def __init__(self):
self.detect_silence_module = DetectSilence()
self.energy_denoise_module = EnergyDenoise()
self.sox_denoise_module = SoxDenoise()
self.utilities_module = Utilities()
self.set_noise_profile_module = SetNoiseProfile()
self.transform_audio_module= TransformAudio()
# Parameters acquisition
self.set_noise_profile_topic = \
rospy.get_param("rapp_audio_processing_set_noise_profile_topic")
self.denoise_topic = \
rospy.get_param("rapp_audio_processing_denoise_topic")
self.energy_denoise_topic = \
rospy.get_param("rapp_audio_processing_energy_denoise_topic")
self.detect_silence_topic = \
rospy.get_param("rapp_audio_processing_detect_silence_topic")
self.transform_audio_topic = \
rospy.get_param("rapp_audio_processing_transform_audio_topic")
if(not self.set_noise_profile_topic):
rospy.logerror("Audio processing noise profiling topic param not found")
if(not self.denoise_topic):
rospy.logerror("Audio processing denoise topic param not found")
if(not self.energy_denoise_topic):
rospy.logerror("Audio processing energy denoise topic param not found")
if(not self.detect_silence_topic):
rospy.logerror("Audio processing detect silence topic param not found")
if(not self.transform_audio_topic):
rospy.logerror("Audio processing noise transform audio topic param not found")
# Check for denoising debug mode. DO NOT make this true when in production
self.energy_denoising_debug = False
self.energy_denoising_debug = \
rospy.get_param("rapp_audio_processing_energy_denoising_debug")
if not self.energy_denoising_debug:
self.energy_denoising_debug = False
else:
self.energy_denoising_debug = True
# Create set noise profile services
self.set_noise_profile_service = rospy.Service(self.set_noise_profile_topic, \
AudioProcessingSetNoiseProfileSrv, self.setNoiseProfile)
# Create sox denoise services
self.denoise_service = rospy.Service( \
self.denoise_topic, AudioProcessingDenoiseSrv, \
self.denoise)
# Create energy denoise services
self.energy_denoise_service = rospy.Service( \
self.energy_denoise_topic, AudioProcessingDenoiseSrv, \
self.energy_denoise)
# Create detect silence services
self.detect_silence_service = rospy.Service( \
self.detect_silence_topic, AudioProcessingDetectSilenceSrv, \
self.detect_silence)
# Create transform audio services
self.transform_audio = rospy.Service( self.transform_audio_topic, \
AudioProcessingTransformAudioSrv, self.transform_audio)
self.serv_db_topic = rospy.get_param("rapp_mysql_wrapper_user_fetch_data_topic")
def __init__(self):
## Instantiates rapp_detect_silence.DetectSilence
self._detect_silence_module = DetectSilence()
## Instantiates rapp_energy_denoise.EnergyDenoise
self._energy_denoise_module = EnergyDenoise()
## Instantiates rapp_sox_denoise.SoxDenoise
self._sox_denoise_module = SoxDenoise()
## Instantiates rapp_utilities.Utilities
self._utilities_module = Utilities()
## Instantiates rapp_set_noise_profile.SetNoiseProfile
self._set_noise_profile_module = SetNoiseProfile()
## Instantiates rapp_transform_audio.TransformAudio
self._transform_audio_module= TransformAudio()
# Parameters acquisition
set_noise_profile_topic = \
rospy.get_param("rapp_audio_processing_set_noise_profile_topic")
denoise_topic = \
rospy.get_param("rapp_audio_processing_denoise_topic")
energy_denoise_topic = \
rospy.get_param("rapp_audio_processing_energy_denoise_topic")
detect_silence_topic = \
rospy.get_param("rapp_audio_processing_detect_silence_topic")
transform_audio_topic = \
rospy.get_param("rapp_audio_processing_transform_audio_topic")
if(not set_noise_profile_topic):
rospy.logerror("Audio processing noise profiling topic param not found")
if(not denoise_topic):
rospy.logerror("Audio processing denoise topic param not found")
if(not energy_denoise_topic):
rospy.logerror("Audio processing energy denoise topic param not found")
if(not detect_silence_topic):
rospy.logerror("Audio processing detect silence topic param not found")
if(not transform_audio_topic):
rospy.logerror("Audio processing noise transform audio topic param not found")
# Check for denoising debug mode. DO NOT make this true when in production
## Energy denoising degug flag
self._energy_denoising_debug = False
self._energy_denoising_debug = \
rospy.get_param("rapp_audio_processing_energy_denoising_debug")
if not self._energy_denoising_debug:
self._energy_denoising_debug = False
else:
self._energy_denoising_debug = True
# Create set noise profile services
set_noise_profile_service = rospy.Service(set_noise_profile_topic, \
AudioProcessingSetNoiseProfileSrv, self.setNoiseProfileCallback)
# Create sox denoise services
denoise_service = rospy.Service( \
denoise_topic, AudioProcessingDenoiseSrv, \
self.denoiseCallback)
# Create energy denoise services
energy_denoise_service = rospy.Service( \
energy_denoise_topic, AudioProcessingDenoiseSrv, \
self.energyDenoiseCallback)
# Create detect silence services
detect_silence_service = rospy.Service( \
detect_silence_topic, AudioProcessingDetectSilenceSrv, \
self.detectSilenceCallback)
# Create transform audio services
transform_audio = rospy.Service( transform_audio_topic, \
AudioProcessingTransformAudioSrv, self.transformAudioCallback)
