event/audio.hpp

Go to the documentation of this file.

/*
 * Copyright 2015 Aldebaran
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef AUDIO_EVENT_REGISTER_HPP
#define AUDIO_EVENT_REGISTER_HPP

#include <string>

#include <boost/make_shared.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/enable_shared_from_this.hpp>

#include <qi/session.hpp>

#include <ros/ros.h>
#include <naoqi_bridge_msgs/AudioBuffer.h>

#include <naoqi_driver/tools.hpp>
#include <naoqi_driver/recorder/globalrecorder.hpp>

// Converter
#include "../src/converters/audio.hpp"
// Publisher
#include "../src/publishers/basic.hpp"
// Recorder
#include "../recorder/basic_event.hpp"

namespace naoqi
{

class AudioEventRegister: public boost::enable_shared_from_this<AudioEventRegister>
{

public:

  AudioEventRegister( const std::string& name, const float& frequency, const qi::SessionPtr& session );
  ~AudioEventRegister();

  void resetPublisher( ros::NodeHandle& nh );
  void resetRecorder( boost::shared_ptr<naoqi::recorder::GlobalRecorder> gr );

  void startProcess();
  void stopProcess();

  void writeDump(const ros::Time& time);
  void setBufferDuration(float duration);

  void isRecording(bool state);
  void isPublishing(bool state);
  void isDumping(bool state);

  void processRemote(int nbOfChannels, int samplesByChannel, qi::AnyValue altimestamp, qi::AnyValue buffer);

private:
  void registerCallback();
  void unregisterCallback();
  void onEvent();

private:
  boost::shared_ptr<converter::AudioEventConverter> converter_;
  boost::shared_ptr<publisher::BasicPublisher<naoqi_bridge_msgs::AudioBuffer> > publisher_;
  boost::shared_ptr<recorder::BasicEventRecorder<naoqi_bridge_msgs::AudioBuffer> > recorder_;

  qi::SessionPtr session_;
  qi::AnyObject p_audio_;
  qi::AnyObject p_robot_model_;
  qi::FutureSync<qi::AnyObject> p_audio_extractor_request;
  std::vector<uint8_t> channelMap;
  unsigned int serviceId;
  const robot::NaoqiVersion& naoqi_version_;

  boost::mutex subscription_mutex_;
  boost::mutex processing_mutex_;

  bool isStarted_;
  bool isPublishing_;
  bool isRecording_;
  bool isDumping_;

}; // class

QI_REGISTER_OBJECT(AudioEventRegister, processRemote)

} //naoqi

#endif