MaryROSClient.java

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package edu.tum.cs.ias.mary_tts;

import java.io.ByteArrayInputStream;
import java.io.ByteArrayOutputStream;
import java.io.IOException;

import javax.sound.sampled.AudioInputStream;
import javax.sound.sampled.AudioSystem;
import javax.sound.sampled.LineEvent;
import javax.sound.sampled.LineListener;
import javax.sound.sampled.UnsupportedAudioFileException;

import marytts.util.data.audio.AudioPlayer;
import marytts.client.MaryClient;
import marytts.client.http.Address;

import ros.NodeHandle;
import ros.Publisher;
import ros.Ros;
import ros.RosException;
import ros.ServiceServer;
import ros.Subscriber;
import ros.pkg.mary_tts.srv.*;


public class MaryROSClient {

        static MaryClient mary;
        static LineListener lineListener;
        static ByteArrayOutputStream baos;
        static AudioInputStream ais;
        
        static Ros ros;
        static NodeHandle n;
    static Subscriber.QueueingCallback<ros.pkg.std_msgs.msg.String> callback;
        
    static String voice = "dfki-obadiah";
        
        protected static void initRos() {

        ros = Ros.getInstance();

                if(!Ros.getInstance().isInitialized()) {
                ros.init("mary_text_to_speech");
                }
                n = ros.createNodeHandle();
        callback = new Subscriber.QueueingCallback<ros.pkg.std_msgs.msg.String>();
        }
        
        public MaryROSClient() {
                
                try {
                        init_mary();
                } catch (IOException e) {
                        e.printStackTrace();
                }
                
                // start ROS environment
                initRos();    

        Thread speechIn = new Thread( new SpeechOutListenerThread() );
        speechIn.start();

        Thread answerQueries = new Thread( new AnswerQueriesThread() );
        answerQueries.start();
            
        Thread startRosServices = new Thread( new RosServiceThread() );
        startRosServices.start();
        
        }
        


    protected void init_mary() throws IOException {
        
         String serverHost = System.getProperty("server.host", "localhost");
         int serverPort = Integer.getInteger("server.port", 59125).intValue();
         
         boolean initialized=false;
         
         while(!initialized) {
                 try{
                         Thread.sleep(1000);
                         mary = MaryClient.getMaryClient(new Address(serverHost, serverPort));
                         initialized=true;
                 } catch(IOException e) {  } 
                   catch (InterruptedException e) { }
         }

                
         lineListener = new LineListener() {
                        public void update(LineEvent event) {
                            if (event.getType() == LineEvent.Type.START) {
                                System.err.println("Audio started playing.");
                                } else if (event.getType() == LineEvent.Type.STOP) {
                                    System.err.println("Audio stopped playing.");
                                } else if (event.getType() == LineEvent.Type.OPEN) {
                                    System.err.println("Audio line opened.");
                                } else if (event.getType() == LineEvent.Type.CLOSE) {
                                    System.err.println("Audio line closed.");
                                    }
                                }
                        };  
                }

    public static class SpeechOutListenerThread implements Runnable {

        @Override public void run() {

                try {

                        n.advertise("/mary/tts", new ros.pkg.std_msgs.msg.String(), 100);
                        Subscriber<ros.pkg.std_msgs.msg.String> sub = n.subscribe("/mary/tts", new ros.pkg.std_msgs.msg.String(), callback, 10);

                        n.spin();
                        sub.shutdown();

                } catch(RosException e) {
                        e.printStackTrace();
                }
        }
    }


        
    public static class AnswerQueriesThread implements Runnable {
        
        
        public AnswerQueriesThread() {
                        
                }
        
        @Override public void run() {

                try {

                        ros.pkg.std_msgs.msg.String res;
                        while (n.isValid()) {

                                     res = callback.pop();

                                     try{

                                            baos = new ByteArrayOutputStream();
                                                mary.process(res.data, "TEXT", "AUDIO", "en_GB", "WAVE", voice, baos);
                                                        ais = AudioSystem.getAudioInputStream(new ByteArrayInputStream(baos.toByteArray()));
                                                AudioPlayer ap = new AudioPlayer(ais, lineListener);
                                                ap.start();

                                        } catch (IOException e) {
                                            e.printStackTrace();
                                        }  catch (UnsupportedAudioFileException e) {
                                                        e.printStackTrace();
                                        }
                        }

                } catch (InterruptedException e) {
                        e.printStackTrace();
                }
        }
    }

    
    public class RosServiceThread implements Runnable {

        @Override public void run() {

                try {
                    n.advertiseService("/mary_tts/set_voice",  new SetMaryVoice(),  new SetVoiceCallback());
                    ros.spin();

                } catch(RosException e) {
                        e.printStackTrace();
                }
        }
  }
    
    class SetVoiceCallback implements ServiceServer.Callback<SetMaryVoice.Request, SetMaryVoice.Response> {
        
        @Override
        public SetMaryVoice.Response call(SetMaryVoice.Request req) {

            SetMaryVoice.Response res = new SetMaryVoice.Response();
            res.result=false;
            
            if (req.voice_name != null && req.voice_name.length() > 0) {
                voice = req.voice_name;
                res.result=true;
            }

            return res;
        }
    }
    
    
    public static void main(String[] args) {
        new MaryROSClient();
    }
}