libsoundplay.py

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# Author: Blaise Gassend
 
import rospy
import roslib
import actionlib
import os, sys
from actionlib_msgs.msg import GoalStatusArray
from sound_play.msg import SoundRequest
from sound_play.msg import SoundRequestGoal
from sound_play.msg import SoundRequestAction
 
 
 
class Sound(object):
    def __init__(self, client, snd, arg, volume=1.0):
        self.client = client
        self.snd = snd
        self.arg = arg
        self.vol = volume
 
 
 
    def play(self, **kwargs):
        self.client.sendMsg(self.snd, SoundRequest.PLAY_ONCE, self.arg,
                            vol=self.vol, **kwargs)
 
 
 
    def repeat(self, **kwargs):
       self.client.sendMsg(self.snd, SoundRequest.PLAY_START, self.arg,
                           vol=self.vol, **kwargs)
 
 
 
    def stop(self):
        self.client.sendMsg(self.snd, SoundRequest.PLAY_STOP, self.arg)
 
 
 
class SoundClient(object):
 
    def __init__(self, blocking=False, sound_action='sound_play', sound_topic='robotsound'):
        """
 
        The SoundClient can send SoundRequests in two modes: non-blocking mode
        (by publishing a message to the soundplay_node directly) which will
        return as soon as the sound request has been sent, or blocking mode (by
        using the actionlib interface) which will wait until the sound has
        finished playing completely.
 
        The blocking parameter here is the standard behavior, but can be
        over-ridden.  Each say/play/start/repeat method can take in an optional
        `blocking=True|False` argument that will over-ride the class-wide
        behavior. See soundclient_example.py for an example of this behavior.
 
        :param blocking: Used as the default behavior unless over-ridden,
        (default = false)
 
        :param sound_action: Namespace of actionlib to play sound. The actionlib interface is used
        only if blocking parameter is True. (default='sound_play')
 
        :param sound_topic: Topic name to play sound. The topic interface is used only if blocking
        parameter is False. (default='robotsound')
        """
 
        self._blocking = blocking
        self._playing = False
 
        # NOTE: only one of these will be used at once, but we need to create
        # both the publisher and actionlib client here.
        self.actionclient = actionlib.SimpleActionClient(
            sound_action, SoundRequestAction)
        self.pub = rospy.Publisher(sound_topic, SoundRequest, queue_size=5)
        self.sub = rospy.Subscriber(
            '{}/status'.format(sound_action), GoalStatusArray, self._action_status_cb)
 
 
 
    def voiceSound(self, s, volume=1.0):
        return Sound(self, SoundRequest.SAY, s, volume=volume)
 
 
    def waveSound(self, sound, volume=1.0):
        if sound[0] != "/":
          rootdir = os.path.join(roslib.packages.get_pkg_dir('sound_play'),'sounds')
          sound = rootdir + "/" + sound
        return Sound(self, SoundRequest.PLAY_FILE, sound, volume=volume)
 
 
 
    def builtinSound(self, id, volume=1.0):
        return Sound(self, id, "", volume)
 
 
 
    def say(self,text, voice='', volume=1.0, **kwargs):
        self.sendMsg(SoundRequest.SAY, SoundRequest.PLAY_ONCE, text, voice,
                     volume, **kwargs)
 
 
 
    def repeat(self,text, volume=1.0, **kwargs):
        self.sendMsg(SoundRequest.SAY, SoundRequest.PLAY_START, text,
                     vol=volume, **kwargs)
 
 
 
    def stopSaying(self,text):
        self.sendMsg(SoundRequest.SAY, SoundRequest.PLAY_STOP, text)
 
 
 
    def playWave(self, sound, volume=1.0, **kwargs):
        if sound[0] != "/":
          rootdir = os.path.join(roslib.packages.get_pkg_dir('sound_play'),'sounds')
          sound = rootdir + "/" + sound
        self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_ONCE, sound,
                     vol=volume, **kwargs)
 
 
 
    def startWave(self, sound, volume=1.0, **kwargs):
        if sound[0] != "/":
          rootdir = os.path.join(roslib.packages.get_pkg_dir('sound_play'),'sounds')
          sound = rootdir + "/" + sound
        self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_START, sound,
                     vol=volume, **kwargs)
 
 
 
    def stopWave(self,sound):
        if sound[0] != "/":
          rootdir = os.path.join(roslib.package.get_pkg_dir('sound_play'),'sounds')
          sound = rootdir + "/" + sound
        self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_STOP, sound)
 
 
 
    def playWaveFromPkg(self, package, sound, volume=1.0, **kwargs):
        self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_ONCE, sound, package,
                     volume, **kwargs)
 
 
 
    def startWaveFromPkg(self, package, sound, volume=1.0, **kwargs):
        self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_START, sound,
                     package, volume, **kwargs)
 
 
 
    def stopWaveFromPkg(self,sound, package):
        self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_STOP, sound, package)
 
 
 
    def play(self,sound, volume=1.0, **kwargs):
        self.sendMsg(sound, SoundRequest.PLAY_ONCE, "", vol=volume, **kwargs)
 
 
 
    def start(self,sound, volume=1.0, **kwargs):
        self.sendMsg(sound, SoundRequest.PLAY_START, "", vol=volume, **kwargs)
 
 
 
    def stop(self,sound):
        self.sendMsg(sound, SoundRequest.PLAY_STOP, "")
 
 
 
    def stopAll(self):
        self.stop(SoundRequest.ALL)
 
    def sendMsg(
        self, snd, cmd, s, arg2="", vol=1.0, replace=True,
        server_timeout=None, result_timeout=None,
        **kwargs
    ):
        """
        Internal method that publishes the sound request, either directly as a
        SoundRequest to the soundplay_node or through the actionlib interface
        (which blocks until the sound has finished playing).
 
        The blocking behavior is nominally the class-wide setting unless it has
        been explicitly specified in the play call.
        """
 
        # Use the passed-in argument if it exists, otherwise fall back to the
        # class-wide setting.
        blocking = kwargs.get('blocking', self._blocking)
 
        msg = SoundRequest()
        msg.sound = snd
        # Threshold volume between 0 and 1.
        msg.volume = max(0, min(1, vol))
        msg.command = cmd
        msg.arg = s
        msg.arg2 = arg2
 
        rospy.logdebug('Sending sound request with volume = {}'
                       ' and blocking = {}'.format(msg.volume, blocking))
 
        # Defensive check for the existence of the correct communicator.
        if not blocking and not self.pub:
            rospy.logerr('Publisher for SoundRequest must exist')
            return
        if blocking and not self.actionclient:
            rospy.logerr('Action client for SoundRequest does not exist.')
            return
 
        if not blocking:  # Publish message directly and return immediately
            self.pub.publish(msg)
            if self.pub.get_num_connections() < 1:
                rospy.logwarn("Sound command issued, but no node is subscribed"
                              " to the topic. Perhaps you forgot to run"
                              " soundplay_node.py?")
        else:  # Block until result comes back.
            assert self.actionclient, 'Actionclient must exist'
            rospy.logdebug('Sending action client sound request [blocking]')
 
            if server_timeout is None or server_timeout > rospy.Duration(0):
                if server_timeout is None:
                    server_timeout = rospy.Duration()
                if not self.actionclient.wait_for_server(timeout=server_timeout):
                    return
 
            goal = SoundRequestGoal()
            goal.sound_request = msg
            while not replace and self._playing:
                rospy.sleep(0.1)
            self.actionclient.send_goal(goal)
            if result_timeout is None or result_timeout > rospy.Duration(0):
                if result_timeout is None:
                    result_timeout = rospy.Duration()
                if self.actionclient.wait_for_result(timeout=result_timeout):
                    rospy.logdebug('sound request response received')
        return
 
    def _action_status_cb(self, msg):
        if 1 in [s.status for s in msg.status_list]:
            self._playing = True
        else:
            self._playing = False