hornn testingg

pi/roverd/Makefile

@@ -11,9 +11,10 @@ build:
 pi-build:
 	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/roverd ./cmd/roverd
 	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/servoverifier ./cmd/servoverifier
+	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/hornverifier ./cmd/hornverifier
 
 dummy:
 	GOOS=linux GOARCH=amd64 go build -tags dummy -o $(BIN_DIR)/roverd-dummy ./cmd/roverd
 
 clean:
-	rm -f $(BIN_DIR)/roverd $(BIN_DIR)/servoverifier
+	rm -f $(BIN_DIR)/roverd $(BIN_DIR)/servoverifier $(BIN_DIR)/hornverifier

pi/roverd/cmd/hornverifier/main.go

@@ -0,0 +1,183 @@
+package main
+
+import (
+	"bufio"
+	"encoding/binary"
+	"flag"
+	"fmt"
+	"log"
+	"math"
+	"os/exec"
+	"strconv"
+	"strings"
+	"time"
+)
+
+const twoPi = 2 * math.Pi
+
+func main() {
+	var (
+		device   = flag.String("device", "", "ALSA device (empty = default)")
+		rate     = flag.Int("rate", 48000, "Sample rate in Hz")
+		channels = flag.Int("channels", 1, "Number of audio channels")
+		duration = flag.Duration("duration", 2*time.Second, "Total horn duration")
+		freqsRaw = flag.String("freqs", "440,550,660", "Comma-separated frequencies in Hz")
+		volume   = flag.Float64("volume", 0.25, "Output volume 0.0-1.0")
+		attack   = flag.Duration("attack", 20*time.Millisecond, "Attack time")
+		release  = flag.Duration("release", 60*time.Millisecond, "Release time")
+	)
+	flag.Parse()
+
+	if *rate <= 0 {
+		log.Fatalf("rate must be > 0 (got %d)", *rate)
+	}
+	if *channels <= 0 {
+		log.Fatalf("channels must be > 0 (got %d)", *channels)
+	}
+	if *duration <= 0 {
+		log.Fatalf("duration must be > 0 (got %s)", *duration)
+	}
+	if *volume <= 0 || *volume > 1.0 {
+		log.Fatalf("volume must be within (0,1] (got %.3f)", *volume)
+	}
+	if *attack < 0 || *release < 0 {
+		log.Fatalf("attack/release must be >= 0")
+	}
+
+	freqs, err := parseFreqs(*freqsRaw)
+	if err != nil {
+		log.Fatalf("parse freqs: %v", err)
+	}
+	if len(freqs) == 0 {
+		log.Fatal("no frequencies provided")
+	}
+
+	if *attack+*release > *duration {
+		log.Fatalf("attack+release must be <= duration (%s + %s > %s)", *attack, *release, *duration)
+	}
+
+	args := []string{"-q", "-f", "S16_LE", "-c", fmt.Sprintf("%d", *channels), "-r", fmt.Sprintf("%d", *rate), "-t", "raw"}
+	if *device != "" {
+		args = append(args, "-D", *device)
+	}
+	cmd := exec.Command("aplay", args...)
+	stdin, err := cmd.StdinPipe()
+	if err != nil {
+		log.Fatalf("aplay stdin: %v", err)
+	}
+	if err := cmd.Start(); err != nil {
+		log.Fatalf("start aplay: %v", err)
+	}
+
+	writer := bufio.NewWriterSize(stdin, 32*1024)
+	if err := synthChord(writer, freqs, *rate, *channels, *duration, *volume, *attack, *release); err != nil {
+		_ = stdin.Close()
+		_ = cmd.Wait()
+		log.Fatalf("synth: %v", err)
+	}
+	if err := writer.Flush(); err != nil {
+		_ = stdin.Close()
+		_ = cmd.Wait()
+		log.Fatalf("flush: %v", err)
+	}
+	if err := stdin.Close(); err != nil {
+		_ = cmd.Wait()
+		log.Fatalf("close stdin: %v", err)
+	}
+	if err := cmd.Wait(); err != nil {
+		log.Fatalf("aplay failed: %v", err)
+	}
+	log.Print("Horn verification complete")
+}
+
+func parseFreqs(raw string) ([]float64, error) {
+	trimmed := strings.TrimSpace(raw)
+	if trimmed == "" {
+		return nil, nil
+	}
+	parts := strings.Split(trimmed, ",")
+	freqs := make([]float64, 0, len(parts))
+	for _, part := range parts {
+		part = strings.TrimSpace(part)
+		if part == "" {
+			continue
+		}
+		value, err := strconv.ParseFloat(part, 64)
+		if err != nil {
+			return nil, fmt.Errorf("invalid freq %q", part)
+		}
+		if value <= 0 {
+			return nil, fmt.Errorf("freq must be > 0 (got %.3f)", value)
+		}
+		freqs = append(freqs, value)
+	}
+	return freqs, nil
+}
+
+func synthChord(writer *bufio.Writer, freqs []float64, rate, channels int, duration time.Duration, volume float64, attack, release time.Duration) error {
+	totalFrames := int(float64(rate) * duration.Seconds())
+	if totalFrames <= 0 {
+		return fmt.Errorf("duration too short")
+	}
+
+	phase := make([]float64, len(freqs))
+	increment := make([]float64, len(freqs))
+	for i, f := range freqs {
+		increment[i] = twoPi * f / float64(rate)
+	}
+
+	attackFrames := int(float64(rate) * attack.Seconds())
+	releaseFrames := int(float64(rate) * release.Seconds())
+	steadyFrames := totalFrames - attackFrames - releaseFrames
+
+	framesPerChunk := 512
+	buf := make([]byte, framesPerChunk*channels*2)
+	sampleIndex := 0
+	scale := volume / float64(len(freqs))
+
+	for framesLeft := totalFrames; framesLeft > 0; {
+		framesNow := framesPerChunk
+		if framesLeft < framesNow {
+			framesNow = framesLeft
+		}
+		for i := 0; i < framesNow; i++ {
+			env := envelope(sampleIndex, attackFrames, steadyFrames, releaseFrames)
+			sample := 0.0
+			for j := range freqs {
+				sample += math.Sin(phase[j])
+				phase[j] += increment[j]
+				if phase[j] > twoPi {
+					phase[j] -= twoPi
+				}
+			}
+			sample *= scale * env
+			if sample > 1.0 {
+				sample = 1.0
+			} else if sample < -1.0 {
+				sample = -1.0
+			}
+			intSample := int16(sample * math.MaxInt16)
+			offset := i * channels * 2
+			for ch := 0; ch < channels; ch++ {
+				binary.LittleEndian.PutUint16(buf[offset+ch*2:], uint16(intSample))
+			}
+			sampleIndex++
+		}
+		if _, err := writer.Write(buf[:framesNow*channels*2]); err != nil {
+			return err
+		}
+		framesLeft -= framesNow
+	}
+	return nil
+}
+
+func envelope(sampleIndex, attackFrames, steadyFrames, releaseFrames int) float64 {
+	if attackFrames > 0 && sampleIndex < attackFrames {
+		return float64(sampleIndex) / float64(attackFrames)
+	}
+	if releaseFrames > 0 && sampleIndex >= attackFrames+steadyFrames {
+		relIndex := sampleIndex - (attackFrames + steadyFrames)
+		return float64(releaseFrames-relIndex) / float64(releaseFrames)
+	}
+	return 1.0
+}