mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
118 lines
2.8 KiB
Go
118 lines
2.8 KiB
Go
package roverd
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import (
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"fmt"
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"math"
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"os/exec"
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)
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type AudioLevels struct {
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HornGain float64
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TTSGain float64
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ForwardGain float64
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}
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func clampAudioGain(v float64) float64 {
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if v < 0 {
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return 0
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}
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if v > 4 {
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return 4
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}
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return v
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}
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func normalizeAudioLevels(v AudioLevels) AudioLevels {
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v.HornGain = clampAudioGain(v.HornGain)
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v.TTSGain = clampAudioGain(v.TTSGain)
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v.ForwardGain = clampAudioGain(v.ForwardGain)
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return v
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}
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func (c *WSClient) getAudioLevels() AudioLevels {
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c.audioMu.RLock()
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defer c.audioMu.RUnlock()
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return c.audioLevels
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}
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func (c *WSClient) setAudioLevels(next AudioLevels) {
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normalized := normalizeAudioLevels(next)
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c.audioMu.Lock()
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c.audioLevels = normalized
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c.audioMu.Unlock()
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c.applyAudioLevelsToMixer(normalized)
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}
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func (c *WSClient) handleAudioLevels(payload *audioLevelsPayload) error {
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if payload == nil {
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return nil
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}
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levels := c.getAudioLevels()
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if payload.HornGain != nil {
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levels.HornGain = clampAudioGain(*payload.HornGain)
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}
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if payload.TTSGain != nil {
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levels.TTSGain = clampAudioGain(*payload.TTSGain)
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}
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if payload.ForwardGain != nil {
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levels.ForwardGain = clampAudioGain(*payload.ForwardGain)
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}
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c.setAudioLevels(levels)
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return nil
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}
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func (c *WSClient) applyAudioLevelsToMixer(levels AudioLevels) {
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c.applyMixerGain("HornMaster", levels.HornGain)
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c.applyMixerGain("TTSMaster", levels.TTSGain)
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c.applyMixerGain("ForwardMaster", levels.ForwardGain)
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}
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func (c *WSClient) applyMixerGain(control string, gain float64) {
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normalized := clampAudioGain(gain)
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if normalized <= 0 {
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if err := c.trySetMixerControl(control, "0%"); err != nil {
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c.log.Printf("audio-levels: amixer mute %s failed: %v", control, err)
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}
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return
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}
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// Convert linear gain to dB, matching softvol max_dB=12.0 in /etc/asound.conf.
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db := 20.0 * math.Log10(normalized)
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if db > 12.0 {
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db = 12.0
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}
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if db < -60.0 {
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db = -60.0
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}
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// amixer treats a leading "-" value as an option; set via percent to avoid getopt ambiguity.
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percent := int(math.Round((db + 60.0) / 72.0 * 100.0))
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if percent < 0 {
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percent = 0
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}
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if percent > 100 {
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percent = 100
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}
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percentArg := fmt.Sprintf("%d%%", percent)
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if err := c.trySetMixerControl(control, percentArg); err != nil {
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c.log.Printf("audio-levels: amixer set %s=%s failed: %v", control, percentArg, err)
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}
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}
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func (c *WSClient) trySetMixerControl(control, value string) error {
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// Prefer the active ALSA default route; fall back to card index for compatibility.
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candidates := [][]string{
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{"-q", "-D", "default", "sset", control, value},
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{"-q", "-c", "0", "sset", control, value},
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}
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var lastErr error
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for _, args := range candidates {
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out, err := exec.Command("amixer", args...).CombinedOutput()
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if err == nil {
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return nil
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}
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lastErr = fmt.Errorf("%w (%s)", err, string(out))
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}
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return lastErr
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}
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