commit 345cc4eb1eefd1ec958d5c2880c29c88cedc8426 Author: J.A. de Jong - Redu-Sone B.V., ASCEE V.O.F Date: Wed Nov 22 14:40:16 2023 +0100 Initial commit, working filters. diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..4fffb2f --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +/target +/Cargo.lock diff --git a/Cargo.toml b/Cargo.toml new file mode 100644 index 0000000..6cf5668 --- /dev/null +++ b/Cargo.toml @@ -0,0 +1,15 @@ +[package] +name = "lasprs" +version = "0.1.0" +edition = "2021" + +[dependencies] +anyhow = "1.0.75" +ndarray = "0.15.6" +num = "0.4.1" +rayon = "1.8.0" + +[features] +default = ["f64"] +f64 = [] +f32 = [] diff --git a/src/config.rs b/src/config.rs new file mode 100644 index 0000000..447e9a0 --- /dev/null +++ b/src/config.rs @@ -0,0 +1,21 @@ +// #![ +#[cfg(feature = "f32")] +pub type Flt = f32; +#[cfg(feature = "f32")] +pub const pi: Flt = std::f32::consts::PI; + +#[cfg(feature = "f64")] +pub type Flt = f64; +#[cfg(feature = "f64")] +pub const pi: Flt = std::f64::consts::PI; + +use num::complex::*; +pub type Cflt = Complex; + +use ndarray::{Array1, Array2}; +pub type Vd = Vec; +pub type Vc = Vec; + +pub type Dmat = Array2; +pub type Cmat = Array2; + diff --git a/src/filter.rs b/src/filter.rs new file mode 100644 index 0000000..5c0b495 --- /dev/null +++ b/src/filter.rs @@ -0,0 +1,325 @@ +//! # Filter implemententations for biquads, series of biquads and banks of series of biquads. +//! +//! Contains `Biquad`, SeriesBiquad, and FilterBank +#![allow(non_snake_case)] +use super::config::*; +use anyhow::{bail, Result}; +use rayon::prelude::*; + +pub trait Filter: Send { + //! The filter trait is implemented by Biquad, SeriesBiquad, and BiquadBank + + /// Filter input to generate output. A vector of output floats is generated with the same + /// length as input. + fn filter(&mut self, input: &[Flt]) -> Vd; + /// Reset the filter state(s). In essence, this makes sure that all memory of the past is + /// forgotten. + fn reset(&mut self); + + /// Required method for cloning a BiquadBank, such that arbitrary filter types can be used as + /// their 'channels'. + fn clone_dyn(&self) -> Box; +} +impl Clone for Box { + fn clone(&self) -> Self { + self.clone_dyn() + } +} + +/// # A biquad is a second order recursive filter structure. +#[derive(Clone, Copy, Debug)] +pub struct Biquad { + // State parameters + w1: Flt, + w2: Flt, + // Filter coefficients - forward + b0: Flt, + b1: Flt, + b2: Flt, + // Filter coefficients - recursive + // a0: Flt, // a0 is assumed one, not used + a1: Flt, + a2: Flt, +} +impl Biquad { + /// Create new biquad filter from given filter coeficients + /// + /// # Args + /// + /// - coefs: Filter coefficients. + /// + pub fn new(coefs: &[Flt]) -> Result { + match coefs { + [b0, b1, b2, a0, a1, a2] => { + if *a0 != 1.0 { + bail!("Coefficient a0 should be equal to 1.0") + } + Ok(Biquad { w1: 0., w2: 0., b0: *b0, b1: *b1, b2: *b2, a1: *a1, a2: *a2}) + }, + _ => bail!("Could not initialize biquad. Please make sure that the coefficients contain 6 terms") + } + } + + /// Unit impulse response biquad. Input = output + fn unit() -> Biquad { + let filter_coefs = &[1., 0., 0., 1., 0., 0.]; + Biquad::new(filter_coefs).unwrap() + } + + + /// Initialize biquad as first order high pass filter. + /// + /// + /// * fs: Sampling frequency in \[Hz\] + /// * cuton_Hz: -3 dB cut-on frequency in \[Hz\] + /// + pub fn firstOrderHighPass(fs: Flt, cuton_Hz: Flt) -> Result { + if fs <= 0. { + bail!("Invalid sampling frequency: {} [Hz]", fs); + } + if cuton_Hz <= 0. { + bail!("Invalid cuton frequency: {} [Hz]", cuton_Hz); + } + if cuton_Hz >= 0.98 * fs / 2. { + bail!( + "Invalid cuton frequency. We limit this to 0.98* fs / 2. Given value {} [Hz]", + cuton_Hz + ); + } + + let tau: Flt = 1. / (2. * pi * cuton_Hz); + let facnum = 2. * fs * tau / (1. + 2. * fs * tau); + let facden = (1. - 2. * fs * tau) / (1. + 2. * fs * tau); + + let coefs = [ + facnum, // b0 + -facnum, // b1 + 0., // b2 + 1., // a0 + facden, // a1 + 0., // a2 + ]; + + Ok(Biquad::new(&coefs).unwrap()) + } + fn filter_inout(&mut self, inout: &mut [Flt]) { + for sample in 0..inout.len() { + let w0 = inout[sample] - self.a1 * self.w1 - self.a2 * self.w2; + let yn = self.b0 * w0 + self.b1 * self.w1 + self.b2 * self.w2; + self.w2 = self.w1; + self.w1 = w0; + inout[sample] = yn; + } + println!("{:?}", inout); + } +} +impl Filter for Biquad { + fn filter(&mut self, input: &[Flt]) -> Vec { + let mut out = input.to_vec(); + self.filter_inout(&mut out); + println!("{:?}", out); + out + } + fn reset(&mut self) { + self.w1 = 0.; + self.w2 = 0.; + } + fn clone_dyn(&self)-> Box { Box::new(self.clone()) } +} + +/// Series of biquads that filter sequentially on an input signal +/// # Examples +/// +/// ``` +/// // Create filter coefficients for a single biquad that does output = input. +/// ``` +#[derive(Clone, Debug)] +pub struct SeriesBiquad { + biqs: Vec, +} + +impl SeriesBiquad { + /// Create a new series biquad, having an arbitrary number of biquads. + /// + /// # Arguments + /// + /// * `filter_coefs` - Vector of biquad coefficients, stored in a single array. The first six + /// for the first biquad, and so on. + /// + /// + pub fn new(filter_coefs: &[Flt]) -> Result { + if filter_coefs.len() % 6 != 0 { + bail!( + "filter_coefs should be multiple of 6, given: {}.", + filter_coefs.len() + ); + } + let nfilters = filter_coefs.len() / 6; + + let mut biqs: Vec = Vec::with_capacity(nfilters); + for coefs in filter_coefs.chunks(6) { + let biq = Biquad::new(coefs)?; + biqs.push(biq); + } + + if biqs.len() == 0 { + bail!("No filter coefficients given!"); + } + + Ok(SeriesBiquad { biqs }) + } + + /// Unit impulse response series biquad. Input = output + pub fn unit() -> SeriesBiquad { + let filter_coefs = &[1., 0., 0., 1., 0., 0.]; + SeriesBiquad::new(filter_coefs).unwrap() + } + fn clone_dyn(&self)-> Box { Box::new(self.clone()) } +} + +impl Filter for SeriesBiquad { + //! Filter input by applying all biquad filters in series on each input sample, to obtain the + //! output samples. + //! + fn filter(&mut self, input: &[Flt]) -> Vd { + let mut inout = input.to_vec(); + for biq in self.biqs.iter_mut() { + biq.filter_inout(&mut inout); + } + inout + } + fn reset(&mut self) { + self.biqs.iter_mut().for_each(|f| f.reset()); + } + fn clone_dyn(&self)-> Box { Box::new(self.clone()) } +} + +#[derive(Clone)] +/// Multiple biquad filter that operate in parallel on a signal, and can apply a gain value to each +/// of the returned values. The BiquadBank can be used to decompose a signal by running it through +/// parallel filters, or it can directly be used to eq a signal. For the latter process, also a +/// gain can be applied when the output is made as the sum of the filtered inputs for each biquad. +/// +/// # Detailed description +/// +/// +/// +pub struct BiquadBank { + biqs: Vec>, + gains: Vec, +} + +impl BiquadBank { + + /// Create new biquad bank. Initialized from given vector of series biquads. + // #[new] + pub fn new(biqs: Vec>) -> BiquadBank { + let gains = vec![1.0; biqs.len()]; + BiquadBank { biqs, gains } + } + /// Set the gains for each of the biquad. The gains are not used in the analyisis phase, but in + /// the reconstruction phase, so when BiquadBank::filter() is run on an input signal. + /// + /// # Panics + /// + /// When gains_dB.len() != to the number of filters. + pub fn set_gains_dB(&mut self, gains_dB: Vd) { + if gains_dB.len() != self.gains.len() { + panic!("Invalid gains size!"); + } + self.gains + .iter_mut() + .zip(gains_dB) + .for_each(|(g, gdB)| *g = Flt::powf(10., gdB / 20.)); + } + pub fn set_gains(&mut self, gains: &[Flt]) { + if gains.len() != self.gains.len() { + panic!("Invalid gains size!"); + } + // This could be done more efficient, but it does not matter. How often would you change + // the gain values? + self.gains.clone_from(&gains.to_vec()); + } + /// Analysis step. Runs input signal through all filters. Outputs a vector of output results, + /// one for each filter in the bank. + + pub fn analysis(&mut self, input: &[Flt]) -> Vec { + // Filtered output for each filter in biquad bank + let filtered_out: Vec = self + .biqs + .par_iter_mut() + // .iter_mut() + .map(|biq| biq.filter(input)) + .collect(); + filtered_out + } +} + +impl Filter for BiquadBank { + fn filter(&mut self, input: &[Flt]) -> Vd { + // Sum of filter output times gains + let filtered_out = self.analysis(input); + + let mut out: Vd = vec![0.; input.len()]; + + for (f, g) in filtered_out.iter().zip(&self.gains) { + for (outi, fi) in out.iter_mut().zip(f) { + // Sum and multiply by gain value + *outi += g * fi; + } + } + out + } + fn reset(&mut self) { + self.biqs.iter_mut().for_each(|b| b.reset()); + } + fn clone_dyn(&self)-> Box { Box::new(self.clone()) } + +} + +#[cfg(test)] +mod test { + use super::*; + + #[test] + fn test_biquad1() { + let mut ser = Biquad::unit(); + let inp = vec![1., 0., 0., 0., 0., 0.]; + let filtered = ser.filter(&inp); + assert_eq!(&filtered, &inp); + } + #[test] + #[should_panic] + fn test_biquad2() { + // A a0 coefficient not in the right place, meaning we panic on unwrap + let filter_coefs = vec![1., 0., 0., 0., 0., 0.]; + let mut ser = SeriesBiquad::new(&filter_coefs).unwrap(); + let inp = vec![1., 0., 0., 0., 0., 0.]; + let filtered = ser.filter(&inp); + assert_eq!(&filtered, &inp); + } + #[test] + fn test_biquad3() { + let filter_coefs = vec![0.5, 0.5, 0., 1., 0., 0.]; + let mut ser = SeriesBiquad::new(&filter_coefs).unwrap(); + + let mut inp = vec![1., 0., 0., 0., 0., 0.]; + let filtered = ser.filter(&inp); + + // Change input to see match what should come out of output + inp[0] = 0.5; + inp[1] = 0.5; + assert_eq!(&inp, &filtered); + } + #[test] + fn test_biquadbank1() { + //! Creates two unit filters with gains of 0.5. Runs the input signal through these filters + //! in parallel and check if input == output. + let ser = Biquad::unit(); + let mut biq = BiquadBank::new(vec![ser.clone_dyn(), ser.clone_dyn()]); + biq.set_gains(&[0.5, 0.5]); + let inp = vec![1., 0., 0., 0., 0., 0.]; + let out = biq.filter(&inp); + assert_eq!(&out, &inp); + } +} diff --git a/src/lib.rs b/src/lib.rs new file mode 100644 index 0000000..b4ef72b --- /dev/null +++ b/src/lib.rs @@ -0,0 +1,9 @@ +//! # Library for acoustic signal processing + +#![warn(missing_docs)] +#![allow(non_snake_case)] +#![allow(non_upper_case_globals)] +#![allow(unused_imports)] +mod config; +pub mod filter; +