libsoundplay.py

Go to the documentation of this file.

#!/usr/bin/env python

#***********************************************************
#* 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.
#***********************************************************

# Author: Blaise Gassend

import rospy
import roslib
import actionlib
import os, sys
from sound_play.msg import SoundRequest
from sound_play.msg import SoundRequestGoal
from sound_play.msg import SoundRequestAction

## \brief Class that publishes messages to the sound_play node.


class Sound(object):
    def __init__(self, client, snd, arg, volume=1.0):
        self.client = client
        self.snd = snd
        self.arg = arg
        self.vol = volume

## \brief Play the Sound.


    def play(self, **kwargs):
        self.client.sendMsg(self.snd, SoundRequest.PLAY_ONCE, self.arg,
                            vol=self.vol, **kwargs)

## \brief Play the Sound repeatedly.


    def repeat(self, **kwargs):
       self.client.sendMsg(self.snd, SoundRequest.PLAY_START, self.arg,
                           vol=self.vol, **kwargs)

## \brief Stop Sound playback.


    def stop(self):
        self.client.sendMsg(self.snd, SoundRequest.PLAY_STOP, self.arg)

## This class is a helper class for communicating with the sound_play node
## via the \ref sound_play.SoundRequest message. There is a one-to-one mapping
## between methods and invocations of the \ref sound_play.SoundRequest message.

class SoundClient(object):

    def __init__(self, blocking=False):
        """

        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)
        """

        self._blocking = blocking

        # 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_play', SoundRequestAction)
        self.pub = rospy.Publisher('robotsound', SoundRequest, queue_size=5)

## \brief Create a voice Sound.


    def voiceSound(self, s, volume=1.0):
        return Sound(self, SoundRequest.SAY, s, volume=volume)

## \brief Create a wave Sound.

    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)

## \brief Create a builtin Sound.


    def builtinSound(self, id, volume=1.0):
        return Sound(self, id, "", volume)

## \brief Say a string


    def say(self,text, voice='', volume=1.0, **kwargs):
        self.sendMsg(SoundRequest.SAY, SoundRequest.PLAY_ONCE, text, voice,
                     volume, **kwargs)

## \brief Say a string repeatedly


    def repeat(self,text, volume=1.0, **kwargs):
        self.sendMsg(SoundRequest.SAY, SoundRequest.PLAY_START, text,
                     vol=volume, **kwargs)

## \brief Stop saying a string


    def stopSaying(self,text):
        self.sendMsg(SoundRequest.SAY, SoundRequest.PLAY_STOP, text)

## \brief Plays a WAV or OGG file


    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)

## \brief Plays a WAV or OGG file repeatedly


    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)

##  \brief Stop playing a WAV or OGG file


    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)

## \brief Plays a WAV or OGG file


    def playWaveFromPkg(self, package, sound, volume=1.0, **kwargs):
        self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_ONCE, sound, package,
                     volume, **kwargs)

## \brief Plays a WAV or OGG file repeatedly


    def startWaveFromPkg(self, package, sound, volume=1.0, **kwargs):
        self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_START, sound,
                     package, volume, **kwargs)

##  \brief Stop playing a WAV or OGG file


    def stopWaveFromPkg(self,sound, package):
        self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_STOP, sound, package)

## \brief Play a buildin sound


    def play(self,sound, volume=1.0, **kwargs):
        self.sendMsg(sound, SoundRequest.PLAY_ONCE, "", vol=volume, **kwargs)

## \brief Play a buildin sound repeatedly


    def start(self,sound, volume=1.0, **kwargs):
        self.sendMsg(sound, SoundRequest.PLAY_START, "", vol=volume, **kwargs)

## \brief Stop playing a built-in sound


    def stop(self,sound):
        self.sendMsg(sound, SoundRequest.PLAY_STOP, "")

## \brief Stop all currently playing sounds


    def stopAll(self):
        self.stop(SoundRequest.ALL)

    def sendMsg(self, snd, cmd, s, arg2="", vol=1.0, **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]')
            self.actionclient.wait_for_server()
            goal = SoundRequestGoal()
            goal.sound_request = msg
            self.actionclient.send_goal(goal)
            self.actionclient.wait_for_result()
            rospy.logdebug('sound request response received')

        return