Class that publishes messages to the sound_play node. More...

#include <sound_play.h>

Classes
class	Sound
Public Member Functions
Sound	builtinSound (int id)
	Create a builtin Sound.
void	play (int sound)
	Play a buildin sound.
void	playWave (const std::string &s)
	Plays a WAV or OGG file.
void	playWaveFromPkg (const std::string &p, const std::string &s)
	Plays a WAV or OGG file from a package.
void	repeat (const std::string &s)
	Say a string repeatedly.
void	say (const std::string &s, const std::string &voice="voice_kal_diphone")
	Say a string.
void	setQuiet (bool state)
	Turns warning messages on or off.
	SoundClient (ros::NodeHandle &nh, const std::string &topic)
	Create a SoundClient that publishes on the given topic.
	SoundClient ()
	Create a SoundClient with the default topic.
void	start (int sound)
	Play a buildin sound repeatedly.
void	startWave (const std::string &s)
	Plays a WAV or OGG file repeatedly.
void	startWaveFromPkg (const std::string &p, const std::string &s)
	Plays a WAV or OGG file repeatedly.
void	stop (int sound)
	Stop playing a built-in sound.
void	stopAll ()
	Stop all currently playing sounds.
void	stopSaying (const std::string &s)
	Stop saying a string.
void	stopWave (const std::string &s)
	Stop playing a WAV or OGG file.
void	stopWaveFromPkg (const std::string &p, const std::string &s)
	Stop playing a WAV or OGG file.
Sound	voiceSound (const std::string &s)
	Create a voice Sound.
Sound	waveSound (const std::string &s)
	Create a wave Sound.
Sound	waveSoundFromPkg (const std::string &p, const std::string &s)
	Create a wave Sound from a package.
Private Member Functions
void	init (ros::NodeHandle nh, const std::string &topic)
void	sendMsg (int snd, int cmd, const std::string &s="", const std::string &arg2="")
Private Attributes
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::Publisher	pub_
bool	quiet_

Detailed Description

Class that publishes messages to the sound_play node.

This class is a helper class for communicating with the sound_play node via the sound_play::SoundRequest message. It has two ways of being used:

It can create Sound classes that represent a particular sound which can be played, repeated or stopped.

It provides methods for each way in which the sound_play::SoundRequest message can be invoked.

Definition at line 62 of file sound_play.h.

Constructor & Destructor Documentation

sound_play::SoundClient::SoundClient	(	ros::NodeHandle &	nh,
		const std::string &	topic
	)		`[inline]`

Create a SoundClient that publishes on the given topic.

Creates a SoundClient that publishes to the given topic relative to the given NodeHandle.

Parameters:

nh	Node handle to use when creating the topic.
topic	Topic to publish to.

Definition at line 128 of file sound_play.h.

sound_play::SoundClient::SoundClient ( ) [inline]

Create a SoundClient with the default topic.

Creates a SoundClient that publishes to "robotsound".

Definition at line 138 of file sound_play.h.

Member Function Documentation

Sound sound_play::SoundClient::builtinSound ( int id ) [inline]

Create a builtin Sound.

Creates a Sound corresponding to indicated builtin wave.

Parameters:

id	Identifier of the sound to play.

Definition at line 193 of file sound_play.h.

void sound_play::SoundClient::init	(	ros::NodeHandle	nh,
		const std::string &	topic
	)		`[inline, private]`

Definition at line 383 of file sound_play.h.

void sound_play::SoundClient::play ( int sound ) [inline]

Play a buildin sound.

Starts playing one of the built-in sounds. built-ing sounds are documented in SoundRequest::msg. Playback can be stopped by stopAll.

Parameters:

sound Identifier of the sound to play.

Definition at line 328 of file sound_play.h.

void sound_play::SoundClient::playWave ( const std::string & s ) [inline]

Plays a WAV or OGG file.

Plays a WAV or OGG file once. The playback can be stopped by stopWave or stopAll.

Parameters:

s	Filename of the WAV or OGG file. Must be an absolute path valid on the computer on which the sound_play node is running

Definition at line 245 of file sound_play.h.

void sound_play::SoundClient::playWaveFromPkg	(	const std::string &	p,
		const std::string &	s
	)		`[inline]`

Plays a WAV or OGG file from a package.

Plays a WAV or OGG file once. The playback can be stopped by stopWaveFromPkg or stopAll.

Parameters:

p	Package name containing the sound file.
s	Filename of the WAV or OGG file. Must be an path relative to the package valid on the computer on which the sound_play node is running

Definition at line 286 of file sound_play.h.

void sound_play::SoundClient::repeat ( const std::string & s ) [inline]

Say a string repeatedly.

The string is said repeatedly until stopSaying or stopAll is used.

Parameters:

s	String to say repeatedly

Definition at line 218 of file sound_play.h.

void sound_play::SoundClient::say	(	const std::string &	s,
		const std::string &	voice = `"voice_kal_diphone"`
	)		`[inline]`

Say a string.

Send a string to be said by the sound_node. The vocalization can be stopped using stopSaying or stopAll.

Parameters:

s	String to say

Definition at line 206 of file sound_play.h.

void sound_play::SoundClient::sendMsg	(	int	snd,
		int	cmd,
		const std::string &	s = `""`,
		const std::string &	arg2 = `""`
	)		`[inline, private]`

Definition at line 390 of file sound_play.h.

void sound_play::SoundClient::setQuiet ( bool state ) [inline]

Turns warning messages on or off.

If a message is sent when no node is subscribed to the topic, a warning message is printed. This method can be used to enable or disable warnings.

Parameters:

state True to turn off messages, false to turn them on.

Definition at line 377 of file sound_play.h.

void sound_play::SoundClient::start ( int sound ) [inline]

Play a buildin sound repeatedly.

Starts playing one of the built-in sounds repeatedly until stop or stopAll is used. Built-in sounds are documented in SoundRequest::msg.

Parameters:

sound Identifier of the sound to play.

Definition at line 341 of file sound_play.h.

void sound_play::SoundClient::startWave ( const std::string & s ) [inline]

Plays a WAV or OGG file repeatedly.

Plays a WAV or OGG file repeatedly until stopWave or stopAll is used.

Parameters:

s	Filename of the WAV or OGG file. Must be an absolute path valid on the computer on which the sound_play node is running.

Definition at line 258 of file sound_play.h.

void sound_play::SoundClient::startWaveFromPkg	(	const std::string &	p,
		const std::string &	s
	)		`[inline]`

Plays a WAV or OGG file repeatedly.

Plays a WAV or OGG file repeatedly until stopWaveFromPkg or stopAll is used.

Parameters:

p	Package name containing the sound file.
s	Filename of the WAV or OGG file. Must be an path relative to the package valid on the computer on which the sound_play node is running

Definition at line 300 of file sound_play.h.

void sound_play::SoundClient::stop ( int sound ) [inline]

Stop playing a built-in sound.

Stops playing a built-in sound started with play or start.

Parameters:

sound Same sound that was used to start playback.

Definition at line 353 of file sound_play.h.

void sound_play::SoundClient::stopAll ( ) [inline]

Stop all currently playing sounds.

This method stops all speech, wave file, and built-in sound playback.

Definition at line 363 of file sound_play.h.

void sound_play::SoundClient::stopSaying ( const std::string & s ) [inline]

Stop saying a string.

Stops saying a string that was previously started by say or repeat. The argument indicates which string to stop saying.

Parameters:

s	Same string as in the say or repeat command

Definition at line 231 of file sound_play.h.

void sound_play::SoundClient::stopWave ( const std::string & s ) [inline]

Stop playing a WAV or OGG file.

Stops playing a file that was previously started by playWave or startWave.

Parameters:

s	Same string as in the playWave or startWave command

Definition at line 271 of file sound_play.h.

void sound_play::SoundClient::stopWaveFromPkg	(	const std::string &	p,
		const std::string &	s
	)		`[inline]`

Stop playing a WAV or OGG file.

Stops playing a file that was previously started by playWaveFromPkg or startWaveFromPkg.

Parameters:

p	Package name containing the sound file.
s	Filename of the WAV or OGG file. Must be an path relative to the package valid on the computer on which the sound_play node is running

Definition at line 315 of file sound_play.h.

Sound sound_play::SoundClient::voiceSound ( const std::string & s ) [inline]

Create a voice Sound.

Creates a Sound corresponding to saying the indicated text.

Parameters:

s	Text to say

Definition at line 151 of file sound_play.h.

Sound sound_play::SoundClient::waveSound ( const std::string & s ) [inline]

Create a wave Sound.

Creates a Sound corresponding to indicated file.

Parameters:

s	File to play. Should be an absolute path that exists on the machine running the sound_play node.

Definition at line 165 of file sound_play.h.

Sound sound_play::SoundClient::waveSoundFromPkg	(	const std::string &	p,
		const std::string &	s
	)		`[inline]`

Create a wave Sound from a package.

Creates a Sound corresponding to indicated file.

Parameters:

p	Package containing the sound file.
s	Filename of the WAV or OGG file. Must be an path relative to the package valid on the computer on which the sound_play node is running

Definition at line 180 of file sound_play.h.