sound_play.h
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00001 /*
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00036 
00037 #ifndef __SOUND_PLAY__SOUND_PLAY__H__
00038 #define __SOUND_PLAY__SOUND_PLAY__H__
00039 
00040 #include <string>
00041 #include <ros/ros.h>
00042 #include <ros/node_handle.h>
00043 #include <sound_play/SoundRequest.h>
00044 #include <boost/thread.hpp>
00045 
00046 namespace sound_play
00047 {
00048 
00062 class SoundClient
00063 {
00064 public:
00065         class Sound
00066         {
00067                 friend class SoundClient;
00068         private:
00069                 int snd_;
00070                 std::string arg_;
00071                 std::string arg2_;
00072                 SoundClient *client_;
00073 
00074                 Sound(SoundClient *sc, int snd, const std::string &arg, const std::string arg2 = std::string())
00075                 {
00076                         client_ = sc;
00077                         snd_ = snd;
00078                         arg_ = arg;
00079                         arg2_ = arg2;
00080                 }
00081 
00082         public:
00089                 void play()
00090                 {
00091                         client_->sendMsg(snd_, SoundRequest::PLAY_ONCE, arg_, arg2_);
00092                 }
00093 
00101                 void repeat()
00102                 {
00103                         client_->sendMsg(snd_, SoundRequest::PLAY_START, arg_, arg2_);
00104                 }
00105 
00112                 void stop()
00113                 {
00114                         client_->sendMsg(snd_, SoundRequest::PLAY_STOP, arg_, arg2_);
00115                 }
00116         };
00117         
00128         SoundClient(ros::NodeHandle &nh, const std::string &topic)
00129     {
00130                 init(nh, topic);
00131         }
00132 
00138         SoundClient()
00139   {
00140                 init(ros::NodeHandle(), "robotsound");
00141   }
00142 
00151   Sound voiceSound(const std::string &s)
00152         {
00153                 return Sound(this, SoundRequest::SAY, s);
00154         }
00155 
00165   Sound waveSound(const std::string &s)
00166         {
00167                 return Sound(this, SoundRequest::PLAY_FILE, s);
00168         }
00169 
00180   Sound waveSoundFromPkg(const std::string &p, const std::string &s)
00181         {
00182                 return Sound(this, SoundRequest::PLAY_FILE, s, p);
00183         }
00184 
00193   Sound builtinSound(int id)
00194         {
00195                 return Sound(this, id, "");
00196         }
00197 
00206         void say(const std::string &s, const std::string &voice="voice_kal_diphone")
00207   {
00208     sendMsg(SoundRequest::SAY, SoundRequest::PLAY_ONCE, s, voice);
00209   }
00210 
00218   void repeat(const std::string &s)
00219   {
00220     sendMsg(SoundRequest::SAY, SoundRequest::PLAY_START, s);
00221   }
00222 
00231   void stopSaying(const std::string &s)
00232   {
00233     sendMsg(SoundRequest::SAY, SoundRequest::PLAY_STOP, s);
00234   }
00235 
00245   void playWave(const std::string &s)
00246   {
00247     sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_ONCE, s);
00248   }
00249 
00258   void startWave(const std::string &s)
00259   {
00260     sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_START, s);
00261   }
00262 
00271   void stopWave(const std::string &s)
00272   {
00273     sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_STOP, s);
00274   }
00275 
00286   void playWaveFromPkg(const std::string &p, const std::string &s)
00287   {
00288     sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_ONCE, s, p);
00289   }
00290 
00300   void startWaveFromPkg(const std::string &p, const std::string &s)
00301   {
00302     sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_START, s, p);
00303   }
00304 
00315   void stopWaveFromPkg(const std::string &p, const std::string &s)
00316   {
00317     sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_STOP, s, p);
00318   }
00319 
00328         void play(int sound)
00329   {
00330     sendMsg(sound, SoundRequest::PLAY_ONCE);
00331   }
00332 
00341         void start(int sound) 
00342         { 
00343                 sendMsg(sound, SoundRequest::PLAY_START); 
00344         }
00345 
00353   void stop(int sound)
00354   {
00355     sendMsg(sound, SoundRequest::PLAY_STOP);
00356   }
00357 
00363   void stopAll()
00364         {
00365                 stop(SoundRequest::ALL);
00366         }
00367   
00377   void setQuiet(bool state)
00378         {
00379                 quiet_ = state;
00380         }
00381 
00382 private:
00383         void init(ros::NodeHandle nh, const std::string &topic)
00384         {
00385         nh_ = nh;
00386                 pub_ = nh.advertise<sound_play::SoundRequest>(topic, 5);
00387                 quiet_ = false;
00388     }
00389 
00390         void sendMsg(int snd, int cmd, const std::string &s = "", const std::string &arg2 = "")
00391   {
00392     boost::mutex::scoped_lock lock(mutex_);
00393 
00394     if (!nh_.ok())
00395       return;
00396 
00397     SoundRequest msg;
00398     msg.sound = snd;
00399     msg.command = cmd;
00400     msg.arg = s;
00401     msg.arg2 = arg2;
00402     pub_.publish(msg);
00403 
00404     if (pub_.getNumSubscribers() == 0 && !quiet_)
00405       ROS_WARN("Sound command issued, but no node is subscribed to the topic. Perhaps you forgot to run soundplay_node.py");
00406   }
00407 
00408     bool quiet_;
00409         ros::NodeHandle nh_;
00410     ros::Publisher pub_;
00411         boost::mutex mutex_;
00412 };
00413 
00414 typedef SoundClient::Sound Sound;
00415 
00416 };
00417 
00418 #endif


sound_play
Author(s): Blaise Gassend
autogenerated on Mon Sep 26 2016 03:31:16