Class that publishes messages to the sound_play node. More...

#include <sound_play.h>

Classes
class	Sound

Public Member Functions
Sound	builtinSound (int id, float volume=1.0f)
	Create a builtin Sound. More...

void	play (int sound, float volume=1.0f)
	Play a buildin sound. More...

void	playWave (const std::string &s, float volume=1.0f)
	Plays a WAV or OGG file. More...

void	playWaveFromPkg (const std::string &p, const std::string &s, float volume=1.0f)
	Plays a WAV or OGG file from a package. More...

void	repeat (const std::string &s, float volume=1.0f)
	Say a string repeatedly. More...

void	say (const std::string &s, const std::string &voice="voice_kal_diphone", float volume=1.0f)
	Say a string. More...

void	setQuiet (bool state)
	Turns warning messages on or off. More...

	SoundClient ()
	Create a SoundClient with the default topic. More...

	SoundClient (ros::NodeHandle &nh, const std::string &topic)
	Create a SoundClient that publishes on the given topic. More...

void	start (int sound, float volume=1.0f)
	Play a buildin sound repeatedly. More...

void	startWave (const std::string &s, float volume=1.0f)
	Plays a WAV or OGG file repeatedly. More...

void	startWaveFromPkg (const std::string &p, const std::string &s, float volume=1.0f)
	Plays a WAV or OGG file repeatedly. More...

void	stop (int sound)
	Stop playing a built-in sound. More...

void	stopAll ()
	Stop all currently playing sounds. More...

void	stopSaying (const std::string &s)
	Stop saying a string. More...

void	stopWave (const std::string &s)
	Stop playing a WAV or OGG file. More...

void	stopWaveFromPkg (const std::string &p, const std::string &s)
	Stop playing a WAV or OGG file. More...

Sound	voiceSound (const std::string &s, float volume=1.0f)
	Create a voice Sound. More...

Sound	waveSound (const std::string &s, float volume=1.0f)
	Create a wave Sound. More...

Sound	waveSoundFromPkg (const std::string &p, const std::string &s, float volume=1.0f)
	Create a wave Sound from a package. More...

Private Member Functions
void	init (ros::NodeHandle nh, const std::string &topic)

void	sendMsg (int snd, int cmd, const std::string &s="", const std::string &arg2="", const float &vol=1.0f)

Private Attributes
boost::mutex	mutex_

ros::NodeHandle	nh_

ros::Publisher	pub_

bool	quiet_

Detailed Description

Class that publishes messages to the sound_play node.

This class is a helper class for communicating with the sound_play node via the sound_play::SoundRequest message. It has two ways of being used:

It can create Sound classes that represent a particular sound which can be played, repeated or stopped.
It provides methods for each way in which the sound_play::SoundRequest message can be invoked.

Definition at line 61 of file sound_play.h.

Constructor & Destructor Documentation

◆ SoundClient() [1/2]

sound_play::SoundClient::SoundClient	(	ros::NodeHandle &	nh,
		const std::string &	topic
	)

inline

Create a SoundClient that publishes on the given topic.

Creates a SoundClient that publishes to the given topic relative to the given NodeHandle.

Parameters

nh	Node handle to use when creating the topic.
topic	Topic to publish to.

Definition at line 122 of file sound_play.h.

◆ SoundClient() [2/2]

sound_play::SoundClient::SoundClient ( )

inline

Create a SoundClient with the default topic.

Creates a SoundClient that publishes to "robotsound".

Definition at line 131 of file sound_play.h.

Member Function Documentation

◆ builtinSound()

Sound sound_play::SoundClient::builtinSound	(	int	id,
		float	volume = `1.0f`
	)

inline

Create a builtin Sound.

Creates a Sound corresponding to indicated builtin wave.

Parameters

id	Identifier of the sound to play.
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 182 of file sound_play.h.

◆ init()

void sound_play::SoundClient::init	(	ros::NodeHandle	nh,
		const std::string &	topic
	)

inlineprivate

Definition at line 366 of file sound_play.h.

◆ play()

void sound_play::SoundClient::play	(	int	sound,
		float	volume = `1.0f`
	)

inline

Play a buildin sound.

Starts playing one of the built-in sounds. built-ing sounds are documented in SoundRequest.msg. Playback can be stopped by stopAll.

Parameters

sound	Identifier of the sound to play.
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 314 of file sound_play.h.

◆ playWave()

void sound_play::SoundClient::playWave	(	const std::string &	s,
		float	volume = `1.0f`
	)

inline

Plays a WAV or OGG file.

Plays a WAV or OGG file once. The playback can be stopped by stopWave or stopAll.

Parameters

s	Filename of the WAV or OGG file. Must be an absolute path valid on the computer on which the sound_play node is running
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 233 of file sound_play.h.

◆ playWaveFromPkg()

void sound_play::SoundClient::playWaveFromPkg	(	const std::string &	p,
		const std::string &	s,
		float	volume = `1.0f`
	)

inline

Plays a WAV or OGG file from a package.

Plays a WAV or OGG file once. The playback can be stopped by stopWaveFromPkg or stopAll.

Parameters

p	Package name containing the sound file.
s	Filename of the WAV or OGG file. Must be an path relative to the package valid on the computer on which the sound_play node is running
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 273 of file sound_play.h.

◆ repeat()

void sound_play::SoundClient::repeat	(	const std::string &	s,
		float	volume = `1.0f`
	)

inline

Say a string repeatedly.

The string is said repeatedly until stopSaying or stopAll is used.

Parameters

s	String to say repeatedly
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 207 of file sound_play.h.

◆ say()

void sound_play::SoundClient::say	(	const std::string &	s,
		const std::string &	voice = `"voice_kal_diphone"`,
		float	volume = `1.0f`
	)

inline

Say a string.

Send a string to be said by the sound_node. The vocalization can be stopped using stopSaying or stopAll.

Parameters

s	String to say
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 195 of file sound_play.h.

◆ sendMsg()

void sound_play::SoundClient::sendMsg	(	int	snd,
		int	cmd,
		const std::string &	s = `""`,
		const std::string &	arg2 = `""`,
		const float &	vol = `1.0f`
	)

inlineprivate

Definition at line 373 of file sound_play.h.

◆ setQuiet()

void sound_play::SoundClient::setQuiet ( bool state )

inline

Turns warning messages on or off.

If a message is sent when no node is subscribed to the topic, a warning message is printed. This method can be used to enable or disable warnings.

Parameters

state True to turn off messages, false to turn them on.

Definition at line 360 of file sound_play.h.

◆ start()

void sound_play::SoundClient::start	(	int	sound,
		float	volume = `1.0f`
	)

inline

Play a buildin sound repeatedly.

Starts playing one of the built-in sounds repeatedly until stop or stopAll is used. Built-in sounds are documented in SoundRequest.msg.

Parameters

sound	Identifier of the sound to play.
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 327 of file sound_play.h.

◆ startWave()

void sound_play::SoundClient::startWave	(	const std::string &	s,
		float	volume = `1.0f`
	)

inline

Plays a WAV or OGG file repeatedly.

Plays a WAV or OGG file repeatedly until stopWave or stopAll is used.

Parameters

s	Filename of the WAV or OGG file. Must be an absolute path valid on the computer on which the sound_play node is running.
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 246 of file sound_play.h.

◆ startWaveFromPkg()

void sound_play::SoundClient::startWaveFromPkg	(	const std::string &	p,
		const std::string &	s,
		float	volume = `1.0f`
	)

inline

Plays a WAV or OGG file repeatedly.

Plays a WAV or OGG file repeatedly until stopWaveFromPkg or stopAll is used.

Parameters

p	Package name containing the sound file.
s	Filename of the WAV or OGG file. Must be an path relative to the package valid on the computer on which the sound_play node is running
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 287 of file sound_play.h.

◆ stop()

void sound_play::SoundClient::stop ( int sound )

inline

Stop playing a built-in sound.

Stops playing a built-in sound started with play or start.

Parameters

sound Same sound that was used to start playback.

Definition at line 338 of file sound_play.h.

◆ stopAll()

void sound_play::SoundClient::stopAll ( )

inline

Stop all currently playing sounds.

This method stops all speech, wave file, and built-in sound playback.

Definition at line 347 of file sound_play.h.

◆ stopSaying()

void sound_play::SoundClient::stopSaying ( const std::string & s )

inline

Stop saying a string.

Stops saying a string that was previously started by say or repeat. The argument indicates which string to stop saying.

Parameters

s	Same string as in the say or repeat command

Definition at line 219 of file sound_play.h.

◆ stopWave()

void sound_play::SoundClient::stopWave ( const std::string & s )

inline

Stop playing a WAV or OGG file.

Stops playing a file that was previously started by playWave or startWave.

Parameters

s	Same string as in the playWave or startWave command

Definition at line 258 of file sound_play.h.

◆ stopWaveFromPkg()

void sound_play::SoundClient::stopWaveFromPkg	(	const std::string &	p,
		const std::string &	s
	)

inline

Stop playing a WAV or OGG file.

Stops playing a file that was previously started by playWaveFromPkg or startWaveFromPkg.

Parameters

p	Package name containing the sound file.
s	Filename of the WAV or OGG file. Must be an path relative to the package valid on the computer on which the sound_play node is running

Definition at line 301 of file sound_play.h.

◆ voiceSound()

Sound sound_play::SoundClient::voiceSound	(	const std::string &	s,
		float	volume = `1.0f`
	)

inline

Create a voice Sound.

Creates a Sound corresponding to saying the indicated text.

Parameters

s	Text to say
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 143 of file sound_play.h.

◆ waveSound()

Sound sound_play::SoundClient::waveSound	(	const std::string &	s,
		float	volume = `1.0f`
	)

inline

Create a wave Sound.

Creates a Sound corresponding to indicated file.

Parameters

s	File to play. Should be an absolute path that exists on the machine running the sound_play node.
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 156 of file sound_play.h.

◆ waveSoundFromPkg()

Sound sound_play::SoundClient::waveSoundFromPkg	(	const std::string &	p,
		const std::string &	s,
		float	volume = `1.0f`
	)

inline

Create a wave Sound from a package.

Creates a Sound corresponding to indicated file.

Parameters

p	Package containing the sound file.
s	Filename of the WAV or OGG file. Must be an path relative to the package valid on the computer on which the sound_play node is running
volume	Volume at which to play the sound. 0 is mute, 1.0 is 100%.

Definition at line 170 of file sound_play.h.

Member Data Documentation

◆ mutex_

boost::mutex sound_play::SoundClient::mutex_

private

Definition at line 403 of file sound_play.h.

◆ nh_

ros::NodeHandle sound_play::SoundClient::nh_

private

Definition at line 401 of file sound_play.h.

◆ pub_

ros::Publisher sound_play::SoundClient::pub_

private

Definition at line 402 of file sound_play.h.

◆ quiet_

bool sound_play::SoundClient::quiet_

private

Definition at line 400 of file sound_play.h.

The documentation for this class was generated from the following file:

sound_play.h

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SoundClient() [1/2]

◆ SoundClient() [2/2]

Member Function Documentation

◆ builtinSound()

◆ init()

◆ play()

◆ playWave()

◆ playWaveFromPkg()

◆ repeat()

◆ say()

◆ sendMsg()

◆ setQuiet()

◆ start()

◆ startWave()

◆ startWaveFromPkg()

◆ stop()

◆ stopAll()

◆ stopSaying()

◆ stopWave()

◆ stopWaveFromPkg()

◆ voiceSound()

◆ waveSound()

◆ waveSoundFromPkg()

Member Data Documentation

◆ mutex_

◆ nh_

◆ pub_

◆ quiet_