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Bela: libpd + EVO time-of-flight sensor, implemented in C++
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#N canvas 0 22 450 300 12; | |
#X obj 37 37 r evo; | |
#X obj 78 119 timer; | |
#X obj 26 83 t f b; | |
#X obj 25 148 pack f f; | |
#X obj 24 177 print evo; | |
#X connect 0 0 2 0; | |
#X connect 1 0 3 1; | |
#X connect 2 0 3 0; | |
#X connect 2 1 1 1; | |
#X connect 3 0 4 0; |
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#include <I2c.h> | |
class Evo : public I2c | |
{ | |
public: | |
int readI2C() override { | |
i2c_char_t c = 0; | |
if(write(i2C_file, &c, sizeof(c)) != sizeof(c)) | |
{ | |
// error, abort | |
fprintf(stderr, "Error while writing\n"); | |
return -1; | |
} | |
usleep(500); | |
i2c_char_t r[3]; | |
if(sizeof(r) != read(i2C_file, r, sizeof(r))) | |
{ | |
// handle error | |
fprintf(stderr, "Error while reading\n"); | |
return -1; | |
} | |
// the manual is not clear about whether the first byte is the MSB or LSB | |
distance_ = r[0] << 8 | r[1]; // either this (MSB first)... | |
// distance_ = r[1] << 8 | r[0]; // or this (LSB first)... | |
return 0; | |
} | |
int getDistance() | |
{ | |
return distance_; | |
} | |
private: | |
int distance_ = 0; | |
}; |
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// Custom libpd render.cpp to use with EVO ultrasonic distance sensor. | |
// The modifications (marked by `#ifdef ENABLE_EVO`) have been taken from this example https://forum.bela.io/d/1629-longer-range-tof-distance-sensors-with-bela/6 | |
// and applied on top of | |
// https://github.com/BelaPlatform/Bela/blob/970163ea2a1c69b364ce4c4e3b1b92c3a3fceb17/core/default_libpd_render.cpp | |
// Place this file in a Bela project alongside a `_main.pd` which contains: | |
// [r evo] | |
// | | |
// [print] | |
// EVO address, bus and other properties are set in the first `ENABLE_EVO` block | |
/* | |
* Default render file for Bela projects running Pd patches | |
* using libpd. | |
*/ | |
#include <Bela.h> | |
#define ENABLE_EVO | |
#define BELA_LIBPD_GUI | |
#include <DigitalChannelManager.h> | |
#include <stdio.h> | |
#define PD_THREADED_IO | |
#include <libpd/z_libpd.h> | |
extern "C" { | |
#include <libpd/s_stuff.h> | |
}; | |
#include <libraries/Midi/Midi.h> | |
#include <libraries/Scope/Scope.h> | |
#include <string> | |
#include <sstream> | |
#include <algorithm> | |
#define ENABLE_TRILL | |
#ifdef ENABLE_EVO | |
#include "Evo.h" | |
Evo gEvo; | |
int gEvoI2cBus = 1; // the I2c bus the sensor is connected to | |
int gEvoI2cAddress = 0x31; // "Primary Slave Address" | |
int gEvoReadSleepMs = 10; // how often to read from the Evo | |
int gEvoSendIntervalMs = 100; // how often to send Evo reading to Pd | |
const char gEvoReceiverName[] = "evo"; // the name of the corresponding Pd [receive ...] object | |
float gEvoValue; // the evoReadTask sets this and render() sends it to Pd | |
void evoReadTask(void*) | |
{ | |
while(!Bela_stopRequested()) | |
{ | |
if(gEvo.readI2C()) { | |
fprintf(stderr, "Error reading. Stopping\n"); | |
Bela_requestStop(); | |
break; | |
} | |
gEvoValue = gEvo.getDistance(); | |
usleep(gEvoReadSleepMs * 1000); | |
} | |
} | |
#endif // ENABLE_EVO | |
#if (defined(BELA_LIBPD_GUI) || defined(ENABLE_TRILL)) | |
#include <libraries/Pipe/Pipe.h> | |
template <typename T> | |
int getIdxFromId(const char* id, std::vector<std::pair<std::string,T>>& db) | |
{ | |
for(unsigned int n = 0; n < db.size(); ++n) | |
{ | |
if(0 == strcmp(id, db[n].first.c_str())) | |
return n; | |
} | |
return -1; | |
} | |
#endif // BELA_LIBPD_GUI || ENABLE_TRILL | |
#ifdef ENABLE_TRILL | |
#include <tuple> | |
#include <libraries/Trill/Trill.h> | |
AuxiliaryTask gTrillTask; | |
Pipe gTrillPipe; | |
static std::vector<std::string> gTrillAcks; | |
static std::vector<std::pair<std::string,Trill*>> gTouchSensors; | |
// how often to read the cap sensors inputs. | |
float touchSensorSleepInterval = 0.007; | |
void readTouchSensors(void*) | |
{ | |
for(unsigned int n = 0; n < gTouchSensors.size(); ++n) | |
{ | |
Trill& touchSensor = *gTouchSensors[n].second; | |
int ret; | |
const Trill::Device type = touchSensor.deviceType(); | |
if(Trill::NONE == type) | |
ret = 1; | |
else | |
ret = touchSensor.readI2C(); | |
if(!ret) | |
{ | |
gTrillPipe.writeNonRt(n); | |
} | |
} | |
} | |
#endif // ENABLE_TRILL | |
#ifdef BELA_LIBPD_GUI | |
#include <libraries/Gui/Gui.h> | |
Pipe gGuiPipe; | |
Gui gui; | |
struct bufferDescription | |
{ | |
std::string name; | |
int id; | |
int size; | |
}; | |
static std::vector<struct bufferDescription> gGuiDataBuffers; | |
static std::vector<std::string> gGuiControlBuffers; | |
struct guiControlMessageHeader | |
{ | |
uint32_t size; | |
uint32_t type; | |
uint32_t id; | |
}; | |
bool guiControlDataCallback(JSONObject& root, void* arg) | |
{ | |
int ret = true; | |
for(unsigned int n = 0; n < gGuiControlBuffers.size(); ++n) | |
{ | |
const auto& b = gGuiControlBuffers[n]; | |
std::wstring key = JSON::s2ws(b); | |
if (root.end() != root.find(key)) | |
{ | |
JSONValue* found = root[key]; | |
struct guiControlMessageHeader header; | |
header.id = n; | |
char* array; | |
if(found->IsString()) | |
{ | |
std::string value = JSON::ws2s(found->AsString()); | |
header.type = 's'; | |
header.size = value.size(); | |
array = (char*)alloca(header.size); | |
memcpy(array, value.c_str(), header.size); | |
} else if(found->IsNumber()) | |
{ | |
float value = found->AsNumber(); | |
header.type = 'f'; | |
header.size = sizeof(value); | |
array = (char*)alloca(header.size); | |
memcpy(array, &value, header.size); | |
} else { | |
continue; | |
} | |
// do two separate reads: the pipe is datagram-based | |
// so it would be impossible to receive partial messages | |
// at the other end | |
gGuiPipe.writeNonRt(header); | |
gGuiPipe.writeNonRt(&array[0], header.size); | |
// we have successully parsed this message, so the | |
// default parser shouldn't when we return | |
// note: in practice there may be times when we'd want | |
// to have the default parser handle this message | |
// (e.g.: when an "event" field is also present), but | |
// for now we ignore them | |
ret = false; | |
continue; | |
} | |
} | |
return ret; | |
} | |
#endif // BELA_LIBPD_GUI | |
enum { minFirstDigitalChannel = 10 }; | |
static unsigned int gAnalogChannelsInUse; | |
static unsigned int gDigitalChannelsInUse; | |
static unsigned int gScopeChannelsInUse = 4; | |
static unsigned int gLibpdBlockSize; | |
static unsigned int gChannelsInUse; | |
//static const unsigned int gFirstAudioChannel = 0; | |
static unsigned int gFirstAnalogInChannel; | |
static unsigned int gFirstAnalogOutChannel; | |
static unsigned int gFirstDigitalChannel; | |
static unsigned int gLibpdDigitalChannelOffset; | |
static unsigned int gFirstScopeChannel; | |
void Bela_userSettings(BelaInitSettings *settings) | |
{ | |
settings->uniformSampleRate = 1; | |
settings->interleave = 0; | |
settings->analogOutputsPersist = 0; | |
} | |
float* gInBuf; | |
float* gOutBuf; | |
#define PARSE_MIDI | |
static std::vector<Midi*> midi; | |
std::vector<std::string> gMidiPortNames; | |
int gMidiVerbose = 1; | |
const int kMidiVerbosePrintLevel = 1; | |
void dumpMidi() | |
{ | |
if(midi.size() == 0) | |
{ | |
printf("No MIDI device enabled\n"); | |
return; | |
} | |
printf("The following MIDI devices are enabled:\n"); | |
printf("%4s%20s %3s %3s %s\n", | |
"Num", | |
"Name", | |
"In", | |
"Out", | |
"Pd channels" | |
); | |
for(unsigned int n = 0; n < midi.size(); ++n) | |
{ | |
printf("[%2d]%20s %3s %3s (%d-%d)\n", | |
n, | |
gMidiPortNames[n].c_str(), | |
midi[n]->isInputEnabled() ? "x" : "_", | |
midi[n]->isOutputEnabled() ? "x" : "_", | |
n * 16 + 1, | |
n * 16 + 16 | |
); | |
} | |
} | |
Midi* openMidiDevice(std::string name, bool verboseSuccess = false, bool verboseError = false) | |
{ | |
Midi* newMidi; | |
newMidi = new Midi(); | |
newMidi->readFrom(name.c_str()); | |
newMidi->writeTo(name.c_str()); | |
#ifdef PARSE_MIDI | |
newMidi->enableParser(true); | |
#else | |
newMidi->enableParser(false); | |
#endif /* PARSE_MIDI */ | |
if(newMidi->isOutputEnabled()) | |
{ | |
if(verboseSuccess) | |
printf("Opened MIDI device %s as output\n", name.c_str()); | |
} | |
if(newMidi->isInputEnabled()) | |
{ | |
if(verboseSuccess) | |
printf("Opened MIDI device %s as input\n", name.c_str()); | |
} | |
if(!newMidi->isInputEnabled() && !newMidi->isOutputEnabled()) | |
{ | |
if(verboseError) | |
fprintf(stderr, "Failed to open MIDI device %s\n", name.c_str()); | |
return nullptr; | |
} else { | |
return newMidi; | |
} | |
} | |
static unsigned int getPortChannel(int* channel){ | |
unsigned int port = 0; | |
while(*channel >= 16){ | |
*channel -= 16; | |
port += 1; | |
} | |
return port; | |
} | |
void Bela_MidiOutNoteOn(int channel, int pitch, int velocity) { | |
int port = getPortChannel(&channel); | |
if(gMidiVerbose >= kMidiVerbosePrintLevel) | |
rt_printf("noteout _ port: %d, channel: %d, pitch: %d, velocity %d\n", port, channel, pitch, velocity); | |
port < midi.size() && midi[port]->writeNoteOn(channel, pitch, velocity); | |
} | |
void Bela_MidiOutControlChange(int channel, int controller, int value) { | |
int port = getPortChannel(&channel); | |
if(gMidiVerbose >= kMidiVerbosePrintLevel) | |
rt_printf("ctlout _ port: %d, channel: %d, controller: %d, value: %d\n", port, channel, controller, value); | |
port < midi.size() && midi[port]->writeControlChange(channel, controller, value); | |
} | |
void Bela_MidiOutProgramChange(int channel, int program) { | |
int port = getPortChannel(&channel); | |
if(gMidiVerbose >= kMidiVerbosePrintLevel) | |
rt_printf("pgmout _ port: %d, channel: %d, program: %d\n", port, channel, program); | |
port < midi.size() && midi[port]->writeProgramChange(channel, program); | |
} | |
void Bela_MidiOutPitchBend(int channel, int value) { | |
int port = getPortChannel(&channel); | |
if(gMidiVerbose >= kMidiVerbosePrintLevel) | |
rt_printf("bendout _ port: %d, channel: %d, value: %d\n", port, channel, value); | |
port < midi.size() && midi[port]->writePitchBend(channel, value); | |
} | |
void Bela_MidiOutAftertouch(int channel, int pressure){ | |
int port = getPortChannel(&channel); | |
if(gMidiVerbose >= kMidiVerbosePrintLevel) | |
rt_printf("touchout _ port: %d, channel: %d, pressure: %d\n", port, channel, pressure); | |
port < midi.size() && midi[port]->writeChannelPressure(channel, pressure); | |
} | |
void Bela_MidiOutPolyAftertouch(int channel, int pitch, int pressure){ | |
int port = getPortChannel(&channel); | |
if(gMidiVerbose >= kMidiVerbosePrintLevel) | |
rt_printf("polytouchout _ port: %d, channel: %d, pitch: %d, pressure: %d\n", port, channel, pitch, pressure); | |
port < midi.size() && midi[port]->writePolyphonicKeyPressure(channel, pitch, pressure); | |
} | |
void Bela_MidiOutByte(int port, int byte){ | |
if(gMidiVerbose >= kMidiVerbosePrintLevel) | |
rt_printf("port: %d, byte: %d\n", port, byte); | |
if(port > (int)midi.size()){ | |
// if the port is out of range, redirect to the first port. | |
rt_fprintf(stderr, "Port out of range, using port 0 instead\n"); | |
port = 0; | |
} | |
port < midi.size() && midi[port]->writeOutput(byte); | |
} | |
void Bela_printHook(const char *received){ | |
rt_printf("%s", received); | |
} | |
static DigitalChannelManager dcm; | |
void sendDigitalMessage(bool state, unsigned int delay, void* receiverName){ | |
libpd_float((const char*)receiverName, (float)state); | |
// rt_printf("%s: %d\n", (char*)receiverName, state); | |
} | |
#ifdef ENABLE_TRILL | |
void setTrillPrintError() | |
{ | |
rt_fprintf(stderr, "bela_setTrill format is wrong. Should be:\n" | |
"[mode <sensor_id> <prescaler_value>(\n" | |
" or\n" | |
"[threshold <sensor_id> <threshold_value>(\n" | |
" or\n" | |
"[prescaler <sensor_id> <prescaler_value>(\n"); | |
} | |
#endif // ENABLE_TRILL | |
void Bela_listHook(const char *source, int argc, t_atom *argv) | |
{ | |
#ifdef BELA_LIBPD_GUI | |
if(0 == strcmp(source, "bela_guiOut")) | |
{ | |
if(!libpd_is_float(&argv[0])) | |
{ | |
rt_fprintf(stderr, "Wrong format for bela_gui, the first element should be a float\n"); | |
return; | |
} | |
unsigned int bufNum = libpd_get_float(&argv[1]); | |
if(libpd_is_float(&argv[1])) // if the first element is a float, we send an array of floats | |
{ | |
float buf[argc - 1]; | |
for(int n = 1; n < argc; ++n) | |
{ | |
t_atom *a = &argv[n]; | |
if(!libpd_is_float(a)) | |
{ | |
rt_fprintf(stderr, "Wrong format for bela_gui\n"); // this should never happen, because then the selector would've not been "float" | |
return; | |
} | |
buf[n - 1] = libpd_get_float(a); | |
} | |
gui.sendBuffer(bufNum, buf, argc - 1); | |
return; | |
} else { // otherwise we send each element of the list separately | |
for(int n = 1; n < argc; ++n) | |
{ | |
t_atom *a = &argv[n]; | |
if (libpd_is_float(a)) { | |
float x = libpd_get_float(a); | |
gui.sendBuffer(bufNum, x); | |
} else if (libpd_is_symbol(a)) { | |
const char *s = libpd_get_symbol(a); | |
gui.sendBuffer(bufNum, s, strlen(s)); // TODO: should it be strlen(s)+1? | |
} | |
} | |
} | |
return; | |
} | |
#endif // BELA_LIBPD_GUI | |
} | |
void Bela_messageHook(const char *source, const char *symbol, int argc, t_atom *argv){ | |
if(strcmp(source, "bela_setMidi") == 0) | |
{ | |
if(0 == strcmp("verbose", symbol)) | |
{ | |
if(1 != argc || !libpd_is_float(argv)) | |
{ | |
rt_fprintf(stderr, "Wrong format for bela_setMidi, expected: [verbose <n>(\n"); | |
} else { | |
gMidiVerbose = libpd_get_float(argv); | |
rt_printf("MIDI verbose: %d\n", gMidiVerbose); | |
} | |
return; | |
} | |
int num[3] = {0, 0, 0}; | |
for(int n = 0; n < argc && n < 3; ++n) | |
{ | |
if(!libpd_is_float(&argv[n])) | |
{ | |
fprintf(stderr, "Wrong format for bela_setMidi, expected:[hw 1 0 0("); | |
return; | |
} | |
num[n] = libpd_get_float(&argv[n]); | |
} | |
std::ostringstream deviceName; | |
deviceName << symbol << ":" << num[0] << "," << num[1] << "," << num[2]; | |
printf("Adding Midi device: %s\n", deviceName.str().c_str()); | |
Midi* newMidi = openMidiDevice(deviceName.str(), false, true); | |
if(newMidi) | |
{ | |
midi.push_back(newMidi); | |
gMidiPortNames.push_back(deviceName.str()); | |
} | |
dumpMidi(); | |
return; | |
} | |
if(strcmp(source, "bela_setDigital") == 0){ | |
// symbol is the direction, argv[0] is the channel, argv[1] (optional) | |
// is signal("sig" or "~") or message("message", default) rate | |
bool isMessageRate = true; // defaults to message rate | |
bool direction = 0; // initialize it just to avoid the compiler's warning | |
bool disable = false; | |
if(strcmp(symbol, "in") == 0){ | |
direction = INPUT; | |
} else if(strcmp(symbol, "out") == 0){ | |
direction = OUTPUT; | |
} else if(strcmp(symbol, "disable") == 0){ | |
disable = true; | |
} else { | |
return; | |
} | |
if(argc == 0){ | |
return; | |
} else if (libpd_is_float(&argv[0]) == false){ | |
return; | |
} | |
int channel = libpd_get_float(&argv[0]) - gLibpdDigitalChannelOffset; | |
if(disable == true){ | |
dcm.unmanage(channel); | |
return; | |
} | |
if(argc >= 2){ | |
t_atom* a = &argv[1]; | |
if(libpd_is_symbol(a)){ | |
const char *s = libpd_get_symbol(a); | |
if(strcmp(s, "~") == 0 || strncmp(s, "sig", 3) == 0){ | |
isMessageRate = false; | |
} | |
} | |
} | |
dcm.manage(channel, direction, isMessageRate); | |
return; | |
} | |
#ifdef BELA_LIBPD_GUI | |
if(0 == strcmp(source, "bela_setGui")) | |
{ | |
if(0 == strcmp(symbol, "new")) | |
{ | |
if( | |
argc < 2 | |
|| !libpd_is_symbol(argv) | |
|| !libpd_is_symbol(argv + 1) | |
) | |
{ | |
return; | |
} | |
const char* mode = libpd_get_symbol(argv); | |
const char* name = libpd_get_symbol(argv + 1); | |
if(0 == strcmp(mode, "control")) | |
{ | |
gGuiControlBuffers.emplace_back(name); | |
return; | |
} | |
if(0 == strcmp(mode, "array")) | |
{ | |
// because of | |
// https://github.com/libpd/libpd/issues/274 | |
// (again), we cannot access the arrays right | |
// here (as it would deadlock on loadbang), so | |
// we have to defer creation of the Gui | |
// buffers until render() runs | |
gGuiDataBuffers.emplace_back(bufferDescription{.name = name, .id = -1, .size = 0}); | |
return; | |
} | |
return; | |
} | |
} | |
#endif // BELA_LIBPD_GUI | |
#ifdef ENABLE_TRILL | |
if(0 == strcmp(source, "bela_setTrill")) | |
{ | |
if(0 == strcmp(symbol, "new")) | |
{ | |
bool err = false; | |
uint8_t address = 0xff; | |
if(argc < 3) | |
err = true; | |
else if (!libpd_is_symbol(argv) // sensor_id | |
|| !libpd_is_float(argv + 1) // bus | |
|| !libpd_is_symbol(argv + 2) // device | |
) | |
err = true; | |
if(argc >= 4) | |
{ | |
if(libpd_is_float(argv + 3)) | |
address = libpd_get_float(argv + 3); | |
else | |
err = true; | |
} | |
if(err) | |
{ | |
rt_fprintf(stderr, "bela_setTrill wrong format. Should be:\n" | |
"[new <sensor_id> <bus> <device> <address>(\n"); | |
return; | |
} | |
const char* name = libpd_get_symbol(argv); | |
unsigned int bus = libpd_get_float(argv + 1); | |
const char* deviceString = libpd_get_symbol(argv + 2); | |
Trill::Device device = Trill::getDeviceFromName(deviceString); | |
Trill* trill = new Trill(bus, device, address); | |
if(Trill::NONE == trill->deviceType()) | |
{ | |
rt_fprintf(stderr, "Unable to create Trill %s device `%s` on bus %u at ", deviceString, name, bus); | |
if(128 < address) | |
rt_fprintf(stderr, "default address. "); | |
else | |
rt_fprintf(stderr, "address: %#x (%d). ", address, address); | |
rt_fprintf(stderr, "Is the device connected?\n"); | |
return; | |
} | |
gTouchSensors.emplace_back(std::string(name), trill); | |
gTrillAcks.push_back(name); | |
//an ack is sent to Pd during the next audio callback because of https://github.com/libpd/libpd/issues/274 | |
return; | |
} | |
if(argc < 1 || !libpd_is_symbol(argv)) | |
{ | |
rt_fprintf(stderr, "bela_setTrill: wrong format. It should be\n" | |
"[<command> <sensor_id> ...("); | |
return; | |
} | |
const char* sensorId = libpd_get_symbol(argv); | |
int idx = getIdxFromId(sensorId, gTouchSensors); | |
if(idx < 0) | |
{ | |
rt_fprintf(stderr, "bela_setTrill sensor_id unknown: %s\n", sensorId); | |
return; | |
} | |
if(0 == strcmp(symbol, "updateBaseline")) | |
{ | |
gTouchSensors[idx].second->updateBaseline(); | |
return; | |
} | |
if(0 == strcmp(symbol, "mode")) | |
{ | |
if(argc < 2 | |
|| !libpd_is_symbol(argv) | |
|| !libpd_is_symbol(argv + 1) | |
) { | |
setTrillPrintError(); | |
return; | |
} | |
const char* modeString = libpd_get_symbol(argv + 1); | |
Trill::Mode mode = Trill::getModeFromName(modeString); | |
gTouchSensors[idx].second->setMode(mode); | |
} | |
if( | |
0 == strcmp(symbol, "threshold") | |
|| 0 == strcmp(symbol, "prescaler") | |
) | |
{ | |
if( | |
argc < 2 | |
|| !libpd_is_symbol(argv) | |
|| !libpd_is_float(argv + 1) | |
) { | |
setTrillPrintError(); | |
return; | |
} | |
float value = libpd_get_float(argv + 1); | |
if(0 == strcmp(symbol, "threshold")) | |
{ | |
gTouchSensors[idx].second->setNoiseThreshold(value); | |
} | |
if(0 == strcmp(symbol, "prescaler")) | |
{ | |
if(Trill::prescalerMax < value || 0 > value) | |
{ | |
if(0 == value) | |
value = 0; | |
if(Trill::prescalerMax < value) | |
value = Trill::prescalerMax; | |
rt_printf("bela_setTrill prescaler value out of range, clipping to %u\n", value); | |
} | |
gTouchSensors[idx].second->setPrescaler(value); | |
} | |
return; | |
} | |
return; | |
} | |
#endif // ENABLE_TRILL | |
} | |
void Bela_floatHook(const char *source, float value){ | |
// let's make this as optimized as possible for built-in digital Out parsing | |
// the built-in digital receivers are of the form "bela_digitalOutXX" where XX is between gLibpdDigitalChannelOffset and (gLibpdDigitalCHannelOffset+gDigitalChannelsInUse) | |
static int prefixLength = 15; // strlen("bela_digitalOut") | |
if(strncmp(source, "bela_digitalOut", prefixLength)==0){ | |
if(source[prefixLength] != 0){ //the two ifs are used instead of if(strlen(source) >= prefixLength+2) | |
if(source[prefixLength + 1] != 0){ | |
// quickly convert the suffix to integer, assuming they are numbers, avoiding to call atoi | |
int receiver = ((source[prefixLength] - 48) * 10); | |
receiver += (source[prefixLength+1] - 48); | |
unsigned int channel = receiver - gLibpdDigitalChannelOffset; // go back to the actual Bela digital channel number | |
if(channel < gDigitalChannelsInUse){ //number of digital channels | |
dcm.setValue(channel, value); | |
} | |
} | |
} | |
} | |
} | |
std::vector<std::string> gReceiverInputNames; | |
std::vector<std::string> gReceiverOutputNames; | |
void generateDigitalNames(unsigned int numDigitals, unsigned int libpdOffset, std::vector<std::string>& receiverInputNames, std::vector<std::string>& receiverOutputNames) | |
{ | |
std::string inBaseString = "bela_digitalIn"; | |
std::string outBaseString = "bela_digitalOut"; | |
for(unsigned int i = 0; i<numDigitals; i++) | |
{ | |
receiverInputNames.push_back(inBaseString + std::to_string(i+libpdOffset)); | |
receiverOutputNames.push_back(outBaseString + std::to_string(i+libpdOffset)); | |
} | |
} | |
void printDigitalNames(std::vector<std::string>& receiverInputNames, std::vector<std::string>& receiverOutputNames) | |
{ | |
printf("DIGITAL INPUTS\n"); | |
for(unsigned int i=0; i<gDigitalChannelsInUse; i++) | |
printf("%s\n", receiverInputNames[i].c_str()); | |
printf("DIGITAL OUTPUTS\n"); | |
for(unsigned int i=0; i<gDigitalChannelsInUse; i++) | |
printf("%s\n", receiverOutputNames[i].c_str()); | |
} | |
static char multiplexerArray[] = {"bela_multiplexer"}; | |
static int multiplexerArraySize = 0; | |
static bool pdMultiplexerActive = false; | |
#ifdef PD_THREADED_IO | |
void fdLoop(void* arg){ | |
while(!Bela_stopRequested()){ | |
sys_doio(); | |
usleep(3000); | |
} | |
} | |
#endif /* PD_THREADED_IO */ | |
Scope scope; | |
float* gScopeOut; | |
void* gPatch; | |
bool gDigitalEnabled = 0; | |
bool setup(BelaContext *context, void *userData) | |
{ | |
#ifdef BELA_LIBPD_GUI | |
gui.setup(context->projectName); | |
gui.setControlDataCallback(guiControlDataCallback, nullptr); | |
gGuiPipe.setup("guiControlPipe", 16384); | |
#endif // BELA_LIBPD_GUI | |
// Check Pd's version | |
int major, minor, bugfix; | |
sys_getversion(&major, &minor, &bugfix); | |
printf("Running Pd %d.%d-%d\n", major, minor, bugfix); | |
// We requested in Bela_userSettings() to have uniform sampling rate for audio | |
// and analog and non-interleaved buffers. | |
// So let's check this actually happened | |
if(context->analogSampleRate != context->audioSampleRate) | |
{ | |
fprintf(stderr, "The sample rate of analog and audio must match. Try running with --uniform-sample-rate\n"); | |
return false; | |
} | |
if(context->flags & BELA_FLAG_INTERLEAVED) | |
{ | |
fprintf(stderr, "The audio and analog channels must be interleaved.\n"); | |
return false; | |
} | |
if(context->digitalFrames > 0 && context->digitalChannels > 0) | |
gDigitalEnabled = 1; | |
// add here other devices you need | |
gMidiPortNames.push_back("hw:1,0,0"); | |
//gMidiPortNames.push_back("hw:0,0,0"); | |
//gMidiPortNames.push_back("hw:1,0,1"); | |
scope.setup(gScopeChannelsInUse, context->audioSampleRate); | |
gScopeOut = new float[gScopeChannelsInUse]; | |
// Check first of all if the patch file exists. Will actually open it later. | |
char file[] = "_main.pd"; | |
char folder[] = "./"; | |
unsigned int strSize = strlen(file) + strlen(folder) + 1; | |
char* str = (char*)malloc(sizeof(char) * strSize); | |
snprintf(str, strSize, "%s%s", folder, file); | |
if(access(str, F_OK) == -1 ) { | |
printf("Error file %s/%s not found. The %s file should be your main patch.\n", folder, file, file); | |
return false; | |
} | |
free(str); | |
// analog setup | |
gAnalogChannelsInUse = context->analogInChannels; | |
gDigitalChannelsInUse = context->digitalChannels; | |
printf("Audio channels in use: %d\n", context->audioOutChannels); | |
printf("Analog channels in use: %d\n", gAnalogChannelsInUse); | |
printf("Digital channels in use: %d\n", gDigitalChannelsInUse); | |
// Channel distribution | |
gFirstAnalogInChannel = std::max(context->audioInChannels, context->audioOutChannels); | |
gFirstAnalogOutChannel = gFirstAnalogInChannel; | |
gFirstDigitalChannel = gFirstAnalogInChannel + std::max(context->analogInChannels, context->analogOutChannels); | |
if(gFirstDigitalChannel < minFirstDigitalChannel) | |
gFirstDigitalChannel = minFirstDigitalChannel; //for backwards compatibility | |
gLibpdDigitalChannelOffset = gFirstDigitalChannel + 1; | |
gFirstScopeChannel = gFirstDigitalChannel + gDigitalChannelsInUse; | |
gChannelsInUse = gFirstScopeChannel + gScopeChannelsInUse; | |
// Create receiverNames for digital channels | |
generateDigitalNames(gDigitalChannelsInUse, gLibpdDigitalChannelOffset, gReceiverInputNames, gReceiverOutputNames); | |
// digital setup | |
if(gDigitalEnabled) | |
{ | |
dcm.setCallback(sendDigitalMessage); | |
if(gDigitalChannelsInUse > 0){ | |
for(unsigned int ch = 0; ch < gDigitalChannelsInUse; ++ch){ | |
dcm.setCallbackArgument(ch, (void*) gReceiverInputNames[ch].c_str()); | |
} | |
} | |
} | |
unsigned int n = 0; | |
while(n < gMidiPortNames.size()) | |
{ | |
Midi* newMidi = openMidiDevice(gMidiPortNames[n], false, false); | |
if(newMidi) | |
{ | |
midi.push_back(newMidi); | |
++n; | |
} else { | |
gMidiPortNames.erase(gMidiPortNames.begin() + n); | |
} | |
} | |
dumpMidi(); | |
// check that we are not running with a blocksize smaller than gLibPdBlockSize | |
gLibpdBlockSize = libpd_blocksize(); | |
if(context->audioFrames < gLibpdBlockSize){ | |
fprintf(stderr, "Error: minimum block size must be %d\n", gLibpdBlockSize); | |
return false; | |
} | |
// set hooks before calling libpd_init | |
libpd_set_printhook(Bela_printHook); | |
libpd_set_floathook(Bela_floatHook); | |
libpd_set_listhook(Bela_listHook); | |
libpd_set_messagehook(Bela_messageHook); | |
libpd_set_noteonhook(Bela_MidiOutNoteOn); | |
libpd_set_controlchangehook(Bela_MidiOutControlChange); | |
libpd_set_programchangehook(Bela_MidiOutProgramChange); | |
libpd_set_pitchbendhook(Bela_MidiOutPitchBend); | |
libpd_set_aftertouchhook(Bela_MidiOutAftertouch); | |
libpd_set_polyaftertouchhook(Bela_MidiOutPolyAftertouch); | |
libpd_set_midibytehook(Bela_MidiOutByte); | |
//initialize libpd. This clears the search path | |
libpd_init(); | |
//Add the current folder to the search path for externals | |
libpd_add_to_search_path("."); | |
libpd_add_to_search_path("../pd-externals"); | |
libpd_init_audio(gChannelsInUse, gChannelsInUse, context->audioSampleRate); | |
gInBuf = get_sys_soundin(); | |
gOutBuf = get_sys_soundout(); | |
// start DSP: | |
// [; pd dsp 1( | |
libpd_start_message(1); | |
libpd_add_float(1.0f); | |
libpd_finish_message("pd", "dsp"); | |
// Bind your receivers here | |
for(unsigned int i = 0; i < gDigitalChannelsInUse; i++) | |
libpd_bind(gReceiverOutputNames[i].c_str()); | |
libpd_bind("bela_setDigital"); | |
libpd_bind("bela_setMidi"); | |
#ifdef BELA_LIBPD_GUI | |
libpd_bind("bela_guiOut"); | |
libpd_bind("bela_setGui"); | |
#endif // BELA_LIBPD_GUI | |
#ifdef ENABLE_TRILL | |
libpd_bind("bela_setTrill"); | |
#endif // ENABLE_TRILL | |
// open patch: | |
gPatch = libpd_openfile(file, folder); | |
if(gPatch == NULL){ | |
printf("Error: file %s/%s is corrupted.\n", folder, file); | |
return false; | |
} | |
// If the user wants to use the multiplexer capelet, | |
// the patch will have to contain an array called "bela_multiplexer" | |
// and a receiver [r bela_multiplexerChannels] | |
if(context->multiplexerChannels > 0 && libpd_arraysize(multiplexerArray) >= 0){ | |
pdMultiplexerActive = true; | |
multiplexerArraySize = context->multiplexerChannels * context->analogInChannels; | |
// [; bela_multiplexer ` multiplexerArraySize` resize( | |
libpd_start_message(1); | |
libpd_add_float(multiplexerArraySize); | |
libpd_finish_message(multiplexerArray, "resize"); | |
// [; bela_multiplexerChannels `context->multiplexerChannels`( | |
libpd_float("bela_multiplexerChannels", context->multiplexerChannels); | |
} | |
// Tell Pd that we will manage the io loop, | |
// and we do so in an Auxiliary Task | |
#ifdef PD_THREADED_IO | |
sys_dontmanageio(1); | |
AuxiliaryTask fdTask; | |
fdTask = Bela_createAuxiliaryTask(fdLoop, 50, "libpd-fdTask", NULL); | |
Bela_scheduleAuxiliaryTask(fdTask); | |
#endif /* PD_THREADED_IO */ | |
dcm.setVerbose(false); | |
#ifdef ENABLE_TRILL | |
gTrillTask = Bela_createAuxiliaryTask(readTouchSensors, 51, "touchSensorRead", NULL); | |
gTrillPipe.setup("trillPipe", 1024); | |
#endif // ENABLE_TRILL | |
#ifdef ENABLE_EVO | |
if(gEvo.initI2C_RW(gEvoI2cBus, gEvoI2cAddress, -1)) | |
return false; // wrong bus, or address out of range | |
if(gEvo.readI2C()) //verify that we can read from the device | |
return false; // ... or fail otherwise | |
Bela_runAuxiliaryTask(evoReadTask, 50); | |
#endif // ENABLE_EVO | |
return true; | |
} | |
void render(BelaContext *context, void *userData) | |
{ | |
#ifdef BELA_LIBPD_GUI | |
while(gGuiControlBuffers.size()) // this won't change within the loop, but it's good not to have to use a separate flag | |
{ | |
static struct guiControlMessageHeader header; | |
static bool waitingForHeader = true; | |
if(waitingForHeader) | |
{ | |
int ret = gGuiPipe.readRt(header); | |
if(1 != ret) | |
break; | |
else | |
waitingForHeader = false; | |
} | |
if(!waitingForHeader) | |
{ | |
char payload[header.size]; | |
int ret = gGuiPipe.readRt(&payload[0], header.size); | |
if(header.size != ret) | |
{ | |
break; | |
} | |
const char* name = gGuiControlBuffers[header.id].c_str(); | |
if('f' == header.type) | |
{ | |
if(header.size != sizeof(float)) | |
{ | |
rt_fprintf(stderr, "Unexpected message length for float: %u\n", header.size); | |
continue; | |
} | |
float value = ((float*)payload)[0]; | |
libpd_start_message(1); | |
libpd_add_float(value); | |
libpd_finish_message("bela_guiControl", name); | |
} | |
if('s' == header.type) | |
{ | |
libpd_symbol(name, payload); | |
} | |
waitingForHeader = true; | |
} | |
} | |
for(auto& b : gGuiDataBuffers) | |
{ | |
int id = b.id; | |
int size = b.size; | |
const char* name = b.name.c_str(); | |
if(id < 0) | |
{ | |
// initialize | |
size = libpd_arraysize(name); | |
if(size <= 0) | |
{ | |
continue; | |
} else { | |
// this is thread-unsafe: what happens if this causes reallocation while the Gui thread is writing to a buffer? | |
id = gui.setBuffer('f', size); | |
b.id = id; | |
b.size = size; | |
DataBuffer& dataBuffer = gui.getDataBuffer(id); | |
// initialize gui buffer with the initial content of the array | |
libpd_read_array(dataBuffer.getAsFloat(), b.name.c_str(), 0, size); | |
} | |
} | |
DataBuffer& dataBuffer = gui.getDataBuffer(b.id); | |
libpd_write_array(b.name.c_str(), 0, dataBuffer.getAsFloat(), dataBuffer.getNumElements()); | |
} | |
#endif // BELA_LIBPD_GUI | |
#ifdef ENABLE_TRILL | |
for(auto& name : gTrillAcks) | |
{ | |
unsigned int idx = getIdxFromId(name.c_str(), gTouchSensors); | |
libpd_start_message(3); | |
libpd_add_symbol(Trill::getNameFromDevice(gTouchSensors[idx].second->deviceType()).c_str()); | |
libpd_add_float(gTouchSensors[idx].second->getAddress()); | |
libpd_add_symbol(Trill::getNameFromMode(gTouchSensors[idx].second->getMode()).c_str()); | |
libpd_finish_message("bela_trillCreated", name.c_str()); | |
} | |
gTrillAcks.resize(0); | |
bool doTrill = false; | |
for(auto& t : gTouchSensors) | |
{ | |
if(Trill::NONE != t.second->deviceType()) | |
{ | |
doTrill = true; | |
break; | |
} | |
} | |
if(doTrill) | |
{ | |
int idx; | |
while(gTrillPipe.readRt(idx) > 0) | |
{ | |
Trill& touchSensor = *gTouchSensors[idx].second; | |
const char* sensorId = gTouchSensors[idx].first.c_str(); | |
if(Trill::Device::NONE == touchSensor.deviceType()) | |
continue; | |
const Trill::Mode mode = touchSensor.getMode(); | |
if(Trill::DIFF == mode || Trill::RAW == mode || Trill::BASELINE == mode) | |
{ | |
libpd_start_message(touchSensor.getNumChannels()); | |
for(unsigned int n = 0; n < touchSensor.getNumChannels(); ++n) | |
{ | |
libpd_add_float(touchSensor.rawData[n]); | |
} | |
} else if(Trill::CENTROID == mode) | |
{ | |
if(touchSensor.is1D()) { | |
libpd_start_message(2 * touchSensor.getNumTouches() + 1); | |
libpd_add_float(touchSensor.getNumTouches()); | |
for(int i = 0; i < touchSensor.getNumTouches(); i++) { | |
libpd_add_float(touchSensor.touchLocation(i)); | |
libpd_add_float(touchSensor.touchSize(i)); | |
} | |
} else if (touchSensor.is2D()) { | |
int numTouches = touchSensor.compoundTouchSize() > 0; | |
libpd_start_message(2 * numTouches + 1); | |
libpd_add_float(numTouches > 0); | |
if(numTouches) | |
{ | |
libpd_add_float(touchSensor.compoundTouchHorizontalLocation()); | |
libpd_add_float(touchSensor.compoundTouchLocation()); | |
libpd_add_float(touchSensor.compoundTouchSize()); | |
} | |
} | |
} | |
else | |
continue; | |
libpd_finish_message("bela_trill", sensorId); | |
} | |
static int count = 0; | |
unsigned int readIntervalSamples = touchSensorSleepInterval * context->audioSampleRate; | |
count += context->audioFrames; | |
if(count > readIntervalSamples) | |
{ | |
Bela_scheduleAuxiliaryTask(gTrillTask); | |
count -= readIntervalSamples; | |
} | |
} | |
#endif // ENABLE_TRILL | |
#ifdef PARSE_MIDI | |
int num; | |
for(unsigned int port = 0; port < midi.size(); ++port){ | |
while((num = midi[port]->getParser()->numAvailableMessages()) > 0){ | |
static MidiChannelMessage message; | |
message = midi[port]->getParser()->getNextChannelMessage(); | |
if(gMidiVerbose >= kMidiVerbosePrintLevel) | |
{ | |
rt_printf("On port %d (%s): ", port, gMidiPortNames[port].c_str()); | |
message.prettyPrint(); // use this to print beautified message (channel, data bytes) | |
} | |
switch(message.getType()){ | |
case kmmNoteOn: | |
{ | |
int noteNumber = message.getDataByte(0); | |
int velocity = message.getDataByte(1); | |
int channel = message.getChannel(); | |
libpd_noteon(channel + port * 16, noteNumber, velocity); | |
break; | |
} | |
case kmmNoteOff: | |
{ | |
/* PureData does not seem to handle noteoff messages as per the MIDI specs, | |
* so that the noteoff velocity is ignored. Here we convert them to noteon | |
* with a velocity of 0. | |
*/ | |
int noteNumber = message.getDataByte(0); | |
// int velocity = message.getDataByte(1); // would be ignored by Pd | |
int channel = message.getChannel(); | |
libpd_noteon(channel + port * 16, noteNumber, 0); | |
break; | |
} | |
case kmmControlChange: | |
{ | |
int channel = message.getChannel(); | |
int controller = message.getDataByte(0); | |
int value = message.getDataByte(1); | |
libpd_controlchange(channel + port * 16, controller, value); | |
break; | |
} | |
case kmmProgramChange: | |
{ | |
int channel = message.getChannel(); | |
int program = message.getDataByte(0); | |
libpd_programchange(channel + port * 16, program); | |
break; | |
} | |
case kmmPolyphonicKeyPressure: | |
{ | |
int channel = message.getChannel(); | |
int pitch = message.getDataByte(0); | |
int value = message.getDataByte(1); | |
libpd_polyaftertouch(channel + port * 16, pitch, value); | |
break; | |
} | |
case kmmChannelPressure: | |
{ | |
int channel = message.getChannel(); | |
int value = message.getDataByte(0); | |
libpd_aftertouch(channel + port * 16, value); | |
break; | |
} | |
case kmmPitchBend: | |
{ | |
int channel = message.getChannel(); | |
int value = ((message.getDataByte(1) << 7)| message.getDataByte(0)) - 8192; | |
libpd_pitchbend(channel + port * 16, value); | |
break; | |
} | |
case kmmSystem: | |
// currently Bela only handles sysrealtime, and it does so pretending it is a channel message with no data bytes, so we have to re-assemble the status byte | |
{ | |
int channel = message.getChannel(); | |
int status = message.getStatusByte(); | |
int byte = channel | status; | |
libpd_sysrealtime(port, byte); | |
break; | |
} | |
case kmmNone: | |
case kmmAny: | |
break; | |
} | |
} | |
} | |
#else | |
int input; | |
for(unsigned int port = 0; port < NUM_MIDI_PORTS; ++port){ | |
while((input = midi[port].getInput()) >= 0){ | |
libpd_midibyte(port, input); | |
} | |
} | |
#endif /* PARSE_MIDI */ | |
#ifdef ENABLE_EVO | |
static uint64_t evoLastSent = 0; | |
if(context->audioFramesElapsed - evoLastSent > gEvoSendIntervalMs * 0.001f * context->audioSampleRate) | |
{ | |
libpd_float(gEvoReceiverName, gEvoValue); | |
evoLastSent = context->audioFramesElapsed; | |
} | |
#endif // ENABLE_EVO | |
unsigned int numberOfPdBlocksToProcess = context->audioFrames / gLibpdBlockSize; | |
// Remember: we have non-interleaved buffers and the same sampling rate for | |
// analogs, audio and digitals | |
for(unsigned int tick = 0; tick < numberOfPdBlocksToProcess; ++tick) | |
{ | |
//audio input | |
for(int n = 0; n < context->audioInChannels; ++n) | |
{ | |
memcpy( | |
gInBuf + n * gLibpdBlockSize, | |
context->audioIn + tick * gLibpdBlockSize + n * context->audioFrames, | |
sizeof(context->audioIn[0]) * gLibpdBlockSize | |
); | |
} | |
// analog input | |
for(int n = 0; n < context->analogInChannels; ++n) | |
{ | |
memcpy( | |
gInBuf + gLibpdBlockSize * gFirstAnalogInChannel + n * gLibpdBlockSize, | |
context->analogIn + tick * gLibpdBlockSize + n * context->analogFrames, | |
sizeof(context->analogIn[0]) * gLibpdBlockSize | |
); | |
} | |
// multiplexed analog input | |
if(pdMultiplexerActive) | |
{ | |
// we do not disable regular analog inputs if muxer is active, because user may have bridged them on the board and | |
// they may be using half of them at a high sampling-rate | |
static int lastMuxerUpdate = 0; | |
if(++lastMuxerUpdate == multiplexerArraySize){ | |
lastMuxerUpdate = 0; | |
libpd_write_array(multiplexerArray, 0, (float *const)context->multiplexerAnalogIn, multiplexerArraySize); | |
} | |
} | |
unsigned int digitalFrameBase = gLibpdBlockSize * tick; | |
unsigned int j; | |
unsigned int k; | |
float* p0; | |
float* p1; | |
// digital input | |
if(gDigitalEnabled) | |
{ | |
// digital in at message-rate | |
dcm.processInput(&context->digital[digitalFrameBase], gLibpdBlockSize); | |
// digital in at signal-rate | |
for (j = 0, p0 = gInBuf; j < gLibpdBlockSize; j++, p0++) { | |
unsigned int digitalFrame = digitalFrameBase + j; | |
for (k = 0, p1 = p0 + gLibpdBlockSize * gFirstDigitalChannel; | |
k < 16; ++k, p1 += gLibpdBlockSize) { | |
if(dcm.isSignalRate(k) && dcm.isInput(k)){ // only process input channels that are handled at signal rate | |
*p1 = digitalRead(context, digitalFrame, k); | |
} | |
} | |
} | |
} | |
libpd_process_sys(); // process the block | |
// digital outputs | |
if(gDigitalEnabled) | |
{ | |
// digital out at signal-rate | |
for (j = 0, p0 = gOutBuf; j < gLibpdBlockSize; ++j, ++p0) { | |
unsigned int digitalFrame = (digitalFrameBase + j); | |
for (k = 0, p1 = p0 + gLibpdBlockSize * gFirstDigitalChannel; | |
k < context->digitalChannels; k++, p1 += gLibpdBlockSize) | |
{ | |
if(dcm.isSignalRate(k) && dcm.isOutput(k)){ // only process output channels that are handled at signal rate | |
digitalWriteOnce(context, digitalFrame, k, *p1 > 0.5); | |
} | |
} | |
} | |
// digital out at message-rate | |
dcm.processOutput(&context->digital[digitalFrameBase], gLibpdBlockSize); | |
} | |
// scope output | |
for (j = 0, p0 = gOutBuf; j < gLibpdBlockSize; ++j, ++p0) { | |
for (k = 0, p1 = p0 + gLibpdBlockSize * gFirstScopeChannel; k < gScopeChannelsInUse; k++, p1 += gLibpdBlockSize) { | |
gScopeOut[k] = *p1; | |
} | |
scope.log(gScopeOut[0], gScopeOut[1], gScopeOut[2], gScopeOut[3]); | |
} | |
// audio output | |
for(int n = 0; n < context->audioOutChannels; ++n) | |
{ | |
memcpy( | |
context->audioOut + tick * gLibpdBlockSize + n * context->audioFrames, | |
gOutBuf + n * gLibpdBlockSize, | |
sizeof(context->audioOut[0]) * gLibpdBlockSize | |
); | |
} | |
//analog output | |
for(int n = 0; n < context->analogOutChannels; ++n) | |
{ | |
memcpy( | |
context->analogOut + tick * gLibpdBlockSize + n * context->analogFrames, | |
gOutBuf + gLibpdBlockSize * gFirstAnalogOutChannel + n * gLibpdBlockSize, | |
sizeof(context->analogOut[0]) * gLibpdBlockSize | |
); | |
} | |
} | |
} | |
void cleanup(BelaContext *context, void *userData) | |
{ | |
for(auto a : midi) | |
{ | |
delete a; | |
} | |
#ifdef ENABLE_TRILL | |
for(auto t : gTouchSensors) | |
{ | |
// t.first is a std::string, so the memory will be deallocated automatically | |
delete t.second; | |
} | |
#endif // ENABLE_TRILL | |
libpd_closefile(gPatch); | |
delete [] gScopeOut; | |
} |
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