small fixes

Author: supertick

src/main/java/org/myrobotlab/framework/Status.java

@@ -95,7 +95,7 @@ public static Status error(String format, Object... args) {
 
   public static Status warn(String msg) {
     Status s = new Status(msg);
-    s.level = ERROR;
+    s.level = WARN;
     return s;
   }
 

src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java

@@ -155,26 +155,26 @@ public double publishServoEvent(ServoControl servo, Integer eventType, Double cu
   // want these to be as small/large as possible without hitting the hard stop
   // for max range. You'll have to tweak them as necessary to match the servos
   // you have!
-  //
-  public final static int SERVOMIN = 150; // this
-  // is
-  // the
-  // 'minimum'
-  // pulse
-  // length count (out of 4096)
-  public final static int SERVOMAX = 600; // this
-  // is
-  // the
-  // 'maximum'
-  // pulse
-  // length count (out of 4096)
+  public int SERVOMIN = 150; // this is the 'minimum' pulse length count
+                                    // (out of 4096)
+  // @60Hz this equates to 610uS
+  public int SERVOMAX = 600; // this is the 'maximum' pulse length count
+                                    // (out of 4096)
+  // @60Hz this equates to 2441uS
+
+  // Servo min and max Pulse width
+  final static int servoMinPulseWidth = 500; // in micro seconds
+  final static int servoMaxPulseWidth = 2500; // in micro seconds
 
   transient public I2CController controller;
 
   // Constant for default PWM freqency
   private static int defaultPwmFreq = 60;
   final static int minPwmFreq = 24;
-  final static int maxPwmFreq = 1526;
+  // Servos us a PWM signal with a pulse width between 500uS and 2500uS.
+  // Allowing for 500uS the latest digital servos gives us a max frequence of
+  // 333 Hz
+  final static int maxPwmFreq = 333;
 
   int pwmFreq;
   boolean pwmFreqSet = false;
@@ -216,16 +216,15 @@ public double publishServoEvent(ServoControl servo, Integer eventType, Double cu
   public static final int PCA9685_LED0_OFF_H = 0x09; // First LED addressHigh
 
   public static final int PCA9685_ALL_LED_OFF_H = 0xFD; // All call i2c address
-  // ( Used for shutdown
-  // of all pwm )
+  // ( Used for shutdown of all pwm )
   public static final int PCA9685_TURN_ALL_LED_OFF = 0x10; // Command to turn
-  // all LED off stop
-  // pwm )
+  // all LED off stop pwm )
 
   // public static final int PWM_FREQ = 60; // default frequency for servos
   public static final float osc_clock = 25000000; // clock frequency of the
   // internal clock
   public static final float precision = 4096; // pwm_precision
+  float freqAdjust = (float) 0.9;
 
   /**
    * i2c controller
@@ -360,11 +359,37 @@ public void setPWM(String pinLabel, Integer pulseWidthOn, Integer pulseWidthOff)
     byte[] buffer = { (byte) (PCA9685_LED0_ON_L + (pin * 4)), (byte) (pulseWidthOn & 0xff), (byte) (pulseWidthOn >> 8), (byte) (pulseWidthOff & 0xff),
         (byte) (pulseWidthOff >> 8) };
     log.debug("Writing pin {}, pulesWidthOn {}, pulseWidthOff {}", pin, pulseWidthOn, pulseWidthOff);
-    if (controller != null) {
-      controller.i2cWrite(this, Integer.parseInt(deviceBus), Integer.decode(deviceAddress), buffer, buffer.length);
+    controller.i2cWrite(this, Integer.parseInt(deviceBus), Integer.decode(deviceAddress), buffer, buffer.length);
+  }
+
+  /**
+   * adjust the inbuilt oscilator frequency reference. The PCA9685 inbuilt
+   * oscilator is listed as 25MHz in the datasheets However, it has found to be
+   * a little different and is different between batches This allows us to
+   * adjust the base frequency we use for out timings so the output pulses and
+   * PWM frequencies are more accurate. This will affect the positioning of
+   * servos, center and even the upper and lower limits.
+   * 
+   * @param adjustment
+   */
+  public void setFreqAdjust(float adjustment) {
+    if (adjustment < 0.5) {
+      freqAdjust = (float) 0.5;
+    } else if (adjustment > 1.5) {
+      freqAdjust = (float) 1.5;
     } else {
-      error("controller not set!");
+      freqAdjust = adjustment;
     }
+    log.info("pwm frequency adjust %s, resulting a frequency of %s MHz.", freqAdjust, (freqAdjust * osc_clock));
+  }
+
+  /**
+   * returns the current Frequency Adjustment value.
+   * 
+   * @return
+   */
+  public float getFreqAdjust() {
+    return freqAdjust;
   }
 
   /**
@@ -407,7 +432,19 @@ public void setPWMFreq(String pin, Integer hz) { // Analog servos run at ~60
       // Multiplying with factor 0.9 to correct the frequency
       // See
       // https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library/issues/11
-      prescale_value = Math.round(0.9 * osc_clock / precision / hz) - 1;
+      // The adjustment required varies from batch to batch so is now a variable
+      // that can be adjusted.
+      prescale_value = Math.round(freqAdjust * osc_clock / precision / hz) - 1;
+
+      // When the PWMfreq is changed, the SERVOMIN and SERVOMAX need to be
+      // updated as well,
+      // otherwise if the PWMfreq is increased, the pulse width will be
+      // decreased and could
+      // damage the servos by sending pulses that are too short.
+      // If the PWMfreq is decrease, then the pulse width would be increased,
+      // again potentially damaging servos.
+      SERVOMIN = (servoMinPulseWidth * (int) precision * (int) hz) / 1000000;
+      SERVOMAX = (servoMaxPulseWidth * (int) precision * (int) hz) / 1000000;
     }
 
     log.info("pwm frequency {} hz, prescale_value calculated to %s", hz, prescale_value);
@@ -507,7 +544,8 @@ public void onServoWriteMicroseconds(ServoControl servo, int uS) {
 
     int pin = getAddress(servo.getPin());
     // 1000 ms => 150, 2000 ms => 600
-    int pulseWidthOff = (int) (uS * 0.45) - 300;
+    // This value is calculated based on the pwmFreq setting.
+    int pulseWidthOff = (uS * (int) precision * pwmFreq) / 1000000;
     // since pulseWidthOff can be larger than > 256 it needs to be
     // sent as 2 bytes
     log.debug("servoWriteMicroseconds {} deviceAddress {} pin {} pulse {}", servo.getName(), deviceAddress, pin, pulseWidthOff);
@@ -1025,18 +1063,18 @@ public String publishServoStarted(String name) {
   public String publishServoStopped(String name) {
     return name;
   }
-  
+
   @Override
   public Adafruit16CServoDriverConfig getConfig() {
-    super.getConfig();
-    Adafruit16CServoDriverConfig config = (Adafruit16CServoDriverConfig)super.getConfig();
+
+    Adafruit16CServoDriverConfig config = (Adafruit16CServoDriverConfig) super.getConfig();
     // FIXME remove member vars use config directly
     config.controller = controllerName;
     config.deviceBus = deviceBus;
     config.deviceAddress = deviceAddress;
     return config;
   }
-  
+
   @Override
   public Adafruit16CServoDriverConfig apply(Adafruit16CServoDriverConfig c) {
     super.apply(c);
@@ -1047,16 +1085,16 @@ public Adafruit16CServoDriverConfig apply(Adafruit16CServoDriverConfig c) {
         log.error("attaching controller failed", e);
       }
     }
-    
-    // lame - this shouldn't be "copied" over - everything should just simply use config.deviceAddress
+    // lame - this shouldn't be "copied" over - everything should just simply
+    // use config.deviceAddress
     if (config.deviceAddress != null) {
       deviceAddress = config.deviceAddress;
     }
 
     if (config.deviceBus != null) {
       deviceBus = config.deviceBus;
     }
-    
+
     return c;
   }
 

src/main/java/org/myrobotlab/service/AudioFile.java

@@ -25,8 +25,11 @@
 
 package org.myrobotlab.service;
 
+import java.io.BufferedInputStream;
 import java.io.File;
 import java.io.IOException;
+import java.io.InputStream;
+import java.net.URL;
 import java.nio.file.Files;
 import java.nio.file.Path;
 import java.nio.file.Paths;
@@ -56,6 +59,9 @@
 import org.myrobotlab.service.interfaces.AudioListener;
 import org.myrobotlab.service.interfaces.AudioPublisher;
 import org.slf4j.Logger;
+
+import javazoom.jl.player.Player;
+
 /**
  * 
  * AudioFile - This service can be used to play an audio file such as an mp3.
@@ -123,7 +129,9 @@ public class AudioFile extends Service<AudioFileConfig> implements AudioPublishe
   transient Map<String, AudioProcessor> processors = new HashMap<String, AudioProcessor>();
 
   final private transient PlaylistPlayer playlistPlayer = new PlaylistPlayer(this);
-  
+
+  private transient Player streamPlayer = null;
+
   /**
    * last file played
    */
@@ -134,13 +142,13 @@ public void attach(Attachable attachable) {
       attachAudioListener(attachable.getName());
     }
   }
-  
+
   public void attach(AudioListener listener) {
     attachAudioListener(listener.getName());
   }
-  
+
   public void setPeakMultiplier(double peakMultiplier) {
-    AudioFileConfig c = (AudioFileConfig)config;
+    AudioFileConfig c = (AudioFileConfig) config;
     c.peakMultiplier = peakMultiplier;
   }
 
@@ -173,6 +181,9 @@ public void stopService() {
       p.interrupt();
     }
     playlistPlayer.stop();
+    if (streamPlayer != null) {
+      streamPlayer.close();
+    }
   }
 
   public AudioData play(String filename) {
@@ -184,7 +195,8 @@ public AudioData play(String filename, boolean blocking) {
     return play(filename, blocking, null, null);
   }
 
-  public AudioData play(String filename, boolean blocking, Integer repeat, String track) {
+  public AudioData play(final String uri, boolean blocking, Integer repeat, String track) {
+    String filename = uri;
 
     log.info("Play called for Filename {}", filename);
     if (track == null || track.isEmpty()) {
@@ -197,6 +209,34 @@ public AudioData play(String filename, boolean blocking, Integer repeat, String
     }
 
     if (filename.toLowerCase().startsWith("http:") || filename.toLowerCase().startsWith("https:")) {
+
+      if (config.stream) {
+        try {
+
+          Thread playbackThread = new Thread(() -> {
+            try (InputStream input = new BufferedInputStream(new URL(uri).openStream())) {
+              streamPlayer = new Player(input);
+              System.out.println("Playing stream: " + uri);
+              streamPlayer.play(); // Playback happens here
+            } catch (Exception e) {
+              System.err.println("Error playing stream: " + e.getMessage());
+              e.printStackTrace();
+            }
+          });
+          playbackThread.start();
+
+          AudioData data = new AudioData(filename);
+          data.mode = blocking ? AudioData.MODE_BLOCKING : AudioData.MODE_QUEUED;
+          data.track = track;
+          data.repeat = repeat;
+          return data;
+        } catch (Exception e) {
+          System.err.println("Error playing stream: " + e.getMessage());
+          e.printStackTrace();
+          return null;
+        }
+      }
+
       // make cache directory if it doesn't exist
       File check = new File(getDataDir() + fs + "cache");
       if (!check.exists()) {
@@ -325,6 +365,10 @@ public void silence() {
       // In your case, an other loop.
     }
     playlistPlayer.stop();
+    if (streamPlayer != null) {
+      streamPlayer.close();
+    }
+
   }
 
   /*
@@ -371,6 +415,9 @@ public void stop() {
       ap.pause(false); // FIXME me shouldn't it be true ?
       ap.stopPlaying();
     }
+    if (streamPlayer != null) {
+      streamPlayer.close();
+    }
   }
 
   // FIXME - implement ???
@@ -396,11 +443,11 @@ public List<File> getFiles(String subDir, boolean recurse) {
   @Override
   public void releaseService() {
     super.releaseService();
-    for (AudioProcessor processor: processors.values()) {
+    for (AudioProcessor processor : processors.values()) {
       processor.stopPlaying();
     }
   }
-  
+
   public AudioData repeat(String filename) {
     return repeat(filename, -1);
   }
@@ -544,6 +591,9 @@ public void startPlaylist(String playlist, boolean shuffle, boolean repeat, Stri
 
   public void stopPlaylist() {
     playlistPlayer.stop();
+    if (streamPlayer != null) {
+      streamPlayer.close();
+    }
   }
 
   public void skip() {
@@ -554,7 +604,7 @@ public double publishPeak(double peak) {
     log.debug("publishPeak {}", peak);
     return peak;
   }
-  
+
   public static void main(String[] args) {
 
     try {
@@ -566,7 +616,7 @@ public static void main(String[] args) {
       Runtime.start("python", "Python");
 
       AudioFile player = (AudioFile) Runtime.start("player", "AudioFile");
-      
+
       // Audio stream
       // player.play("http://icecast.radiofrance.fr/fip-midfi.mp3");
       player.play("https://upload.wikimedia.org/wikipedia/commons/1/1f/Bach_-_Brandenburg_Concerto.No.1_in_F_Major-_II._Adagio.ogg");
@@ -596,14 +646,15 @@ public static void main(String[] args) {
   public void onPlayAudioFile(String file) {
     play(file);
   }
-  
+
   @Override
   public void onPlayRandomAudioFile(String dir) {
     playRandom(dir);
   }
 
   /**
    * Plays a random audio file
+   * 
    * @param dir
    */
   public void playRandom(String dir) {
@@ -612,22 +663,22 @@ public void playRandom(String dir) {
       error("%s is not a valid dir");
       return;
     }
-    
+
     File[] files = test.listFiles();
-    
+
     if (files.length == 0) {
       error("%s contains no files", dir);
       return;
     }
-    
+
     Random rand = new Random();
-    File randomFile = files[rand.nextInt(files.length-1)];
+    File randomFile = files[rand.nextInt(files.length - 1)];
     play(randomFile.getAbsolutePath());
-    
+
   }
-  
+
   public double getPeakMultiplier() {
-    return ((AudioFileConfig)config).peakMultiplier;
+    return ((AudioFileConfig) config).peakMultiplier;
   }
 
 }