rovio_audio.cpp

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#include <arpa/inet.h>
#include <cstdlib>
#include <ros/ros.h>
#include <rovio_av/rovio_audio.h>
#include <rovio_shared/rovio_http.h>
#include <rovio_shared/wav_play.h>
#include <string>
#include <sstream>
#include <sys/socket.h>

using namespace std;

audio_controller::audio_controller()
{
  // check for all the correct parameters
  if (!node.getParam(USER, user))
  {
    ROS_ERROR("Parameter %s not found.", USER);
    exit(-1);
  }
  if (!node.getParam(PASS, pass))
  {
    ROS_ERROR("Parameter %s not found.", PASS);
    exit(-1);
  }
  if (!node.getParam(HOST, host))
  {
    ROS_ERROR("Parameter %s not found.", HOST);
    exit(-1);
  }

  // add services
  wav_play = node.advertiseService("wav_play", &audio_controller::wav_play_callback, this);

  ROS_INFO("Rovio Audio Controller Initialized");
}

bool audio_controller::wav_play_callback(rovio_shared::wav_play::Request &req, rovio_shared::wav_play::Response &resp)
{
  // create a socket to talk to the Rovio
  int audio_socket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
  if (audio_socket < 0)
  {
    ROS_ERROR("Audio socket could not be created.");
    return false;
  }

  // setup the address
  struct sockaddr_in host_addr;
  memset(&host_addr, 0, sizeof(host_addr));
  host_addr.sin_family = AF_INET;
  host_addr.sin_addr.s_addr = inet_addr(host.c_str());
  host_addr.sin_port = htons(80);

  // connect the socket
  if (connect(audio_socket, (struct sockaddr *)&host_addr, sizeof(host_addr)) < 0)
  {
    ROS_ERROR("Audio socket could not be connected.");
    return false;
  }

  // get the file name from the request
  string f_name = req.f;

  // try and open the file
  FILE *f = fopen(f_name.c_str(), "rb");
  if (f == NULL)
  {
    ROS_ERROR("Could not open file '%s'.", f_name.c_str());
    return false;
  }

  // find out how big the file is
  fseek(f, 0, SEEK_END);
  long f_size = ftell(f);
  rewind(f);
  // create a buffer and read in the entire file
  char *buf = (char*)malloc(f_size);
  if ((long)fread(buf, 1, f_size, f) != f_size)
  {
    ROS_ERROR("Error reading file '%s'.", f_name.c_str());
    return false;
  }

  // build the header
  stringstream ss;
  ss << "POST /GetAudio.cgi HTTP/1.1\r\n" << "User-Agent: AudioAgent\r\n" << "Host: " << host << "\r\n"
      << "Content-Length: " << f_size << "\r\n" << "Cache-Control: no-cache\r\n" << "\r\n";

  // send the sound file
  send(audio_socket, ss.str().c_str(), ss.str().size(), 0);
  if (send(audio_socket, buf, f_size, 0) != f_size)
  {
    ROS_ERROR("Could not send entire file.");
    return false;
  }

  // close the file
  fclose(f);
  // free the buffer
  free(buf);
  // close the socket
  close(audio_socket);

  return true;
}

int main(int argc, char **argv)
{
  // initialize ROS and the node
  ros::init(argc, argv, "rovio_audio");

  // initialize the Rovio controller
  audio_controller controller;

  // update at 5 Hz
  ros::Rate loop_rate(5);
  // continue until a ctrl-c has occurred
  while (ros::ok())
  {
    ros::spinOnce();
    loop_rate.sleep();
  }

  return EXIT_SUCCESS;
}