sound_play.h

Go to the documentation of this file.

/*
 ***********************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 ***********************************************************
 */
 
#ifndef __SOUND_PLAY__SOUND_PLAY__H__
#define __SOUND_PLAY__SOUND_PLAY__H__
 
#include <string>
#include <ros/ros.h>
#include <ros/node_handle.h>
#include <sound_play/SoundRequest.h>
#include <boost/thread.hpp>
 
namespace sound_play
{
 
class SoundClient
{
public:
  class Sound
  {
    friend class SoundClient;
  private:
    int snd_;
    float vol_;
    std::string arg_;
    std::string arg2_;
    SoundClient *client_;
 
    Sound(SoundClient *sc, int snd, const std::string &arg, const std::string arg2 = std::string(), const float vol = 1.0f)
    {
      client_ = sc;
      snd_ = snd;
      arg_ = arg;
      arg2_ = arg2;
      vol_ = vol;
    }
 
  public:
    void play()
    {
      client_->sendMsg(snd_, SoundRequest::PLAY_ONCE, arg_, arg2_, vol_);
    }
 
    void repeat()
    {
      client_->sendMsg(snd_, SoundRequest::PLAY_START, arg_, arg2_, vol_);
    }
 
    void stop()
    {
      client_->sendMsg(snd_, SoundRequest::PLAY_STOP, arg_, arg2_, vol_);
    }
  };
 
  SoundClient(ros::NodeHandle &nh, const std::string &topic)
  {
    init(nh, topic);
  }
 
  SoundClient()
  {
    init(ros::NodeHandle(), "robotsound");
  }
 
  Sound voiceSound(const std::string &s, float volume = 1.0f)
  {
    return Sound(this, SoundRequest::SAY, s, "", volume);
  }
 
  Sound waveSound(const std::string &s, float volume = 1.0f)
  {
    return Sound(this, SoundRequest::PLAY_FILE, s, "", volume);
  }
 
  Sound waveSoundFromPkg(const std::string &p, const std::string &s, float volume = 1.0f)
  {
    return Sound(this, SoundRequest::PLAY_FILE, s, p, volume);
  }
 
  Sound builtinSound(int id, float volume = 1.0f)
  {
    return Sound(this, id, "", "", volume);
  }
 
  void say(const std::string &s, const std::string &voice="voice_kal_diphone", float volume = 1.0f)
  {
    sendMsg(SoundRequest::SAY, SoundRequest::PLAY_ONCE, s, voice, volume);
  }
 
  void repeat(const std::string &s, float volume = 1.0f)
  {
    sendMsg(SoundRequest::SAY, SoundRequest::PLAY_START, s, "", volume);
  }
 
  void stopSaying(const std::string &s)
  {
    sendMsg(SoundRequest::SAY, SoundRequest::PLAY_STOP, s, "");
  }
 
  void playWave(const std::string &s, float volume = 1.0f)
  {
    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_ONCE, s, "", volume);
  }
 
  void startWave(const std::string &s, float volume = 1.0f)
  {
    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_START, s, "", volume);
  }
 
  void stopWave(const std::string &s)
  {
    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_STOP, s);
  }
 
  void playWaveFromPkg(const std::string &p, const std::string &s, float volume = 1.0f)
  {
    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_ONCE, s, p, volume);
  }
 
  void startWaveFromPkg(const std::string &p, const std::string &s, float volume = 1.0f)
  {
    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_START, s, p, volume);
  }
 
  void stopWaveFromPkg(const std::string &p, const std::string &s)
  {
    sendMsg(SoundRequest::PLAY_FILE, SoundRequest::PLAY_STOP, s, p);
  }
 
  void play(int sound, float volume = 1.0f)
  {
    sendMsg(sound, SoundRequest::PLAY_ONCE, "", "", volume);
  }
 
  void start(int sound, float volume = 1.0f)
  {
    sendMsg(sound, SoundRequest::PLAY_START, "", "", volume); 
  }
 
  void stop(int sound)
  {
    sendMsg(sound, SoundRequest::PLAY_STOP);
  }
 
  void stopAll()
  {
    stop(SoundRequest::ALL);
  }
 
  void setQuiet(bool state)
  {
    quiet_ = state;
  }
 
private:
  void init(ros::NodeHandle nh, const std::string &topic)
  {
    nh_ = nh;
    pub_ = nh.advertise<sound_play::SoundRequest>(topic, 5);
    quiet_ = false;
  }
 
  void sendMsg(int snd, int cmd, const std::string &s = "", const std::string &arg2 = "", const float &vol = 1.0f)
  {
    boost::mutex::scoped_lock lock(mutex_);
 
    if (!nh_.ok())
      return;
 
    SoundRequest msg;
    msg.sound = snd;
    msg.command = cmd;
    msg.arg = s;
    msg.arg2 = arg2;
 
    // ensure volume is in the correct range
    if (vol < 0)
      msg.volume = 0;
    else if (vol > 1.0)
      msg.volume = 1.0f;
    else
      msg.volume = vol;
 
    pub_.publish(msg);
 
    if (pub_.getNumSubscribers() == 0 && !quiet_)
      ROS_WARN("Sound command issued, but no node is subscribed to the topic. Perhaps you forgot to run soundplay_node.py");
  }
 
  bool quiet_;
  ros::NodeHandle nh_;
  ros::Publisher pub_;
  boost::mutex mutex_;
};
 
typedef SoundClient::Sound Sound;
 
};
 
#endif