added fixes to AudioThread and updated RomoSample app

iOS/RomoLibrary/AudioThread.cpp

@@ -21,24 +21,32 @@
 
 AudioThread::AudioThread()
 {
+    pthread_mutex_init(&mDirtyMutex, NULL);
+    pthread_cond_init(&mDirtyCond, NULL);
+
+    mDirty = FALSE;
+
     pthread_mutex_init(&mEffectMutex, NULL);
     pthread_mutex_init(&mMotorMutex, NULL);
     pthread_mutex_init(&mAuxMutex, NULL);
 
     mEffectDirty = FALSE;
     mEffectFilename = std::string();
 
+    mEffectId = 0;
+
     mMotorDirty = FALSE;
     mMotorCommand = MotorCommand();
 
     mAuxDirty = FALSE;
     mAuxCommand = AuxCommand();
-
-    mAudioInterface = AudioInterface::create();
 }
 
 AudioThread::~AudioThread()
 {
+    pthread_mutex_destroy(&mDirtyMutex);
+    pthread_cond_destroy(&mDirtyCond);
+
     pthread_mutex_destroy(&mEffectMutex);
     pthread_mutex_destroy(&mMotorMutex);
     pthread_mutex_destroy(&mAuxMutex);
@@ -52,30 +60,46 @@ AudioThread::~AudioThread()
 
 void AudioThread::run()
 {
+    mAudioInterface = AudioInterface::create();
+
+
     while (mState == THREAD_RUNNING)
     {
+        pthread_mutex_lock(&mDirtyMutex);
+        while (!mDirty)
+            pthread_cond_wait(&mDirtyCond, &mDirtyMutex);
+        pthread_mutex_unlock(&mDirtyMutex);
+
+        mAudioInterface->reclaimBuffers();
+
+        pthread_mutex_lock(&mEffectMutex);
         if (mEffectDirty)
         {
-            pthread_mutex_lock(&mEffectMutex);
-            mEffectDirty = !(mAudioInterface->playSoundFile(mEffectFilename));
-            pthread_mutex_unlock(&mEffectMutex);
+            if (mEffectId) {
+                mEffectId = 0;
+            } else {
+                mEffectDirty = !(mAudioInterface->playSoundFile(mEffectFilename));
+            }
         }
+        pthread_mutex_unlock(&mEffectMutex);
 
+        pthread_mutex_lock(&mMotorMutex);
         if (mMotorDirty)
         {
-            pthread_mutex_lock(&mMotorMutex);
             mMotorDirty = !(mAudioInterface->playMotorCommand(mMotorCommand));
-            pthread_mutex_unlock(&mMotorMutex);
         }
+        pthread_mutex_unlock(&mMotorMutex);
 
+        pthread_mutex_lock(&mAuxMutex);
         if (mAuxDirty)
         {
-            pthread_mutex_lock(&mAuxMutex);
             mAuxDirty = !(mAudioInterface->playAuxCommand(mAuxCommand));
-            pthread_mutex_unlock(&mAuxMutex);
         }
+        pthread_mutex_unlock(&mAuxMutex);
 
-        mAudioInterface->reclaimBuffers();
+        pthread_mutex_lock(&mDirtyMutex);
+        mDirty = mEffectDirty || mMotorDirty || mAuxDirty;
+        pthread_mutex_unlock(&mDirtyMutex);
     }
 }
 
@@ -89,6 +113,11 @@ void AudioThread::playSoundFile(std::string filename)
     mEffectDirty = TRUE;
 
     pthread_mutex_unlock(&mEffectMutex);
+
+    pthread_mutex_lock(&mDirtyMutex);
+    mDirty = TRUE;
+    pthread_mutex_unlock(&mDirtyMutex);
+    pthread_cond_signal(&mDirtyCond);
 }
 
 void AudioThread::playMotorCommand(uint8_t leftValue, uint8_t rightValue)
@@ -105,6 +134,11 @@ void AudioThread::playMotorCommand(uint8_t leftValue, uint8_t rightValue)
     mMotorDirty = TRUE;
 
     pthread_mutex_unlock(&mMotorMutex);
+
+    pthread_mutex_lock(&mDirtyMutex);
+    mDirty = TRUE;   
+    pthread_mutex_unlock(&mDirtyMutex);
+    pthread_cond_signal(&mDirtyCond);
 }
 
 void AudioThread::playAuxCommand(uint8_t auxValue)
@@ -115,4 +149,8 @@ void AudioThread::playAuxCommand(uint8_t auxValue)
     mAuxDirty = TRUE;
 
     pthread_mutex_unlock(&mAuxMutex);
+    pthread_mutex_lock(&mDirtyMutex);
+    mDirty = TRUE;
+    pthread_mutex_unlock(&mDirtyMutex);
+    pthread_cond_signal(&mDirtyCond);
 }

iOS/RomoLibrary/AudioThread.h

@@ -38,19 +38,29 @@ class AudioThread: public Thread
     void playAuxCommand(uint8_t auxValue);
 
 private:
+    pthread_mutex_t mDirtyMutex;
+    pthread_cond_t mDirtyCond;
+
     pthread_mutex_t mEffectMutex;
     pthread_mutex_t mMotorMutex;
     pthread_mutex_t mAuxMutex;
 
+    bool mDirty;
+
     bool mEffectDirty;
     bool mMotorDirty;
     bool mAuxDirty;
 
     std::string mEffectFilename;
+    uint32_t mEffectId;
+
     MotorCommand mMotorCommand;
     AuxCommand mAuxCommand;
+
     AudioInterface *mAudioInterface;
 
+
+
 };
 
 #endif