API appears to actually store iso endpoint data

Matlab_Octave_API/___librador/librador/Makefile

@@ -51,8 +51,10 @@ OBJECTS_DIR   = ./
 ####### Files
 
 SOURCES       = librador.cpp \
+		o1buffer.cpp \
 		usbcallhandler.cpp 
 OBJECTS       = librador.o \
+		o1buffer.o \
 		usbcallhandler.o
 DIST          = /home/esposch/Qt/5.10.0/gcc_64/mkspecs/features/spec_pre.prf \
 		/home/esposch/Qt/5.10.0/gcc_64/mkspecs/common/unix.conf \
@@ -239,7 +241,9 @@ DIST          = /home/esposch/Qt/5.10.0/gcc_64/mkspecs/features/spec_pre.prf \
 		librador.pro librador.h \
 		librador_global.h \
 		librador_internal.h \
+		o1buffer.h \
 		usbcallhandler.h librador.cpp \
+		o1buffer.cpp \
 		usbcallhandler.cpp
 QMAKE_TARGET  = rador
 DESTDIR       = 
@@ -657,8 +661,8 @@ distdir: FORCE
 	@test -d $(DISTDIR) || mkdir -p $(DISTDIR)
 	$(COPY_FILE) --parents $(DIST) $(DISTDIR)/
 	$(COPY_FILE) --parents /home/esposch/Qt/5.10.0/gcc_64/mkspecs/features/data/dummy.cpp $(DISTDIR)/
-	$(COPY_FILE) --parents librador.h librador_global.h librador_internal.h usbcallhandler.h $(DISTDIR)/
+	$(COPY_FILE) --parents librador.h librador_global.h librador_internal.h o1buffer.h usbcallhandler.h $(DISTDIR)/
-	$(COPY_FILE) --parents librador.cpp usbcallhandler.cpp $(DISTDIR)/
+	$(COPY_FILE) --parents librador.cpp o1buffer.cpp usbcallhandler.cpp $(DISTDIR)/
 
 
 clean: compiler_clean 
@@ -737,8 +741,12 @@ librador.o: librador.cpp librador.h \
 		../../../Desktop_Interface/build_linux/libusb/libusb.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o librador.o librador.cpp
 
+o1buffer.o: o1buffer.cpp o1buffer.h
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o o1buffer.o o1buffer.cpp
+
 usbcallhandler.o: usbcallhandler.cpp usbcallhandler.h \
-		../../../Desktop_Interface/build_linux/libusb/libusb.h
+		../../../Desktop_Interface/build_linux/libusb/libusb.h \
+		o1buffer.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o usbcallhandler.o usbcallhandler.cpp
 
 ####### Install

Matlab_Octave_API/___librador/librador/librador.pro

@@ -30,12 +30,14 @@ DEPENDPATH += ../../../Desktop_Interface
 
 SOURCES += \
         librador.cpp \
+        o1buffer.cpp \
     usbcallhandler.cpp
 
 HEADERS += \
         librador.h \
         librador_global.h \ 
         librador_internal.h \
+        o1buffer.h \
     usbcallhandler.h
 
 unix {

Matlab_Octave_API/___librador/librador/o1buffer.cpp

@@ -0,0 +1,173 @@
+#include "o1buffer.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+
+//o1buffer is an object that has o(1) access times for its elements.
+//At the moment it's basically an array, but I'm keeping it as an object so it can be changed to something more memory efficient later.
+//See isobuffer in github.com/espotek/labrador for an example of a much more compact (RAM-wise) buffer.
+o1buffer::o1buffer()
+{
+    buffer = (int *) (malloc(sizeof(int)*NUM_SAMPLES_PER_CHANNEL));
+}
+
+o1buffer::~o1buffer(){
+    free(buffer);
+}
+
+
+void o1buffer::add(int value, int address){
+    //Ensure that the address is not too high.
+    if(address >= NUM_SAMPLES_PER_CHANNEL){
+        address = address % NUM_SAMPLES_PER_CHANNEL;
+    }
+    if(address<0){
+        fprintf(stderr, "ERROR: o1buffer::add was given a negative address\n");
+    }
+    //Assign the value
+    buffer[address] = value;
+    updateMostRecentAddress(address);
+}
+
+int o1buffer::addVector(int *firstElement, int numElements){
+    int currentAddress = mostRecentAddress;
+
+    for(int i=0; i< numElements; i++){
+        add(firstElement[i], currentAddress);
+        currentAddress = (currentAddress + 1) % NUM_SAMPLES_PER_CHANNEL;
+    }
+    return 0;
+}
+
+int o1buffer::addVector(unsigned char *firstElement, int numElements){
+    int currentAddress = mostRecentAddress;
+
+    for(int i=0; i< numElements; i++){
+        add(firstElement[i], currentAddress);
+        currentAddress = (currentAddress + 1) % NUM_SAMPLES_PER_CHANNEL;
+    }
+    return 0;
+}
+
+
+int o1buffer::get(int address){
+    //Ensure that the address is not too high.
+    if(address >= NUM_SAMPLES_PER_CHANNEL){
+        address = address % NUM_SAMPLES_PER_CHANNEL;
+    }
+    if(address<0){
+        fprintf(stderr, "ERROR: o1buffer::get was given a negative address\n");
+    }
+    //Return the value
+    return buffer[address];
+}
+
+inline void o1buffer::updateMostRecentAddress(int newAddress){
+    mostRecentAddress = newAddress;
+}
+
+//This function places samples in a buffer than can be plotted on the streamingDisplay.
+//A small delay, is added in case the packets arrive out of order.
+std::vector<double> *o1buffer::getMany_double(int numToGet, int interval_samples, int delay_samples, int filter_mode){
+    //Resize the vector
+    convertedStream_double.resize(numToGet);
+
+    //Copy raw samples out.
+    int tempAddress;
+    for(int i=0;i<numToGet;i++){
+        tempAddress = mostRecentAddress - delay_samples - (interval_samples * i);
+        if(tempAddress < 0){
+            tempAddress += NUM_SAMPLES_PER_CHANNEL;
+        }
+        double *data = convertedStream_double.data();
+        data[i] = get_filtered_sample(tempAddress, filter_mode, interval_samples);
+        //convertedStream_double.replace(i, buffer[tempAddress]);
+    }
+    return &convertedStream_double;
+}
+
+std::vector<double> *o1buffer::getSinceLast(int feasible_window_begin, int feasible_window_end, int interval_samples, int filter_mode){
+
+    //Calculate what sample the feasible window begins at
+    //printf_debugging("o1buffer::getSinceLast()\n")
+    int feasible_start_point = mostRecentAddress - feasible_window_begin;
+    if(feasible_start_point < 0){
+        feasible_start_point += NUM_SAMPLES_PER_CHANNEL;
+    }
+
+    //Work out whether or not we're starting from the feasible window or the last point
+    int actual_start_point;
+    if(distanceFromMostRecentAddress(feasible_start_point) > distanceFromMostRecentAddress(stream_index_at_last_call + interval_samples)){
+        actual_start_point = stream_index_at_last_call + interval_samples;
+    } else {
+        actual_start_point = feasible_start_point;
+    }
+
+    //Work out how much we're copying
+    int actual_sample_distance = distanceFromMostRecentAddress(actual_start_point) - distanceFromMostRecentAddress(mostRecentAddress - feasible_window_end);
+    int numToGet = actual_sample_distance/interval_samples;
+    //printf_debugging("Fetching %d samples, starting at index %d with interval %d\n", numToGet, actual_start_point, interval_samples);
+
+    //Set up the buffer
+    convertedStream_double.resize(numToGet);
+
+    //Copy raw samples out.
+    int tempAddress = stream_index_at_last_call;
+    for(int i=0;i<numToGet;i++){
+        tempAddress = actual_start_point + (interval_samples * i);
+        if(tempAddress >= NUM_SAMPLES_PER_CHANNEL){
+            tempAddress -= NUM_SAMPLES_PER_CHANNEL;
+        }
+        double *data = convertedStream_double.data();
+        data[numToGet-1-i] = get_filtered_sample(tempAddress, filter_mode, interval_samples);
+        //convertedStream_double.replace(i, buffer[tempAddress]);
+    }
+
+    //update stream_index_at_last_call for next call
+    stream_index_at_last_call = tempAddress;
+
+    return &convertedStream_double;
+}
+
+int o1buffer::distanceFromMostRecentAddress(int index){
+    //Standard case.  buffer[NUM_SAMPLES_PER_CHANNEL] not crossed between most recent and index's sample writes.
+    if(index < mostRecentAddress){
+        return mostRecentAddress - index;
+    }
+
+    //Corner case.  buffer[NUM_SAMPLES_PER_CHANNEL] boundary has been crossed.
+    if(index > mostRecentAddress){
+        //Two areas.  0 to mostRecentAddress, and index to the end of the buffer.
+        return mostRecentAddress + (NUM_SAMPLES_PER_CHANNEL - index);
+    }
+
+    //I guess the other corner case is when the addresses are the same.
+    return 0;
+}
+
+//replace with get_filtered_sample
+double o1buffer::get_filtered_sample(int index, int filter_type, int filter_size){
+    double accum = 0;
+    int currentPos = index - (filter_size / 2);
+    int end = currentPos + filter_size;
+
+    switch(filter_type){
+        case 0: //No filter
+            return buffer[index];
+        case 1: //Moving Average filter
+            if(currentPos < 0){
+                currentPos += NUM_SAMPLES_PER_CHANNEL;
+            }
+            if(end >= NUM_SAMPLES_PER_CHANNEL){
+                end -= NUM_SAMPLES_PER_CHANNEL;
+            }
+            while(currentPos != end){
+                accum += buffer[currentPos];
+                currentPos = (currentPos + 1) % NUM_SAMPLES_PER_CHANNEL;
+            }
+            return accum/((double)filter_size);
+        break;
+        default: //Default to "no filter"
+            return buffer[index];
+    }
+}

Matlab_Octave_API/___librador/librador/o1buffer.h

@@ -0,0 +1,30 @@
+#ifndef O1BUFFER_H
+#define O1BUFFER_H
+
+#include <vector>
+
+#define NUM_SAMPLES_PER_CHANNEL 7500000
+
+
+class o1buffer
+{
+public:
+    explicit o1buffer();
+    ~o1buffer();
+    void add(int value, int address);
+    int addVector(int *firstElement, int numElements);
+    int addVector(unsigned char *firstElement, int numElements);
+    int get(int address);
+    int mostRecentAddress = 0;
+    int stream_index_at_last_call = 0;
+    int distanceFromMostRecentAddress(int index);
+    std::vector<double> *getMany_double(int numToGet, int interval_samples, int delay_sample, int filter_mode);
+    std::vector<double> *getSinceLast(int feasible_window_begin, int feasible_window_end, int interval_samples, int filter_mode);
+private:
+    int *buffer;
+    std::vector<double> convertedStream_double;
+    void updateMostRecentAddress(int newAddress);
+    double get_filtered_sample(int index, int filter_type, int filter_size);
+};
+
+#endif // O1BUFFER_H

Matlab_Octave_API/___librador/librador/usbcallhandler.cpp

@@ -1,13 +1,22 @@
 #include "usbcallhandler.h"
 #include <stdio.h>
 
+#include "o1buffer.h"
+
+//shared vars
+o1buffer *internal_o1_buffer;
+
 static void LIBUSB_CALL isoCallback(struct libusb_transfer * transfer){
 
     //Thread mutex??
 
     if(transfer->status!=LIBUSB_TRANSFER_CANCELLED){
         printf("Copy the data...\n");
-
+        //TODO: a switch statement here to handle all the modes.
+        for(int i=0;i<transfer->num_iso_packets;i++){
+            unsigned char *packetPointer = libusb_get_iso_packet_buffer_simple(transfer, i);
+            internal_o1_buffer->addVector(packetPointer, 375);
+        }
         printf("Re-arm the endpoint...\n");
         int error = libusb_submit_transfer(transfer);
         if(error){
@@ -20,8 +29,8 @@ static void LIBUSB_CALL isoCallback(struct libusb_transfer * transfer){
 void usb_polling_function(libusb_context *ctx){
     printf("usb_polling_function thread spawned\n");
     struct timeval tv;
-    tv.tv_sec = 2;
+    tv.tv_sec = 0;
-    tv.tv_usec = 0;
+    tv.tv_usec = ISO_PACKETS_PER_CTX*4000;
     while(1){
         printf("usb_polling_function begin loop\n");
         if(libusb_event_handling_ok(ctx)){
@@ -39,6 +48,8 @@ usbCallHandler::usbCallHandler(unsigned short VID_in, unsigned short PID_in)
         pipeID[k] = 0x81+k;
         printf("pipeID %d = %d\n", k, pipeID[k]);
     }
+
+    internal_o1_buffer = new o1buffer();
 }
 
 usbCallHandler::~usbCallHandler(){

Matlab_Octave_API/___librador/librador/usbcallhandler.h

@@ -33,6 +33,7 @@ typedef struct uds{
 
 } unified_debug;
 
+
 class usbCallHandler
 {
 public: