libsoundplay.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 00003 #*********************************************************** 00004 #* Software License Agreement (BSD License) 00005 #* 00006 #* Copyright (c) 2009, Willow Garage, Inc. 00007 #* All rights reserved. 00008 #* 00009 #* Redistribution and use in source and binary forms, with or without 00010 #* modification, are permitted provided that the following conditions 00011 #* are met: 00012 #* 00013 #* * Redistributions of source code must retain the above copyright 00014 #* notice, this list of conditions and the following disclaimer. 00015 #* * Redistributions in binary form must reproduce the above 00016 #* copyright notice, this list of conditions and the following 00017 #* disclaimer in the documentation and/or other materials provided 00018 #* with the distribution. 00019 #* * Neither the name of the Willow Garage nor the names of its 00020 #* contributors may be used to endorse or promote products derived 00021 #* from this software without specific prior written permission. 00022 #* 00023 #* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 #* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 #* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 #* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 #* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 #* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 #* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 #* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 #* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 #* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 #* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 #* POSSIBILITY OF SUCH DAMAGE. 00035 #*********************************************************** 00036 00037 # Author: Blaise Gassend 00038 00039 import rospy 00040 import os, sys 00041 from sound_play.msg import SoundRequest 00042 00043 ## \brief Class that publishes messages to the sound_play node. 00044 ## 00045 ## This class is a helper class for communicating with the sound_play node 00046 ## via the \ref sound_play.SoundRequest message. It has two ways of being used: 00047 ## 00048 ## - It can create Sound classes that represent a particular sound which 00049 ## can be played, repeated or stopped. 00050 ## 00051 ## - It provides methods for each way in which the sound_play.SoundRequest 00052 ## message can be invoked. 00053 00054 class Sound: 00055 def __init__(self, client, snd, arg): 00056 self.client = client 00057 self.snd = snd 00058 self.arg = arg 00059 00060 ## \brief Play the Sound. 00061 ## 00062 ## This method causes the Sound to be played once. 00063 00064 def play(self): 00065 self.client.sendMsg(self.snd, SoundRequest.PLAY_ONCE, self.arg) 00066 00067 ## \brief Play the Sound repeatedly. 00068 ## 00069 ## This method causes the Sound to be played repeatedly until stop() is 00070 ## called. 00071 00072 def repeat(self): 00073 self.client.sendMsg(self.snd, SoundRequest.PLAY_START, self.arg) 00074 00075 ## \brief Stop Sound playback. 00076 ## 00077 ## This method causes the Sound to stop playing. 00078 00079 def stop(self): 00080 self.client.sendMsg(self.snd, SoundRequest.PLAY_STOP, self.arg) 00081 00082 ## This class is a helper class for communicating with the sound_play node 00083 ## via the \ref sound_play.SoundRequest message. There is a one-to-one mapping 00084 ## between methods and invocations of the \ref sound_play.SoundRequest message. 00085 00086 class SoundClient: 00087 def __init__(self): 00088 self.pub = rospy.Publisher('robotsound', SoundRequest) 00089 00090 ## \brief Create a voice Sound. 00091 ## 00092 ## Creates a Sound corresponding to saying the indicated text. 00093 ## 00094 ## \param s Text to say 00095 00096 def voiceSound(self, s): 00097 return Sound(self, SoundRequest.SAY, s) 00098 00099 ## \brief Create a wave Sound. 00100 ## 00101 ## Creates a Sound corresponding to indicated file. 00102 ## 00103 ## \param s File to play. Should be an absolute path that exists on the 00104 ## machine running the sound_play node. 00105 def waveSound(self, sound): 00106 if sound[0] != "/": 00107 rootdir = os.path.join(os.path.dirname(__file__),'../..','sounds') 00108 sound = rootdir + "/" + sound 00109 return Sound(self, SoundRequest.PLAY_FILE, sound) 00110 00111 ## \brief Create a builtin Sound. 00112 ## 00113 ## Creates a Sound corresponding to indicated builtin wave. 00114 ## 00115 ## \param id Identifier of the sound to play. 00116 00117 def builtinSound(self, id): 00118 return Sound(self, id, "") 00119 00120 ## \brief Say a string 00121 ## 00122 ## Send a string to be said by the sound_node. The vocalization can be 00123 ## stopped using stopSaying or stopAll. 00124 ## 00125 ## \param text String to say 00126 00127 def say(self,text, voice='voice_kal_diphone'): 00128 self.sendMsg(SoundRequest.SAY, SoundRequest.PLAY_ONCE, text, voice) 00129 00130 ## \brief Say a string repeatedly 00131 ## 00132 ## The string is said repeatedly until stopSaying or stopAll is used. 00133 ## 00134 ## \param text String to say repeatedly 00135 00136 def repeat(self,text): 00137 self.sendMsg(SoundRequest.SAY, SoundRequest.PLAY_START, text) 00138 00139 ## \brief Stop saying a string 00140 ## 00141 ## Stops saying a string that was previously started by say or repeat. The 00142 ## argument indicates which string to stop saying. 00143 ## 00144 ## \param text Same string as in the say or repeat command 00145 00146 def stopSaying(self,text): 00147 self.sendMsg(SoundRequest.SAY, SoundRequest.PLAY_STOP, text) 00148 00149 ## \brief Plays a WAV or OGG file 00150 ## 00151 ## Plays a WAV or OGG file once. The playback can be stopped by stopWave or 00152 ## stopAll. 00153 ## 00154 ## \param sound Filename of the WAV or OGG file. Must be an absolute path valid 00155 ## on the computer on which the sound_play node is running 00156 00157 def playWave(self, sound): 00158 if sound[0] != "/": 00159 rootdir = os.path.join(os.path.dirname(__file__),'../..','sounds') 00160 sound = rootdir + "/" + sound 00161 self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_ONCE, sound) 00162 00163 ## \brief Plays a WAV or OGG file repeatedly 00164 ## 00165 ## Plays a WAV or OGG file repeatedly until stopWave or stopAll is used. 00166 ## 00167 ## \param sound Filename of the WAV or OGG file. Must be an absolute path valid 00168 ## on the computer on which the sound_play node is running. 00169 00170 def startWave(self, sound): 00171 if sound[0] != "/": 00172 rootdir = os.path.join(os.path.dirname(__file__),'../..','sounds') 00173 sound = rootdir + "/" + sound 00174 self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_START, sound) 00175 00176 ## \brief Stop playing a WAV or OGG file 00177 ## 00178 ## Stops playing a file that was previously started by playWave or 00179 ## startWave. 00180 ## 00181 ## \param sound Same string as in the playWave or startWave command 00182 00183 def stopWave(self,sound): 00184 if sound[0] != "/": 00185 rootdir = os.path.join(os.path.dirname(__file__),'../..','sounds') 00186 sound = rootdir + "/" + sound 00187 self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_STOP, sound) 00188 00189 ## \brief Play a buildin sound 00190 ## 00191 ## Starts playing one of the built-in sounds. built-ing sounds are documented 00192 ## in \ref SoundRequest.msg. Playback can be stopped by stopall. 00193 ## 00194 ## \param sound Identifier of the sound to play. 00195 00196 def play(self,sound): 00197 self.sendMsg(sound, SoundRequest.PLAY_ONCE, "") 00198 00199 ## \brief Play a buildin sound repeatedly 00200 ## 00201 ## Starts playing one of the built-in sounds repeatedly until stop or 00202 ## stopall is used. Built-in sounds are documented in \ref SoundRequest.msg. 00203 ## 00204 ## \param sound Identifier of the sound to play. 00205 00206 def start(self,sound): 00207 self.sendMsg(sound, SoundRequest.PLAY_START, "") 00208 00209 ## \brief Stop playing a built-in sound 00210 ## 00211 ## Stops playing a built-in sound started with play or start. 00212 ## 00213 ## \param sound Same sound that was used to start playback 00214 00215 def stop(self,sound): 00216 self.sendMsg(sound, SoundRequest.PLAY_STOP, "") 00217 00218 ## \brief Stop all currently playing sounds 00219 ## 00220 ## This method stops all speech, wave file, and built-in sound playback. 00221 00222 def stopAll(self): 00223 self.stop(SoundRequest.ALL) 00224 00225 def sendMsg(self, snd, cmd, s, arg2=""): 00226 msg = SoundRequest() 00227 msg.sound = snd 00228 msg.command = cmd 00229 msg.arg = s 00230 msg.arg2 = arg2 00231 self.pub.publish(msg) 00232 ## @todo this should be a warn once warns become visible on the console. 00233 if self.pub.get_num_connections() < 1: 00234 rospy.logerr("Sound command issued, but no node is subscribed to the topic. Perhaps you forgot to run soundplay_node.py");