diff --git a/Code_Final_loc180deg/CMakeLists.txt b/Code_Final_loc180deg/CMakeLists.txt new file mode 100644 index 0000000..61322e3 --- /dev/null +++ b/Code_Final_loc180deg/CMakeLists.txt @@ -0,0 +1,214 @@ +cmake_minimum_required(VERSION 3.0.2) +project(localisation CXX) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp +) +find_package(PkgConfig) +pkg_check_modules(ALSA alsa REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES localisation +# CATKIN_DEPENDS roscpp +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} + ${ALSA_LIBRARIES} + ${ALSA_CFLAGS_OTHER} + ${ALSA_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/localisation.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(${localisation}localisation src/Localisation180.cpp) + +target_link_libraries (localisation ${ALSA_LIBRARIES}) +target_compile_options(localisation PUBLIC ${ALSA_CFLAGS_OTHER}) +target_include_directories(localisation PUBLIC ${ALSA_INCLUDE_DIRS}) +target_link_libraries (localisation ${catkin_LIBRARIES}) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_localisation.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Code_Final_loc180deg/Localisation180.cpp b/Code_Final_loc180deg/Localisation180.cpp new file mode 100644 index 0000000..68f78a6 --- /dev/null +++ b/Code_Final_loc180deg/Localisation180.cpp @@ -0,0 +1,270 @@ +#include +using namespace std; + +// #include +#include "/opt/ros/kinetic/include/ros/ros.h" +#include +#include + +#include +#include +#include +#include +#include +#include "/usr/include/alsa/asoundlib.h" +#include +//#include "/opt/ros/kinetic/share/std_msgs/msg/Float64.msg" + +//#define SAMPLE_TYPE float +//#define SAMPLE_TYPE_ALSA SND_PCM_FORMAT_FLOAT_LE + +#define SAMPLE_TYPE short //sample type = type d'echantillon +#define SAMPLE_TYPE_ALSA SND_PCM_FORMAT_S16_LE + + +//float lin[3]= [2.0,0.0,0.0] ; +//float th[3]= [0.0,0.0,0.0] ; +float th; + +/** + * classe permettant de calculer la moyenne glissante du signal + */ +class MoyenneGlissante { + int _nbDeValeursPrMoy; + int _nbDeValeurs; + float _mean; + +public: + MoyenneGlissante(int nbDeValeursPrMoy) { + _nbDeValeursPrMoy = nbDeValeursPrMoy; + _mean = 0; + _nbDeValeurs = 0; + } + + void nvelleValeur(SAMPLE_TYPE v) { + if (_nbDeValeurs < _nbDeValeursPrMoy) + _nbDeValeurs++; + _mean = ((_mean * (_nbDeValeurs - 1)) + v) / (float)_nbDeValeurs; + } + + SAMPLE_TYPE getMean() { + return (SAMPLE_TYPE) _mean; + } +}; + +/** + * Cette classe calcule la direction du son entendu + * + * + * Elle utilise 2 microphones et calcule la différence de temps d'arrivée des sons entre eux pour + * estimer la localisation de la source sonore. + */ +class Localisation { + + /** + * Décalage maximum entre le micro droit et gauche en nombre d'échantillons. + * Cela dépend généralement de la fréquence d'échantillonnage et de la distance entre + * microphones + */ + static const int _nbEchantillonsDiffMax = 13; //difference max du nombre d'echantillons + + /** + * Taille du tampon sur laquelle nous allons essayer de localiser le son. + * Ceci est un certain nombre d'échantillons, et dépend de la fréquence d'échantillonnage et de la vitesse de + * changement de loc son que nous voulons détecter. Des valeurs plus faibles signifient le calcul du son + * se fait plus souvent, mais la précision est assez faible car nous calculons sur une très petite tranche de + * du son. + */ + static const int _TailleTampon = 4096; + + /** + * Prenez un point pour la localisation du son est Niveau> 105% du Niveau moyen. Cela permet de calculer la + * localisation du son uniquement pour les sons "significatifs", pas le bruit de fond. + */ + static constexpr float _NiveauSonMin = 1.1f; //f de 1.05f signifie :float constant with value of 1.05 + + /** + * sound speed in meters per seconds + */ + static constexpr float _Vson = 344; + + /** + * sound sampling rate in Hz + */ + unsigned int _TauxEchantillonnageSon; + + /** + * Distance between microphones in meters + */ + static constexpr float _DistanceMic = 0.05f;//5 cm de distance entre les deux microphones + + /** An utility to compute the running average of sound power */ + MoyenneGlissante* _MoyNivSonore; + + /** ALSA sound input handle */ + snd_pcm_t* _capture_handle; + + /** sound samples input buffer */ + SAMPLE_TYPE _TamponDroit[_TailleTampon]; + SAMPLE_TYPE _TamponGauche[_TailleTampon]; + +public: + Localisation() { + _MoyNivSonore = new MoyenneGlissante(50); + _TauxEchantillonnageSon = 44100; + + // sampling: 2 chanels, 44 KHz, 16 bits. + int err; + snd_pcm_hw_params_t* hw_params; + + // ideally use "hw:0,0" for embedded, to limit processing. But check if card support our needs... + const char* CarteSon = "plughw:0,0"; + if ((err = snd_pcm_open(&_capture_handle, CarteSon, SND_PCM_STREAM_CAPTURE, 0)) < 0) { + fprintf(stderr, "Impossible d'ouvrir le peripherique audio %s (%s)\n", CarteSon,snd_strerror(err)); + exit(1); + } + + if ((err = snd_pcm_hw_params_malloc(&hw_params)) < 0) { + fprintf(stderr, "Impossible d'allouer la structure des paramètres matériels (%s)\n",snd_strerror(err)); + exit(1); + } + + if ((err = snd_pcm_hw_params_any(_capture_handle, hw_params)) < 0) { + fprintf(stderr,"Impossible d'initialiser la structure des paramètres matériels (%s)\n",snd_strerror(err)); + exit(1); + } + + if ((err = snd_pcm_hw_params_set_access(_capture_handle, hw_params,SND_PCM_ACCESS_RW_NONINTERLEAVED)) < 0) { + fprintf(stderr, "Impossible de definir le type d'acces (%s)\n", snd_strerror(err)); + exit(1); + } + + if ((err = snd_pcm_hw_params_set_format(_capture_handle, hw_params,SAMPLE_TYPE_ALSA)) < 0) { + fprintf(stderr, "Impossible de definir le format d'echantillonnage (%s)\n",snd_strerror(err)); + exit(1); + } + + if ((err = snd_pcm_hw_params_set_rate_near(_capture_handle, hw_params,&_TauxEchantillonnageSon, 0)) < 0) { + fprintf(stderr, "Impossible de definir le taux d'echantillonnage (%s)\n", snd_strerror(err)); + exit(1); + } + + if ((err = snd_pcm_hw_params_set_channels(_capture_handle, hw_params, 2))< 0) { + fprintf(stderr, "Impossible de definir le nombre de canaux (%s)\n", snd_strerror(err)); + exit(1); + } + + if ((err = snd_pcm_hw_params(_capture_handle, hw_params)) < 0) { + fprintf(stderr, "Impossible de definir les parametres (%s)\n", snd_strerror(err)); + exit(1); + } + + snd_pcm_hw_params_free(hw_params); + + if ((err = snd_pcm_prepare(_capture_handle)) < 0) { + fprintf(stderr, "Impossible de preparer l'interface audio pour utilisation (%s)\n",snd_strerror(err)); + exit(1); + } + } + + /** Clean exit */ + ~Localisation() { + snd_pcm_close(_capture_handle); + delete _MoyNivSonore; + } + + /** + * Boucle principale: lit un tampon, calcule la localisation de la source sonore, fait une itération. + */ + void run() { + //while (true) { + TraitementSonsSuivants(); + //} + } + +private: + /** + * C'est le cœur de la localisation de la source sonore: il prend les sons échantillonnés + * Droit / Gauche, et calcule leurs différences tout en retardant de plus en plus un canal.
+ * => le retard pour lequel la différence est minime est le vrai retard + * entre les sons Droit / Gauche, dont on peut déduire la source sonore + * localisation + */ + void TraitementSonsSuivants() { + SAMPLE_TYPE* bufs[2]; + bufs[0] = _TamponDroit; + bufs[1] = _TamponGauche; + int err; + if ((err = snd_pcm_readn(_capture_handle, (void**) bufs, _TailleTampon))!= _TailleTampon) { + fprintf(stderr, "Echec de la lecture de l'interface audio (%s)\n",snd_strerror(err)); + exit(1); + } + + // compute the sound level (i.e. "loudness" of the sound): + SAMPLE_TYPE Niveau = CalculNiv(_TamponDroit, _TamponGauche); + // update the average sound level with this new measure: + _MoyNivSonore->nvelleValeur(Niveau); + // relative sound level of this sample compared to average: + float NivRelatif = (float) Niveau / (float) _MoyNivSonore->getMean(); + //cout << "level " << level << ", relative " << NivRelatif << endl; + + int minDiff = INT_MAX; + int minDiffTime = -1; + // glisse sur l'axe du temps pour trouver la différence sonore minimum entre les microphones Droit et Gauche + for (int t = -_nbEchantillonsDiffMax; t < _nbEchantillonsDiffMax; t++) { + // calcule la somme des différences pour simuler une mesure de corrélation croisée: + int diff = 0; + for (int i = _nbEchantillonsDiffMax; i < _TailleTampon - _nbEchantillonsDiffMax - 1; i++) { + diff += abs(_TamponGauche[i] - _TamponDroit[i + t]); + } + if (diff < minDiff) { + minDiff = diff; + minDiffTime = t; + } + } + + // Si le son est assez fort et pas extrême (= ce qui entraine généralement de fausses + // mesures), alors on le dessine: + if ((NivRelatif > _NiveauSonMin) && (minDiffTime > -_nbEchantillonsDiffMax) && (minDiffTime < _nbEchantillonsDiffMax)) { + // computation of angle depending on diff time, sampling rates, + // and geometry + float angle = -(float) asin((minDiffTime * _Vson) / (_TauxEchantillonnageSon* _DistanceMic)); + if (angle<2 && angle >-2){ //Empeche de renvoyer la valeur -nan lorsque le son est jugé trop faible. + cout << angle << ";" << NivRelatif << endl; + th = angle; + } + } + } + + /** + * Calcule du niveau sonore moyen (la puissance) pour les canaux gauche et droit. + */ + SAMPLE_TYPE CalculNiv(SAMPLE_TYPE Droit[], SAMPLE_TYPE Gauche[]) { + float Niveau = 0; + for (int i = 0; i < _TailleTampon; i++) { + float s = (Gauche[i] + Droit[i]) / 2; + Niveau += (s * s); + } + Niveau /= _TailleTampon; + Niveau = sqrt(Niveau); + return (SAMPLE_TYPE) Niveau; + } +}; + +int main(int argc, char *argv[]) { + ros::init(argc, argv, "localisation_v2"); + ros::NodeHandle nh; + ros::Publisher cmd_velo = nh.advertise("/turtle1/cmd_vel", 1000); + geometry_msgs::Twist theta; + + Localisation soundLoc; + + while (ros::ok()){ + soundLoc.run(); + theta.angular.z = th; + //theta.linear.x = 0.1; + cmd_velo.publish(theta); + } + exit(0); +} +