LinuxApp.c

Examples.

Examples

/****************************************************************************
 *
 *      Simple AWECore Linux Application
 *      ---------------------
 *
 ****************************************************************************
 *
 *  Description:    Sample app to show basic usage of AWECore
 *      A single instance AWECore integration with simulated real-time audio on Linux. 
 *      Includes an ethernet/TCPIP tuning interface to connect to AWE Server on port 15092
 *
 *      This is a low latency enabled example, meaning that there can either be 0 or 1 blocks of latency based on certain conditions...
 *          -If the user loads a layout with a blocksize which does NOT equal the AWEInstance's fundamental BS, there will be 1 block of latency.
 *          -If the user's layout blocksize matches the AWEInstance's fundamental blocksize, then there will be 0 blocks of latency
 *
 *      See the Latency section of the docs for more info. 
 *
 *  Copyright: (c) 2020 DSP Concepts, Inc. All rights reserved.
 *                                  3235 Kifer Road
 *                                  Santa Clara, CA 95054-1527
 *
 ***************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <sys/types.h> 
#include <sys/socket.h>
#include <signal.h>
#include <netinet/in.h>
#include <pthread.h>
#include <math.h>
#include <time.h>
#include <semaphore.h>
#include "AWECore.h"
#include "ProxyIDs.h"
#include "AWECoreUtils.h"
#include "TargetInfo.h"
 
typedef struct ConfigParameters
{
    float coreSpeed;
    float profileSpeed;
    float sampleRate;
    UINT32 fundamentalBlockSize;
    UINT32 inChannels;
    UINT32 outChannels;
    UINT32 profileStatus;
    INT32 tuningPort;
} ConfigParameters;
 
// Config parameters to control from app arguments
static ConfigParameters configParams; 
 
// Input/output audio buffers
INT32 *audioInputBuffer = NULL;
INT32 *audioOutputBuffer = NULL;
 
static BOOL quiet = FALSE;
 
// Global AWEInstance structure and pins
AWEInstance aweInstance;
 
static IOPinDescriptor aweInputPin;
static IOPinDescriptor aweOutputPin;
 
// LISTOFCLASSOBJECTS comes from ModuleList.h
const void* module_descriptor_table[] =
{
    LISTOFCLASSOBJECTS
};
 
// Global packet buffers
UINT32 awePacketBuffer[MAX_COMMAND_BUFFER_LEN];
UINT32 awePacketBufferReply[MAX_COMMAND_BUFFER_LEN];
 
// Global heaps (dynamically allocated based on the size argument
UINT32 *fastHeapA;
UINT32 *fastHeapB;
UINT32 *slowHeap;
UINT32 heapSizeFastA = FASTA_HEAP_SIZE_LINUX;
UINT32 heapSizeFastB = FASTB_HEAP_SIZE_LINUX;
UINT32 heapSizeSlow = SLOW_HEAP_SIZE_LINUX;
 
 
// Global thread handles and mutexes
pthread_t tuningThreadHandle;
pthread_t processThreadHandle;
pthread_t audioCallbackThreadHandle;
pthread_t audioPumpAllThreadHandle;
 
pthread_mutex_t packetMutex;
 
sem_t pumpSem;
 
INT32 audioStarted = 0;
INT32 exitAudioCallbackThread = 0;
// Tuning parameters
int sockfd, newsockfd;
int exitTuning = 0;
 
INT32 pumpActive = 0;
 
// increase priority levels for AWE threads
// Audio callback functions must be highest priority to avoid
// missing real time requirements. Pump is right after,
// followed by tuning interface where actions can be performed
// in the background.
#define AUDIO_CALLBACK_PRIO     9
#define AUDIO_PUMP_PRIO         8
#define TUNING_THREAD_PRIO      7
 
static void usage(const char *program)
{
    printf(
        "Usage: %s [args]\n"
        "       -load:<file>                 AWB file to load\n"
        "       -sr:sampling_rate            value in Hz, default 48KHz\n"
        "       -pf:profile_frequency        value in Hz, default 10MHz\n"
        "       -cf:cpu_frequency            value in Hz, default 1GHz\n"
        "       -profStatus:N                set profiling status (0 - disable, 1 - enable(default), 2 - enable module level only, 3 - enable top level only)\n"
        "       -bsize:N                     default 32, Audio block size for the system\n"
        "       -inchans:N                   default 2, number of input channels\n"
        "       -outchans:N                  default 2, number of output channels\n"
        "       -tport:N                     default 15002, port number for socket interface. User can choose between 15002 - 15098\n"
        "       -hsizefasta:N                fast A heap size in words, default %d\n"
        "       -hsizefastb:N                fast B heap size in words, default %d\n"
        "       -hsizeslow:N                 slow heap size in words, default %d\n"
        "       -quiet                       works in quiet mode, displays only necessary messages\n"
        "This program exercises the AWECore library.\n",
        program, FASTA_HEAP_SIZE_LINUX, FASTB_HEAP_SIZE_LINUX, SLOW_HEAP_SIZE_LINUX);
        exit(0);
}
 
void destroyApp(void)
{
    free(audioInputBuffer);
    free(audioOutputBuffer);
    free(fastHeapA);
    free(fastHeapB);
    free(slowHeap);
    audioInputBuffer = NULL;
    audioOutputBuffer = NULL;
    fastHeapA = NULL;
    fastHeapB = NULL;
    slowHeap = NULL;
}
 
void error(const char *msg)
{
    perror(msg);
    exit(1);
}
 
void sig_handler(int signo)
{   
    if (signo == SIGINT)
    {
        // Cought user termination signal
        exitTuning = 1;
        shutdown(newsockfd, SHUT_RDWR);
        close(newsockfd);   
        shutdown(sockfd, SHUT_RDWR);
        close(sockfd);  
        
        // Wait until thread ends
        pthread_join(tuningThreadHandle, NULL);
        // Destroy any app specific
        destroyApp();
    }
    printf("Exiting LinuxApp\n");
    exit(0);    
}
 
void* tuningPacketThread(void* arg)
{
    /*
        Tuning packets can be recieved and processed here. Another implementation 
        may choose to process the packet in another thread.
    */
    (void) arg;
    socklen_t clilen;
    struct sockaddr_in serv_addr, cli_addr;
    INT32 schedPolicy, ret;
    struct sched_param schedParam;   
    int socketOption;
    
    // Set this thread to run at real time priority
    pthread_t currentHandle = pthread_self();
    schedParam.sched_priority = TUNING_THREAD_PRIO;
    schedPolicy = SCHED_FIFO;
    ret = pthread_setschedparam(currentHandle, schedPolicy, &schedParam);
    if (ret != 0)
    {
        printf("Failed to increase priority of tuning thread with error: %s \nTry running with sudo\n", strerror(ret));
    }
 
     
    sockfd = socket(AF_INET, SOCK_STREAM, 0);
    if (sockfd < 0) 
    {
        error("ERROR opening socket");
    }
    
    // Set the socket connection option to immediately allow reuse of port upon losing connection
    socketOption = 1;
    setsockopt(sockfd, SOL_SOCKET, SO_REUSEADDR, &socketOption, sizeof(socketOption));  
    
    bzero((char *) &serv_addr, sizeof(serv_addr));
 
    serv_addr.sin_family = AF_INET;
    serv_addr.sin_addr.s_addr = INADDR_ANY;
    serv_addr.sin_port = htons(configParams.tuningPort);
    
    if (bind(sockfd, (struct sockaddr *) &serv_addr,
              sizeof(serv_addr)) < 0) 
    {
        error("ERROR on binding");
    }
    
    
    while (!exitTuning)
    {
        listen(sockfd,5);
        printf("Listening for connection on port %d\n", configParams.tuningPort);
        clilen = sizeof(cli_addr);
        newsockfd = accept(sockfd, 
                     (struct sockaddr *) &cli_addr, 
                     &clilen);
 
        if (newsockfd < 0) 
        {
            error("ERROR on accept");
        }
          
 
        /* Enter a tuning loop. This will be in a separate thread from audio processing */
        printf( "Found connection!\n");
        while(1)
        {
            unsigned int plen;
            ssize_t readBytes, n;
            
            readBytes = read(newsockfd, aweInstance.pPacketBuffer, MAX_COMMAND_BUFFER_LEN * sizeof(aweInstance.pPacketBuffer[0]));
            if (readBytes == 0)
            {
                // No message to read
                break;
            }
            else if (readBytes < 0) 
            {
                error("ERROR reading from socket");
            }
 
            // May not have received the whole message. Read again if not
            plen = PACKET_LENGTH_BYTES(aweInstance.pPacketBuffer);
            while (readBytes < plen)
            {
                //printf("Didn't read the entire packet! readBytes = %d, plen = %d\nReading again\n", readBytes, plen);
                n = read(newsockfd,&((char*)aweInstance.pPacketBuffer)[readBytes], MAX_COMMAND_BUFFER_LEN * sizeof(aweInstance.pPacketBuffer[0]));
                if (n == 0)
                {
                    break;
                }
                else if (n < 0) 
                {
                    error("ERROR reading from socket");
                }
                else 
                {
                    readBytes += n;
                }
            }
            
            // Don't process the packet if audio is pumping
            pthread_mutex_lock(&packetMutex);
            awe_packetProcess(&aweInstance);    
            pthread_mutex_unlock(&packetMutex);     
 
 
            plen = PACKET_LENGTH_WORDS(aweInstance.pReplyBuffer);
            n = write(newsockfd, aweInstance.pReplyBuffer, plen * sizeof(aweInstance.pReplyBuffer[0]));
            
            if (n < plen)
            {
                error("ERROR writing to socket");
            }
        }
    }
    return NULL;
}
 
 
 
void* aweuser_pumpAllAudio(void * args)
{
    // Represents the callback function from the audio framework
    (void) args;
    INT32 pumpMask;
    INT32 ix;
    INT32 i;
    INT32 schedPolicy, ret;
    struct sched_param schedParam;      
    
    // Set this thread to run at real time priority
    pthread_t currentHandle = pthread_self();
    schedParam.sched_priority = AUDIO_PUMP_PRIO;
    schedPolicy = SCHED_FIFO;
    ret = pthread_setschedparam(currentHandle, schedPolicy, &schedParam);
    if (ret != 0)
    {
        printf("Failed to increase priority of audio pump thread to real time with error: %s \nTry running with sudo\n", strerror(ret));
    }   
    
    printf("Starting pump all thread\n");       
    while (1)
    {
        sem_wait(&pumpSem);
        
        // Set the pumpActive global flag
        pumpActive = 1;
 
        if (awe_layoutIsValid(&aweInstance) && awe_audioIsStarted(&aweInstance))
        {
            // Import new samples
            for (i = 0; i < configParams.inChannels ; i++)
            {
                awe_audioImportSamples(&aweInstance, &audioInputBuffer[i], configParams.inChannels, i, Sample32bit);
            }
                    
            // Pump any required sublayouts
            pumpMask = awe_audioGetPumpMask(&aweInstance);
 
            // Lock the instance so packet processing doesn't occur simultaneously
            pthread_mutex_lock(&packetMutex);
            for (ix = 0; ix < NUM_THREADS; ix++)
            {
                if (pumpMask & (1U << ix))
                {
 
                    // Pump the sublayout. Each pump may be in its own thread depending on the application
                    ret |= awe_audioPump(&aweInstance, ix);
                }
            }
            // Do deferred processing if needed
            if (ret > 0) 
            {
                // This could be done in a loop until ret == 0, but doing one per fundamental period 
                // is more conservative at the cost of potentially taking longer to update a module parameter
                ret = awe_deferredSetCall(&aweInstance);
            }
 
            // Export samples
            for (i = 0; i < configParams.outChannels ; i++)
            {
                awe_audioExportSamples(&aweInstance, &audioOutputBuffer[i], configParams.outChannels, i, Sample32bit);
            }
 
            pthread_mutex_unlock(&packetMutex);
        }
        
        // Clear the pumpActive global flag
        pumpActive = 0;
    }
    return NULL;
}
 
 
void* audioCallbackSimulator(void * args)
{
    // Simple real-time audio simulator. Would be ALSA, PortAudio, etc callback
    // Will not achieve exact realtime interrupts
    struct timespec ts;
    struct timespec ts_tmp;
    long time_nsec;
    long long accumulated_time;
    long long target_time;
    long long overshoot = 0.0; 
    (void) args;
    INT32 schedPolicy, ret;
    struct sched_param schedParam;      
    
    // Setup sleep time for fundamental blocksize
    ts.tv_sec = 0;
    time_nsec = (long) ((float)1000000000L * ((float)configParams.fundamentalBlockSize / configParams.sampleRate));
    
    ts.tv_sec = 0;
    ts_tmp.tv_sec = 0;
    ts_tmp.tv_nsec = 0;
 
    // Set this thread to run at real time priority
    pthread_t currentHandle = pthread_self();
    schedParam.sched_priority = AUDIO_CALLBACK_PRIO;
    schedPolicy = SCHED_FIFO;
    ret = pthread_setschedparam(currentHandle, schedPolicy, &schedParam);
    if (ret != 0)
    {
        printf("Failed to increase priority of audio callback thread with error: %s \nTry running with sudo\n", strerror(ret));
    }       
    
    while (!exitAudioCallbackThread)
    {   
        // Check if the previous pump is active (overflow detection)
        // Workaround for the AWECore overflow detection failure
        if (!pumpActive)
        {
            // Kick off the audio thread
            sem_post(&pumpSem);
            
            // Might need to post more than once due to clock resolution 
            while (overshoot > time_nsec)
            {        
                overshoot -= time_nsec;
                sem_post(&pumpSem);
            }
        }
        else
        {
            overshoot = 0.0;
        }
        
        ts.tv_nsec = time_nsec;
        
        clock_gettime(CLOCK_MONOTONIC, &ts_tmp);
        target_time = ((long long)ts_tmp.tv_sec*1000000000) + ts_tmp.tv_nsec + time_nsec;
        
        while(1)
        {
            clock_nanosleep(CLOCK_MONOTONIC, 0, &ts, NULL);
            
            clock_gettime(CLOCK_MONOTONIC, &ts_tmp);
            
            accumulated_time = ((long long)ts_tmp.tv_sec*1000000000) + ts_tmp.tv_nsec;
            
            if (accumulated_time >= target_time)
            {
                overshoot += (accumulated_time - target_time);
                break;
            }
            else
            {
                ts.tv_nsec = (long)(target_time - accumulated_time);
            }
        }
    }
    return NULL;
}
 
INT32 aweuser_audioStart(AWEInstance *pAWE)
{
    (void) pAWE;
    // Audio start callback. Can be used to start audio stream from audio framework.
    // Could be ALSA, Pulse, Jack, Portaudio, etc. 
 
    // Kick off real-time audio simulation thread
    exitAudioCallbackThread = 0;
    pthread_create(&audioCallbackThreadHandle, NULL, audioCallbackSimulator, NULL); 
    audioStarted = 1;
    printf("Audio Started\n");
    return 0;
}
 
INT32 aweuser_audioStop(AWEInstance *pAWE)
{
    (void) pAWE;
    if(audioCallbackThreadHandle)
    {
        // Audio stop callback. Can be used to clean up audio stream.
 
        exitAudioCallbackThread = 1;
        pthread_join(audioCallbackThreadHandle, NULL);
        if (audioStarted)
        {
            printf("Audio Stopped\n");
            audioStarted = 0;
        }
    }
    return 0;
}
 
void InitializeAWEInstance()
{
    int ret = 0;
    int i, j;
    UINT32 module_descriptor_table_size;
    
    //set memory for awe instance and initialize to 0's
    memset(&aweInstance, 0, sizeof(AWEInstance));
 
    aweInstance.pInputPin = &aweInputPin;
    aweInstance.pOutputPin = &aweOutputPin;
 
    // Set pointers to the separate packet buffers in this example
    // Could set both pointer to same buffer if desired
    aweInstance.pPacketBuffer = awePacketBuffer;
    aweInstance.pReplyBuffer = awePacketBufferReply;
    
    aweInstance.packetBufferSize = MAX_COMMAND_BUFFER_LEN;
    
    aweInstance.pModuleDescriptorTable = module_descriptor_table;
 
    module_descriptor_table_size = sizeof(module_descriptor_table) / sizeof(module_descriptor_table[0]); 
    aweInstance.numModules = module_descriptor_table_size;
 
    aweInstance.numThreads = NUM_THREADS;
    aweInstance.sampleRate = configParams.sampleRate;
    aweInstance.fundamentalBlockSize = configParams.fundamentalBlockSize;
    aweInstance.pFlashFileSystem = HAS_FLASHFILESYSTEM;
 
    aweInstance.fastHeapASize = heapSizeFastA;
    aweInstance.fastHeapBSize = heapSizeFastB;
    aweInstance.slowHeapSize = heapSizeSlow;
    
    aweInstance.pFastHeapA = fastHeapA;
    aweInstance.pFastHeapB = fastHeapB;
    aweInstance.pSlowHeap = slowHeap;
    
    aweInstance.cbAudioStart = aweuser_audioStart;
    aweInstance.cbAudioStop = aweuser_audioStop;
 
    aweInstance.coreSpeed = configParams.coreSpeed;
    aweInstance.profileSpeed = configParams.profileSpeed;
    aweInstance.pName = TARGET_NAME;
    
 
    ret = awe_initPin(&aweInputPin, configParams.inChannels, NULL);
    if (ret != 0)
    {
        printf("awe_initPin inputPin failed\n");
    }
    ret = awe_initPin(&aweOutputPin, configParams.outChannels, NULL);
    if (ret != 0)
    {
        printf("awe_initPin outputPin failed\n");
    }
 
    ret = awe_init(&aweInstance);
    if (ret != 0) 
    {
        printf("awe_init instance 1 failed\n");
    }
    
    // Enable profiling (by default this is the case, but just called here to demonstrate usage)
    ret = awe_setProfilingStatus(&aweInstance, configParams.profileStatus);
    if (ret != 0) 
    {
        printf("awe_setProfilingStatus failed with error code: %d\n", ret);
    }
 
#ifndef PI
#define PI 3.141592653589793
#endif 
    // Fill audio input buffers with full scale sin waves
    for (i = 0; i < configParams.fundamentalBlockSize; i++)
    {
        for (j = 0; j < configParams.inChannels; j++) 
        {
            audioInputBuffer[i * configParams.inChannels + j] = float_to_fract32(sinf(2.f*PI*(j+1)*((float)configParams.sampleRate/configParams.fundamentalBlockSize) * (i / (float)configParams.sampleRate)));
        }
    }
}
 
int main( int argc, const char* argv[] )
{
    INT32 i;
    UINT32 inSize, outSize;
    const char *awbpath = NULL;
    INT32 ret;
    
    // Init default configurations
    configParams.fundamentalBlockSize = BASE_BLOCK_SIZE;
    configParams.sampleRate = SAMPLE_RATE;
    configParams.inChannels = NUM_INPUT_CHANNELS;
    configParams.outChannels = NUM_OUTPUT_CHANNELS;
    configParams.coreSpeed = CORE_SPEED;
    configParams.profileSpeed = PROFILE_SPEED;
    configParams.profileStatus = 1;
    configParams.tuningPort = 15002;
    
    // Check if the argc == 1, meaing that there are not input parameters supplied with the program.
    // Print the usage information, to help the user.
    for (i = 1; i < argc; i++)
    {
        const char *arg = argv[i];
    
        if (0 == strncmp(arg, "-profStatus:", 12))
        {
            configParams.profileStatus = atoi(arg + 12);
            printf("profStatus:%u\n",configParams.profileStatus);
        }
        else if (0 == strncmp(arg, "-bsize:", 7))
        {
            configParams.fundamentalBlockSize = atoi(arg + 7);
            printf("-bsize:     %u\n",configParams.fundamentalBlockSize);
        }
        else if (0 == strncmp(arg, "-inchans:", 9))
        {
            configParams.inChannels = atoi(arg + 9);
            printf("-inchans:   %u\n",configParams.inChannels);
        }
        else if (0 == strncmp(arg, "-outchans:", 10))
        {
            configParams.outChannels = atoi(arg + 10);
            printf("-outchans:  %u\n",configParams.outChannels);
        }
        else if(0 == strncmp(arg, "-sr:", 4))
        {
            configParams.sampleRate = (float)atof(arg + 4);
            printf("-sr:        %f\n",configParams.sampleRate);
        }           
        else if (0 == strncmp(arg, "-cf:", 4))
        {
            configParams.coreSpeed = (float)atof(arg + 4);
            printf("-cf:        %f\n",configParams.coreSpeed);
        }
        else if (0 == strncmp(arg, "-pf:", 4))
        {
            configParams.profileSpeed = (float)atof(arg + 4);
            printf("-pf:        %f\n",configParams.profileSpeed);
        }
        else if (0 == strncmp(arg, "-tport:", 7))
        {
            configParams.tuningPort = atoi(arg + 7);
            printf("-tport:     %d\n",configParams.tuningPort);
        }
        else if (0 == strncmp(arg, "-quiet", 6))
        {
            quiet = TRUE;
            printf("-quiet:     %d\n",quiet);
        }
        else if (0 == strncmp(arg, "-hsizefasta:", 12))
        {
            heapSizeFastA = atoi(arg + 12);
            printf("-hsizefasta:     %u\n",heapSizeFastA);
        }
        else if (0 == strncmp(arg, "-hsizefastb:", 12))
        {
            heapSizeFastB = atoi(arg + 12);
            printf("-hsizefastb:     %u\n",heapSizeFastB);
        }
        else if (0 == strncmp(arg, "-hsizeslow:", 11))
        {
            heapSizeSlow = atoi(arg + 11);
            printf("-hsizeslow:      %u\n",heapSizeSlow);
        }
        else if (0 == strncmp(arg, "-load:", 6))
        {
            awbpath = arg + 6;
            printf("-load:           %s\n",awbpath);        
        }
        else
        {
            usage(argv[0]);
        }
    }
    
    if (!quiet)
    {
        printf("\nAWECore initialised with the following parameters\n");
        printf("-cf:             %f Hz\n",configParams.coreSpeed);
        printf("-pf:             %f Hz\n",configParams.profileSpeed);
        printf("-sr:             %f Hz\n",configParams.sampleRate);
        printf("-bsize:          %u\n",configParams.fundamentalBlockSize);
        printf("-inchans:        %u\n",configParams.inChannels);
        printf("-outchans:       %u\n",configParams.outChannels);
        printf("-tport:          %d\n",configParams.tuningPort);
        printf("-hsizefasta:     %u\n",heapSizeFastA);
        printf("-hsizefastb:     %u\n",heapSizeFastB);
        printf("-hsizeslow:      %u\n",heapSizeSlow);
        printf("-load:           %s\n",awbpath ? awbpath : "undefined");
        if (configParams.profileStatus)
        {
            printf("-profStatus: Profiling is enabled\n");
        }
        else 
        {
            printf("-profStatus: Profiling is disabled\n");
        }
    }
    
    // Setup signal handler to kill sockets
    if (signal(SIGINT, sig_handler) == SIG_ERR)
    {
        printf("Can't catch SIGINT (%d)\n", SIGINT);
    }
    
    //Allocate the input and output buffers
    inSize = configParams.inChannels * configParams.fundamentalBlockSize;
    outSize = configParams.outChannels * configParams.fundamentalBlockSize;
 
    audioInputBuffer = malloc(inSize * sizeof(INT32));
    audioOutputBuffer = malloc(outSize * sizeof(INT32));
    
    // Allocate heaps
    fastHeapA = malloc(heapSizeFastA * sizeof(UINT32));
    fastHeapB = malloc(heapSizeFastB * sizeof(UINT32));
    slowHeap  = malloc(heapSizeSlow  * sizeof(UINT32));
    
    // Initialize the AWEInstance
    InitializeAWEInstance();
    
    if ( NULL != awbpath )
    {
        FILE *fin;
        UINT32 position;
        fin = fopen(awbpath, "rb");     
        if (NULL == fin )
        {
            printf("Error opening input file %s\n", awbpath);
            printf("Please check the path\n");
            exit(1);
        }
 
        //Load the AWB from the file
        ret = awe_loadAWBfromFile(&aweInstance, awbpath, &position);
        if (E_SUCCESS == ret) 
        {
            printf("The layout %s loaded successfully\n", awbpath);
        }
        else 
        {
            printf("The layout %s download unsuccessful in the positions %u with Error = %d \n", awbpath, position, ret);
            exit(1);
        }
    }
 
    // Initialize mutex and condition variable objects
    pthread_mutex_init(&packetMutex, NULL);
 
    sem_init(&pumpSem, 0, 0);
 
    // Start tuning thread
    pthread_create(&tuningThreadHandle, NULL, tuningPacketThread, NULL); 
    
    // Start audio pump all thread
    pthread_create(&audioPumpAllThreadHandle, NULL, aweuser_pumpAllAudio, NULL); 
 
    // Wait until all threads end
    pthread_join(tuningThreadHandle, NULL);
    
    pthread_join(audioPumpAllThreadHandle, NULL);
    
    return 0;
 
}