sound_play.h

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#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