soundplay_node.py

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#!/usr/bin/env python

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# Author: Blaise Gassend

import roslib
import rospy
import threading
import os
import logging
import sys
import traceback
import tempfile
from diagnostic_msgs.msg import DiagnosticStatus, KeyValue, DiagnosticArray
from sound_play.msg import SoundRequest, SoundRequestAction, SoundRequestResult, SoundRequestFeedback
import actionlib

try:
    import pygst
    pygst.require('0.10')
    import gst
    import gobject
except:
    str="""
**************************************************************
Error opening pygst. Is gstreamer installed? (sudo apt-get install python-gst0.10 
**************************************************************
"""
    rospy.logfatal(str)
    print str
    exit(1)

def sleep(t):
    try:
        rospy.sleep(t)
    except:
        pass


class soundtype:
    STOPPED = 0
    LOOPING = 1
    COUNTING = 2

    def __init__(self, file, volume = 1.0):
        self.lock = threading.RLock()
        self.state = self.STOPPED
        self.sound = gst.element_factory_make("playbin","player")
        if (":" in file):
            uri = file
        elif os.path.isfile(file):
            uri = "file://" + os.path.abspath(file)
        else:
          rospy.logerr('Error: URI is invalid: %s'%file)

        self.uri = uri
        self.volume = volume
        self.sound.set_property('uri', uri)
        self.sound.set_property("volume",volume)
        self.staleness = 1
        self.file = file

        self.bus = self.sound.get_bus()
        self.bus.add_signal_watch()
        self.bus.connect("message", self.on_stream_end)

    def on_stream_end(self, bus, message):
        if message.type == gst.MESSAGE_EOS:
            self.state = self.STOPPED

    def __del__(self):
        # stop our GST object so that it gets garbage-collected
        self.stop()

    def update(self):
        self.bus.poll(gst.MESSAGE_ERROR, 10)

    def loop(self):
        self.lock.acquire()
        try:
            self.staleness = 0
            if self.state == self.COUNTING:
                self.stop()

            if self.state == self.STOPPED:
              self.sound.seek_simple(gst.FORMAT_TIME, gst.SEEK_FLAG_FLUSH, 0)
              self.sound.set_state(gst.STATE_PLAYING)
            self.state = self.LOOPING
        finally:
            self.lock.release()

    def stop(self):
        if self.state != self.STOPPED:
            self.lock.acquire()
            try:
                self.sound.set_state(gst.STATE_NULL)
                self.state = self.STOPPED
            finally:
                self.lock.release()

    def single(self):
        self.lock.acquire()
        try:
            rospy.logdebug("Playing %s"%self.uri)
            self.staleness = 0
            if self.state == self.LOOPING:
                self.stop()

            self.sound.seek_simple(gst.FORMAT_TIME, gst.SEEK_FLAG_FLUSH, 0)
            self.sound.set_state(gst.STATE_PLAYING)
            self.state = self.COUNTING
        finally:
            self.lock.release()

    def command(self, cmd):
         if cmd == SoundRequest.PLAY_STOP:
             self.stop()
         elif cmd == SoundRequest.PLAY_ONCE:
             self.single()
         elif cmd == SoundRequest.PLAY_START:
             self.loop()

    def get_staleness(self):
        self.lock.acquire()
        position = 0
        duration = 0
        try:
            position = self.sound.query_position(gst.FORMAT_TIME)[0]
            duration = self.sound.query_duration(gst.FORMAT_TIME)[0]
        except Exception, e:
            position = 0
            duration = 0
        finally:
            self.lock.release()

        if position != duration:
            self.staleness = 0
        else:
            self.staleness = self.staleness + 1
        return self.staleness

    def get_playing(self):
        return self.state == self.COUNTING

class soundplay:
    _feedback = SoundRequestFeedback()
    _result   = SoundRequestResult()

    def stopdict(self,dict):
        for sound in dict.values():
            sound.stop()
    
    def stopall(self):
        self.stopdict(self.builtinsounds)
        self.stopdict(self.filesounds)
        self.stopdict(self.voicesounds)

    def select_sound(self, data):
        if data.sound == SoundRequest.PLAY_FILE:
            if not data.arg2:
                if not data.arg in self.filesounds.keys():
                    rospy.logdebug('command for uncached wave: "%s"'%data.arg)
                    try:
                        self.filesounds[data.arg] = soundtype(data.arg)
                    except:
                        rospy.logerr('Error setting up to play "%s". Does this file exist on the machine on which sound_play is running?'%data.arg)
                        return
                else:
                    rospy.logdebug('command for cached wave: "%s"'%data.arg)
                sound = self.filesounds[data.arg]
            else:
                absfilename = os.path.join(roslib.packages.get_pkg_dir(data.arg2), data.arg)
                if not absfilename in self.filesounds.keys():
                    rospy.logdebug('command for uncached wave: "%s"'%absfilename)
                    try:
                        self.filesounds[absfilename] = soundtype(absfilename)
                    except:
                        rospy.logerr('Error setting up to play "%s" from package "%s". Does this file exist on the machine on which sound_play is running?'%(data.arg, data.arg2))
                        return
                else:
                    rospy.logdebug('command for cached wave: "%s"'%absfilename)
                sound = self.filesounds[absfilename]
        elif data.sound == SoundRequest.SAY:
            if not data.arg in self.voicesounds.keys():
                rospy.logdebug('command for uncached text: "%s"' % data.arg)
                txtfile = tempfile.NamedTemporaryFile(prefix='sound_play', suffix='.txt')
                (wavfile,wavfilename) = tempfile.mkstemp(prefix='sound_play', suffix='.wav')
                txtfilename=txtfile.name
                os.close(wavfile)
                voice = data.arg2
                try:
                    txtfile.write(data.arg)
                    txtfile.flush()
                    os.system("text2wave -eval '("+voice+")' "+txtfilename+" -o "+wavfilename)
                    try:
                        if os.stat(wavfilename).st_size == 0:
                            raise OSError # So we hit the same catch block
                    except OSError:
                        rospy.logerr('Sound synthesis failed. Is festival installed? Is a festival voice installed? Try running "rosdep satisfy sound_play|sh". Refer to http://pr.willowgarage.com/wiki/sound_play/Troubleshooting')
                        return
                    self.voicesounds[data.arg] = soundtype(wavfilename)
                finally:
                    txtfile.close()
            else:
                rospy.logdebug('command for cached text: "%s"'%data.arg)
            sound = self.voicesounds[data.arg]
        else:
            rospy.logdebug('command for builtin wave: %i'%data.sound)
            if not data.sound in self.builtinsounds:
                params = self.builtinsoundparams[data.sound]
                self.builtinsounds[data.sound] = soundtype(params[0], params[1])
            sound = self.builtinsounds[data.sound]
        if sound.staleness != 0 and data.command != SoundRequest.PLAY_STOP:
            # This sound isn't counted in active_sounds
            rospy.logdebug("activating %i %s"%(data.sound,data.arg))
            self.active_sounds = self.active_sounds + 1
            sound.staleness = 0
            #                    if self.active_sounds > self.num_channels:
            #                        mixer.set_num_channels(self.active_sounds)
            #                        self.num_channels = self.active_sounds
        return sound

    def callback(self,data):
        if not self.initialized:
            return
        self.mutex.acquire()
        # Force only one sound at a time
        self.stopall()
        try:
            if data.sound == SoundRequest.ALL and data.command == SoundRequest.PLAY_STOP:
                self.stopall()
            else:
                sound = self.select_sound(data)
                sound.command(data.command)
        except Exception, e:
            rospy.logerr('Exception in callback: %s'%str(e))
            rospy.loginfo(traceback.format_exc())
        finally:
            self.mutex.release()
            rospy.logdebug("done callback")

    # Purge sounds that haven't been played in a while.
    def cleanupdict(self, dict):
        purgelist = []
        for (key,sound) in dict.iteritems():
            try:
                staleness = sound.get_staleness()
            except Exception, e:
                rospy.logerr('Exception in cleanupdict for sound (%s): %s'%(str(key),str(e)))
                staleness = 100 # Something is wrong. Let's purge and try again.
            #print "%s %i"%(key, staleness)
            if staleness >= 10:
                purgelist.append(key)
            if staleness == 0: # Sound is playing
                self.active_sounds = self.active_sounds + 1
        for key in purgelist:
           rospy.logdebug('Purging %s from cache'%key)
           del dict[key]
    
    def cleanup(self):
        self.mutex.acquire()
        try:
            self.active_sounds = 0
            self.cleanupdict(self.filesounds)
            self.cleanupdict(self.voicesounds)
            self.cleanupdict(self.builtinsounds)
        except:
            rospy.loginfo('Exception in cleanup: %s'%sys.exc_info()[0])
        finally:
            self.mutex.release()

    def diagnostics(self, state):
        try:
            da = DiagnosticArray()
            ds = DiagnosticStatus()
            ds.name = rospy.get_caller_id().lstrip('/') + ": Node State"
            if state == 0:
                ds.level = DiagnosticStatus.OK
                ds.message = "%i sounds playing"%self.active_sounds
                ds.values.append(KeyValue("Active sounds", str(self.active_sounds)))
                ds.values.append(KeyValue("Allocated sound channels", str(self.num_channels)))
                ds.values.append(KeyValue("Buffered builtin sounds", str(len(self.builtinsounds))))
                ds.values.append(KeyValue("Buffered wave sounds", str(len(self.filesounds))))
                ds.values.append(KeyValue("Buffered voice sounds", str(len(self.voicesounds))))
            elif state == 1:
                ds.level = DiagnosticStatus.WARN
                ds.message = "Sound device not open yet."
            else:
                ds.level = DiagnosticStatus.ERROR
                ds.message = "Can't open sound device. See http://pr.willowgarage.com/wiki/sound_play/Troubleshooting"
            da.status.append(ds)
            da.header.stamp = rospy.get_rostime()
            self.diagnostic_pub.publish(da)
        except Exception, e:
            rospy.loginfo('Exception in diagnostics: %s'%str(e))

    def execute_cb(self, data):
        data = data.sound_request
        if not self.initialized:
            return
        self.mutex.acquire()
        # Force only one sound at a time
        self.stopall()
        try:
            if data.sound == SoundRequest.ALL and data.command == SoundRequest.PLAY_STOP:
                self.stopall()
            else:
                sound = self.select_sound(data)
                sound.command(data.command)

                r = rospy.Rate(1)
                start_time = rospy.get_rostime()
                success = True
                while sound.get_playing():
                    sound.update()
                    if self._as.is_preempt_requested():
                        rospy.loginfo('sound_play action: Preempted')
                        sound.stop()
                        self._as.set_preempted()
                        success = False
                        break

                    self._feedback.playing = sound.get_playing()
                    self._feedback.stamp = rospy.get_rostime() - start_time
                    self._as.publish_feedback(self._feedback)
                    r.sleep()

                if success:
                    self._result.playing = self._feedback.playing
                    self._result.stamp = self._feedback.stamp
                    rospy.loginfo('sound_play action: Succeeded')
                    self._as.set_succeeded(self._result)

        except Exception, e:
            rospy.logerr('Exception in actionlib callback: %s'%str(e))
            rospy.loginfo(traceback.format_exc())
        finally:
            self.mutex.release()
            rospy.logdebug("done actionlib callback")

    def __init__(self):
        rospy.init_node('sound_play')
        self.diagnostic_pub = rospy.Publisher("/diagnostics", DiagnosticArray)
        rootdir = os.path.join(roslib.packages.get_pkg_dir('sound_play'),'sounds')
        
        self.builtinsoundparams = {
                SoundRequest.BACKINGUP              : (os.path.join(rootdir, 'BACKINGUP.ogg'), 0.1),
                SoundRequest.NEEDS_UNPLUGGING       : (os.path.join(rootdir, 'NEEDS_UNPLUGGING.ogg'), 1),
                SoundRequest.NEEDS_PLUGGING         : (os.path.join(rootdir, 'NEEDS_PLUGGING.ogg'), 1),
                SoundRequest.NEEDS_UNPLUGGING_BADLY : (os.path.join(rootdir, 'NEEDS_UNPLUGGING_BADLY.ogg'), 1),
                SoundRequest.NEEDS_PLUGGING_BADLY   : (os.path.join(rootdir, 'NEEDS_PLUGGING_BADLY.ogg'), 1),
                }
        
        self.mutex = threading.Lock()
        sub = rospy.Subscriber("robotsound", SoundRequest, self.callback)
        self._as = actionlib.SimpleActionServer('sound_play', SoundRequestAction, execute_cb=self.execute_cb, auto_start = False)
        self._as.start()

        self.mutex.acquire()
        self.no_error = True
        self.initialized = False
        self.active_sounds = 0
        self.sleep(0.5) # For ros startup race condition
        self.diagnostics(1)

        while not rospy.is_shutdown():
            while not rospy.is_shutdown():
                self.init_vars()
                self.no_error = True
                self.initialized = True
                self.mutex.release()
                try:
                    self.idle_loop()
                    # Returns after inactive period to test device availability
                    #print "Exiting idle"
                except:
                    rospy.loginfo('Exception in idle_loop: %s'%sys.exc_info()[0])
                finally:
                    self.mutex.acquire()

            self.diagnostics(2)
        self.mutex.release()

    def init_vars(self):
        self.num_channels = 10
        self.builtinsounds = {}
        self.filesounds = {}
        self.voicesounds = {}
        self.hotlist = []
        if not self.initialized:
            rospy.loginfo('sound_play node is ready to play sound')
            
    def sleep(self, duration):
        try:    
            rospy.sleep(duration)   
        except rospy.exceptions.ROSInterruptException:
            pass
    
    def idle_loop(self):
        self.last_activity_time = rospy.get_time()
        while (rospy.get_time() - self.last_activity_time < 10 or
                 len(self.builtinsounds) + len(self.voicesounds) + len(self.filesounds) > 0) \
                and not rospy.is_shutdown():
            #print "idle_loop"
            self.diagnostics(0)
            self.sleep(1)
            self.cleanup()
        #print "idle_exiting"

if __name__ == '__main__':
    soundplay()