-- src/dsp/gradient_ascend.cpp | 30 +++++++------- src/dsp/gradient_ascend.h | 42 ++++++++++++------- 3 files changed, 112 insertions(+), 33 deletions(-) diff --git a/src/aw_processing_unit/main.cpp b/src/aw_processing_unit/main.cpp index 450eb0d..30e6511 100644 --- a/src/aw_processing_unit/main.cpp +++ b/src/aw_processing_unit/main.cpp @@ -11,7 +11,7 @@ #define UDP_ADDRESS "10.0.0.1" -#define APPLICATION_NAME "Beamforming" +#define APPLICATION_NAME "Acoustic Warfare" #define APPLICATION_WIDTH 1024 #define APPLICATION_HEIGHT 1024 #define RESOLUTION_MULTIPLIER 16 @@ -20,7 +20,7 @@ #define BLUR_KERNEL_SIZE 11 -#define BLUR_EFFECT false +#define BLUR_EFFECT true /** * Create a name for the video file @@ -236,6 +236,19 @@ int main(int argc, char* argv[]) { bigFrames.push_back(cv::Mat(Y_RES, X_RES, CV_8UC1)); } + // Load the logo image (with alpha channel if available) + cv::Mat logo = cv::imread("logo.png", cv::IMREAD_UNCHANGED);// Load with alpha channel + if (logo.empty()) { + std::cerr << "Error: Unable to load logo image" << std::endl; + return -1; + } + + // Calculate new size (10% of original size) + cv::Size newSize(static_cast(logo.cols * 0.22), static_cast(logo.rows * 0.22)); + + // Resize the image + cv::resize(logo, logo, newSize); + // Initialize variables for FPS calculation auto start = std::chrono::high_resolution_clock::now(); int frameCount = 0; @@ -313,7 +326,7 @@ int main(int argc, char* argv[]) { std::stringstream ss; ss << "Trackers: " << awpus[i]->targets().size(); - cv::putText(bigFrames[i], ss.str(), cv::Point(0, 20), fontFace, fontScale, color, 2); + //cv::putText(bigFrames[i], ss.str(), cv::Point(0, 20), fontFace, fontScale, color, 2); } if (awpu_count == 0) { @@ -344,6 +357,60 @@ int main(int argc, char* argv[]) { std::string fpsText = "FPS: " + std::to_string(fps); cv::putText(combinedFrame, fpsText, cv::Point(10, 60), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(255, 255, 255), 2); +// // Define the top-left corner where the logo will be placed +// cv::Point position(10, 10);// Adjust as needed +// +// // Define the region of interest (ROI) in the background image +// cv::Rect roi(position.x, position.y, logo.cols, logo.rows); +// +// // Ensure the ROI is within the bounds of the background image +// if (roi.x + roi.width > combinedFrame.cols || roi.y + roi.height > combinedFrame.rows) { +// std::cerr << "Error: Logo image exceeds background image bounds" << std::endl; +// return -1; +// } +// +// // Create a mask for the logo image (if it has an alpha channel) +// cv::Mat mask; +// if (logo.channels() == 4) { +// cv::extractChannel(logo, mask, 3);// Extract alpha channel +// } else { +// mask = cv::Mat::ones(logo.size(), CV_8UC1) * 255;// Create a full-opacity mask if no alpha channel +// } +// +// // Create submatrices for the ROI and the logo +// cv::Mat combinedFrameROI = combinedFrame(roi); +// cv::Mat logoROI = logo(cv::Rect(0, 0, combinedFrameROI.cols, combinedFrameROI.rows)); +// cv::Mat maskROI = mask(cv::Rect(0, 0, combinedFrameROI.cols, combinedFrameROI.rows)); +// +// // Blend the logo onto the background using the mask +// cv::Mat blended; +// cv::bitwise_and(combinedFrameROI, combinedFrameROI, blended, maskROI); +// cv::bitwise_and(logoROI, logoROI, logoROI, maskROI); +// //cv::add(blended, logoROI, combinedFrameROI); + + //cv::Mat insetImage(combinedFrame, cv::Rect(100, 0, logo.cols, logo.rows)); + + int x = 840; + int y = 0; + // Convert logo to grayscale if it has an alpha channel or is in color + if (logo.channels() == 4 || logo.channels() == 3) { + cv::Mat logoGray; + cv::cvtColor(logo, logoGray, cv::COLOR_BGR2GRAY);// Convert to grayscale + cv::Mat logoColor; + cv::applyColorMap(logoGray, logoColor, cv::COLORMAP_BONE);// Apply the same colormap if needed + logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); + } else if (logo.channels() == 1) { + // Logo is already grayscale + cv::Mat logoColor; + cv::applyColorMap(logo, logoColor, cv::COLORMAP_BONE);// Apply colormap to logo if needed + logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); + } else { + std::cerr << "Error: Unsupported number of channels in the logo image." << std::endl; + } + + //combinedFrame = insetImage; + + //logo.copyTo(combinedFrame(cv::Rect(logo.cols, 0, logo.cols, logo.rows))); // Display the frame cv::imshow(APPLICATION_NAME, combinedFrame); diff --git a/src/dsp/gradient_ascend.cpp b/src/dsp/gradient_ascend.cpp index 5ad49b6..7d2ac2d 100644 --- a/src/dsp/gradient_ascend.cpp +++ b/src/dsp/gradient_ascend.cpp @@ -112,7 +112,7 @@ bool GradientTracker::operator>(const GradientTracker &other) const { } -SphericalGradient::SphericalGradient(Pipeline *pipeline, Antenna &antenna, bool *running, std::size_t swarm_size, std::size_t iterations, float fov) : Worker(pipeline, antenna, running), swarm_size(swarm_size), iterations(iterations), fov(fov) { +SphericalGradient::SphericalGradient(Pipeline *pipeline, Antenna &antenna, bool *running, std::size_t swarm_size, std::size_t iterations, float fov) : Worker(pipeline, antenna, running), swarm_size(swarm_size), fov(fov) { this->fov = TO_RADIANS(fov / 2.0); @@ -234,23 +234,23 @@ void SphericalGradient::populateHeatmap(cv::Mat *heatmap) { std::stringstream ss; ss << "Tracking: " << n_trackers; - cv::putText(*heatmap, ss.str(), cv::Point(0,0), fontFace, fontScale, color, thickness); + cv::putText(*heatmap, ss.str(), cv::Point(0, 0), fontFace, fontScale, color, thickness); if (hasBest) { - int length = 1000; - int extra = 20; - // Draw the hollow square - //cv::rectangle(*heatmap, cv::Point(best.x - extra, best.y - extra), cv::Point(best.x + extra, best.y + extra), color, thickness); - + constexpr int length = 1000; + constexpr int extra = 20; + + kf.update(Eigen::Vector3f((float) best.x, (float) best.y, 1.0)); + Eigen::Vector3f p = kf.predict(0); + // Draw the tracker + cv::circle(*heatmap, cv::Point(p(X_INDEX), p(Y_INDEX)), 30, color, 2, 8, 0); + cv::line(*heatmap, cv::Point(p(X_INDEX), p(Y_INDEX)), cv::Point(best.x, best.y), color, thickness); // Draw the vertical line of the cross cv::line(*heatmap, cv::Point(best.x, best.y - length), cv::Point(best.x, best.y - extra), color, thickness); cv::line(*heatmap, cv::Point(best.x, best.y + extra), cv::Point(best.x, best.y + length), color, thickness); // Draw the horizontal line of the cross cv::line(*heatmap, cv::Point(best.x - length, best.y), cv::Point(best.x - extra, best.y), color, thickness); cv::line(*heatmap, cv::Point(best.x + extra, best.y), cv::Point(best.x + length, best.y), color, thickness); - //// Draw the vertical line of the cross - //cv::line(*heatmap, cv::Point(best.x, best.y - length), cv::Point(best.x, best.y + length), color, thickness); - //// Draw the horizontal line of the cross - //cv::line(*heatmap, cv::Point(best.x - length, best.y), cv::Point(best.x + length, best.y), color, thickness); + std::stringstream ss; ss << std::scientific << std::setprecision(2); ss << "Mag: " << bestValue << "W"; @@ -308,7 +308,7 @@ void SphericalGradient::update() { tmp_reference += powf(MA, 2); } } - + tmp_reference /= static_cast(N_SAMPLES - 2); double reference = static_cast(tmp_reference); @@ -379,9 +379,7 @@ void SphericalGradient::update() { maxPower = seeker.directionGradient.radius; bestDirection = seeker.directionCurrent; better = true; - } - - + } } if (better) { @@ -405,7 +403,7 @@ void SphericalGradient::update() { continue; } if (tracker.tracking) { - tracking.emplace_back(tracker.directionCurrent, (float)tracker.directionGradient.radius, (float)(1 / tracker.gradientError), tracker.start); + tracking.emplace_back(tracker.directionCurrent, (float) tracker.directionGradient.radius, (float) (1 / tracker.gradientError), tracker.start); } } } \ No newline at end of file diff --git a/src/dsp/gradient_ascend.h b/src/dsp/gradient_ascend.h index 9463d4b..1916eb4 100644 --- a/src/dsp/gradient_ascend.h +++ b/src/dsp/gradient_ascend.h @@ -11,31 +11,31 @@ #include "antenna.h" #include "delay.h" #include "geometry.h" +#include "kf.h" +#include "particle.h" #include "pipeline.h" #include "worker.h" -#include "particle.h" /** * @brief Hyperparams for gradient ascent */ #define SEEKER_RESET_COUNTER 128 // Number of iterations before jump -#define SEEKER_SPREAD TO_RADIANS(7) // Angle fov for seeker +#define SEEKER_SPREAD TO_RADIANS(7) // Angle fov for seeker #define TRACKER_STEPS 5 // Number of individual steps for tracker -#define TRACKER_SLOWDOWN 0.1 // How much slower tracker steps -#define TRACKER_CLOSENESS TO_RADIANS(5) // Angle between trackers before they are absorbed -#define TRACKER_ERROR_THRESHOLD 1 // Error before tracker dies -#define TRACKER_MAX 10 // Number of trackers +#define TRACKER_SLOWDOWN 0.1 // How much slower tracker steps +#define TRACKER_CLOSENESS TO_RADIANS(5)// Angle between trackers before they are absorbed +#define TRACKER_ERROR_THRESHOLD 1 // Error before tracker dies +#define TRACKER_MAX 10 // Number of trackers #define TRACKER_SPREAD TO_RADIANS(2) // Angle fov for tracker +#define TRACKER_OLDEST 0 // If should plot a cross over the oldest tracker #define PARTICLE_RATE 5e-4 // Stepsize for particles - -#define DEBUG_GRADIENT 0 -#define MONOPULSE_DIRECTIONS 4// Quadrants -#define USE_HORIZONTAL 0 // Horizontal or quadrant monopulse - -#define RELATIVE 1 +#define DEBUG_GRADIENT 0 // If should print debug output +#define MONOPULSE_DIRECTIONS 4 // Quadrants +#define USE_HORIZONTAL 0 // Horizontal or quadrant monopulse +#define RELATIVE 1 // If the gradient should be relatve /** - * @brief TODO: + * @brief Monopulse gradient particle */ struct GradientParticle : public Particle { @@ -150,13 +150,27 @@ class SphericalGradient : public Worker { void populateHeatmap(cv::Mat *heatmap) override; private: + /// @brief Filter for tracking position and predict future position + KalmanFilter3D kf = KalmanFilter3D(1.0 / 5); + + /// @brief Mean power level for particles double mean = 0.0; + /// @brief Field of view for particles float fov; + + /// @brief A counter used for resetting position of particles at set intervals int resetCount = 0; + + /// @brief Number of trackers std::size_t n_trackers; - std::size_t iterations; + + /// @brief Number of seekers std::size_t swarm_size; + + /// @brief Collection of seekers std::vector seekers; + + /// @brief Collection of trackers std::vector trackers; void initialize_particles(); From 9bfd07182495c73d07edcb552578537c3d3d424b Mon Sep 17 00:00:00 2001 From: Irreq Date: Tue, 6 Aug 2024 12:51:25 +0200 Subject: [PATCH 15/43] Mods --- src/aw_processing_unit/main.cpp | 137 +++++++++++++++----------------- 1 file changed, 63 insertions(+), 74 deletions(-) diff --git a/src/aw_processing_unit/main.cpp b/src/aw_processing_unit/main.cpp index 30e6511..f051653 100644 --- a/src/aw_processing_unit/main.cpp +++ b/src/aw_processing_unit/main.cpp @@ -106,6 +106,21 @@ void setupArgumentParser(argparse::ArgumentParser& program) { .implicit_value(true) .help("Program output"); + program.add_argument("--fps") + .default_value(false) + .implicit_value(true) + .help("Program FPS"); + + program.add_argument("--logo") + .default_value(false) + .implicit_value(true) + .help("Use logo"); + + program.add_argument("--debug") + .default_value(false) + .implicit_value(true) + .help("Debug mode"); + program.add_argument("--fov") .default_value(static_cast(180.0f)) .scan<'g', float>() @@ -141,6 +156,9 @@ int main(int argc, char* argv[]) { std::vector ports = program.get>("--port"); bool verbose = program.get("--verbose"); bool use_camera = (camera.compare("false") != 0); + bool use_fps = program.get("--fps"); + bool use_logo = program.get("--logo"); + bool debug = program.get("--debug"); if (verbose) { // Display the parsed argument values @@ -313,20 +331,23 @@ int main(int argc, char* argv[]) { bigFrames[i].copyTo(result, mask); bigFrames[i] = result; } + + if (debug) { + // Define font face + int fontFace = cv::FONT_HERSHEY_SIMPLEX; - // Define font face - int fontFace = cv::FONT_HERSHEY_SIMPLEX; + // Define font scale (size) + double fontScale = 1; - // Define font scale (size) - double fontScale = 1; + // Define font color (here it's white) + cv::Scalar color(255, 255, 255); - // Define font color (here it's white) - cv::Scalar color(255, 255, 255); + std::stringstream ss; - std::stringstream ss; - - ss << "Trackers: " << awpus[i]->targets().size(); - //cv::putText(bigFrames[i], ss.str(), cv::Point(0, 20), fontFace, fontScale, color, 2); + ss << "Trackers: " << awpus[i]->targets().size(); + cv::putText(bigFrames[i], ss.str(), cv::Point(0, 20), fontFace, fontScale, color, 2); + } + } if (awpu_count == 0) { @@ -343,74 +364,42 @@ int main(int argc, char* argv[]) { videoWriter.write(combinedFrame); } - // Calculate FPS - frameCount++; - auto end = std::chrono::high_resolution_clock::now(); - std::chrono::duration elapsed = end - start; - if (elapsed.count() >= 1.0) { - fps = frameCount / elapsed.count(); - frameCount = 0; - start = end; - } + if (use_fps) { + // Calculate FPS + frameCount++; + auto end = std::chrono::high_resolution_clock::now(); + std::chrono::duration elapsed = end - start; + if (elapsed.count() >= 1.0) { + fps = frameCount / elapsed.count(); + frameCount = 0; + start = end; + } - // Display FPS on the frame - std::string fpsText = "FPS: " + std::to_string(fps); - cv::putText(combinedFrame, fpsText, cv::Point(10, 60), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(255, 255, 255), 2); - -// // Define the top-left corner where the logo will be placed -// cv::Point position(10, 10);// Adjust as needed -// -// // Define the region of interest (ROI) in the background image -// cv::Rect roi(position.x, position.y, logo.cols, logo.rows); -// -// // Ensure the ROI is within the bounds of the background image -// if (roi.x + roi.width > combinedFrame.cols || roi.y + roi.height > combinedFrame.rows) { -// std::cerr << "Error: Logo image exceeds background image bounds" << std::endl; -// return -1; -// } -// -// // Create a mask for the logo image (if it has an alpha channel) -// cv::Mat mask; -// if (logo.channels() == 4) { -// cv::extractChannel(logo, mask, 3);// Extract alpha channel -// } else { -// mask = cv::Mat::ones(logo.size(), CV_8UC1) * 255;// Create a full-opacity mask if no alpha channel -// } -// -// // Create submatrices for the ROI and the logo -// cv::Mat combinedFrameROI = combinedFrame(roi); -// cv::Mat logoROI = logo(cv::Rect(0, 0, combinedFrameROI.cols, combinedFrameROI.rows)); -// cv::Mat maskROI = mask(cv::Rect(0, 0, combinedFrameROI.cols, combinedFrameROI.rows)); -// -// // Blend the logo onto the background using the mask -// cv::Mat blended; -// cv::bitwise_and(combinedFrameROI, combinedFrameROI, blended, maskROI); -// cv::bitwise_and(logoROI, logoROI, logoROI, maskROI); -// //cv::add(blended, logoROI, combinedFrameROI); - - //cv::Mat insetImage(combinedFrame, cv::Rect(100, 0, logo.cols, logo.rows)); - - int x = 840; - int y = 0; - // Convert logo to grayscale if it has an alpha channel or is in color - if (logo.channels() == 4 || logo.channels() == 3) { - cv::Mat logoGray; - cv::cvtColor(logo, logoGray, cv::COLOR_BGR2GRAY);// Convert to grayscale - cv::Mat logoColor; - cv::applyColorMap(logoGray, logoColor, cv::COLORMAP_BONE);// Apply the same colormap if needed - logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); - } else if (logo.channels() == 1) { - // Logo is already grayscale - cv::Mat logoColor; - cv::applyColorMap(logo, logoColor, cv::COLORMAP_BONE);// Apply colormap to logo if needed - logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); - } else { - std::cerr << "Error: Unsupported number of channels in the logo image." << std::endl; + // Display FPS on the frame + std::string fpsText = "FPS: " + std::to_string(fps); + cv::putText(combinedFrame, fpsText, cv::Point(10, 60), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(255, 255, 255), 2); } - //combinedFrame = insetImage; - //logo.copyTo(combinedFrame(cv::Rect(logo.cols, 0, logo.cols, logo.rows))); + if (use_logo) { + int x = 840; + int y = 0; + // Convert logo to grayscale if it has an alpha channel or is in color + if (logo.channels() == 4 || logo.channels() == 3) { + cv::Mat logoGray; + cv::cvtColor(logo, logoGray, cv::COLOR_BGR2GRAY);// Convert to grayscale + cv::Mat logoColor; + cv::applyColorMap(logoGray, logoColor, cv::COLORMAP_BONE);// Apply the same colormap if needed + logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); + } else if (logo.channels() == 1) { + // Logo is already grayscale + cv::Mat logoColor; + cv::applyColorMap(logo, logoColor, cv::COLORMAP_BONE);// Apply colormap to logo if needed + logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); + } else { + std::cerr << "Error: Unsupported number of channels in the logo image." << std::endl; + } + } // Display the frame cv::imshow(APPLICATION_NAME, combinedFrame); From 9aacf59b1078629255d04e60b54ce99b7ee62531 Mon Sep 17 00:00:00 2001 From: IvarNilsson Date: Tue, 6 Aug 2024 15:08:44 +0200 Subject: [PATCH 16/43] fixed so main dont try to load logo if user dont use the --logo argument, also improvments to triangulation python scipts --- math_toolbox/track_algorithm.py | 2 +- math_toolbox/track_plot.py | 14 +++++++----- math_toolbox/triangulate_plot.py | 39 +++++++++++++++++++++++++++----- src/aw_processing_unit/main.cpp | 21 +++++++++-------- 4 files changed, 53 insertions(+), 23 deletions(-) diff --git a/math_toolbox/track_algorithm.py b/math_toolbox/track_algorithm.py index 6a9b010..6717b8e 100644 --- a/math_toolbox/track_algorithm.py +++ b/math_toolbox/track_algorithm.py @@ -67,7 +67,7 @@ def read_file(direction_1, direction_2, timestamps, file_name): return direction_1, direction_2, timestamps -direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/recorderd_data/Targets_3m_dator.txt") +direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/recorded_data/Targets_3m_dator.txt") def triangulatePoints(r1, e1, r2, e2): diff --git a/math_toolbox/track_plot.py b/math_toolbox/track_plot.py index 2899171..fde3272 100644 --- a/math_toolbox/track_plot.py +++ b/math_toolbox/track_plot.py @@ -19,9 +19,9 @@ ## MAGIC NUMBERS END ## # Initialize empty lists to read data -origin_1 = np.array([1, 0, 0]) +origin_1 = np.array([1.7 / 2, 0, 0]) direction_1 = [] -origin_2 = np.array([-1, 0, 0]) +origin_2 = np.array([-1.7 / 2, 0, 0]) direction_2 = [] timestamps = [] @@ -67,7 +67,7 @@ def read_file(direction_1, direction_2, timestamps, file_name): return direction_1, direction_2, timestamps -direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/recorderd_data/Targets_3m_dator.txt") +direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/recorded_data/hover_4m.txt") def triangulatePoints(r1, e1, r2, e2): @@ -241,9 +241,10 @@ def setup_3d_plot(ax): ax.view_init(elev=-30, azim=91, roll=0) origin = np.array([0, 0, 0]) - ax.scatter(origin[0], origin[1], origin[2], color="r", s=30) - ax.scatter(origin_1[0], origin_1[1], origin_1[2], color="g", s=100) - ax.scatter(origin_2[0], origin_2[1], origin_2[2], color="g", s=100) + ax.scatter(origin[0], origin[1], origin[2], color="black", s=10) + + ax.scatter(origin_1[0], origin_1[1], origin_1[2], color="y", s=50) + ax.scatter(origin_2[0], origin_2[1], origin_2[2], color="b", s=50) setup_3d_plot(ax) @@ -260,6 +261,7 @@ def setup_3d_plot(ax): for i in range(3000, len(direction_1)): p1, p2 = triangulatePoints(origin_1, direction_1[i], origin_2, direction_2[i]) p = (p1 + p2) / 2 + p[1] = -p[1] current_time = timestamps[i] if np.linalg.norm(p1 - p2) > intersection_grace_radius or p[2] < 0 or np.linalg.norm(p) > 20 or p[2] < 2: diff --git a/math_toolbox/triangulate_plot.py b/math_toolbox/triangulate_plot.py index d32d960..8fa953e 100644 --- a/math_toolbox/triangulate_plot.py +++ b/math_toolbox/triangulate_plot.py @@ -17,6 +17,14 @@ direction_2 = [] timestamps = [] +# 4 array side by side +# origin_3 = np.array([-2, 0, 0]) +# origin_4 = np.array([2, 0, 0]) + +# 4 array 2 over 2 under +# origin_3 = np.array([-1, 2, 0]) +# origin_4 = np.array([1, 2, 0]) + def read_file(direction_1, direction_2, timestamps, file_name): with open(file_name, "r") as file: @@ -59,7 +67,9 @@ def read_file(direction_1, direction_2, timestamps, file_name): return direction_1, direction_2, timestamps -direction_1, direction_2, timestamps = read_file(direction_1, direction_2, timestamps, "math_toolbox/recorderd_data/intersections_demo_plot.txt") +direction_1, direction_2, timestamps = read_file( + direction_1, direction_2, timestamps, "math_toolbox/recorded_data/intersections_demo_plot.txt" +) def triangulatePoints(r1, e1, r2, e2): @@ -75,7 +85,7 @@ def triangulatePoints(r1, e1, r2, e2): def plot_direction_vector(ax, origin_1, direction_1_i, color): - line_space = np.linspace(0, 15, 100) # Range for the line + line_space = np.linspace(0, 10, 100) # Range for the line line_points_1 = origin_1 + line_space[:, np.newaxis] * direction_1_i vector = ax.plot( line_points_1[:, 0], @@ -113,12 +123,15 @@ def setup_3d_plot(ax): ax.set_xlim([-6, 6]) ax.set_ylim([-6, 6]) ax.set_zlim([-1, 15]) - ax.view_init(elev=-30, azim=91, roll=0) + ax.view_init(elev=-70, azim=91, roll=0) origin = np.array([0, 0, 0]) - ax.scatter(origin[0], origin[1], origin[2], color="r", s=30) - ax.scatter(origin_1[0], origin_1[1], origin_1[2], color="y", s=100) - ax.scatter(origin_2[0], origin_2[1], origin_2[2], color="b", s=100) + ax.scatter(origin[0], origin[1], origin[2], color="black", s=10) + + ax.scatter(origin_1[0], origin_1[1], origin_1[2], color="y", s=50) + ax.scatter(origin_2[0], origin_2[1], origin_2[2], color="b", s=50) + # ax.scatter(origin_3[0], origin_3[1], origin_3[2], color="g", s=50) + # ax.scatter(origin_4[0], origin_4[1], origin_4[2], color="r", s=50) setup_3d_plot(ax) @@ -128,6 +141,8 @@ def setup_3d_plot(ax): vector_1 = [] vector_2 = [] +vector_3 = [] +vector_4 = [] intersections = [] last_hit_time = timestamps[0] @@ -151,10 +166,14 @@ def setup_3d_plot(ax): vector_1.append(plot_direction_vector(ax, origin_1, direction_1[i], color="y")) vector_2.append(plot_direction_vector(ax, origin_2, direction_2[i], color="b")) + # vector_3.append(plot_direction_vector(ax, origin_3, direction_2[i], color="g")) + # vector_4.append(plot_direction_vector(ax, origin_4, direction_1[i], color="r")) + plt.draw() plt_pause += 1 if min(len(vector_1), len(vector_2)) > 5: + # input() if plt_pause_on: # print((current_time - last_hit_time) * 10**-9) @@ -174,11 +193,19 @@ def setup_3d_plot(ax): vector.remove() for vector in vector_2: vector.remove() + + for vector in vector_3: + vector.remove() + for vector in vector_4: + vector.remove() + for intersection in intersections: intersection.remove() vector_1 = [] vector_2 = [] + vector_3 = [] + vector_4 = [] intersections = [] diff --git a/src/aw_processing_unit/main.cpp b/src/aw_processing_unit/main.cpp index f051653..08150e3 100644 --- a/src/aw_processing_unit/main.cpp +++ b/src/aw_processing_unit/main.cpp @@ -256,16 +256,18 @@ int main(int argc, char* argv[]) { // Load the logo image (with alpha channel if available) cv::Mat logo = cv::imread("logo.png", cv::IMREAD_UNCHANGED);// Load with alpha channel - if (logo.empty()) { - std::cerr << "Error: Unable to load logo image" << std::endl; - return -1; - } + if (use_logo != 0) { + if (logo.empty()) { + std::cerr << "Error: Unable to load logo image" << std::endl; + return -1; + } - // Calculate new size (10% of original size) - cv::Size newSize(static_cast(logo.cols * 0.22), static_cast(logo.rows * 0.22)); + // Calculate new size (10% of original size) + cv::Size newSize(static_cast(logo.cols * 0.22), static_cast(logo.rows * 0.22)); - // Resize the image - cv::resize(logo, logo, newSize); + // Resize the image + cv::resize(logo, logo, newSize); + } // Initialize variables for FPS calculation auto start = std::chrono::high_resolution_clock::now(); @@ -331,7 +333,7 @@ int main(int argc, char* argv[]) { bigFrames[i].copyTo(result, mask); bigFrames[i] = result; } - + if (debug) { // Define font face int fontFace = cv::FONT_HERSHEY_SIMPLEX; @@ -347,7 +349,6 @@ int main(int argc, char* argv[]) { ss << "Trackers: " << awpus[i]->targets().size(); cv::putText(bigFrames[i], ss.str(), cv::Point(0, 20), fontFace, fontScale, color, 2); } - } if (awpu_count == 0) { From 62ef934b2d58baa68ab1d8a638f0746c37699f5e Mon Sep 17 00:00:00 2001 From: Tuva Date: Tue, 6 Aug 2024 15:16:43 +0200 Subject: [PATCH 17/43] main main, missing parts but works --- CMakeLists.txt | 14 +- src/aw_control_unit/aw_control_unit.cpp | 324 ++++++++++++++++++-- src/aw_control_unit/aw_control_unit.h | 15 +- src/aw_processing_unit/aw_processing_unit.h | 2 +- src/main.cpp | 130 ++++++++ 5 files changed, 441 insertions(+), 44 deletions(-) create mode 100644 src/main.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index ef69836..ed53a29 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,8 +6,6 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -mavx2 -Ofast -save-temps -fverbose-asm -ffloat-store -ffast-math -fno-rounding-math") -set(SOURCES) - # Documentation add_custom_target(doc COMMAND doxygen ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile @@ -19,4 +17,14 @@ add_subdirectory(src/dsp) add_subdirectory(src/audio) add_subdirectory(src/aw_processing_unit) add_subdirectory(src/target_handler) -add_subdirectory(src/aw_control_unit) \ No newline at end of file +add_subdirectory(src/aw_control_unit) + +set(SOURCES src/main.cpp) +add_executable(beamformer ${SOURCES}) + +target_link_libraries(beamformer + awcu + awpu + targetHandler + gps +) \ No newline at end of file diff --git a/src/aw_control_unit/aw_control_unit.cpp b/src/aw_control_unit/aw_control_unit.cpp index 9065510..436ebf7 100644 --- a/src/aw_control_unit/aw_control_unit.cpp +++ b/src/aw_control_unit/aw_control_unit.cpp @@ -21,27 +21,145 @@ #define X_RES 1024 #define Y_RES 1024 -#define BLUR_KERNEL_SIZE 5 //Kernel size of blur on heatmap +#define BLUR_KERNEL_SIZE 5//Kernel size of blur on heatmap +#define BLUR_EFFECT false -void AWControlUnit::Start() { - auto awpu2 = AWProcessingUnit("10.0.0.1", 21875, 180); - auto awpu1 = AWProcessingUnit("10.0.0.1", 21876, 180); - awpu1.start(GRADIENT); - awpu2.start(GRADIENT); +/** + * Create a name for the video file + */ +std::string generateUniqueFilename() { + // Get the current time + std::time_t now = std::time(nullptr); + std::tm* localTime = std::localtime(&now); - if constexpr (USE_AUDIO) { - awpu1.play_audio(); + // Format the time into a string + std::ostringstream oss; + oss << std::put_time(localTime, "%Y%m%d_%H%M%S");// Format: YYYYMMDD_HHMMSS + + // Create the filename with the .avi extension + std::string filename = oss.str() + ".avi"; + + return filename; +} + +/** + * Initiate the videostream writer + */ +int startRecording(cv::VideoWriter& videoWriter, cv::Size frame_size, double fps) { + + // Define the codec and create VideoWriter object to write the video to a file + int codec = cv::VideoWriter::fourcc('M', 'J', 'P', 'G');// Codec type // Frames per second + videoWriter = cv::VideoWriter(generateUniqueFilename(), codec, fps, frame_size); + + if (!videoWriter.isOpened()) { + std::cerr << "Error: Could not open the video file for write." << std::endl; + return -1; + } + + return 0; +} + + +/** + * Stop the videostream writer + */ +void stopRecording(cv::VideoWriter& videoWriter) { + videoWriter.release(); +} + +//TODO: Add logo +void AWControlUnit::Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, + bool audio, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov) { + cv::VideoCapture cap; + cv::VideoWriter videoWriter; + + bool running = true; + bool recording = false; + + int delay = 1; + double fps = 60.0; + + + if (use_camera) { + fov = FOV; + cap = cv::VideoCapture(camera); + if (!cap.isOpened()) { + std::cerr << "Error: Could not open the webcam." << std::endl; + } + + // Get the frames per second of the video + fps = cap.get(cv::CAP_PROP_FPS); + + // Calculate the delay between frames + delay = 1000 / fps; + + // Get the width and height of frames from the webcam + int frame_width = static_cast(cap.get(cv::CAP_PROP_FRAME_WIDTH)); + int frame_height = static_cast(cap.get(cv::CAP_PROP_FRAME_HEIGHT)); + cv::Size frame_size(frame_width, frame_height); } + + std::vector awpus; + + int i = 0; + for (const int port: ports) { + const char* addr = ip_address.c_str(); + if (verbose) { + std::cout << "Starting MIMO: " << port << std::endl; + } + + AWProcessingUnit* awpu = new AWProcessingUnit(ip_address.c_str(), port, fov, mimo_res, verbose, audio); + awpus.push_back(awpu); + + if (tracking) { awpu->start(GRADIENT); } + if (mimo) { awpu->start(MIMO); } + //if (audio) awpu.play_audio(); + } + + int awpu_count = awpus.size(); + + //if constexpr (USE_AUDIO) { + // awpu1.play_audio(); + //} + namedWindow(APPLICATION_NAME, cv::WINDOW_NORMAL); - cv::resizeWindow(APPLICATION_NAME, APPLICATION_WIDTH, APPLICATION_HEIGHT); cv::Mat frame(Y_RES, X_RES, CV_8UC1); - cv::Mat colorFrame(Y_RES, X_RES, CV_8UC1); + cv::Mat colorFrame(Y_RES, X_RES, CV_8UC1);//TODO: should not be same as line 62-64 - targetHandler_.AddAWPU(&awpu1, {1, 0, 0}) - .AddAWPU(&awpu2, {-1, 0, 0}) - .Start(); + cv::Mat combinedFrame; + //cv::Mat colorFrame; + if (awpu_count != 0) { + combinedFrame = cv::Mat(Y_RES, X_RES * awpu_count, CV_8UC1); + colorFrame = cv::Mat(Y_RES, X_RES * awpu_count, CV_8UC1); + cv::resizeWindow(APPLICATION_NAME, APPLICATION_WIDTH * awpu_count, APPLICATION_HEIGHT); + + } else { + combinedFrame = cv::Mat(Y_RES, X_RES, CV_8UC1); + colorFrame = cv::Mat(Y_RES, X_RES, CV_8UC1); + cv::resizeWindow(APPLICATION_NAME, APPLICATION_WIDTH, APPLICATION_HEIGHT); + } + + std::vector smallFrames; + std::vector bigFrames; + + colorFrame.setTo(cv::Scalar(0)); + combinedFrame.setTo(cv::Scalar(0)); + + for (int i = 0; i < awpu_count; i++) { + smallFrames.push_back(cv::Mat(mimo_res, mimo_res, CV_8UC1)); + bigFrames.push_back(cv::Mat(Y_RES, X_RES, CV_8UC1)); + } + + auto start = std::chrono::high_resolution_clock::now(); + int frameCount = 0; + + if (awpu_count > 1) { + targetHandler_.AddAWPU(awpus[0], {1, 0, 0})//TODO: hardcoded + .AddAWPU(awpus[1], {-1, 0, 0}) //TODO: hardcoded + .Start(); + } if (usingWaraPS_) { data_thread_ = std::thread([this] { @@ -53,34 +171,177 @@ void AWControlUnit::Start() { targetHandler_.DisplayToWaraPS(true); } + while (running && ((usingWaraPS_ && client_.running()) || !usingWaraPS_)) { + cv::Mat frame; - while ((usingWaraPS_ && client_.running()) || !usingWaraPS_) { - frame.setTo(cv::Scalar(0)); - awpu2.draw_heatmap(&frame); - awpu1.draw_heatmap(&frame); + if (use_camera) { + cap >> frame;// Capture a new frame from the webcam - GaussianBlur(frame, colorFrame, - cv::Size(BLUR_KERNEL_SIZE, BLUR_KERNEL_SIZE), 0); - applyColorMap(colorFrame, colorFrame, cv::COLORMAP_JET); - imshow(APPLICATION_NAME, colorFrame); + if (frame.empty()) { + std::cerr << "Error: Could not read a frame from the webcam." << std::endl; + break; + } - if (cv::waitKey(1) == 'q' || (usingWaraPS_ && !client_.running())) { - break; + if (recording && awpu_count == 0) { + videoWriter.write(frame);// Write the frame to the video file + } } + + + for (int i = 0; i < awpu_count; i++) { + + // Reset frames + smallFrames[i].setTo(cv::Scalar(0)); + bigFrames[i].setTo(cv::Scalar(0)); + + // Draw onto frames + awpus[i]->draw(&smallFrames[i], &bigFrames[i]); + +#if BLUR_EFFECT + // Blur the image with a Gaussian kernel + cv::GaussianBlur(bigFrames[i], bigFrames[i], + cv::Size(BLUR_KERNEL_SIZE, BLUR_KERNEL_SIZE), 0); +#endif + // Pretty colors + cv::applyColorMap(bigFrames[i], bigFrames[i], cv::COLORMAP_OCEAN); + + // Overlay onto camera + if (use_camera) { + cv::resize(frame, frame, cv::Size(bigFrames[i].cols, bigFrames[i].rows), 0, 0, cv::INTER_LINEAR); + cv::addWeighted(frame, 1.0, bigFrames[i], 0.5, 0, bigFrames[i]); + } else { + + // Create a circle around view + + // Create a mask with the same dimensions as the image, initialized to black + cv::Mat mask = cv::Mat::zeros(bigFrames[i].size(), bigFrames[i].type()); + + // Define the circle parameters + int radius = bigFrames[i].rows / 2; // Radius of the circles + cv::Point center1(radius, bigFrames[i].rows / 2); // Center of the first circle + cv::Point center2(bigFrames[i].cols - radius, bigFrames[i].rows / 2);// Center of the second circle + + // Draw filled white circles on the mask + cv::circle(mask, center1, radius, cv::Scalar(255, 255, 255), -1); + cv::circle(mask, center2, radius, cv::Scalar(255, 255, 255), -1); + + // Apply the mask to the original image + cv::Mat result; + bigFrames[i].copyTo(result, mask); + bigFrames[i] = result; + } + + // Define font face + int fontFace = cv::FONT_HERSHEY_SIMPLEX; + + // Define font scale (size) + double fontScale = 1; + + // Define font color (here it's white) + cv::Scalar color(255, 255, 255); + + std::stringstream ss; + + ss << "Trackers: " << awpus[i]->targets().size(); + cv::putText(bigFrames[i], ss.str(), cv::Point(0, 20), fontFace, fontScale, color, 2); + } + + if (awpu_count == 0) { + combinedFrame = frame; + } else if (awpu_count == 1) { + combinedFrame = bigFrames[0]; + } else { + cv::hconcat(bigFrames[0], bigFrames[1], combinedFrame); + } + + + if (recording) { + // Write the frame to the video file + videoWriter.write(combinedFrame); + } + + // Calculate FPS + frameCount++; + auto end = std::chrono::high_resolution_clock::now(); + std::chrono::duration elapsed = end - start; + if (elapsed.count() >= 1.0) { + fps = frameCount / elapsed.count(); + frameCount = 0; + start = end; + } + + // Display FPS on the frame + std::string fpsText = "FPS: " + std::to_string(fps); + cv::putText(combinedFrame, fpsText, cv::Point(10, 60), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(255, 255, 255), 2); + + + // Display the frame + cv::imshow(APPLICATION_NAME, combinedFrame); + + // Wait for a key press and get the ASCII code + int key = cv::waitKey(delay); + + // Check for specific keys + switch (key) { + case 'q':// Quit the application + std::cout << "Quit key pressed ('q'). Exiting..." << std::endl; + running = false; + break; + case 'r': + if (recording) { + stopRecording(videoWriter); + recording = false; + std::cout << "Stopped recording" << std::endl; + } else { + if (use_camera && awpu_count == 0) { + int frame_width = static_cast(cap.get(cv::CAP_PROP_FRAME_WIDTH)); + int frame_height = static_cast(cap.get(cv::CAP_PROP_FRAME_HEIGHT)); + cv::Size frame_size(frame_width, frame_height); + startRecording(videoWriter, frame_size, fps); + } else { + startRecording(videoWriter, combinedFrame.size(), fps); + } + + recording = true; + std::cout << "Started recording" << std::endl; + } + break; + default: + // Handle other keys or no key press + break; + } + } + + if (use_camera) { + cap.release(); + } + + if (recording) { + stopRecording(videoWriter); } if (usingGps_) { gps_stream(&gpsData_, WATCH_DISABLE, nullptr); gps_close(&gpsData_); } + if (usingWaraPS_) { client_.Stop(); targetHandler_.Stop(); data_thread_.join(); } - if constexpr (USE_AUDIO) { - awpu1.stop_audio(); + + for (auto& awpu: awpus) { + delete awpu; } + + std::cout << "awpus" << std::endl; + + cv::destroyAllWindows(); + + //if constexpr (USE_AUDIO) { + // awpu1.stop_audio(); + //} } // Publishes data every second @@ -94,16 +355,15 @@ void AWControlUnit::publishData() { // Sending NaN breaks WARA PS Arena const nlohmann::json gpsJson = { - {"longitude", gpsData_.fix.longitude}, - {"latitude", gpsData_.fix.latitude}, - {"altitude", gpsData_.fix.altitude}, - {"type", "GeoPoint"} - }; + {"longitude", gpsData_.fix.longitude}, + {"latitude", gpsData_.fix.latitude}, + {"altitude", gpsData_.fix.altitude}, + {"type", "GeoPoint"}}; client_.PublishMessage("sensor/position", gpsJson.dump(4)); } } - client_.PublishMessage("sensor/heading", std::to_string(90.0)); // Currently not a real value + client_.PublishMessage("sensor/heading", std::to_string(90.0));// Currently not a real value client_.PublishMessage("sensor/course", std::to_string(0)); client_.PublishMessage("sensor/speed", std::to_string(0)); client_.PublishMessage("sensor/camera_tags", "[ \"LJUDKRIGET\" ]"); @@ -127,7 +387,7 @@ AWControlUnit::AWControlUnit() : client_(WARAPS_NAME, WARAPS_ADDRESS, try { client_.Start(); usingWaraPS_ = true; - } catch (std::runtime_error &e) { + } catch (std::runtime_error& e) { std::cerr << "WARA PS Connection error: " << e.what() << std::endl; std::cout << "Continuing without WARA PS Connection" << std::endl; usingWaraPS_ = false; diff --git a/src/aw_control_unit/aw_control_unit.h b/src/aw_control_unit/aw_control_unit.h index 6178dd9..57623ba 100644 --- a/src/aw_control_unit/aw_control_unit.h +++ b/src/aw_control_unit/aw_control_unit.h @@ -1,5 +1,5 @@ /** @file aw_control_unit.h - * @author Janne + * @author Janne, Tuva * @brief Manages AW Processing Units (AWPU) and handles data publishing, GPS data, and WaraPS client communication. * @date 2024-07-04 */ @@ -32,9 +32,6 @@ class AWControlUnit { /// Flag to indicate if GPS should be used bool usingGps_ = false; - /// Vector of AW Processing Units, to differentiate between APWUs (FPGAs) - std::vector awpus_; - /// Classifies and draws targets to the WARA PS display TargetHandler targetHandler_; @@ -52,14 +49,16 @@ class AWControlUnit { /** * The MQTT Client does not have a move or copy constructor, this propagates all the way up to here were we can't support it either */ - AWControlUnit(const AWControlUnit &) = delete; + AWControlUnit(const AWControlUnit&) = delete; - AWControlUnit operator=(const AWControlUnit &) = delete; + AWControlUnit operator=(const AWControlUnit&) = delete; /** * @brief Spools up the AW Control unit and blocks the current thread until it finished. + * @param TODO: */ - void Start(); + void Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, + bool audio, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov); }; -#endif //AW_CONTROL_UNIT_H +#endif//AW_CONTROL_UNIT_H diff --git a/src/aw_processing_unit/aw_processing_unit.h b/src/aw_processing_unit/aw_processing_unit.h index f8f2562..55992e5 100644 --- a/src/aw_processing_unit/aw_processing_unit.h +++ b/src/aw_processing_unit/aw_processing_unit.h @@ -15,7 +15,7 @@ #include "pipeline.h" #include "worker.h" -#define FOV 63.0 +#define FOV 180.0 #define MIMO_SIZE 256 /** diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..cae6851 --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,130 @@ +/** + * @file main.cpp + * @author Tuva, Irreq + * @date 2024-08-06 + */ +#include +#include +#include +#include +#include +#include +#include + +#include "argparse/argparse.hpp" +#include "aw_control_unit/aw_control_unit.h" + +#define UDP_ADDRESS "10.0.0.1" + +void setupArgumentParser(argparse::ArgumentParser& program) { + program.add_argument("--camera") + .default_value(std::string("false")) + .help("Camera option, default is false"); + + program.add_argument("--ip-address") + .default_value(std::string(UDP_ADDRESS)) + .help("IP address"); + + program.add_argument("--audio") + .default_value(0) + .scan<'i', int>() + .help("Audio option"); + + program.add_argument("--mimo") + .default_value(false) + .implicit_value(true) + .help("MIMO option"); + + program.add_argument("--record") + .default_value(false) + .implicit_value(true) + .help("Record option"); + + program.add_argument("--mimo-res") + .default_value(100) + .scan<'i', int>() + .help("MIMO Resolution"); + + program.add_argument("--tracking") + .default_value(false) + .implicit_value(true) + .help("Tracking option"); + + program.add_argument("--verbose") + .default_value(false) + .implicit_value(true) + .help("Program output"); + + program.add_argument("--fov") + .default_value(static_cast(180.0f)) + .scan<'g', float>() + .help("Field of view"); + + program.add_argument("--fps") + .default_value(false) + .implicit_value(true) + .help("Program FPS"); + + program.add_argument("--logo") + .default_value(false) + .implicit_value(true) + .help("Use logo"); + + program.add_argument("--debug") + .default_value(false) + .implicit_value(true) + .help("Debug mode"); + + program.add_argument("--port") + .append() + .scan<'i', int>() + .help("PORT numbers"); +} + + +int main(int argc, char* argv[]) { + argparse::ArgumentParser program(argv[0]); + setupArgumentParser(program); + try { + program.parse_args(argc, argv); + } catch (const std::exception& err) { + std::cerr << err.what() << std::endl; + std::cerr << program; + std::exit(1); + } + + // Retrieve the parsed arguments + std::string camera = program.get("--camera"); + std::string ip_address = program.get("--ip-address"); + int audio = program.get("--audio"); + bool mimo = program.get("--mimo"); + bool tracking = program.get("--tracking"); + float fov = program.get("--fov"); + int mimo_res = program.get("--mimo-res"); + bool record = program.get("--record"); + std::vector ports = program.get>("--port"); + bool verbose = program.get("--verbose"); + bool use_camera = (camera.compare("false") != 0); + bool use_fps = program.get("--fps"); + bool use_logo = program.get("--logo"); + bool debug = program.get("--debug"); + + if (verbose) { + std::cout << "Camera: " << camera << std::endl; + std::cout << "IP Address: " << ip_address << std::endl; + std::cout << "Audio: " << audio << std::endl; + std::cout << "MIMO: " << mimo << std::endl; + std::cout << "Tracking: " << tracking << std::endl; + std::cout << "FOV: " << fov << std::endl; + std::cout << "Ports: "; + for (const auto& port: ports) std::cout << port << " "; + std::cout << std::endl; + std::cout << "Use camera: " << use_camera << std::endl; + //TODO: add for logo, fps, debug + } + + AWControlUnit awControlUnit; + awControlUnit.Start(ports, ip_address, use_camera, camera, audio, mimo, tracking, mimo_res, verbose, record, fov); //TODO: add logo, fps, debug + + return 0; +} From 8de760a46a0600cc9a02087b562c1e05887448a3 Mon Sep 17 00:00:00 2001 From: Tuva Date: Tue, 6 Aug 2024 15:26:41 +0200 Subject: [PATCH 18/43] fps, logo, debug added --- src/aw_control_unit/aw_control_unit.cpp | 86 +++++++++++++++++-------- src/aw_control_unit/aw_control_unit.h | 2 +- src/main.cpp | 7 +- 3 files changed, 65 insertions(+), 30 deletions(-) diff --git a/src/aw_control_unit/aw_control_unit.cpp b/src/aw_control_unit/aw_control_unit.cpp index 436ebf7..b0435e2 100644 --- a/src/aw_control_unit/aw_control_unit.cpp +++ b/src/aw_control_unit/aw_control_unit.cpp @@ -67,9 +67,8 @@ void stopRecording(cv::VideoWriter& videoWriter) { videoWriter.release(); } -//TODO: Add logo void AWControlUnit::Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, - bool audio, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov) { + bool audio, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, bool use_logo, bool debug) { cv::VideoCapture cap; cv::VideoWriter videoWriter; @@ -79,7 +78,6 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a int delay = 1; double fps = 60.0; - if (use_camera) { fov = FOV; cap = cv::VideoCapture(camera); @@ -126,10 +124,9 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a namedWindow(APPLICATION_NAME, cv::WINDOW_NORMAL); cv::Mat frame(Y_RES, X_RES, CV_8UC1); - cv::Mat colorFrame(Y_RES, X_RES, CV_8UC1);//TODO: should not be same as line 62-64 + cv::Mat colorFrame(Y_RES, X_RES, CV_8UC1); cv::Mat combinedFrame; - //cv::Mat colorFrame; if (awpu_count != 0) { combinedFrame = cv::Mat(Y_RES, X_RES * awpu_count, CV_8UC1); colorFrame = cv::Mat(Y_RES, X_RES * awpu_count, CV_8UC1); @@ -152,6 +149,20 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a bigFrames.push_back(cv::Mat(Y_RES, X_RES, CV_8UC1)); } + // Load the logo image (with alpha channel if available) + cv::Mat logo = cv::imread("logo.png", cv::IMREAD_UNCHANGED);// Load with alpha channel + if (use_logo != 0) { + if (logo.empty()) { + std::cerr << "Error: Unable to load logo image" << std::endl; + } + + // Calculate new size (10% of original size) + cv::Size newSize(static_cast(logo.cols * 0.22), static_cast(logo.rows * 0.22)); + + // Resize the image + cv::resize(logo, logo, newSize); + } + auto start = std::chrono::high_resolution_clock::now(); int frameCount = 0; @@ -231,19 +242,21 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a bigFrames[i] = result; } - // Define font face - int fontFace = cv::FONT_HERSHEY_SIMPLEX; + if (debug) { + // Define font face + int fontFace = cv::FONT_HERSHEY_SIMPLEX; - // Define font scale (size) - double fontScale = 1; + // Define font scale (size) + double fontScale = 1; - // Define font color (here it's white) - cv::Scalar color(255, 255, 255); + // Define font color (here it's white) + cv::Scalar color(255, 255, 255); - std::stringstream ss; + std::stringstream ss; - ss << "Trackers: " << awpus[i]->targets().size(); - cv::putText(bigFrames[i], ss.str(), cv::Point(0, 20), fontFace, fontScale, color, 2); + ss << "Trackers: " << awpus[i]->targets().size(); + cv::putText(bigFrames[i], ss.str(), cv::Point(0, 20), fontFace, fontScale, color, 2); + } } if (awpu_count == 0) { @@ -260,20 +273,41 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a videoWriter.write(combinedFrame); } - // Calculate FPS - frameCount++; - auto end = std::chrono::high_resolution_clock::now(); - std::chrono::duration elapsed = end - start; - if (elapsed.count() >= 1.0) { - fps = frameCount / elapsed.count(); - frameCount = 0; - start = end; - } + if (use_fps) { + // Calculate FPS + frameCount++; + auto end = std::chrono::high_resolution_clock::now(); + std::chrono::duration elapsed = end - start; + if (elapsed.count() >= 1.0) { + fps = frameCount / elapsed.count(); + frameCount = 0; + start = end; + } - // Display FPS on the frame - std::string fpsText = "FPS: " + std::to_string(fps); - cv::putText(combinedFrame, fpsText, cv::Point(10, 60), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(255, 255, 255), 2); + // Display FPS on the frame + std::string fpsText = "FPS: " + std::to_string(fps); + cv::putText(combinedFrame, fpsText, cv::Point(10, 60), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(255, 255, 255), 2); + } + if (use_logo) { + int x = 840; + int y = 0; + // Convert logo to grayscale if it has an alpha channel or is in color + if (logo.channels() == 4 || logo.channels() == 3) { + cv::Mat logoGray; + cv::cvtColor(logo, logoGray, cv::COLOR_BGR2GRAY);// Convert to grayscale + cv::Mat logoColor; + cv::applyColorMap(logoGray, logoColor, cv::COLORMAP_BONE);// Apply the same colormap if needed + logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); + } else if (logo.channels() == 1) { + // Logo is already grayscale + cv::Mat logoColor; + cv::applyColorMap(logo, logoColor, cv::COLORMAP_BONE);// Apply colormap to logo if needed + logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); + } else { + std::cerr << "Error: Unsupported number of channels in the logo image." << std::endl; + } + } // Display the frame cv::imshow(APPLICATION_NAME, combinedFrame); diff --git a/src/aw_control_unit/aw_control_unit.h b/src/aw_control_unit/aw_control_unit.h index 57623ba..a30a743 100644 --- a/src/aw_control_unit/aw_control_unit.h +++ b/src/aw_control_unit/aw_control_unit.h @@ -58,7 +58,7 @@ class AWControlUnit { * @param TODO: */ void Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, - bool audio, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov); + bool audio, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, bool use_logo, bool debug); }; #endif//AW_CONTROL_UNIT_H diff --git a/src/main.cpp b/src/main.cpp index cae6851..60fb571 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -81,7 +81,6 @@ void setupArgumentParser(argparse::ArgumentParser& program) { .help("PORT numbers"); } - int main(int argc, char* argv[]) { argparse::ArgumentParser program(argv[0]); setupArgumentParser(program); @@ -120,11 +119,13 @@ int main(int argc, char* argv[]) { for (const auto& port: ports) std::cout << port << " "; std::cout << std::endl; std::cout << "Use camera: " << use_camera << std::endl; - //TODO: add for logo, fps, debug + std::cout << "Use logo: " << use_logo << std::endl; + std::cout << "Use fps: " << use_fps << std::endl; + std::cout << "Debug: " << debug << std::endl; } AWControlUnit awControlUnit; - awControlUnit.Start(ports, ip_address, use_camera, camera, audio, mimo, tracking, mimo_res, verbose, record, fov); //TODO: add logo, fps, debug + awControlUnit.Start(ports, ip_address, use_camera, camera, audio, mimo, tracking, mimo_res, verbose, record, fov, use_fps, use_logo, debug); return 0; } From 26c6580f2221a1fcac408ea1618cb157989e1bf0 Mon Sep 17 00:00:00 2001 From: Tuva Date: Tue, 6 Aug 2024 15:37:23 +0200 Subject: [PATCH 19/43] audio ok --- src/aw_control_unit/aw_control_unit.cpp | 18 +++--------------- src/aw_control_unit/aw_control_unit.h | 2 +- 2 files changed, 4 insertions(+), 16 deletions(-) diff --git a/src/aw_control_unit/aw_control_unit.cpp b/src/aw_control_unit/aw_control_unit.cpp index b0435e2..6fe79f0 100644 --- a/src/aw_control_unit/aw_control_unit.cpp +++ b/src/aw_control_unit/aw_control_unit.cpp @@ -12,8 +12,6 @@ #include "target_handler.h" -#define USE_AUDIO true - #define APPLICATION_NAME "Beamforming" #define APPLICATION_WIDTH 1024 #define APPLICATION_HEIGHT 1024 @@ -68,7 +66,7 @@ void stopRecording(cv::VideoWriter& videoWriter) { } void AWControlUnit::Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, - bool audio, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, bool use_logo, bool debug) { + int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, bool use_logo, bool debug) { cv::VideoCapture cap; cv::VideoWriter videoWriter; @@ -107,20 +105,16 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a std::cout << "Starting MIMO: " << port << std::endl; } - AWProcessingUnit* awpu = new AWProcessingUnit(ip_address.c_str(), port, fov, mimo_res, verbose, audio); + AWProcessingUnit* awpu = new AWProcessingUnit(ip_address.c_str(), port, fov, mimo_res, verbose, audio_port); awpus.push_back(awpu); if (tracking) { awpu->start(GRADIENT); } if (mimo) { awpu->start(MIMO); } - //if (audio) awpu.play_audio(); + if (audio_port == port) awpu->play_audio(); } int awpu_count = awpus.size(); - //if constexpr (USE_AUDIO) { - // awpu1.play_audio(); - //} - namedWindow(APPLICATION_NAME, cv::WINDOW_NORMAL); cv::Mat frame(Y_RES, X_RES, CV_8UC1); @@ -369,13 +363,7 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a delete awpu; } - std::cout << "awpus" << std::endl; - cv::destroyAllWindows(); - - //if constexpr (USE_AUDIO) { - // awpu1.stop_audio(); - //} } // Publishes data every second diff --git a/src/aw_control_unit/aw_control_unit.h b/src/aw_control_unit/aw_control_unit.h index a30a743..0738072 100644 --- a/src/aw_control_unit/aw_control_unit.h +++ b/src/aw_control_unit/aw_control_unit.h @@ -58,7 +58,7 @@ class AWControlUnit { * @param TODO: */ void Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, - bool audio, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, bool use_logo, bool debug); + int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, bool use_logo, bool debug); }; #endif//AW_CONTROL_UNIT_H From 3f9626746d945f70ec6a0e983a4098e328be9306 Mon Sep 17 00:00:00 2001 From: Tuva Date: Tue, 6 Aug 2024 16:00:29 +0200 Subject: [PATCH 20/43] slight refactoring --- src/aw_control_unit/aw_control_unit.cpp | 152 ++++++++++++++---------- src/aw_control_unit/aw_control_unit.h | 15 ++- 2 files changed, 105 insertions(+), 62 deletions(-) diff --git a/src/aw_control_unit/aw_control_unit.cpp b/src/aw_control_unit/aw_control_unit.cpp index 6fe79f0..9d762e8 100644 --- a/src/aw_control_unit/aw_control_unit.cpp +++ b/src/aw_control_unit/aw_control_unit.cpp @@ -23,7 +23,87 @@ #define BLUR_EFFECT false /** - * Create a name for the video file + * Computes and displays FPS on the frame. + */ +int compute_fps(int frameCount, auto start, double fps, cv::Mat combinedFrame) { + // Calculate FPS + frameCount++; + auto end = std::chrono::high_resolution_clock::now(); + std::chrono::duration elapsed = end - start; + if (elapsed.count() >= 1.0) { + fps = frameCount / elapsed.count(); + frameCount = 0; + start = end; + } + + // Display FPS on the frame + std::string fpsText = "FPS: " + std::to_string(fps); + cv::putText(combinedFrame, fpsText, cv::Point(10, 60), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(255, 255, 255), 2); + return frameCount; +} + +/** + * Initializes use of a logo. + */ +void init_logo(cv::Mat logo) { + if (logo.empty()) { + std::cerr << "Error: Unable to load logo image" << std::endl; + } + + // Calculate new size (10% of original size) + cv::Size newSize(static_cast(logo.cols * 0.22), static_cast(logo.rows * 0.22)); + + // Resize the image + cv::resize(logo, logo, newSize); +} + +/** + * Displays logo on heatmap. + */ +void display_logo(cv::Mat logo, cv::Mat combinedFrame) { + int x = 840; + int y = 0; + // Convert logo to grayscale if it has an alpha channel or is in color + if (logo.channels() == 4 || logo.channels() == 3) { + cv::Mat logoGray; + cv::cvtColor(logo, logoGray, cv::COLOR_BGR2GRAY);// Convert to grayscale + cv::Mat logoColor; + cv::applyColorMap(logoGray, logoColor, cv::COLORMAP_BONE);// Apply the same colormap if needed + logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); + } else if (logo.channels() == 1) { + // Logo is already grayscale + cv::Mat logoColor; + cv::applyColorMap(logo, logoColor, cv::COLORMAP_BONE);// Apply colormap to logo if needed + logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); + } else { + std::cerr << "Error: Unsupported number of channels in the logo image." << std::endl; + } +} + +/** + * Initializes the webcamera. + */ +void init_camera(float fov, std::string camera, cv::VideoCapture cap, int delay, double fps) { + fov = FOV; + cap = cv::VideoCapture(camera); + if (!cap.isOpened()) { + std::cerr << "Error: Could not open the webcam." << std::endl; + } + + // Get the frames per second of the video + fps = cap.get(cv::CAP_PROP_FPS); + + // Calculate the delay between frames + delay = 1000 / fps; + + // Get the width and height of frames from the webcam + int frame_width = static_cast(cap.get(cv::CAP_PROP_FRAME_WIDTH)); + int frame_height = static_cast(cap.get(cv::CAP_PROP_FRAME_HEIGHT)); + cv::Size frame_size(frame_width, frame_height); +} + +/** + * Create a name for the video file. */ std::string generateUniqueFilename() { // Get the current time @@ -41,7 +121,7 @@ std::string generateUniqueFilename() { } /** - * Initiate the videostream writer + * Initiate the videostream writer. */ int startRecording(cv::VideoWriter& videoWriter, cv::Size frame_size, double fps) { @@ -59,7 +139,7 @@ int startRecording(cv::VideoWriter& videoWriter, cv::Size frame_size, double fps /** - * Stop the videostream writer + * Stop the videostream writer. */ void stopRecording(cv::VideoWriter& videoWriter) { videoWriter.release(); @@ -77,25 +157,10 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a double fps = 60.0; if (use_camera) { - fov = FOV; - cap = cv::VideoCapture(camera); - if (!cap.isOpened()) { - std::cerr << "Error: Could not open the webcam." << std::endl; - } - - // Get the frames per second of the video - fps = cap.get(cv::CAP_PROP_FPS); - - // Calculate the delay between frames - delay = 1000 / fps; - - // Get the width and height of frames from the webcam - int frame_width = static_cast(cap.get(cv::CAP_PROP_FRAME_WIDTH)); - int frame_height = static_cast(cap.get(cv::CAP_PROP_FRAME_HEIGHT)); - cv::Size frame_size(frame_width, frame_height); + init_camera(fov, camera, cap, delay, fps); } - + // Setup AWPUS std::vector awpus; int i = 0; @@ -108,6 +173,7 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a AWProcessingUnit* awpu = new AWProcessingUnit(ip_address.c_str(), port, fov, mimo_res, verbose, audio_port); awpus.push_back(awpu); + // Start different modes if (tracking) { awpu->start(GRADIENT); } if (mimo) { awpu->start(MIMO); } if (audio_port == port) awpu->play_audio(); @@ -144,17 +210,9 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a } // Load the logo image (with alpha channel if available) - cv::Mat logo = cv::imread("logo.png", cv::IMREAD_UNCHANGED);// Load with alpha channel - if (use_logo != 0) { - if (logo.empty()) { - std::cerr << "Error: Unable to load logo image" << std::endl; - } - - // Calculate new size (10% of original size) - cv::Size newSize(static_cast(logo.cols * 0.22), static_cast(logo.rows * 0.22)); - - // Resize the image - cv::resize(logo, logo, newSize); + cv::Mat logo = cv::imread("logo.png", cv::IMREAD_UNCHANGED);// + if (use_logo) { + init_logo(logo); } auto start = std::chrono::high_resolution_clock::now(); @@ -192,7 +250,6 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a } } - for (int i = 0; i < awpu_count; i++) { // Reset frames @@ -269,38 +326,11 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a if (use_fps) { // Calculate FPS - frameCount++; - auto end = std::chrono::high_resolution_clock::now(); - std::chrono::duration elapsed = end - start; - if (elapsed.count() >= 1.0) { - fps = frameCount / elapsed.count(); - frameCount = 0; - start = end; - } - - // Display FPS on the frame - std::string fpsText = "FPS: " + std::to_string(fps); - cv::putText(combinedFrame, fpsText, cv::Point(10, 60), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(255, 255, 255), 2); + frameCount = compute_fps(frameCount, start, fps, combinedFrame); } if (use_logo) { - int x = 840; - int y = 0; - // Convert logo to grayscale if it has an alpha channel or is in color - if (logo.channels() == 4 || logo.channels() == 3) { - cv::Mat logoGray; - cv::cvtColor(logo, logoGray, cv::COLOR_BGR2GRAY);// Convert to grayscale - cv::Mat logoColor; - cv::applyColorMap(logoGray, logoColor, cv::COLORMAP_BONE);// Apply the same colormap if needed - logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); - } else if (logo.channels() == 1) { - // Logo is already grayscale - cv::Mat logoColor; - cv::applyColorMap(logo, logoColor, cv::COLORMAP_BONE);// Apply colormap to logo if needed - logoColor.copyTo(combinedFrame(cv::Rect(x, y, logoColor.cols, logoColor.rows))); - } else { - std::cerr << "Error: Unsupported number of channels in the logo image." << std::endl; - } + display_logo(logo, combinedFrame); } // Display the frame diff --git a/src/aw_control_unit/aw_control_unit.h b/src/aw_control_unit/aw_control_unit.h index 0738072..ab9105e 100644 --- a/src/aw_control_unit/aw_control_unit.h +++ b/src/aw_control_unit/aw_control_unit.h @@ -55,7 +55,20 @@ class AWControlUnit { /** * @brief Spools up the AW Control unit and blocks the current thread until it finished. - * @param TODO: + * @param ports List of ports to be used by the control unit. + * @param ip_address IP address of the target device. + * @param use_camera Flag indicating whether to use the camera. + * @param camera The camera identifier (e.g., device path or ID). + * @param audio_port Port number for audio communication. + * @param mimo Flag indicating whether MIMO (Multiple Input Multiple Output) is enabled. + * @param tracking Flag indicating whether tracking functionality is enabled. + * @param mimo_res Resolution setting for MIMO. + * @param verbose Flag indicating whether verbose logging is enabled. + * @param record Flag indicating whether recording is enabled. + * @param fov Field of view setting. + * @param use_fps Flag indicating whether FPS (Frames Per Second) display is enabled. + * @param use_logo Flag indicating whether to display a logo. + * @param debug Flag indicating whether debug mode is enabled. */ void Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, bool use_logo, bool debug); From f781be1fac14d13a32f5714633242068a0d7487e Mon Sep 17 00:00:00 2001 From: Tuva Date: Tue, 6 Aug 2024 16:10:13 +0200 Subject: [PATCH 21/43] name change --- src/aw_control_unit/aw_control_unit.cpp | 16 ++++++++-------- src/main.cpp | 2 +- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/aw_control_unit/aw_control_unit.cpp b/src/aw_control_unit/aw_control_unit.cpp index 9d762e8..620b579 100644 --- a/src/aw_control_unit/aw_control_unit.cpp +++ b/src/aw_control_unit/aw_control_unit.cpp @@ -25,7 +25,7 @@ /** * Computes and displays FPS on the frame. */ -int compute_fps(int frameCount, auto start, double fps, cv::Mat combinedFrame) { +int computeFps(int frameCount, auto start, double fps, cv::Mat combinedFrame) { // Calculate FPS frameCount++; auto end = std::chrono::high_resolution_clock::now(); @@ -45,7 +45,7 @@ int compute_fps(int frameCount, auto start, double fps, cv::Mat combinedFrame) { /** * Initializes use of a logo. */ -void init_logo(cv::Mat logo) { +void initLogo(cv::Mat logo) { if (logo.empty()) { std::cerr << "Error: Unable to load logo image" << std::endl; } @@ -60,7 +60,7 @@ void init_logo(cv::Mat logo) { /** * Displays logo on heatmap. */ -void display_logo(cv::Mat logo, cv::Mat combinedFrame) { +void displayLogo(cv::Mat logo, cv::Mat combinedFrame) { int x = 840; int y = 0; // Convert logo to grayscale if it has an alpha channel or is in color @@ -83,7 +83,7 @@ void display_logo(cv::Mat logo, cv::Mat combinedFrame) { /** * Initializes the webcamera. */ -void init_camera(float fov, std::string camera, cv::VideoCapture cap, int delay, double fps) { +void initCamera(float fov, std::string camera, cv::VideoCapture cap, int delay, double fps) { fov = FOV; cap = cv::VideoCapture(camera); if (!cap.isOpened()) { @@ -157,7 +157,7 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a double fps = 60.0; if (use_camera) { - init_camera(fov, camera, cap, delay, fps); + initCamera(fov, camera, cap, delay, fps); } // Setup AWPUS @@ -212,7 +212,7 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a // Load the logo image (with alpha channel if available) cv::Mat logo = cv::imread("logo.png", cv::IMREAD_UNCHANGED);// if (use_logo) { - init_logo(logo); + initLogo(logo); } auto start = std::chrono::high_resolution_clock::now(); @@ -326,11 +326,11 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a if (use_fps) { // Calculate FPS - frameCount = compute_fps(frameCount, start, fps, combinedFrame); + frameCount = computeFps(frameCount, start, fps, combinedFrame); } if (use_logo) { - display_logo(logo, combinedFrame); + displayLogo(logo, combinedFrame); } // Display the frame diff --git a/src/main.cpp b/src/main.cpp index 60fb571..cb08398 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -28,7 +28,7 @@ void setupArgumentParser(argparse::ArgumentParser& program) { program.add_argument("--audio") .default_value(0) .scan<'i', int>() - .help("Audio option"); + .help("Audio option, port nr"); program.add_argument("--mimo") .default_value(false) From eef34e7131babb4a66297177c6f69af42785a2f7 Mon Sep 17 00:00:00 2001 From: Tuva Date: Tue, 6 Aug 2024 16:33:21 +0200 Subject: [PATCH 22/43] ugly solution for use_waraps --- src/aw_control_unit/aw_control_unit.cpp | 44 +++++++++++++------------ src/aw_control_unit/aw_control_unit.h | 2 +- src/aw_control_unit/main.cpp | 5 +-- src/main.cpp | 9 ++++- 4 files changed, 35 insertions(+), 25 deletions(-) diff --git a/src/aw_control_unit/aw_control_unit.cpp b/src/aw_control_unit/aw_control_unit.cpp index 620b579..5836c92 100644 --- a/src/aw_control_unit/aw_control_unit.cpp +++ b/src/aw_control_unit/aw_control_unit.cpp @@ -421,27 +421,29 @@ void AWControlUnit::publishData() { client_.PublishMessage("sensor/camera_tags", "[ \"LJUDKRIGET\" ]"); } -AWControlUnit::AWControlUnit() : client_(WARAPS_NAME, WARAPS_ADDRESS, - std::getenv("MQTT_USERNAME") == nullptr ? "" : std::getenv("MQTT_USERNAME"), - std::getenv("MQTT_PASSWORD") == nullptr ? "" : std::getenv("MQTT_PASSWORD")), - targetHandler_(&gpsData_) { - int gpsError = gps_open(GPS_ADDRESS, std::to_string(GPS_PORT).c_str(), &gpsData_); - gpsError |= gps_stream(&gpsData_, WATCH_ENABLE | WATCH_JSON, nullptr); - - if (gpsError != 0) { - std::cerr << "GPS Error: " << gps_errstr(gpsError) << std::endl; - std::cerr << "Continuing without gps" << std::endl; - usingGps_ = false; - } else { - usingGps_ = true; - } +AWControlUnit::AWControlUnit(bool use_waraps) : client_(WARAPS_NAME, WARAPS_ADDRESS, + std::getenv("MQTT_USERNAME") == nullptr ? "" : std::getenv("MQTT_USERNAME"), + std::getenv("MQTT_PASSWORD") == nullptr ? "" : std::getenv("MQTT_PASSWORD")), + targetHandler_(&gpsData_) { + if (use_waraps) { + int gpsError = gps_open(GPS_ADDRESS, std::to_string(GPS_PORT).c_str(), &gpsData_); + gpsError |= gps_stream(&gpsData_, WATCH_ENABLE | WATCH_JSON, nullptr); + + if (gpsError != 0) { + std::cerr << "GPS Error: " << gps_errstr(gpsError) << std::endl; + std::cerr << "Continuing without gps" << std::endl; + usingGps_ = false; + } else { + usingGps_ = true; + } - try { - client_.Start(); - usingWaraPS_ = true; - } catch (std::runtime_error& e) { - std::cerr << "WARA PS Connection error: " << e.what() << std::endl; - std::cout << "Continuing without WARA PS Connection" << std::endl; - usingWaraPS_ = false; + try { + client_.Start(); + usingWaraPS_ = true; + } catch (std::runtime_error& e) { + std::cerr << "WARA PS Connection error: " << e.what() << std::endl; + std::cout << "Continuing without WARA PS Connection" << std::endl; + usingWaraPS_ = false; + } } } diff --git a/src/aw_control_unit/aw_control_unit.h b/src/aw_control_unit/aw_control_unit.h index ab9105e..eb82a04 100644 --- a/src/aw_control_unit/aw_control_unit.h +++ b/src/aw_control_unit/aw_control_unit.h @@ -44,7 +44,7 @@ class AWControlUnit { /** * @brief Default constructor for AWControlUnit. */ - AWControlUnit(); + AWControlUnit(bool use_waraps); /** * The MQTT Client does not have a move or copy constructor, this propagates all the way up to here were we can't support it either diff --git a/src/aw_control_unit/main.cpp b/src/aw_control_unit/main.cpp index 7bbe726..decefee 100644 --- a/src/aw_control_unit/main.cpp +++ b/src/aw_control_unit/main.cpp @@ -1,5 +1,5 @@ /** @file main.cpp - * @author Janne + * @author Janne, Tuva * @date 2024-07-04 */ @@ -7,5 +7,6 @@ int main() { AWControlUnit controlUnit; - controlUnit.Start(); + controlUnit.Start({21875}, "10.0.0.1",false, "false", + 0, true, true, 100, false, false, 180, false, false, false); } \ No newline at end of file diff --git a/src/main.cpp b/src/main.cpp index cb08398..11a4b1e 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -79,6 +79,11 @@ void setupArgumentParser(argparse::ArgumentParser& program) { .append() .scan<'i', int>() .help("PORT numbers"); + + program.add_argument("--wara-ps") + .default_value(false) + .implicit_value(true) + .help("Use WARA PS"); } int main(int argc, char* argv[]) { @@ -107,6 +112,7 @@ int main(int argc, char* argv[]) { bool use_fps = program.get("--fps"); bool use_logo = program.get("--logo"); bool debug = program.get("--debug"); + bool use_waraps = program.get("--wara-ps"); if (verbose) { std::cout << "Camera: " << camera << std::endl; @@ -122,9 +128,10 @@ int main(int argc, char* argv[]) { std::cout << "Use logo: " << use_logo << std::endl; std::cout << "Use fps: " << use_fps << std::endl; std::cout << "Debug: " << debug << std::endl; + std::cout << "WARA PS: " << use_waraps << std::endl; } - AWControlUnit awControlUnit; + AWControlUnit awControlUnit(use_waraps); awControlUnit.Start(ports, ip_address, use_camera, camera, audio, mimo, tracking, mimo_res, verbose, record, fov, use_fps, use_logo, debug); return 0; From 7979bf2015dc0b0d113284e3fe7aa50b5f72f62c Mon Sep 17 00:00:00 2001 From: Irreq Date: Tue, 6 Aug 2024 17:42:11 +0200 Subject: [PATCH 23/43] Cleanup --- src/geometry/antenna.h | 51 ++++++++++++++++++--------------------- src/geometry/geometry.cpp | 6 +++++ src/geometry/geometry.h | 11 +++------ 3 files changed, 33 insertions(+), 35 deletions(-) diff --git a/src/geometry/antenna.h b/src/geometry/antenna.h index 2c46f89..c6252ef 100644 --- a/src/geometry/antenna.h +++ b/src/geometry/antenna.h @@ -13,12 +13,12 @@ #include "geometry.h" -#define PROPAGATION_SPEED 340.0 // Speed of sound in air [m * s^-1] -#define SAMPLE_RATE 48828.0 // Hz [s^-1] +#define PROPAGATION_SPEED 340.0// Speed of sound in air [m * s^-1] +#define SAMPLE_RATE 48828.0 // Hz [s^-1] #define COLUMNS 8 #define ROWS 8 #define ELEMENTS (COLUMNS * ROWS) -#define DISTANCE 0.02 // [m] +#define DISTANCE 0.02// [m] const int second[16] = { 0, 2, 4, 6, // first column @@ -29,21 +29,24 @@ const int second[16] = { }; -const int second_sector[16] = {0, 1, 2, 3, 8, 9, 10, 11, 16, 17, 18, 19, 24, 25, 26, 27}; +const int second_sector[16] = {0, 1, 2, 3, // +8, 9, 10, 11, // +16, 17, 18, 19, // +24, 25, 26, 27}; -const int first_sector[16] = {4, 5, 6, 7, - 12, 13, 14, 15, - 20, 21, 22, 23, +const int first_sector[16] = {4, 5, 6, 7, // + 12, 13, 14, 15, // + 20, 21, 22, 23, // 28, 29, 30, 31}; -const int third_sector[16] = {32, 33, 34, 35, - 40, 41, 42, 43, - 48, 49, 50, 51, +const int third_sector[16] = {32, 33, 34, 35,// + 40, 41, 42, 43,// + 48, 49, 50, 51,// 56, 57, 58, 59}; -const int fourth_sector[16] = {36, 37, 38, 39, - 44, 45, 46, 47, - 52, 53, 54, 55, +const int fourth_sector[16] = {36, 37, 38, 39,// + 44, 45, 46, 47,// + 52, 53, 54, 55,// 60, 61, 62, 63}; /** @@ -69,14 +72,6 @@ struct Sector { int sector;// 1, 2, 3, 4 int usable = 0; int index[16]; - - //void construct_sector(const int *sensors, const int n, int sector) : sector(sector) { - // for (int i = 0; i < n; i++) { - // if (in_sector(sector, i)) { - // this->index[this->usable++] = sensors[i]; - // } - // } - //} }; /** @@ -87,12 +82,12 @@ struct Antenna { /** * @brief The 3D representation of the antenna */ - Eigen::MatrixXf points;// The 3D representation of the antenna - int id; - int usable = 0; ///< Number of usable elements; - int *index; ///< Index of usable element - float *power_correction_mask;///< Correction of microphone to reach some value - float mean; ///< Pseudo valid metrics for checking the power level of antenna during auto calibration + Eigen::MatrixXf points; // The 3D representation of the antenna + int id; // Id of antenna + int usable = 0; ///< Number of usable elements; + int *index; ///< Index of usable element + float *power_correction_mask;///< Correction of microphone to reach some value + float mean; ///< Pseudo valid metrics for checking the power level of antenna during auto calibration float median; @@ -222,4 +217,4 @@ void generate_lookup_table(const Eigen::MatrixXf &dome, Eigen::MatrixXi &lookup_ void test_lookup_table(const Eigen::MatrixXf &dome, const Eigen::MatrixXi &lookup_table); -#endif //BEAMFORMER_ANTENNA_H +#endif//BEAMFORMER_ANTENNA_H diff --git a/src/geometry/geometry.cpp b/src/geometry/geometry.cpp index 7e9a825..4349d78 100644 --- a/src/geometry/geometry.cpp +++ b/src/geometry/geometry.cpp @@ -59,6 +59,12 @@ Spherical Horizontal::toSpherical(const Horizontal &horizontal) { return Spherical(theta, phi); } +Spherical::Spherical(Cartesian position) { + phi = atan2(position.y, position.x); + double length = sqrt(position.x * position.x + position.y * position.y + position.z * position.z); + theta = acos(position.z / length); +} + Cartesian Cartesian::convert(const Spherical &spherical, const double radius = 1.0) { Cartesian point; diff --git a/src/geometry/geometry.h b/src/geometry/geometry.h index 8701cce..567a003 100644 --- a/src/geometry/geometry.h +++ b/src/geometry/geometry.h @@ -15,8 +15,8 @@ #define Z_INDEX 2 #define PI_HALF M_PI / 2.0 -#define TO_RADIANS(degree) degree *(M_PI / 180.0) -#define TO_DEGREES(radian) radian * (180.0 / M_PI) +#define TO_RADIANS(degree) (degree *(M_PI / 180.0)) +#define TO_DEGREES(radian) (radian * (180.0 / M_PI)) #define NORTH 0 #define EAST 1 @@ -88,6 +88,7 @@ Position spherical_to_cartesian(double theta, double phi, double radius); struct Spherical; struct Horizontal;// Horizontal with a 90degree rotation on y-axis +struct Cartesian; /** * @brief Spherical representation of a position @@ -107,6 +108,7 @@ struct Spherical { Spherical() = default; Spherical(double theta, double phi, double radius = 1.0); + Spherical(Cartesian position); /** * @brief Computes the distance to another spherical coordinate. @@ -195,11 +197,6 @@ struct Horizontal { */ double distanceTo(const Spherical &spherical); - //std::ostream &operator<<(std::ostream &out) { - // out << "Horizontal: azimuth=" << degrees(azimuth) << " elevation=" << degrees(elevation); - // return out; - //} - friend std::ostream &operator<<(std::ostream &out, const Horizontal &direction) { out << "Horizontal: azimuth=" << TO_DEGREES(direction.azimuth) << " elevation=" << TO_DEGREES(direction.elevation); return out; From c55546f672ef743c3dfea7ba643c63f38b717571 Mon Sep 17 00:00:00 2001 From: Irreq Date: Tue, 6 Aug 2024 17:42:36 +0200 Subject: [PATCH 24/43] Added more base functions --- src/dsp/particle.cpp | 24 ++++++++++++++++++++++-- src/dsp/particle.h | 15 +++++++++++++++ 2 files changed, 37 insertions(+), 2 deletions(-) diff --git a/src/dsp/particle.cpp b/src/dsp/particle.cpp index 02eb136..b589bb3 100644 --- a/src/dsp/particle.cpp +++ b/src/dsp/particle.cpp @@ -51,8 +51,7 @@ void Particle::steer(const Spherical &direction) { double Particle::beam() { const float norm = 1 / static_cast(antenna.usable); - - float out[N_SAMPLES] = {0.0}; + std::fill(out, out + N_SAMPLES, 0); for (unsigned s = 0; s < antenna.usable; s++) { @@ -80,4 +79,25 @@ double Particle::beam() { power_accumulator /= static_cast(N_SAMPLES); return static_cast(power_accumulator); +} + +void Particle::move(Spherical direction) { + directionCurrent = direction; +} + +void Particle::das(float *out) { + const float norm = 1 / static_cast(antenna.usable); + + std::fill(out, out + N_SAMPLES, 0); + + for (unsigned s = 0; s < antenna.usable; s++) { + + int i = antenna.index[s]; + float fraction = fractionalDelays[i]; + + int offset = offsetDelays[i]; + + float *signal = streams->get_signal(i, offset); + delay(&out[0], signal, fraction); + } } \ No newline at end of file diff --git a/src/dsp/particle.h b/src/dsp/particle.h index 85249d0..53a59cb 100644 --- a/src/dsp/particle.h +++ b/src/dsp/particle.h @@ -56,6 +56,11 @@ struct Particle { int offsetDelays[ELEMENTS]; float fractionalDelays[ELEMENTS]; + /** + * Output signal + */ + float out[N_SAMPLES]; + Particle(Antenna &antenna, Streams *streams, double fov); /** @@ -87,6 +92,16 @@ struct Particle { * Amplitude delay and sum adaptive beamforming */ double beam(); + + /** + * Delay and sum used as API + */ + void das(float *out); + + /** + * Move the particle to a specific direction + */ + void move(Spherical direction); /** * Steer the particle beam to a specific direction From b86242255b2122114d24c3653b6030e3c67524c2 Mon Sep 17 00:00:00 2001 From: Irreq Date: Tue, 6 Aug 2024 17:47:42 +0200 Subject: [PATCH 25/43] Doc --- src/dsp/worker.h | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/dsp/worker.h b/src/dsp/worker.h index afe6c22..549deb0 100644 --- a/src/dsp/worker.h +++ b/src/dsp/worker.h @@ -57,6 +57,7 @@ enum worker_t { GENERIC, PSO, MIMO, + MISO, SOUND, GRADIENT }; @@ -115,7 +116,7 @@ class Worker { /** * @brief Getter for current targets - * @return + * @return Current tracked targets (if any) */ [[nodiscard]] std::vector getTargets() const { std::vector r_targets; @@ -134,11 +135,19 @@ class Worker { lock.unlock(); }; + /** + * @brief Steer the worker to a specific direction + */ + virtual void steer(Spherical direction) {}; + protected: /// Current direction Spherical direction; + /// Incoming data Streams *streams; + + /// @brief steerable antenna with valid sensors Antenna &antenna; /// Current tracking objects @@ -198,7 +207,7 @@ class Worker { } private: - /// + /// Self check against pipeline to only operate on newest data int start; /// Lock to prevent multiple access from outside and inside From 2bf841d26c4e2fbad1fc29597d6a4140716de7d5 Mon Sep 17 00:00:00 2001 From: Irreq Date: Tue, 6 Aug 2024 17:48:13 +0200 Subject: [PATCH 26/43] Boiler for MISO --- src/aw_processing_unit/aw_processing_unit.cpp | 9 +++++++++ src/aw_processing_unit/aw_processing_unit.h | 7 +++++++ 2 files changed, 16 insertions(+) diff --git a/src/aw_processing_unit/aw_processing_unit.cpp b/src/aw_processing_unit/aw_processing_unit.cpp index b34932c..5477453 100644 --- a/src/aw_processing_unit/aw_processing_unit.cpp +++ b/src/aw_processing_unit/aw_processing_unit.cpp @@ -73,6 +73,9 @@ bool AWProcessingUnit::start(const worker_t worker) { case MIMO: job = new MIMOWorker(pipeline, antennas[0], &running, small_res, small_res, fov); break; + case MISO: + job = new MISOWorker(pipeline, antennas[0], &running, fov); + break; case SOUND: job = nullptr; break; @@ -255,6 +258,12 @@ void AWProcessingUnit::draw(cv::Mat *compact, cv::Mat *normal) const { } } +void AWProcessingUnit::steer(Spherical direction) { + for (auto &worker: workers) { + worker->steer(direction); + } +} + std::vector AWProcessingUnit::targets() { return workers[0]->getTargets(); } diff --git a/src/aw_processing_unit/aw_processing_unit.h b/src/aw_processing_unit/aw_processing_unit.h index f8f2562..9a097e6 100644 --- a/src/aw_processing_unit/aw_processing_unit.h +++ b/src/aw_processing_unit/aw_processing_unit.h @@ -12,6 +12,7 @@ #include "pso_seeker.h" #include "antenna.h" #include "audio_wrapper.h" +#include "miso.h" #include "pipeline.h" #include "worker.h" @@ -60,6 +61,12 @@ class AWProcessingUnit { */ bool start(const worker_t worker); + /** + * @brief Steer everything to a specific direction + * @param direction the direction to listen to + */ + void steer(Spherical direction); + /** * @brief Stops the processing unit with the specified worker. * @param worker The worker to stop. From dbf558f9d7f1922241476eb6101b9e8fcace0839 Mon Sep 17 00:00:00 2001 From: Irreq Date: Tue, 6 Aug 2024 17:48:27 +0200 Subject: [PATCH 27/43] Boiler for MISO --- src/aw_processing_unit/main.cpp | 41 +++++++++++++++++++++++++++++++-- 1 file changed, 39 insertions(+), 2 deletions(-) diff --git a/src/aw_processing_unit/main.cpp b/src/aw_processing_unit/main.cpp index f051653..4304dbf 100644 --- a/src/aw_processing_unit/main.cpp +++ b/src/aw_processing_unit/main.cpp @@ -116,6 +116,11 @@ void setupArgumentParser(argparse::ArgumentParser& program) { .implicit_value(true) .help("Use logo"); + program.add_argument("--miso") + .default_value(false) + .implicit_value(true) + .help("MISO Mode"); + program.add_argument("--debug") .default_value(false) .implicit_value(true) @@ -132,6 +137,27 @@ void setupArgumentParser(argparse::ArgumentParser& program) { .help("PORT numbers"); } +// Callback function to capture mouse events +void clickEvent(int event, int x, int y, int flags, void* userdata) { + AWProcessingUnit *awpu = (AWProcessingUnit*)userdata; + if (event == cv::EVENT_LBUTTONDOWN) { + double xd = (static_cast(x) / X_RES - 0.5) * 2.0; + double yd = -(static_cast(y) / Y_RES - 0.5) * 2.0; + std::cout << "Coordinates: x=" << xd << ", y=" << yd << std::endl; + double phi = atan2(yd, xd); + double theta = sqrt(xd * xd + yd * yd); + + if (theta > 1.0) { + theta = 1.0; + } + //theta *= M_PI / 2; + theta = asin(theta); + //double theta = (sqrt(2.0 - xd * xd - yd * yd) / 2.0); + awpu->steer(Spherical(theta, phi)); + } +} + + int main(int argc, char* argv[]) { argparse::ArgumentParser program(argv[0]); setupArgumentParser(program); @@ -159,6 +185,7 @@ int main(int argc, char* argv[]) { bool use_fps = program.get("--fps"); bool use_logo = program.get("--logo"); bool debug = program.get("--debug"); + bool miso = program.get("--miso"); if (verbose) { // Display the parsed argument values @@ -223,6 +250,7 @@ int main(int argc, char* argv[]) { // Start different modes if (tracking) { awpu->start(GRADIENT); } if (mimo) { awpu->start(MIMO); } + if (miso) { awpu->start(MISO); } } int awpu_count = awpus.size(); @@ -230,6 +258,12 @@ int main(int argc, char* argv[]) { // Create a window to display the beamforming data cv::namedWindow(APPLICATION_NAME, cv::WINDOW_NORMAL); + if (miso) { + // Set the mouse callback function + cv::setMouseCallback(APPLICATION_NAME, clickEvent, awpus[0]); + } + + cv::Mat combinedFrame; cv::Mat colorFrame; if (awpu_count != 0) { @@ -255,7 +289,10 @@ int main(int argc, char* argv[]) { } // Load the logo image (with alpha channel if available) - cv::Mat logo = cv::imread("logo.png", cv::IMREAD_UNCHANGED);// Load with alpha channel + cv::Mat logo; + + if (use_logo) + {logo = cv::imread("logo.png", cv::IMREAD_UNCHANGED);// Load with alpha channel if (logo.empty()) { std::cerr << "Error: Unable to load logo image" << std::endl; return -1; @@ -265,7 +302,7 @@ int main(int argc, char* argv[]) { cv::Size newSize(static_cast(logo.cols * 0.22), static_cast(logo.rows * 0.22)); // Resize the image - cv::resize(logo, logo, newSize); + cv::resize(logo, logo, newSize);} // Initialize variables for FPS calculation auto start = std::chrono::high_resolution_clock::now(); From 32525d523d8243b47258c375c42f2a530e1938a1 Mon Sep 17 00:00:00 2001 From: Irreq Date: Tue, 6 Aug 2024 17:49:00 +0200 Subject: [PATCH 28/43] Added MISO --- src/dsp/CMakeLists.txt | 3 ++ src/dsp/miso.cpp | 66 ++++++++++++++++++++++++++++++++++++++++++ src/dsp/miso.h | 51 ++++++++++++++++++++++++++++++++ 3 files changed, 120 insertions(+) create mode 100644 src/dsp/miso.cpp create mode 100644 src/dsp/miso.h diff --git a/src/dsp/CMakeLists.txt b/src/dsp/CMakeLists.txt index 7b7b495..e3882a9 100644 --- a/src/dsp/CMakeLists.txt +++ b/src/dsp/CMakeLists.txt @@ -18,6 +18,8 @@ set(DSP_SOURCES mimo.cpp gradient_ascend.h gradient_ascend.cpp + miso.h + miso.cpp ) set(SOURCES ${SOURCES} ${DSP_SOURCES}) @@ -26,6 +28,7 @@ add_library(dsp STATIC ${DSP_SOURCES}) target_include_directories(dsp PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_link_libraries(dsp PUBLIC fpga + audio Eigen3::Eigen ${OpenCV_LIBS} ) diff --git a/src/dsp/miso.cpp b/src/dsp/miso.cpp new file mode 100644 index 0000000..930a0d2 --- /dev/null +++ b/src/dsp/miso.cpp @@ -0,0 +1,66 @@ +#include "miso.h" + +MISOWorker::MISOWorker(Pipeline *pipeline, Antenna &antenna, bool *running, double fov) : Worker(pipeline, antenna, running), beamformer(antenna, pipeline->getStreams(), fov, TO_RADIANS(TRACKER_SPREAD)), aw(pipeline, &this->data[0]) { + this->fov = TO_RADIANS(fov / 2.0); + ratio = (sin(this->fov)); + beamformer.thetaLimit = fov; + + beamformer.move(Spherical(0, 0, 0)); + beamformer.startTracking(Spherical(0, 0, 0)); + thread_loop = std::thread(&MISOWorker::loop, this); +} + +void MISOWorker::steer(Spherical direction) { + beamformer.startTracking(direction); +#if DEBUG_MISO + std::cout << "Steering to: " << direction << std::endl; +#endif +} + +void MISOWorker::startTracking(Spherical direction) { + beamformer.startTracking(direction); +} + +void MISOWorker::update() { + + if (canContinue()) { + float tmp_reference = 0.0; + + float *out = streams->get_signal(0, N_SAMPLES); + for (int i = 1; i < N_SAMPLES - 1; i++) { + float MA = out[i] * 0.5f - 0.25f * (out[i + 1] + out[i - 1]); + tmp_reference += powf(MA, 2); + } + + tmp_reference /= static_cast(N_SAMPLES - 2); + double reference = static_cast(tmp_reference); + + for (int i = 0; i < 3; i++) + beamformer.step(PARTICLE_RATE / 10, reference); + + beamformer.steer(beamformer.directionCurrent); + beamformer.das(&data[0]); + } +} + +void MISOWorker::populateHeatmap(cv::Mat *heatmap) { + double x_res = (double) heatmap->rows; + double y_res = (double) heatmap->cols; + + Cartesian position = Cartesian::convert(beamformer.directionCurrent, 1.0); + + cv::Scalar color(255, 255, 255); + + // Use the position values to plot over the heatmap + int x = (int) (x_res * (position.x / ratio / 2.0 + 0.5)); + int y = (int) (y_res * (position.y / ratio / 2.0 + 0.5)); + cv::circle(*heatmap, cv::Point(x, y_res - y - 1), 30, color, 2, 8, 0); + + + if (beamformer.tracking) { + std::stringstream ss; + ss << "Tracking: "; + cv::putText(*heatmap, ss.str(), cv::Point(0, y_res / 2), cv::FONT_HERSHEY_SIMPLEX, 1, color, 2); + } + +} \ No newline at end of file diff --git a/src/dsp/miso.h b/src/dsp/miso.h new file mode 100644 index 0000000..c9241ab --- /dev/null +++ b/src/dsp/miso.h @@ -0,0 +1,51 @@ +/** @file miso.h + * @author Irreq + * @brief MISO sound in a specific direction +*/ + +#ifndef MISO_H +#define MISO_H + +#include "worker.h" +#include "gradient_ascend.h" +#include "geometry.h" +#include "audio_wrapper.h" + +#define DEBUG_MISO 1 + +class MISOWorker : public Worker { +public: + MISOWorker(Pipeline *pipeline, Antenna &antenna, bool *running, double fov); + ~MISOWorker() {}; + worker_t get_type() { return worker_t::MISO; }; + void steer(Spherical direction) override; + + void startTracking(Spherical direction); + void stopTracking() { tracking = false; }; + +protected: + void reset() override {}; + void update() override; + void populateHeatmap(cv::Mat *heatmap) override; + void setup() override {}; + +private: + double fov; + float data[N_SAMPLES]; + + double power = 0.0; + + /// @brief Ratio for heatmap fov + double ratio; + + /// @brief If tracking source + bool tracking = false; + + /// @brief Tracker of source + GradientTracker beamformer; + AudioWrapper aw; +}; + + + +#endif \ No newline at end of file From 95fca879ca10455f9d6e6b000872d2b054811907 Mon Sep 17 00:00:00 2001 From: Tuva Date: Wed, 7 Aug 2024 11:07:29 +0200 Subject: [PATCH 29/43] swcu main patch --- src/aw_control_unit/main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/aw_control_unit/main.cpp b/src/aw_control_unit/main.cpp index decefee..75f810d 100644 --- a/src/aw_control_unit/main.cpp +++ b/src/aw_control_unit/main.cpp @@ -6,7 +6,7 @@ #include "aw_control_unit.h" int main() { - AWControlUnit controlUnit; + AWControlUnit controlUnit(true); controlUnit.Start({21875}, "10.0.0.1",false, "false", 0, true, true, 100, false, false, 180, false, false, false); } \ No newline at end of file From 7a6421df9dcff38d71d18df02cba3cc4b844291e Mon Sep 17 00:00:00 2001 From: Tuva Date: Wed, 7 Aug 2024 11:18:24 +0200 Subject: [PATCH 30/43] miso to main --- src/aw_control_unit/aw_control_unit.cpp | 31 ++++++++++++++++++++++++- src/aw_control_unit/aw_control_unit.h | 6 +++-- src/main.cpp | 11 ++++++++- 3 files changed, 44 insertions(+), 4 deletions(-) diff --git a/src/aw_control_unit/aw_control_unit.cpp b/src/aw_control_unit/aw_control_unit.cpp index 5836c92..283b918 100644 --- a/src/aw_control_unit/aw_control_unit.cpp +++ b/src/aw_control_unit/aw_control_unit.cpp @@ -22,6 +22,28 @@ #define BLUR_KERNEL_SIZE 5//Kernel size of blur on heatmap #define BLUR_EFFECT false +/** + * Callback function to capture mouse events + */ +void clickEvent(int event, int x, int y, int flags, void* userdata) { + AWProcessingUnit* awpu = (AWProcessingUnit*) userdata; + if (event == cv::EVENT_LBUTTONDOWN) { + double xd = (static_cast(x) / X_RES - 0.5) * 2.0; + double yd = -(static_cast(y) / Y_RES - 0.5) * 2.0; + std::cout << "Coordinates: x=" << xd << ", y=" << yd << std::endl; + double phi = atan2(yd, xd); + double theta = sqrt(xd * xd + yd * yd); + + if (theta > 1.0) { + theta = 1.0; + } + //theta *= M_PI / 2; + theta = asin(theta); + //double theta = (sqrt(2.0 - xd * xd - yd * yd) / 2.0); + awpu->steer(Spherical(theta, phi)); + } +} + /** * Computes and displays FPS on the frame. */ @@ -146,7 +168,8 @@ void stopRecording(cv::VideoWriter& videoWriter) { } void AWControlUnit::Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, - int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, bool use_logo, bool debug) { + int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, + bool use_logo, bool debug, bool miso) { cv::VideoCapture cap; cv::VideoWriter videoWriter; @@ -176,6 +199,7 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a // Start different modes if (tracking) { awpu->start(GRADIENT); } if (mimo) { awpu->start(MIMO); } + if (miso) { awpu->start(MISO); } if (audio_port == port) awpu->play_audio(); } @@ -183,6 +207,11 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a namedWindow(APPLICATION_NAME, cv::WINDOW_NORMAL); + if (miso) { + // Set the mouse callback function + cv::setMouseCallback(APPLICATION_NAME, clickEvent, awpus[0]); + } + cv::Mat frame(Y_RES, X_RES, CV_8UC1); cv::Mat colorFrame(Y_RES, X_RES, CV_8UC1); diff --git a/src/aw_control_unit/aw_control_unit.h b/src/aw_control_unit/aw_control_unit.h index eb82a04..0d69608 100644 --- a/src/aw_control_unit/aw_control_unit.h +++ b/src/aw_control_unit/aw_control_unit.h @@ -69,9 +69,11 @@ class AWControlUnit { * @param use_fps Flag indicating whether FPS (Frames Per Second) display is enabled. * @param use_logo Flag indicating whether to display a logo. * @param debug Flag indicating whether debug mode is enabled. + * @param miso Flag indicating whether MISO (Multiple Input Multiple Output) is enabled */ void Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, - int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, bool use_logo, bool debug); -}; + int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, + bool use_logo, bool debug, bool miso); +} #endif//AW_CONTROL_UNIT_H diff --git a/src/main.cpp b/src/main.cpp index 11a4b1e..dd225ed 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -84,6 +84,11 @@ void setupArgumentParser(argparse::ArgumentParser& program) { .default_value(false) .implicit_value(true) .help("Use WARA PS"); + + program.add_argument("--miso") + .default_value(false) + .implicit_value(true) + .help("MISO Mode"); } int main(int argc, char* argv[]) { @@ -113,6 +118,7 @@ int main(int argc, char* argv[]) { bool use_logo = program.get("--logo"); bool debug = program.get("--debug"); bool use_waraps = program.get("--wara-ps"); + bool miso = program.get("--miso"); if (verbose) { std::cout << "Camera: " << camera << std::endl; @@ -129,10 +135,13 @@ int main(int argc, char* argv[]) { std::cout << "Use fps: " << use_fps << std::endl; std::cout << "Debug: " << debug << std::endl; std::cout << "WARA PS: " << use_waraps << std::endl; + std::cout << "Miso: " << miso << std::endl; } AWControlUnit awControlUnit(use_waraps); - awControlUnit.Start(ports, ip_address, use_camera, camera, audio, mimo, tracking, mimo_res, verbose, record, fov, use_fps, use_logo, debug); + awControlUnit.Start(ports, ip_address, use_camera, camera, audio, + mimo, tracking, mimo_res, verbose, record, fov, + use_fps, use_logo, debug, miso); return 0; } From e2d40899bde3934f875f31ea739e12963a64b54c Mon Sep 17 00:00:00 2001 From: melkercarlsson123 Date: Wed, 7 Aug 2024 13:00:13 +0200 Subject: [PATCH 31/43] Reverse filter order - little bit faster --- src/dsp/delay.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/dsp/delay.cpp b/src/dsp/delay.cpp index 4b5bb45..831d5c9 100644 --- a/src/dsp/delay.cpp +++ b/src/dsp/delay.cpp @@ -28,9 +28,8 @@ void delay(float *out, const float *signal, const float fraction) { #elif USE_FILTER #define COEFF_SIZE 8 // Filter coefficient size (assuming it is 8) - void delay(float *out, const float *signal, const float fraction) { - float get_filter = (1 - fraction) * 100.0f + 0.5f; + float get_filter = fraction * 100.0f + 0.5f; int delay_int = (int) get_filter; for (int n = 0; n < N_SAMPLES; ++n) { From 9a4afeb6ebe1ced120fba4b534ff3716e7e7bb10 Mon Sep 17 00:00:00 2001 From: Irreq Date: Wed, 7 Aug 2024 13:08:18 +0200 Subject: [PATCH 32/43] Added miso counter for audio playback --- src/fpga/pipeline.cpp | 9 +++++++++ src/fpga/pipeline.h | 9 +++++++++ 2 files changed, 18 insertions(+) diff --git a/src/fpga/pipeline.cpp b/src/fpga/pipeline.cpp index 0aa847d..727d51f 100644 --- a/src/fpga/pipeline.cpp +++ b/src/fpga/pipeline.cpp @@ -214,6 +214,15 @@ void Pipeline::barrier() { barrier_condition.wait(lock, [&] { return barrier_count == 0; }); } +bool Pipeline::readMISO() { + miso_count++; + return (miso_count == 1); +} + +void Pipeline::writeMISO() { + miso_count = 0; +} + Streams *Pipeline::getStreams() const { return streams; } diff --git a/src/fpga/pipeline.h b/src/fpga/pipeline.h index 3b6c6d4..e9e2863 100644 --- a/src/fpga/pipeline.h +++ b/src/fpga/pipeline.h @@ -30,6 +30,7 @@ */ class Pipeline { public: + std::mutex miso_lock; /** * @brief Constructor to initialize the pipeline with FPGA address and port. * @param address The IP address of the FPGA. @@ -87,6 +88,11 @@ class Pipeline { */ Streams *getStreams() const; + float* getMISO(); + + void writeMISO(); + bool readMISO(); + /** * @brief Fetches the number of sensors attribute. * @return The number of sensors. @@ -150,6 +156,9 @@ class Pipeline { /// Flag indicating if synthetic data is used bool synthetic; + /// @brief Counter for miso write + int miso_count = 0; + /** * @brief Allow the worker threads to continue. */ From c028c0f4cdce42cfa8331200eb86363748eb15f2 Mon Sep 17 00:00:00 2001 From: Irreq Date: Wed, 7 Aug 2024 13:08:55 +0200 Subject: [PATCH 33/43] Added new constructor for miso --- src/audio/audio_wrapper.cpp | 63 +++++++++++++++++++++++++++++++++++++ src/audio/audio_wrapper.h | 10 ++++-- 2 files changed, 71 insertions(+), 2 deletions(-) diff --git a/src/audio/audio_wrapper.cpp b/src/audio/audio_wrapper.cpp index 939bfe6..3da5a52 100644 --- a/src/audio/audio_wrapper.cpp +++ b/src/audio/audio_wrapper.cpp @@ -116,6 +116,34 @@ static int audioCallback(const void *_, void *outputBuffer, return paContinue; } +static int audioCallbackSimple(const void *_, void *outputBuffer, + unsigned long framesPerBuffer, + const PaStreamCallbackTimeInfo *timeInfo, + PaStreamCallbackFlags statusFlags, + void *userData) { + auto self = static_cast(userData); + auto out = static_cast(outputBuffer); + float *in = self->getMISO(); + Pipeline *pipeline = self->getPipeline(); + int i=0; + std::vector *audioData = self->getAudioData(); + //std::cout << framesPerBuffer << std::endl; + //pipeline->barrier(); + //while (pipeline->readMISO() != true) { + // i++; + // std::cout << i <<" "; + //} + //in = pipeline->getStreams()->get_signal(0, 0); + //pipeline->miso_lock.lock(); + for (unsigned long i = 0; i < framesPerBuffer; ++i) { + out[i] = in[i]; + audioData->push_back(in[i]); + } + //pipeline->miso_lock.unlock(); + self->processAudioData(); + return paContinue; +} + static void checkErr(PaError err) { if (err != paNoError) { std::cerr << "\nPortAudio error: " << err << std::endl; @@ -179,6 +207,41 @@ AudioWrapper::AudioWrapper(Pipeline *pipeline) : pipeline(pipeline) { } } +AudioWrapper::AudioWrapper(Pipeline *pipeline, float *buffer) : pipeline(pipeline), miso(buffer) { + // Initializes port audio + PaError err = paNoError; + err = Pa_Initialize(); + checkErr(err); + + if constexpr (DEBUG_AUDIO) { + printDevices(); + } + + // Opens port audio stream + PaStreamParameters out_param; + out_param.device = 19; //Pa_GetDefaultOutputDevice(); + out_param.channelCount = 1; + out_param.hostApiSpecificStreamInfo = nullptr; + out_param.sampleFormat = paFloat32; + out_param.suggestedLatency = 0;// Pa_GetDeviceInfo(out_param.device)->defaultLowOutputLatency; + + err = Pa_OpenStream(&audio_stream_, + nullptr, + &out_param, + SAMPLE_RATE, + N_SAMPLES, + paNoFlag, + audioCallbackSimple, + this); + + checkErr(err); + + // Initializes audio files + if constexpr (AUDIO_FILE) { + initAudioFiles(); + } +} + Pipeline *AudioWrapper::getPipeline() { return pipeline; } diff --git a/src/audio/audio_wrapper.h b/src/audio/audio_wrapper.h index 24a957b..a4f5038 100644 --- a/src/audio/audio_wrapper.h +++ b/src/audio/audio_wrapper.h @@ -1,5 +1,5 @@ /** @file audio_wrapper.h - * @author Janne, Tuva + * @author Janne, Tuva, Isac * @brief Manages audio streaming and processing, with support for file encoding (and real-time playback). * @date 2024-07-01 */ @@ -22,7 +22,7 @@ #define WAV true #define AUDIO_FILE true #define BUFFER_THRESHOLD 146484.0 //SAMPLE_RATE * 3, Flushing buffer every 3 seconds -#define DEBUG_AUDIO 0 +#define DEBUG_AUDIO 1 /** * @class AudioWrapper @@ -30,6 +30,9 @@ */ class AudioWrapper { private: + /// Audio buffer from MISO + float *miso; + /// Flag if audio stream is running std::atomic is_on_ = false; @@ -85,6 +88,7 @@ class AudioWrapper { * @param pipeline Pointer to a Pipeline object for data streaming. */ AudioWrapper(Pipeline *pipeline); + AudioWrapper(Pipeline *pipeline, float *buffer); // Delete copy constructor and assignment operators. AudioWrapper(const AudioWrapper &) = delete; @@ -108,6 +112,8 @@ class AudioWrapper { */ std::vector *getAudioData(); + float* getMISO() {return miso;}; + /** * @brief Starts the stream of audio. */ From e9417ddcc6cc2fe70abc9f43e396d58cd6fd7c4d Mon Sep 17 00:00:00 2001 From: Irreq Date: Wed, 7 Aug 2024 13:09:19 +0200 Subject: [PATCH 34/43] Updated miso for playback --- src/dsp/miso.cpp | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/src/dsp/miso.cpp b/src/dsp/miso.cpp index 930a0d2..2ad76cf 100644 --- a/src/dsp/miso.cpp +++ b/src/dsp/miso.cpp @@ -1,6 +1,6 @@ #include "miso.h" -MISOWorker::MISOWorker(Pipeline *pipeline, Antenna &antenna, bool *running, double fov) : Worker(pipeline, antenna, running), beamformer(antenna, pipeline->getStreams(), fov, TO_RADIANS(TRACKER_SPREAD)), aw(pipeline, &this->data[0]) { +MISOWorker::MISOWorker(Pipeline *pipeline, Antenna &antenna, bool *running, double fov) : Worker(pipeline, antenna, running), beamformer(antenna, pipeline->getStreams(), fov, TO_RADIANS(TRACKER_SPREAD)), aw(pipeline, &data[0]) { this->fov = TO_RADIANS(fov / 2.0); ratio = (sin(this->fov)); beamformer.thetaLimit = fov; @@ -8,6 +8,7 @@ MISOWorker::MISOWorker(Pipeline *pipeline, Antenna &antenna, bool *running, doub beamformer.move(Spherical(0, 0, 0)); beamformer.startTracking(Spherical(0, 0, 0)); thread_loop = std::thread(&MISOWorker::loop, this); + aw.start_audio_playback(); } void MISOWorker::steer(Spherical direction) { @@ -39,8 +40,18 @@ void MISOWorker::update() { beamformer.step(PARTICLE_RATE / 10, reference); beamformer.steer(beamformer.directionCurrent); + + //memcpy(&data[0], streams->get_signal(0, N_SAMPLES), N_SAMPLES * sizeof(float)); + //pipeline->miso_lock.lock(); beamformer.das(&data[0]); - } + //memcpy(&data[0], streams->get_signal(0, N_SAMPLES), N_SAMPLES * sizeof(float)); + + pipeline->writeMISO(); + //std::cout << data[0] << std::endl; + //pipeline->miso_lock.unlock(); + } + + } void MISOWorker::populateHeatmap(cv::Mat *heatmap) { From 066bf3c489f847da4482ecec0edc96632cb40cdb Mon Sep 17 00:00:00 2001 From: Tuva Date: Wed, 7 Aug 2024 14:17:54 +0200 Subject: [PATCH 35/43] somewhat working miso --- src/audio/audio_wrapper.cpp | 41 +++++++++++++------------ src/audio/audio_wrapper.h | 15 ++++++--- src/aw_control_unit/aw_control_unit.cpp | 4 +-- src/aw_control_unit/aw_control_unit.h | 2 +- 4 files changed, 34 insertions(+), 28 deletions(-) diff --git a/src/audio/audio_wrapper.cpp b/src/audio/audio_wrapper.cpp index 3da5a52..2dbbe56 100644 --- a/src/audio/audio_wrapper.cpp +++ b/src/audio/audio_wrapper.cpp @@ -116,30 +116,28 @@ static int audioCallback(const void *_, void *outputBuffer, return paContinue; } -static int audioCallbackSimple(const void *_, void *outputBuffer, - unsigned long framesPerBuffer, - const PaStreamCallbackTimeInfo *timeInfo, - PaStreamCallbackFlags statusFlags, - void *userData) { +/** + * The callback function portaudio continuously runs to process audio, for the MISO algorithm. + * Audio data from the beamformed MISO algorithm is placed into audioData buffer to be acceses + * by file encoders, as well as an out buffer which plays the audio real time. + * Only when incoming data exists it is processed (barrier). + */ +static int audioCallbackMISO(const void *_, void *outputBuffer, + unsigned long framesPerBuffer, + const PaStreamCallbackTimeInfo *timeInfo, + PaStreamCallbackFlags statusFlags, + void *userData) { auto self = static_cast(userData); auto out = static_cast(outputBuffer); + float *in = self->getMISO(); - Pipeline *pipeline = self->getPipeline(); - int i=0; std::vector *audioData = self->getAudioData(); - //std::cout << framesPerBuffer << std::endl; - //pipeline->barrier(); - //while (pipeline->readMISO() != true) { - // i++; - // std::cout << i <<" "; - //} - //in = pipeline->getStreams()->get_signal(0, 0); - //pipeline->miso_lock.lock(); + for (unsigned long i = 0; i < framesPerBuffer; ++i) { out[i] = in[i]; audioData->push_back(in[i]); } - //pipeline->miso_lock.unlock(); + self->processAudioData(); return paContinue; } @@ -172,6 +170,7 @@ static void printDevices() { } } +// For direct audio playback AudioWrapper::AudioWrapper(Pipeline *pipeline) : pipeline(pipeline) { // Initializes port audio PaError err = paNoError; @@ -207,7 +206,9 @@ AudioWrapper::AudioWrapper(Pipeline *pipeline) : pipeline(pipeline) { } } -AudioWrapper::AudioWrapper(Pipeline *pipeline, float *buffer) : pipeline(pipeline), miso(buffer) { +// For MISO +AudioWrapper::AudioWrapper(Pipeline *pipeline, float *buffer) : pipeline(pipeline), + miso(buffer) { // Initializes port audio PaError err = paNoError; err = Pa_Initialize(); @@ -219,11 +220,11 @@ AudioWrapper::AudioWrapper(Pipeline *pipeline, float *buffer) : pipeline(pipelin // Opens port audio stream PaStreamParameters out_param; - out_param.device = 19; //Pa_GetDefaultOutputDevice(); + out_param.device = Pa_GetDefaultOutputDevice(); out_param.channelCount = 1; out_param.hostApiSpecificStreamInfo = nullptr; out_param.sampleFormat = paFloat32; - out_param.suggestedLatency = 0;// Pa_GetDeviceInfo(out_param.device)->defaultLowOutputLatency; + out_param.suggestedLatency = Pa_GetDeviceInfo(out_param.device)->defaultLowOutputLatency; err = Pa_OpenStream(&audio_stream_, nullptr, @@ -231,7 +232,7 @@ AudioWrapper::AudioWrapper(Pipeline *pipeline, float *buffer) : pipeline(pipelin SAMPLE_RATE, N_SAMPLES, paNoFlag, - audioCallbackSimple, + audioCallbackMISO, this); checkErr(err); diff --git a/src/audio/audio_wrapper.h b/src/audio/audio_wrapper.h index a4f5038..c3f29a4 100644 --- a/src/audio/audio_wrapper.h +++ b/src/audio/audio_wrapper.h @@ -4,8 +4,8 @@ * @date 2024-07-01 */ -#ifndef BEAMFORMER_AUDIO_WRAPPER_H -#define BEAMFORMER_AUDIO_WRAPPER_H +#ifndef AUDIO_WRAPPER_H +#define AUDIO_WRAPPER_H #include #include @@ -21,7 +21,7 @@ #define MP3 true #define WAV true #define AUDIO_FILE true -#define BUFFER_THRESHOLD 146484.0 //SAMPLE_RATE * 3, Flushing buffer every 3 seconds +#define BUFFER_THRESHOLD 146484.0//SAMPLE_RATE * 3, Flushing buffer every 3 seconds #define DEBUG_AUDIO 1 /** @@ -112,7 +112,12 @@ class AudioWrapper { */ std::vector *getAudioData(); - float* getMISO() {return miso;}; + /** + * @brief Fetches the audio buffer. + * + * @return float* The uadio buffer. + */ + float *getMISO() { return miso; }; /** * @brief Starts the stream of audio. @@ -135,4 +140,4 @@ class AudioWrapper { ~AudioWrapper(); }; -#endif //BEAMFORMER_AUDIO_WRAPPER_H +#endif//AUDIO_WRAPPER_H diff --git a/src/aw_control_unit/aw_control_unit.cpp b/src/aw_control_unit/aw_control_unit.cpp index 283b918..767fe9e 100644 --- a/src/aw_control_unit/aw_control_unit.cpp +++ b/src/aw_control_unit/aw_control_unit.cpp @@ -199,8 +199,8 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a // Start different modes if (tracking) { awpu->start(GRADIENT); } if (mimo) { awpu->start(MIMO); } - if (miso) { awpu->start(MISO); } - if (audio_port == port) awpu->play_audio(); + if (miso && audio_port == port) { awpu->start(MISO); } + if (audio_port == port && !miso) { awpu->play_audio(); } } int awpu_count = awpus.size(); diff --git a/src/aw_control_unit/aw_control_unit.h b/src/aw_control_unit/aw_control_unit.h index 0d69608..9a8ad59 100644 --- a/src/aw_control_unit/aw_control_unit.h +++ b/src/aw_control_unit/aw_control_unit.h @@ -74,6 +74,6 @@ class AWControlUnit { void Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, bool use_logo, bool debug, bool miso); -} +}; #endif//AW_CONTROL_UNIT_H From 0ea4018d6edbe0dfd548a491351bfdaf8ce14904 Mon Sep 17 00:00:00 2001 From: melkercarlsson123 Date: Wed, 7 Aug 2024 14:28:13 +0200 Subject: [PATCH 36/43] Update filter.h Filter inverse --- src/dsp/filter.h | 206 +++++++++++++++++++++++------------------------ 1 file changed, 103 insertions(+), 103 deletions(-) diff --git a/src/dsp/filter.h b/src/dsp/filter.h index 7157d97..be19597 100644 --- a/src/dsp/filter.h +++ b/src/dsp/filter.h @@ -7,110 +7,110 @@ #ifndef FILTER_H #define FILTER_H -// Keep in mind: the modes 5-7 are just pretty bad low pass filters, not bandpass like the rest +float filter_coeffs [101][8] = { + {-0.0000000, 0.0000004, -0.0000044, 0.9999948, 0.0000129, -0.0000050, 0.0000015, -0.0000002}, + {-0.0000000, 0.0004251, -0.0043286, 0.9946655, 0.0129883, -0.0049983, 0.0014622, -0.0002141}, + {-0.0000000, 0.0008412, -0.0085242, 0.9890886, 0.0260945, -0.0099908, 0.0029177, -0.0004269}, + {-0.0000000, 0.0012482, -0.0125877, 0.9832733, 0.0393128, -0.0149737, 0.0043654, -0.0006382}, + {-0.0000000, 0.0016459, -0.0165200, 0.9772238, 0.0526372, -0.0199433, 0.0058043, -0.0008479}, + {-0.0000000, 0.0020342, -0.0203219, 0.9709444, 0.0660618, -0.0248960, 0.0072332, -0.0010557}, + {-0.0000000, 0.0024129, -0.0239943, 0.9644393, 0.0795807, -0.0298280, 0.0086510, -0.0012616}, + {-0.0000000, 0.0027819, -0.0275384, 0.9577127, 0.0931880, -0.0347357, 0.0100567, -0.0014653}, + {-0.0000000, 0.0031411, -0.0309549, 0.9507692, 0.1068777, -0.0396154, 0.0114491, -0.0016667}, + {-0.0000000, 0.0034904, -0.0342451, 0.9436129, 0.1206437, -0.0444634, 0.0128272, -0.0018657}, + {-0.0000000, 0.0038296, -0.0374099, 0.9362485, 0.1344802, -0.0492762, 0.0141900, -0.0020621}, + {-0.0000000, 0.0041587, -0.0404506, 0.9286803, 0.1483811, -0.0540502, 0.0155364, -0.0022558}, + {-0.0000000, 0.0044776, -0.0433681, 0.9209128, 0.1623405, -0.0587817, 0.0168654, -0.0024465}, + {-0.0000000, 0.0047862, -0.0461637, 0.9129507, 0.1763523, -0.0634672, 0.0181760, -0.0026343}, + {-0.0000000, 0.0050845, -0.0488386, 0.9047984, 0.1904106, -0.0681031, 0.0194672, -0.0028189}, + {-0.0000000, 0.0053724, -0.0513941, 0.8964605, 0.2045094, -0.0726860, 0.0207380, -0.0030002}, + {-0.0000000, 0.0056498, -0.0538313, 0.8879418, 0.2186427, -0.0772123, 0.0219874, -0.0031780}, + {-0.0000000, 0.0059167, -0.0561516, 0.8792468, 0.2328045, -0.0816787, 0.0232146, -0.0033523}, + {-0.0000000, 0.0061732, -0.0583563, 0.8703802, 0.2469889, -0.0860816, 0.0244186, -0.0035229}, + {-0.0000000, 0.0064190, -0.0604468, 0.8613467, 0.2611899, -0.0904176, 0.0255985, -0.0036897}, + {-0.0000000, 0.0066544, -0.0624243, 0.8521511, 0.2754015, -0.0946835, 0.0267533, -0.0038525}, + {-0.0000000, 0.0068791, -0.0642904, 0.8427982, 0.2896180, -0.0988758, 0.0278822, -0.0040113}, + {-0.0000000, 0.0070933, -0.0660464, 0.8332926, 0.3038332, -0.1029912, 0.0289844, -0.0041659}, + {-0.0000000, 0.0072970, -0.0676937, 0.8236391, 0.3180415, -0.1070266, 0.0300589, -0.0043162}, + {-0.0000000, 0.0074901, -0.0692339, 0.8138426, 0.3322368, -0.1109785, 0.0311051, -0.0044622}, + {-0.0000000, 0.0076727, -0.0706683, 0.8039078, 0.3464134, -0.1148440, 0.0321220, -0.0046036}, + {-0.0000000, 0.0078448, -0.0719986, 0.7938397, 0.3605655, -0.1186197, 0.0331089, -0.0047404}, + {-0.0000000, 0.0080064, -0.0732263, 0.7836429, 0.3746872, -0.1223026, 0.0340650, -0.0048725}, + {-0.0000000, 0.0081577, -0.0743528, 0.7733224, 0.3887727, -0.1258897, 0.0349895, -0.0049999}, + {-0.0000000, 0.0082986, -0.0753798, 0.7628829, 0.4028165, -0.1293778, 0.0358819, -0.0051223}, + {-0.0000000, 0.0084292, -0.0763088, 0.7523294, 0.4168127, -0.1327640, 0.0367413, -0.0052397}, + {-0.0000000, 0.0085495, -0.0771414, 0.7416667, 0.4307557, -0.1360454, 0.0375670, -0.0053521}, + {-0.0000000, 0.0086597, -0.0778794, 0.7308996, 0.4446399, -0.1392190, 0.0383585, -0.0054594}, + {-0.0000000, 0.0087598, -0.0785242, 0.7200329, 0.4584597, -0.1422820, 0.0391150, -0.0055614}, + {-0.0000000, 0.0088498, -0.0790775, 0.7090717, 0.4722096, -0.1452315, 0.0398360, -0.0056581}, + {-0.0000000, 0.0089300, -0.0795410, 0.6980205, 0.4858840, -0.1480650, 0.0405209, -0.0057494}, + {-0.0000000, 0.0090003, -0.0799164, 0.6868844, 0.4994775, -0.1507795, 0.0411691, -0.0058354}, + {-0.0000000, 0.0090609, -0.0802053, 0.6756682, 0.5129846, -0.1533725, 0.0417800, -0.0059158}, + {-0.0000000, 0.0091118, -0.0804095, 0.6643766, 0.5264001, -0.1558414, 0.0423531, -0.0059906}, + {-0.0000000, 0.0091532, -0.0805307, 0.6530145, 0.5397185, -0.1581836, 0.0428880, -0.0060599}, + {-0.0000000, 0.0091852, -0.0805705, 0.6415867, 0.5529346, -0.1603967, 0.0433841, -0.0061234}, + {-0.0000000, 0.0092078, -0.0805307, 0.6300980, 0.5660433, -0.1624781, 0.0438410, -0.0061813}, + {-0.0000000, 0.0092213, -0.0804131, 0.6185531, 0.5790392, -0.1644255, 0.0442583, -0.0062334}, + {-0.0000000, 0.0092258, -0.0802193, 0.6069568, 0.5919174, -0.1662366, 0.0446356, -0.0062797}, + {-0.0000000, 0.0092213, -0.0799512, 0.5953139, 0.6046727, -0.1679090, 0.0449725, -0.0063202}, + {-0.0000000, 0.0092080, -0.0796104, 0.5836290, 0.6173002, -0.1694407, 0.0452687, -0.0063548}, + {-0.0000000, 0.0091861, -0.0791989, 0.5719070, 0.6297950, -0.1708294, 0.0455238, -0.0063836}, + {-0.0000000, 0.0091557, -0.0787182, 0.5601524, 0.6421520, -0.1720730, 0.0457375, -0.0064064}, + {-0.0000000, 0.0091169, -0.0781703, 0.5483699, 0.6543667, -0.1731694, 0.0459095, -0.0064232}, + {-0.0000000, 0.0090699, -0.0775568, 0.5365641, 0.6664341, -0.1741168, 0.0460397, -0.0064342}, + {-0.0000000, 0.0090148, -0.0768796, 0.5247397, 0.6783497, -0.1749132, 0.0461278, -0.0064391}, + {-0.0000000, 0.0089518, -0.0761405, 0.5129012, 0.6901088, -0.1755568, 0.0461735, -0.0064381}, + {-0.0000000, 0.0088812, -0.0753412, 0.5010533, 0.7017068, -0.1760457, 0.0461768, -0.0064312}, + {-0.0000000, 0.0088029, -0.0744834, 0.4892003, 0.7131393, -0.1763783, 0.0461375, -0.0064182}, + {-0.0000000, 0.0087172, -0.0735691, 0.4773468, 0.7244019, -0.1765529, 0.0460555, -0.0063993}, + {-0.0000000, 0.0086243, -0.0726000, 0.4654972, 0.7354903, -0.1765679, 0.0459306, -0.0063745}, + {-0.0000000, 0.0085243, -0.0715779, 0.4536560, 0.7464001, -0.1764218, 0.0457629, -0.0063436}, + {-0.0000000, 0.0084174, -0.0705045, 0.4418275, 0.7571273, -0.1761131, 0.0455523, -0.0063069}, + {-0.0000000, 0.0083038, -0.0693816, 0.4300162, 0.7676676, -0.1756404, 0.0452987, -0.0062643}, + {-0.0000000, 0.0081836, -0.0682111, 0.4182262, 0.7780171, -0.1750025, 0.0450023, -0.0062157}, + {-0.0000000, 0.0080571, -0.0669946, 0.4064620, 0.7881718, -0.1741980, 0.0446631, -0.0061613}, + {-0.0000000, 0.0079245, -0.0657340, 0.3947276, 0.7981278, -0.1732258, 0.0442811, -0.0061011}, + {-0.0000000, 0.0077858, -0.0644310, 0.3830274, 0.8078814, -0.1720848, 0.0438564, -0.0060351}, + {-0.0000000, 0.0076413, -0.0630874, 0.3713654, 0.8174288, -0.1707738, 0.0433893, -0.0059634}, + {-0.0000000, 0.0074912, -0.0617050, 0.3597457, 0.8267664, -0.1692921, 0.0428797, -0.0058860}, + {-0.0000000, 0.0073357, -0.0602854, 0.3481725, 0.8358906, -0.1676386, 0.0423281, -0.0058029}, + {-0.0000000, 0.0071750, -0.0588305, 0.3366497, 0.8447981, -0.1658125, 0.0417345, -0.0057142}, + {-0.0000000, 0.0070093, -0.0573420, 0.3251813, 0.8534854, -0.1638131, 0.0410992, -0.0056200}, + {-0.0000000, 0.0068386, -0.0558215, 0.3137712, 0.8619493, -0.1616397, 0.0404224, -0.0055203}, + {-0.0000000, 0.0066634, -0.0542708, 0.3024233, 0.8701864, -0.1592916, 0.0397046, -0.0054153}, + {-0.0000000, 0.0064837, -0.0526916, 0.2911414, 0.8781939, -0.1567684, 0.0389460, -0.0053048}, + {-0.0000000, 0.0062997, -0.0510857, 0.2799292, 0.8859685, -0.1540696, 0.0381469, -0.0051891}, + {-0.0000000, 0.0061117, -0.0494546, 0.2687905, 0.8935074, -0.1511947, 0.0373079, -0.0050682}, + {-0.0000000, 0.0059198, -0.0478001, 0.2577290, 0.9008078, -0.1481435, 0.0364291, -0.0049422}, + {-0.0000000, 0.0057242, -0.0461238, 0.2467483, 0.9078669, -0.1449156, 0.0355113, -0.0048112}, + {-0.0000000, 0.0055252, -0.0444274, 0.2358518, 0.9146820, -0.1415111, 0.0345547, -0.0046752}, + {-0.0000000, 0.0053230, -0.0427125, 0.2250431, 0.9212506, -0.1379297, 0.0335598, -0.0045344}, + {-0.0000000, 0.0051176, -0.0409808, 0.2143257, 0.9275703, -0.1341714, 0.0325274, -0.0043888}, + {-0.0000000, 0.0049094, -0.0392338, 0.2037029, 0.9336386, -0.1302363, 0.0314577, -0.0042386}, + {-0.0000000, 0.0046985, -0.0374732, 0.1931780, 0.9394533, -0.1261245, 0.0303516, -0.0040838}, + {-0.0000000, 0.0044852, -0.0357005, 0.1827544, 0.9450122, -0.1218362, 0.0292095, -0.0039246}, + {-0.0000000, 0.0042696, -0.0339173, 0.1724351, 0.9503133, -0.1173718, 0.0280321, -0.0037610}, + {-0.0000000, 0.0040519, -0.0321251, 0.1622234, 0.9553545, -0.1127315, 0.0268200, -0.0035932}, + {-0.0000000, 0.0038324, -0.0303255, 0.1521223, 0.9601339, -0.1079158, 0.0255741, -0.0034213}, + {-0.0000000, 0.0036111, -0.0285201, 0.1421349, 0.9646499, -0.1029253, 0.0242949, -0.0032455}, + {-0.0000000, 0.0033884, -0.0267102, 0.1322641, 0.9689006, -0.0977604, 0.0229832, -0.0030657}, + {-0.0000000, 0.0031644, -0.0248975, 0.1225127, 0.9728846, -0.0924219, 0.0216399, -0.0028823}, + {-0.0000000, 0.0029393, -0.0230833, 0.1128837, 0.9766003, -0.0869105, 0.0202656, -0.0026952}, + {-0.0000000, 0.0027134, -0.0212691, 0.1033797, 0.9800463, -0.0812269, 0.0188613, -0.0025046}, + {-0.0000000, 0.0024867, -0.0194563, 0.0940036, 0.9832214, -0.0753722, 0.0174277, -0.0023108}, + {-0.0000000, 0.0022595, -0.0176464, 0.0847578, 0.9861243, -0.0693473, 0.0159658, -0.0021137}, + {-0.0000000, 0.0020319, -0.0158408, 0.0756449, 0.9887541, -0.0631531, 0.0144765, -0.0019136}, + {-0.0000000, 0.0018043, -0.0140407, 0.0666675, 0.9911097, -0.0567908, 0.0129607, -0.0017105}, + {-0.0000000, 0.0015767, -0.0122476, 0.0578280, 0.9931902, -0.0502617, 0.0114193, -0.0015048}, + {-0.0000000, 0.0013493, -0.0104628, 0.0491286, 0.9949948, -0.0435669, 0.0098533, -0.0012964}, + {-0.0000000, 0.0011223, -0.0086876, 0.0405718, 0.9965230, -0.0367078, 0.0082638, -0.0010855}, + {-0.0000000, 0.0008959, -0.0069233, 0.0321596, 0.9977741, -0.0296858, 0.0066518, -0.0008724}, + {-0.0000000, 0.0006703, -0.0051712, 0.0238944, 0.9987477, -0.0225025, 0.0050183, -0.0006571}, + {-0.0000000, 0.0004457, -0.0034324, 0.0157780, 0.9994433, -0.0151593, 0.0033645, -0.0004398}, + {-0.0000000, 0.0002222, -0.0017083, 0.0078126, 0.9998608, -0.0076579, 0.0016913, -0.0002207}, + {-0.0000000, 0.0000002, -0.0000017, 0.0000077, 1.0000000, -0.0000077, 0.0000017, -0.0000002} +}; -const float filter_coeffs[101][8] = { - {0.0000000, -0.0000002, 0.0000017, -0.0000077, 1.0000000, 0.0000077, -0.0000017, 0.0000002}, - {0.0000000, -0.0002207, 0.0016913, -0.0076579, 0.9998608, 0.0078126, -0.0017083, 0.0002222}, - {0.0000000, -0.0004398, 0.0033645, -0.0151593, 0.9994433, 0.0157780, -0.0034324, 0.0004457}, - {0.0000000, -0.0006571, 0.0050183, -0.0225025, 0.9987477, 0.0238944, -0.0051712, 0.0006703}, - {0.0000000, -0.0008724, 0.0066518, -0.0296858, 0.9977741, 0.0321596, -0.0069233, 0.0008959}, - {0.0000000, -0.0010855, 0.0082638, -0.0367078, 0.9965230, 0.0405718, -0.0086876, 0.0011223}, - {0.0000000, -0.0012964, 0.0098533, -0.0435669, 0.9949948, 0.0491286, -0.0104628, 0.0013493}, - {0.0000000, -0.0015048, 0.0114193, -0.0502617, 0.9931902, 0.0578280, -0.0122476, 0.0015767}, - {0.0000000, -0.0017105, 0.0129607, -0.0567908, 0.9911097, 0.0666675, -0.0140407, 0.0018043}, - {0.0000000, -0.0019136, 0.0144765, -0.0631531, 0.9887541, 0.0756449, -0.0158408, 0.0020319}, - {0.0000000, -0.0021137, 0.0159658, -0.0693473, 0.9861243, 0.0847578, -0.0176464, 0.0022595}, - {0.0000000, -0.0023108, 0.0174277, -0.0753722, 0.9832214, 0.0940036, -0.0194563, 0.0024867}, - {0.0000000, -0.0025046, 0.0188613, -0.0812269, 0.9800463, 0.1033797, -0.0212691, 0.0027134}, - {0.0000000, -0.0026952, 0.0202656, -0.0869105, 0.9766003, 0.1128837, -0.0230833, 0.0029393}, - {0.0000000, -0.0028823, 0.0216399, -0.0924219, 0.9728846, 0.1225127, -0.0248975, 0.0031644}, - {0.0000000, -0.0030657, 0.0229832, -0.0977604, 0.9689006, 0.1322641, -0.0267102, 0.0033884}, - {0.0000000, -0.0032455, 0.0242949, -0.1029253, 0.9646499, 0.1421349, -0.0285201, 0.0036111}, - {0.0000000, -0.0034213, 0.0255741, -0.1079158, 0.9601339, 0.1521223, -0.0303255, 0.0038324}, - {0.0000000, -0.0035932, 0.0268200, -0.1127315, 0.9553545, 0.1622234, -0.0321251, 0.0040519}, - {0.0000000, -0.0037610, 0.0280321, -0.1173718, 0.9503133, 0.1724351, -0.0339173, 0.0042696}, - {0.0000000, -0.0039246, 0.0292095, -0.1218362, 0.9450122, 0.1827544, -0.0357005, 0.0044852}, - {0.0000000, -0.0040838, 0.0303516, -0.1261245, 0.9394533, 0.1931780, -0.0374732, 0.0046985}, - {0.0000000, -0.0042386, 0.0314577, -0.1302363, 0.9336386, 0.2037029, -0.0392338, 0.0049094}, - {0.0000000, -0.0043888, 0.0325274, -0.1341714, 0.9275703, 0.2143257, -0.0409808, 0.0051176}, - {0.0000000, -0.0045344, 0.0335598, -0.1379297, 0.9212506, 0.2250431, -0.0427125, 0.0053230}, - {0.0000000, -0.0046752, 0.0345547, -0.1415111, 0.9146820, 0.2358518, -0.0444274, 0.0055252}, - {0.0000000, -0.0048112, 0.0355113, -0.1449156, 0.9078669, 0.2467483, -0.0461238, 0.0057242}, - {0.0000000, -0.0049422, 0.0364291, -0.1481435, 0.9008078, 0.2577290, -0.0478001, 0.0059198}, - {0.0000000, -0.0050682, 0.0373079, -0.1511947, 0.8935074, 0.2687905, -0.0494546, 0.0061117}, - {0.0000000, -0.0051891, 0.0381469, -0.1540696, 0.8859685, 0.2799292, -0.0510857, 0.0062997}, - {0.0000000, -0.0053048, 0.0389460, -0.1567684, 0.8781939, 0.2911414, -0.0526916, 0.0064837}, - {0.0000000, -0.0054153, 0.0397046, -0.1592916, 0.8701864, 0.3024233, -0.0542708, 0.0066634}, - {0.0000000, -0.0055203, 0.0404224, -0.1616397, 0.8619493, 0.3137712, -0.0558215, 0.0068386}, - {0.0000000, -0.0056200, 0.0410992, -0.1638131, 0.8534854, 0.3251813, -0.0573420, 0.0070093}, - {0.0000000, -0.0057142, 0.0417345, -0.1658125, 0.8447981, 0.3366497, -0.0588305, 0.0071750}, - {0.0000000, -0.0058029, 0.0423281, -0.1676386, 0.8358906, 0.3481725, -0.0602854, 0.0073357}, - {0.0000000, -0.0058860, 0.0428797, -0.1692921, 0.8267664, 0.3597457, -0.0617050, 0.0074912}, - {0.0000000, -0.0059634, 0.0433893, -0.1707738, 0.8174288, 0.3713654, -0.0630874, 0.0076413}, - {0.0000000, -0.0060351, 0.0438564, -0.1720848, 0.8078814, 0.3830274, -0.0644310, 0.0077858}, - {0.0000000, -0.0061011, 0.0442811, -0.1732258, 0.7981278, 0.3947276, -0.0657340, 0.0079245}, - {0.0000000, -0.0061613, 0.0446631, -0.1741980, 0.7881718, 0.4064620, -0.0669946, 0.0080571}, - {0.0000000, -0.0062157, 0.0450023, -0.1750025, 0.7780171, 0.4182262, -0.0682111, 0.0081836}, - {0.0000000, -0.0062643, 0.0452987, -0.1756404, 0.7676676, 0.4300162, -0.0693816, 0.0083038}, - {0.0000000, -0.0063069, 0.0455523, -0.1761131, 0.7571273, 0.4418275, -0.0705045, 0.0084174}, - {0.0000000, -0.0063436, 0.0457629, -0.1764218, 0.7464001, 0.4536560, -0.0715779, 0.0085243}, - {0.0000000, -0.0063745, 0.0459306, -0.1765679, 0.7354903, 0.4654972, -0.0726000, 0.0086243}, - {0.0000000, -0.0063993, 0.0460555, -0.1765529, 0.7244019, 0.4773468, -0.0735691, 0.0087172}, - {0.0000000, -0.0064182, 0.0461375, -0.1763783, 0.7131393, 0.4892003, -0.0744834, 0.0088029}, - {0.0000000, -0.0064312, 0.0461768, -0.1760457, 0.7017068, 0.5010533, -0.0753412, 0.0088812}, - {0.0000000, -0.0064381, 0.0461735, -0.1755568, 0.6901088, 0.5129012, -0.0761405, 0.0089518}, - {0.0000000, -0.0064391, 0.0461278, -0.1749132, 0.6783497, 0.5247397, -0.0768796, 0.0090148}, - {0.0000000, -0.0064342, 0.0460397, -0.1741168, 0.6664341, 0.5365641, -0.0775568, 0.0090699}, - {0.0000000, -0.0064232, 0.0459095, -0.1731694, 0.6543667, 0.5483699, -0.0781703, 0.0091169}, - {0.0000000, -0.0064064, 0.0457375, -0.1720730, 0.6421520, 0.5601524, -0.0787182, 0.0091557}, - {0.0000000, -0.0063836, 0.0455238, -0.1708294, 0.6297950, 0.5719070, -0.0791989, 0.0091861}, - {0.0000000, -0.0063548, 0.0452687, -0.1694407, 0.6173002, 0.5836290, -0.0796104, 0.0092080}, - {0.0000000, -0.0063202, 0.0449725, -0.1679090, 0.6046727, 0.5953139, -0.0799512, 0.0092213}, - {0.0000000, -0.0062797, 0.0446356, -0.1662366, 0.5919174, 0.6069568, -0.0802193, 0.0092258}, - {0.0000000, -0.0062334, 0.0442583, -0.1644255, 0.5790392, 0.6185531, -0.0804131, 0.0092213}, - {0.0000000, -0.0061813, 0.0438410, -0.1624781, 0.5660433, 0.6300980, -0.0805307, 0.0092078}, - {0.0000000, -0.0061234, 0.0433841, -0.1603967, 0.5529346, 0.6415867, -0.0805705, 0.0091852}, - {0.0000000, -0.0060599, 0.0428880, -0.1581836, 0.5397185, 0.6530145, -0.0805307, 0.0091532}, - {0.0000000, -0.0059906, 0.0423531, -0.1558414, 0.5264001, 0.6643766, -0.0804095, 0.0091118}, - {0.0000000, -0.0059158, 0.0417800, -0.1533725, 0.5129846, 0.6756682, -0.0802053, 0.0090609}, - {0.0000000, -0.0058354, 0.0411691, -0.1507795, 0.4994775, 0.6868844, -0.0799164, 0.0090003}, - {0.0000000, -0.0057494, 0.0405209, -0.1480650, 0.4858840, 0.6980205, -0.0795410, 0.0089300}, - {0.0000000, -0.0056581, 0.0398360, -0.1452315, 0.4722096, 0.7090717, -0.0790775, 0.0088498}, - {0.0000000, -0.0055614, 0.0391150, -0.1422820, 0.4584597, 0.7200329, -0.0785242, 0.0087598}, - {0.0000000, -0.0054594, 0.0383585, -0.1392190, 0.4446399, 0.7308996, -0.0778794, 0.0086597}, - {0.0000000, -0.0053521, 0.0375670, -0.1360454, 0.4307557, 0.7416667, -0.0771414, 0.0085495}, - {0.0000000, -0.0052397, 0.0367413, -0.1327640, 0.4168127, 0.7523294, -0.0763088, 0.0084292}, - {0.0000000, -0.0051223, 0.0358819, -0.1293778, 0.4028165, 0.7628829, -0.0753798, 0.0082986}, - {0.0000000, -0.0049999, 0.0349895, -0.1258897, 0.3887727, 0.7733224, -0.0743528, 0.0081577}, - {0.0000000, -0.0048725, 0.0340650, -0.1223026, 0.3746872, 0.7836429, -0.0732263, 0.0080064}, - {0.0000000, -0.0047404, 0.0331089, -0.1186197, 0.3605655, 0.7938397, -0.0719986, 0.0078448}, - {0.0000000, -0.0046036, 0.0321220, -0.1148440, 0.3464134, 0.8039078, -0.0706683, 0.0076727}, - {0.0000000, -0.0044622, 0.0311051, -0.1109785, 0.3322368, 0.8138426, -0.0692339, 0.0074901}, - {0.0000000, -0.0043162, 0.0300589, -0.1070266, 0.3180415, 0.8236391, -0.0676937, 0.0072970}, - {0.0000000, -0.0041659, 0.0289844, -0.1029912, 0.3038332, 0.8332926, -0.0660464, 0.0070933}, - {0.0000000, -0.0040113, 0.0278822, -0.0988758, 0.2896180, 0.8427982, -0.0642904, 0.0068791}, - {0.0000000, -0.0038525, 0.0267533, -0.0946835, 0.2754015, 0.8521511, -0.0624243, 0.0066544}, - {0.0000000, -0.0036897, 0.0255985, -0.0904176, 0.2611899, 0.8613467, -0.0604468, 0.0064190}, - {0.0000000, -0.0035229, 0.0244186, -0.0860816, 0.2469889, 0.8703802, -0.0583563, 0.0061732}, - {0.0000000, -0.0033523, 0.0232146, -0.0816787, 0.2328045, 0.8792468, -0.0561516, 0.0059167}, - {0.0000000, -0.0031780, 0.0219874, -0.0772123, 0.2186427, 0.8879418, -0.0538313, 0.0056498}, - {0.0000000, -0.0030002, 0.0207380, -0.0726860, 0.2045094, 0.8964605, -0.0513941, 0.0053724}, - {0.0000000, -0.0028189, 0.0194672, -0.0681031, 0.1904106, 0.9047984, -0.0488386, 0.0050845}, - {0.0000000, -0.0026343, 0.0181760, -0.0634672, 0.1763523, 0.9129507, -0.0461637, 0.0047862}, - {0.0000000, -0.0024465, 0.0168654, -0.0587817, 0.1623405, 0.9209128, -0.0433681, 0.0044776}, - {0.0000000, -0.0022558, 0.0155364, -0.0540502, 0.1483811, 0.9286803, -0.0404506, 0.0041587}, - {0.0000000, -0.0020621, 0.0141900, -0.0492762, 0.1344802, 0.9362485, -0.0374099, 0.0038296}, - {0.0000000, -0.0018657, 0.0128272, -0.0444634, 0.1206437, 0.9436129, -0.0342451, 0.0034904}, - {0.0000000, -0.0016667, 0.0114491, -0.0396154, 0.1068777, 0.9507692, -0.0309549, 0.0031411}, - {0.0000000, -0.0014653, 0.0100567, -0.0347357, 0.0931880, 0.9577127, -0.0275384, 0.0027819}, - {0.0000000, -0.0012616, 0.0086510, -0.0298280, 0.0795807, 0.9644393, -0.0239943, 0.0024129}, - {0.0000000, -0.0010557, 0.0072332, -0.0248960, 0.0660618, 0.9709444, -0.0203219, 0.0020342}, - {0.0000000, -0.0008479, 0.0058043, -0.0199433, 0.0526372, 0.9772238, -0.0165200, 0.0016459}, - {0.0000000, -0.0006382, 0.0043654, -0.0149737, 0.0393128, 0.9832733, -0.0125877, 0.0012482}, - {0.0000000, -0.0004269, 0.0029177, -0.0099908, 0.0260945, 0.9890886, -0.0085242, 0.0008412}, - {0.0000000, -0.0002141, 0.0014622, -0.0049983, 0.0129883, 0.9946655, -0.0043286, 0.0004251}, - {0.0000000, -0.0000002, 0.0000015, -0.0000050, 0.0000129, 0.9999948, -0.0000044, 0.0000004}}; #endif From cf9244c89b9276e8e02f757f2d113dffe847faaf Mon Sep 17 00:00:00 2001 From: melkercarlsson123 Date: Wed, 7 Aug 2024 14:32:29 +0200 Subject: [PATCH 37/43] const float --- src/dsp/filter.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/dsp/filter.h b/src/dsp/filter.h index be19597..97cd041 100644 --- a/src/dsp/filter.h +++ b/src/dsp/filter.h @@ -1,13 +1,13 @@ /** @file filter.h * @author Melker - * @brief TODO: + * @brief TODO: (: */ #ifndef FILTER_H #define FILTER_H -float filter_coeffs [101][8] = { +const float filter_coeffs [101][8] = { {-0.0000000, 0.0000004, -0.0000044, 0.9999948, 0.0000129, -0.0000050, 0.0000015, -0.0000002}, {-0.0000000, 0.0004251, -0.0043286, 0.9946655, 0.0129883, -0.0049983, 0.0014622, -0.0002141}, {-0.0000000, 0.0008412, -0.0085242, 0.9890886, 0.0260945, -0.0099908, 0.0029177, -0.0004269}, From d89da873f5732027e96ef7f68f98248cd065c33e Mon Sep 17 00:00:00 2001 From: IvarNilsson Date: Wed, 7 Aug 2024 14:42:17 +0200 Subject: [PATCH 38/43] bug fix! needed a exta false :) @tuvabjornberg --- src/aw_control_unit/main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/aw_control_unit/main.cpp b/src/aw_control_unit/main.cpp index 75f810d..cd4a082 100644 --- a/src/aw_control_unit/main.cpp +++ b/src/aw_control_unit/main.cpp @@ -7,6 +7,6 @@ int main() { AWControlUnit controlUnit(true); - controlUnit.Start({21875}, "10.0.0.1",false, "false", - 0, true, true, 100, false, false, 180, false, false, false); + controlUnit.Start({21875}, "10.0.0.1", false, "false", + 0, true, true, 100, false, false, 180, false, false, false, false); } \ No newline at end of file From 38d7a0ebcf8194aafbe441a66b180e3717a5dc27 Mon Sep 17 00:00:00 2001 From: Tuva Date: Wed, 7 Aug 2024 14:46:37 +0200 Subject: [PATCH 39/43] fix --- src/audio/audio_wrapper.h | 2 +- src/main.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/audio/audio_wrapper.h b/src/audio/audio_wrapper.h index c3f29a4..e9e64f4 100644 --- a/src/audio/audio_wrapper.h +++ b/src/audio/audio_wrapper.h @@ -22,7 +22,7 @@ #define WAV true #define AUDIO_FILE true #define BUFFER_THRESHOLD 146484.0//SAMPLE_RATE * 3, Flushing buffer every 3 seconds -#define DEBUG_AUDIO 1 +#define DEBUG_AUDIO 0 /** * @class AudioWrapper diff --git a/src/main.cpp b/src/main.cpp index dd225ed..e226a53 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -88,7 +88,7 @@ void setupArgumentParser(argparse::ArgumentParser& program) { program.add_argument("--miso") .default_value(false) .implicit_value(true) - .help("MISO Mode"); + .help("MISO Mode, needs to be combined with --audio 'portnr'"); } int main(int argc, char* argv[]) { From d04198a8b62a0be61da4e4665e8cf3f207468875 Mon Sep 17 00:00:00 2001 From: Tuva Date: Wed, 7 Aug 2024 15:27:34 +0200 Subject: [PATCH 40/43] off with record flag --- src/aw_control_unit/CMakeLists.txt | 11 ----------- src/aw_control_unit/aw_control_unit.cpp | 4 ++-- src/aw_control_unit/aw_control_unit.h | 5 ++--- src/aw_control_unit/main.cpp | 12 ------------ src/main.cpp | 8 +------- 5 files changed, 5 insertions(+), 35 deletions(-) delete mode 100644 src/aw_control_unit/main.cpp diff --git a/src/aw_control_unit/CMakeLists.txt b/src/aw_control_unit/CMakeLists.txt index 5a5a103..945aae9 100644 --- a/src/aw_control_unit/CMakeLists.txt +++ b/src/aw_control_unit/CMakeLists.txt @@ -17,14 +17,3 @@ target_link_libraries(awcu PUBLIC targetHandler gps ) - -add_executable(awcu_test - main.cpp - ${AWCU_SOURCES} -) -target_link_libraries(awcu_test PUBLIC - awpu - targetHandler - gps -) - diff --git a/src/aw_control_unit/aw_control_unit.cpp b/src/aw_control_unit/aw_control_unit.cpp index 767fe9e..25340cc 100644 --- a/src/aw_control_unit/aw_control_unit.cpp +++ b/src/aw_control_unit/aw_control_unit.cpp @@ -168,8 +168,8 @@ void stopRecording(cv::VideoWriter& videoWriter) { } void AWControlUnit::Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, - int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, - bool use_logo, bool debug, bool miso) { + int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, float fov, bool use_fps, bool use_logo, + bool debug, bool miso) { cv::VideoCapture cap; cv::VideoWriter videoWriter; diff --git a/src/aw_control_unit/aw_control_unit.h b/src/aw_control_unit/aw_control_unit.h index 9a8ad59..3c10949 100644 --- a/src/aw_control_unit/aw_control_unit.h +++ b/src/aw_control_unit/aw_control_unit.h @@ -64,7 +64,6 @@ class AWControlUnit { * @param tracking Flag indicating whether tracking functionality is enabled. * @param mimo_res Resolution setting for MIMO. * @param verbose Flag indicating whether verbose logging is enabled. - * @param record Flag indicating whether recording is enabled. * @param fov Field of view setting. * @param use_fps Flag indicating whether FPS (Frames Per Second) display is enabled. * @param use_logo Flag indicating whether to display a logo. @@ -72,8 +71,8 @@ class AWControlUnit { * @param miso Flag indicating whether MISO (Multiple Input Multiple Output) is enabled */ void Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, - int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, - bool use_logo, bool debug, bool miso); + int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, float fov, bool use_fps, bool use_logo, + bool debug, bool miso); }; #endif//AW_CONTROL_UNIT_H diff --git a/src/aw_control_unit/main.cpp b/src/aw_control_unit/main.cpp deleted file mode 100644 index cd4a082..0000000 --- a/src/aw_control_unit/main.cpp +++ /dev/null @@ -1,12 +0,0 @@ -/** @file main.cpp - * @author Janne, Tuva - * @date 2024-07-04 -*/ - -#include "aw_control_unit.h" - -int main() { - AWControlUnit controlUnit(true); - controlUnit.Start({21875}, "10.0.0.1", false, "false", - 0, true, true, 100, false, false, 180, false, false, false, false); -} \ No newline at end of file diff --git a/src/main.cpp b/src/main.cpp index e226a53..d7f7622 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -35,11 +35,6 @@ void setupArgumentParser(argparse::ArgumentParser& program) { .implicit_value(true) .help("MIMO option"); - program.add_argument("--record") - .default_value(false) - .implicit_value(true) - .help("Record option"); - program.add_argument("--mimo-res") .default_value(100) .scan<'i', int>() @@ -110,7 +105,6 @@ int main(int argc, char* argv[]) { bool tracking = program.get("--tracking"); float fov = program.get("--fov"); int mimo_res = program.get("--mimo-res"); - bool record = program.get("--record"); std::vector ports = program.get>("--port"); bool verbose = program.get("--verbose"); bool use_camera = (camera.compare("false") != 0); @@ -140,7 +134,7 @@ int main(int argc, char* argv[]) { AWControlUnit awControlUnit(use_waraps); awControlUnit.Start(ports, ip_address, use_camera, camera, audio, - mimo, tracking, mimo_res, verbose, record, fov, + mimo, tracking, mimo_res, verbose, fov, use_fps, use_logo, debug, miso); return 0; From 83c67299b1a3c0ca95121b1c1cd3e3de673b80af Mon Sep 17 00:00:00 2001 From: Irreq Date: Wed, 7 Aug 2024 16:37:35 +0200 Subject: [PATCH 41/43] Updates --- Dockerfile | 11 ++++------- src/main.cpp | 14 +++++++++++++- start.sh | 2 ++ 3 files changed, 19 insertions(+), 8 deletions(-) diff --git a/Dockerfile b/Dockerfile index ff71655..30b58a6 100644 --- a/Dockerfile +++ b/Dockerfile @@ -71,12 +71,6 @@ RUN git submodule init \ && cmake -Bbuild -H. -DPAHO_WITH_MQTT_C=ON -DPAHO_WITH_SSL=ON \ && cmake --build build/ --target install - -RUN git clone https://github.com/Rookfighter/pso-cpp.git && \ - mkdir -p pso-cpp/build && \ - cd pso-cpp/build && \ - cmake .. && make install - FROM deps AS build WORKDIR / @@ -95,9 +89,12 @@ RUN ldconfig # Create app directory RUN mkdir -p /usr/src/app -RUN useradd -rm -d /home/newuser -s /bin/bash -g root -G sudo -G audio -u 1000 newuser +RUN useradd -rm -d /home/newuser -s /bin/bash -g root -G sudo,audio,video -u 1000 newuser +RUN apt-get install -y mpv USER newuser + + # Set working directory WORKDIR /usr/src/app diff --git a/src/main.cpp b/src/main.cpp index e226a53..373741e 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -75,6 +75,16 @@ void setupArgumentParser(argparse::ArgumentParser& program) { .implicit_value(true) .help("Debug mode"); + program.add_argument("--flipped") + .default_value(false) + .implicit_value(true) + .help("Flip video"); + + program.add_argument("--aesthetic") + .default_value(false) + .implicit_value(true) + .help("Cool mode"); + program.add_argument("--port") .append() .scan<'i', int>() @@ -119,6 +129,8 @@ int main(int argc, char* argv[]) { bool debug = program.get("--debug"); bool use_waraps = program.get("--wara-ps"); bool miso = program.get("--miso"); + bool flipped = program.get("--flipped"); + bool aesthetic = program.get("--aesthetic"); if (verbose) { std::cout << "Camera: " << camera << std::endl; @@ -141,7 +153,7 @@ int main(int argc, char* argv[]) { AWControlUnit awControlUnit(use_waraps); awControlUnit.Start(ports, ip_address, use_camera, camera, audio, mimo, tracking, mimo_res, verbose, record, fov, - use_fps, use_logo, debug, miso); + use_fps, use_logo, debug, miso, flipped, aesthetic); return 0; } diff --git a/start.sh b/start.sh index b638ba7..54f53e4 100755 --- a/start.sh +++ b/start.sh @@ -69,6 +69,8 @@ docker run -it \ -v $(pwd):/usr/src/app \ -e DISPLAY=$DISPLAY \ -v /tmp/.X11-unix:/tmp/.X11-unix \ + --privileged \ $AUDIO_ARGS \ + --device=/dev/video02 \ beamformer bash From 07dfb8637c1e5c4aea107bdda25d950f07aceb01 Mon Sep 17 00:00:00 2001 From: Irreq Date: Wed, 7 Aug 2024 16:37:55 +0200 Subject: [PATCH 42/43] Cleanup --- src/aw_control_unit/CMakeLists.txt | 10 --------- src/aw_control_unit/aw_control_unit.cpp | 27 ++++++++++++++++++------- src/aw_control_unit/aw_control_unit.h | 4 +++- 3 files changed, 23 insertions(+), 18 deletions(-) diff --git a/src/aw_control_unit/CMakeLists.txt b/src/aw_control_unit/CMakeLists.txt index 5a5a103..d1fca30 100644 --- a/src/aw_control_unit/CMakeLists.txt +++ b/src/aw_control_unit/CMakeLists.txt @@ -18,13 +18,3 @@ target_link_libraries(awcu PUBLIC gps ) -add_executable(awcu_test - main.cpp - ${AWCU_SOURCES} -) -target_link_libraries(awcu_test PUBLIC - awpu - targetHandler - gps -) - diff --git a/src/aw_control_unit/aw_control_unit.cpp b/src/aw_control_unit/aw_control_unit.cpp index 767fe9e..edfeca8 100644 --- a/src/aw_control_unit/aw_control_unit.cpp +++ b/src/aw_control_unit/aw_control_unit.cpp @@ -20,7 +20,7 @@ #define Y_RES 1024 #define BLUR_KERNEL_SIZE 5//Kernel size of blur on heatmap -#define BLUR_EFFECT false +#define BLUR_EFFECT 0 /** * Callback function to capture mouse events @@ -105,7 +105,7 @@ void displayLogo(cv::Mat logo, cv::Mat combinedFrame) { /** * Initializes the webcamera. */ -void initCamera(float fov, std::string camera, cv::VideoCapture cap, int delay, double fps) { +void initCamera(float fov, std::string camera, cv::VideoCapture& cap, int delay, double fps) { fov = FOV; cap = cv::VideoCapture(camera); if (!cap.isOpened()) { @@ -168,11 +168,18 @@ void stopRecording(cv::VideoWriter& videoWriter) { } void AWControlUnit::Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, - int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, - bool use_logo, bool debug, bool miso) { + int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, + bool use_logo, bool debug, bool miso, bool flipped, bool aesthetic) { cv::VideoCapture cap; cv::VideoWriter videoWriter; + int colorMap; + if (aesthetic) { + colorMap = cv::COLORMAP_OCEAN; + } else { + colorMap = cv::COLORMAP_JET; + } + bool running = true; bool recording = false; @@ -181,6 +188,7 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a if (use_camera) { initCamera(fov, camera, cap, delay, fps); + //fov = FOV; } // Setup AWPUS @@ -239,8 +247,9 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a } // Load the logo image (with alpha channel if available) - cv::Mat logo = cv::imread("logo.png", cv::IMREAD_UNCHANGED);// + cv::Mat logo; if (use_logo) { + logo = cv::imread("logo.png", cv::IMREAD_UNCHANGED); initLogo(logo); } @@ -294,11 +303,11 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a cv::Size(BLUR_KERNEL_SIZE, BLUR_KERNEL_SIZE), 0); #endif // Pretty colors - cv::applyColorMap(bigFrames[i], bigFrames[i], cv::COLORMAP_OCEAN); + cv::applyColorMap(bigFrames[i], bigFrames[i], colorMap); // Overlay onto camera if (use_camera) { - cv::resize(frame, frame, cv::Size(bigFrames[i].cols, bigFrames[i].rows), 0, 0, cv::INTER_LINEAR); + cv::resize(frame, frame, cv::Size(X_RES, Y_RES), 0, 0, cv::INTER_LINEAR); cv::addWeighted(frame, 1.0, bigFrames[i], 0.5, 0, bigFrames[i]); } else { @@ -362,6 +371,10 @@ void AWControlUnit::Start(const std::vector& ports, const std::string& ip_a displayLogo(logo, combinedFrame); } + if (flipped) { + cv::flip(combinedFrame, combinedFrame, 1); + } + // Display the frame cv::imshow(APPLICATION_NAME, combinedFrame); diff --git a/src/aw_control_unit/aw_control_unit.h b/src/aw_control_unit/aw_control_unit.h index 9a8ad59..376ba0f 100644 --- a/src/aw_control_unit/aw_control_unit.h +++ b/src/aw_control_unit/aw_control_unit.h @@ -70,10 +70,12 @@ class AWControlUnit { * @param use_logo Flag indicating whether to display a logo. * @param debug Flag indicating whether debug mode is enabled. * @param miso Flag indicating whether MISO (Multiple Input Multiple Output) is enabled + * @param flipped Flag indicating wether image should be flipped + * @param aesthetic Flag indicating coolness */ void Start(const std::vector& ports, const std::string& ip_address, bool use_camera, const std::string& camera, int audio_port, bool mimo, bool tracking, int mimo_res, bool verbose, bool record, float fov, bool use_fps, - bool use_logo, bool debug, bool miso); + bool use_logo, bool debug, bool miso, bool flipped, bool aesthetic); }; #endif//AW_CONTROL_UNIT_H From d23c0d0729a5b8a91ea666a54d2252bb743aa6b7 Mon Sep 17 00:00:00 2001 From: IvarNilsson Date: Thu, 8 Aug 2024 09:07:43 +0200 Subject: [PATCH 43/43] removed binarys --- dockerbuild/CMakeCache.txt | 535 ----------- .../CMakeFiles/3.23.0/CMakeCCompiler.cmake | 72 -- .../CMakeFiles/3.23.0/CMakeCXXCompiler.cmake | 83 -- .../3.23.0/CMakeDetermineCompilerABI_C.bin | Bin 15968 -> 0 bytes .../3.23.0/CMakeDetermineCompilerABI_CXX.bin | Bin 15992 -> 0 bytes .../CMakeFiles/3.23.0/CMakeSystem.cmake | 15 - .../3.23.0/CompilerIdC/CMakeCCompilerId.c | 828 ------------------ .../CompilerIdCXX/CMakeCXXCompilerId.cpp | 816 ----------------- dockerbuild/CMakeFiles/CMakeOutput.log | 497 ----------- dockerbuild/CMakeFiles/cmake.check_cache | 1 - 10 files changed, 2847 deletions(-) delete mode 100644 dockerbuild/CMakeCache.txt delete mode 100644 dockerbuild/CMakeFiles/3.23.0/CMakeCCompiler.cmake delete mode 100644 dockerbuild/CMakeFiles/3.23.0/CMakeCXXCompiler.cmake delete mode 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This is because - the compilers do not have flags that can change the architecture, - but rather depend on which compiler is being used -*/ -#if defined(_WIN32) && defined(_MSC_VER) -# if defined(_M_IA64) -# define ARCHITECTURE_ID "IA64" - -# elif defined(_M_ARM64EC) -# define ARCHITECTURE_ID "ARM64EC" - -# elif defined(_M_X64) || defined(_M_AMD64) -# define ARCHITECTURE_ID "x64" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# elif defined(_M_ARM64) -# define ARCHITECTURE_ID "ARM64" - -# elif defined(_M_ARM) -# if _M_ARM == 4 -# define ARCHITECTURE_ID "ARMV4I" -# elif _M_ARM == 5 -# define ARCHITECTURE_ID "ARMV5I" -# else -# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) -# endif - -# elif defined(_M_MIPS) -# define ARCHITECTURE_ID "MIPS" - -# elif defined(_M_SH) -# define ARCHITECTURE_ID "SHx" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__WATCOMC__) -# if defined(_M_I86) -# define ARCHITECTURE_ID "I86" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# if defined(__ICCARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__ICCRX__) -# define ARCHITECTURE_ID "RX" - -# elif defined(__ICCRH850__) -# define ARCHITECTURE_ID "RH850" - -# elif defined(__ICCRL78__) -# define ARCHITECTURE_ID "RL78" - -# elif defined(__ICCRISCV__) -# define ARCHITECTURE_ID "RISCV" - -# elif defined(__ICCAVR__) -# define ARCHITECTURE_ID "AVR" - -# elif defined(__ICC430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__ICCV850__) -# define ARCHITECTURE_ID "V850" - -# elif defined(__ICC8051__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__ICCSTM8__) -# define ARCHITECTURE_ID "STM8" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__ghs__) -# if defined(__PPC64__) -# define ARCHITECTURE_ID "PPC64" - -# elif defined(__ppc__) -# define ARCHITECTURE_ID "PPC" - -# elif defined(__ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__x86_64__) -# define ARCHITECTURE_ID "x64" - -# elif defined(__i386__) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__TI_COMPILER_VERSION__) -# if defined(__TI_ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__MSP430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__TMS320C28XX__) -# define ARCHITECTURE_ID "TMS320C28x" - -# elif defined(__TMS320C6X__) || defined(_TMS320C6X) -# define ARCHITECTURE_ID "TMS320C6x" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#else -# define ARCHITECTURE_ID -#endif - -/* Convert integer to decimal digit literals. */ -#define DEC(n) \ - ('0' + (((n) / 10000000)%10)), \ - ('0' + (((n) / 1000000)%10)), \ - ('0' + (((n) / 100000)%10)), \ - ('0' + (((n) / 10000)%10)), \ - ('0' + (((n) / 1000)%10)), \ - ('0' + (((n) / 100)%10)), \ - ('0' + (((n) / 10)%10)), \ - ('0' + ((n) % 10)) - -/* Convert integer to hex digit literals. */ -#define HEX(n) \ - ('0' + ((n)>>28 & 0xF)), \ - ('0' + ((n)>>24 & 0xF)), \ - ('0' + ((n)>>20 & 0xF)), \ - ('0' + ((n)>>16 & 0xF)), \ - ('0' + ((n)>>12 & 0xF)), \ - ('0' + ((n)>>8 & 0xF)), \ - ('0' + ((n)>>4 & 0xF)), \ - ('0' + ((n) & 0xF)) - -/* Construct a string literal encoding the version number. */ -#ifdef COMPILER_VERSION -char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; - -/* Construct a string literal encoding the version number components. */ -#elif defined(COMPILER_VERSION_MAJOR) -char const info_version[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', - COMPILER_VERSION_MAJOR, -# ifdef COMPILER_VERSION_MINOR - '.', COMPILER_VERSION_MINOR, -# ifdef COMPILER_VERSION_PATCH - '.', COMPILER_VERSION_PATCH, -# ifdef COMPILER_VERSION_TWEAK - '.', COMPILER_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct a string literal encoding the internal version number. */ -#ifdef COMPILER_VERSION_INTERNAL -char const info_version_internal[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', - 'i','n','t','e','r','n','a','l','[', - COMPILER_VERSION_INTERNAL,']','\0'}; -#elif defined(COMPILER_VERSION_INTERNAL_STR) -char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; -#endif - -/* Construct a string literal encoding the version number components. */ -#ifdef SIMULATE_VERSION_MAJOR -char const info_simulate_version[] = { - 'I', 'N', 'F', 'O', ':', - 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', - SIMULATE_VERSION_MAJOR, -# ifdef SIMULATE_VERSION_MINOR - '.', SIMULATE_VERSION_MINOR, -# ifdef SIMULATE_VERSION_PATCH - '.', SIMULATE_VERSION_PATCH, -# ifdef SIMULATE_VERSION_TWEAK - '.', SIMULATE_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. Store it in a pointer rather than an array - because some compilers will just produce instructions to fill the - array rather than assigning a pointer to a static array. */ -char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; -char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; - - - -#if !defined(__STDC__) && !defined(__clang__) -# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) -# define C_VERSION "90" -# else -# define C_VERSION -# endif -#elif __STDC_VERSION__ > 201710L -# define C_VERSION "23" -#elif __STDC_VERSION__ >= 201710L -# define C_VERSION "17" -#elif __STDC_VERSION__ >= 201000L -# define C_VERSION "11" -#elif __STDC_VERSION__ >= 199901L -# define C_VERSION "99" -#else -# define C_VERSION "90" -#endif -const char* info_language_standard_default = - "INFO" ":" "standard_default[" C_VERSION "]"; - -const char* info_language_extensions_default = "INFO" ":" "extensions_default[" -#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ - defined(__TI_COMPILER_VERSION__)) && \ - !defined(__STRICT_ANSI__) - "ON" -#else - "OFF" -#endif -"]"; - -/*--------------------------------------------------------------------------*/ - -#ifdef ID_VOID_MAIN -void main() {} -#else -# if defined(__CLASSIC_C__) -int main(argc, argv) int argc; char *argv[]; -# else -int main(int argc, char* argv[]) -# endif -{ - int require = 0; - require += info_compiler[argc]; - require += info_platform[argc]; - require += info_arch[argc]; -#ifdef COMPILER_VERSION_MAJOR - require += info_version[argc]; -#endif -#ifdef COMPILER_VERSION_INTERNAL - require += info_version_internal[argc]; -#endif -#ifdef SIMULATE_ID - require += info_simulate[argc]; -#endif -#ifdef SIMULATE_VERSION_MAJOR - require += info_simulate_version[argc]; -#endif -#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) - require += info_cray[argc]; -#endif - require += info_language_standard_default[argc]; - require += info_language_extensions_default[argc]; - (void)argv; - return require; -} -#endif diff --git a/dockerbuild/CMakeFiles/3.23.0/CompilerIdCXX/CMakeCXXCompilerId.cpp b/dockerbuild/CMakeFiles/3.23.0/CompilerIdCXX/CMakeCXXCompilerId.cpp deleted file mode 100644 index 57a7a85..0000000 --- a/dockerbuild/CMakeFiles/3.23.0/CompilerIdCXX/CMakeCXXCompilerId.cpp +++ /dev/null @@ -1,816 +0,0 @@ -/* This source file must have a .cpp extension so that all C++ compilers - recognize the extension without flags. 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