Transférer les fichiers vers 'Code_Final_loc180deg'

Le fichier Localisation180.cpp est le programme C++ permettant la localisation du son pour ROS. Le fichier CMakeLists.txt est celui qui est nécessaire pour la compilation avec catkin_make. Pour les utiliser, se référer à la notice : https://gitcdr.univ-ubs.fr/ericsenn/localisation_audio/src/branch/master/Creation_package_v1.pdf

Code_Final_loc180deg/CMakeLists.txt

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+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)

Code_Final_loc180deg/Localisation180.cpp

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+#include <iostream>
+using namespace std;
+
+// #include <ros/ros.h> 
+#include "/opt/ros/kinetic/include/ros/ros.h"
+#include <std_msgs/Float32.h>
+#include <geometry_msgs/Twist.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <limits.h>
+#include <alsa/asoundlib.h>
+#include "/usr/include/alsa/asoundlib.h"
+#include <ros/publisher.h>
+//#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.<br/>
+	 * => 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<geometry_msgs::Twist>("/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);
+}
+