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/************************************************************************
IMPORTANT NOTE : this file contains two clearly delimited sections :
the ARCHITECTURE section (in two parts) and the USER section. Each section
is governed by its own copyright and license. Please check individually
each section for license and copyright information.
*************************************************************************/
/******************* BEGIN jack-ros.cpp ****************/
/************************************************************************
FAUST Architecture File
Copyright (C) 2003-2019 GRAME, Centre National de Creation Musicale
---------------------------------------------------------------------
This Architecture section is free software; you can redistribute it
and/or modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 3 of
the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; If not, see <http://www.gnu.org/licenses/>.
EXCEPTION : As a special exception, you may create a larger work
that contains this FAUST architecture section and distribute
that work under terms of your choice, so long as this FAUST
architecture section is not modified.
************************************************************************
************************************************************************/
#include <stdlib.h>
#include <iostream>
#include "faust/misc.h"
#include "faust/audio/jack-dsp.h"
#include "faust/gui/RosUI.h"
#include <ros/ros.h>
#ifdef OSCCTRL
#include "faust/gui/OSCUI.h"
#endif
#ifdef HTTPCTRL
#include "faust/gui/httpdUI.h"
#endif
/******************************************************************************
*******************************************************************************
VECTOR INTRINSICS
*******************************************************************************
*******************************************************************************/
<<includeIntrinsic>>
/********************END ARCHITECTURE SECTION (part 1/2)****************/
/**************************BEGIN USER SECTION **************************/
<<includeclass>>
/***************************END USER SECTION ***************************/
/*******************BEGIN ARCHITECTURE SECTION (part 2/2)***************/
mydsp* DSP;
//-------------------------------------------------------------------------
// MAIN
//-------------------------------------------------------------------------
int main(int argc, char* argv[])
{
char appname[256];
snprintf(appname, 256, "%s", basename(argv[0]));
// Create DSP Object
DSP = new mydsp();
if (!DSP) {
ROS_ERROR("Unable to allocate Faust DSP object");
exit(1);
}
// Get name from file name to name the namespace
//This is a lot of names !
ros::init(argc, argv, (std::string)appname);
ros::NodeHandle n;
// Create and build ROS interface
RosUI* interface = new RosUI(n, (std::string)appname);
DSP->buildUserInterface(interface);
// Is there any declared ROS metadata ?
bool meta = interface->isTrue();
if (meta) // If there is any, then we subscribe to the specific subscriber(s)
{
RosCallbacks* subscriber = new RosCallbacks(n);
std::vector<FAUSTFLOAT*> my_zones = interface->getZones();
subscriber->subscribe(my_zones);
}
// Launching jack audio API
jackaudio audio;
audio.init(appname, DSP);
audio.start();
// Call ROS Callbacks
ros::spin();
// Once Ctrl + C, everything stops
audio.stop();
// desallocation
delete interface;
return 0;
}
/******************* END jack-ros.cpp ****************/
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