def say(self, text, voice=None, ttsEngine=None, numRepeats=0, repeatPeriod=0, blockTillDone=False):
'''
Given a piece of text, generate corresponding speech at the SpeakEasy node site.
@param text: Words to speak.
@type text: string
@param voice: Name of text-to-speech voice to use.
@type voice: string
@param ttsEngine: Name of text-to-speech engine to use.
@type ttsEngine: string
@param numRepeats: Number of times the utterance is to be repeated after the first time. Use -1 if forever.
@type numRepeats: int
@param repeatPeriod: Time period in fractional seconds to wait between repeated utterances.
@type repeatPeriod: float
@param blockTillDone: Request to return immediately, or block until the utterance if finished.
@type blockTillDone: bool
@raises TypeError: if one of the parameters is of incorrect type.
'''
if not SpeakeasyUtils.ensureType(numRepeats, int):
raise TypeError("Number of repeats must be an integer. Was " + str(numRepeats));
if not SpeakeasyUtils.ensureType(repeatPeriod, int) and not SpeakeasyUtils.ensureType(repeatPeriod, float):
raise TypeError("Repeat period must be an integer or a float. Was " + str(repeatPeriod));
ttsRequestMsg = SpeakEasyTextToSpeech();
ttsRequestMsg.command = TTSCommands.SAY;
ttsRequestMsg.text = text;
if voice is not None:
ttsRequestMsg.voiceName = voice;
else:
ttsRequestMsg.voiceName = '';
if ttsEngine is not None:
ttsRequestMsg.engineName = ttsEngine;
else:
ttsRequestMsg.engineName = '';
with self.textToSpeechLock:
self.rosTTSRequestor.publish(ttsRequestMsg);
# Keep this block out of the lock! Thread registration will
# acquire the lock (thus leading to deadlock, if lock is owned here):
if numRepeats > 0 or numRepeats == -1:
speechRepeatThread = RoboComm.SpeechReplayDemon(text, voice, ttsEngine, numRepeats, repeatPeriod, self);
self.registerSpeechRepeaterThread(speechRepeatThread);
speechRepeatThread.start();
if blockTillDone:
while self.getTextToSpeechBusy():
rospy.sleep(0.5);
def playMusic(self, songName, volume=None, playheadTime=0.0, timeReference=TimeReference.ABSOLUTE, numRepeats=0, repeatPeriod=0):
'''
Play a piece of music (a sound file) at the SpeakEasy node.
@param songName: Name of sound file. (See getSongNames()).
@type songName: string
@param volume: Loudness at which to play. Default uses current volume. Else must be in range 0.0 to 1.0
@type volume: {None | float}
@param playheadTime: Offset in fractional seconds into where to start the song. Default: start at beginning.
@type playheadTime: float
@param timeReference: If playheadTime is provided, specifies whether the given time is intended as absolute (relative to the
beginning of the song), or relative to the current playhead position.
@type timeReference: TimeReference
@param numRepeats: Number of times the song is to be repeated after the first time. Use -1 to play forever.
@type numRepeats: int
@param repeatPeriod: Time period in fractional seconds to wait between repeats.
@type repeatPeriod: float
@raise TypeError: if any parameters are of incorrect type.
'''
if not SpeakeasyUtils.ensureType(numRepeats, int):
raise TypeError("Number of repeats must be an integer. Was " + str(numRepeats));
if not SpeakeasyUtils.ensureType(repeatPeriod, int) and not SpeakeasyUtils.ensureType(repeatPeriod, float):
raise TypeError("Repeat period must be an integer or a float. Was " + str(repeatPeriod));
if not SpeakeasyUtils.ensureType(playheadTime, int) and not SpeakeasyUtils.ensureType(playheadTime, float):
raise TypeError("Playhead must be an integer or a float. Was " + str(playheadTime));
if (timeReference != TimeReference.ABSOLUTE) and (timeReference != TimeReference.RELATIVE):
raise TypeError("Time reference must be TimeReference.RELATIVE, or TimeReference.ABSOLUTE. Was " + str(timeReference));
musicReqMsg = SpeakEasyMusic();
musicReqMsg.command = MusicCommands.PLAY;
musicReqMsg.song_name = songName;
musicReqMsg.time = playheadTime;
musicReqMsg.timeReference = timeReference;
if volume is None:
musicReqMsg.volume = -1.0;
else:
musicReqMsg.volume = volume;
with self.musicLock:
self.rosMusicRequestor.publish(musicReqMsg);
# Keep this block out of the lock! Thread registration will
# acquire the lock (thus leading to deadlock, if lock is owned here):
if numRepeats > 0 or numRepeats == -1:
musicRepeatThread = RoboComm.MusicReplayDemon(songName, volume, playheadTime, timeReference, numRepeats, repeatPeriod, self);
self.registerMusicRepeaterThread(musicRepeatThread);
musicRepeatThread.start();
def setPlayhead(self, playheadTime, timeReference=TimeReference.ABSOLUTE):
'''
Change the music playhead position to a particular time within a song.
Time may be specified absolute (i.e. relative to the start of the song),
or relative to the current playhead. The playhead may be changed during
playback, or while a song is paused.
@param playheadTime: New time where to position the playhead.
@type playheadTime: float
@param timeReference: TimeReference.ABSOLUTE or TimeReference.RELATIVE
@type timeReference: TimeReference.
@raise TypeError: if any parameters are of incorrect type.
'''
if not SpeakeasyUtils.ensureType(playheadTime, int) and not SpeakeasyUtils.ensureType(playheadTime, float):
raise TypeError("Playhead must be an int or float indicating seconds. Was " + str(playheadTime));
musicReqMsg = SpeakEasyMusic();
musicReqMsg.command = MusicCommands.SET_PLAYHEAD;
musicReqMsg.time = playheadTime;
musicReqMsg.timeReference = timeReference;
with self.musicLock:
self.rosMusicRequestor.publish(musicReqMsg);
def setMusicVolume(self, vol):
'''
Set default volume of music playback.
@param vol: Loudness value between 0.0 and 1.0.
@type vol: float
@raise TypeError: if any parameters are of incorrect type.
'''
if not SpeakeasyUtils.ensureType(vol, float):
raise TypeError("Volume must be a float between 0.0 and 1.0. Was " + str(vol));
musicReqMsg = SpeakEasyMusic();
musicReqMsg.command = MusicCommands.SET_VOL;
musicReqMsg.volume = vol;
with self.musicLock:
self.rosMusicRequestor.publish(musicReqMsg);
def playSound(self, soundName, volume=None, numRepeats=0, repeatPeriod=0):
'''
Play a sound effect at the SpeakEasy node.
@param soundName: Name of the sound effect. (see getSoundEffectNames()).
@type soundName: string
@param volume: Loudness for the sound effect. If None, current volume is used. Volume must be in range 0.0 to 1.0
@type volume: float.
@param numRepeats: Number of times the sound effect is to be repeated after the first time. Use -1 to play forever.
@type numRepeats: int
@param repeatPeriod: Time period in fractional seconds to wait between repeats.
@type repeatPeriod: float
@raise TypeError: if any parameter is of the wrong type.
'''
if not SpeakeasyUtils.ensureType(numRepeats, int):
raise TypeError("Number of repeats must be an integer. Was " + str(numRepeats));
if not SpeakeasyUtils.ensureType(repeatPeriod, int) and not SpeakeasyUtils.ensureType(repeatPeriod, float):
raise TypeError("Repeat period must be an integer or a float. Was " + str(repeatPeriod));
soundReqMsg = SpeakEasySound();
soundReqMsg.command = SoundCommands.PLAY;
soundReqMsg.sound_name = soundName;
if volume is None:
soundReqMsg.volume = -1.0;
else:
soundReqMsg.volume = volume;
with self.soundLock:
self.rosSoundRequestor.publish(soundReqMsg);
# Keep this block out of the lock! Thread registration will
# acquire the lock (thus leading to deadlock, if lock is owned here):
if numRepeats > 0 or numRepeats == -1:
soundRepeatThread = RoboComm.SoundReplayDemon(soundName, self, volume=volume, numRepeats=numRepeats, repeatPeriod=repeatPeriod);
self.registerSoundRepeaterThread(soundRepeatThread)
soundRepeatThread.start();
def broadcastButtonProgram(text, voice, ttsEngine):
# Have we broadcast a button program before?
if RoboComm.ROS_BUTTON_PROGRAM_BROADCASTER is None:
# No, let's create a ros publisher:
if SpeakeasyUtils.rosMasterRunning():
# Declare us to be a ROS node.
# Allow multiple GUIs to run simultaneously. Therefore
# the anonymous=True:
RoboComm.ROS_BUTTON_PROGRAM_BROADCASTER = rospy.Publisher('SpeakEasyButtonProgram', SpeakEasyButtonProgram);
nodeInfo = rospy.init_node('speakeasy_remote_gui', anonymous=True);
else:
raise NotImplementedError("ROS master must be running to broadcast button programs.")
msg = SpeakEasyButtonProgram()
msg.text = text
msg.voiceName = voice
msg.engineName = ttsEngine
RoboComm.ROS_BUTTON_PROGRAM_BROADCASTER.publish(msg)
def setSoundVolume(self, volume, soundName=None):
'''
Change the sound effect default volume.
@param volume: New default volume for sound effects. Value must be in range 0.0 to 1.0.
@type volume: float
@param soundName: Optionally the name of the sound whose volume is to be changed.
@type soundName: string
@raises TypeError: if any parameters are of incorrect type.
'''
if not SpeakeasyUtils.ensureType(volume, float):
raise TypeError("Volume must be a float between 0.0 and 1.0. Was " + str(volume));
soundReqMsg = SpeakEasySound();
soundReqMsg.command = SoundCommands.SET_VOL;
if soundName is None:
soundName = '';
soundReqMsg.sound_name = soundName;
soundReqMsg.volume = volume;
with self.soundLock:
self.rosSoundRequestor.publish(soundReqMsg);
def getAvailableLocalSoundEffectFileNames(self):
# scriptDir = os.path.dirname(os.path.realpath(__file__));
# soundDir = os.path.join(scriptDir, "../../sounds");
if not os.path.exists(SpeakEasyController.SOUND_DIR):
raise ValueError("No sound files found.")
fileAndDirsList = os.listdir(SpeakEasyController.SOUND_DIR)
fileList = []
# Grab all usable sound file names:
for fileName in fileAndDirsList:
fileExtension = SpeakeasyUtils.fileExtension(fileName)
if (fileExtension == "wav") or (fileExtension == "ogg"):
fileList.append(fileName)
sound_file_basenames = []
for (i, full_file_name) in enumerate(fileList):
baseName = os.path.basename(full_file_name)
SpeakEasyController.soundPaths["SOUND_" + str(i)] = full_file_name
# Chop extension off the basename (e.g. rooster.wav --> rooster):
sound_file_basenames.append(os.path.splitext(os.path.basename(full_file_name))[0])
# Map basename (e.g. 'rooster.wav') to its full file name.
self.soundPathsFull[baseName] = os.path.join(SpeakEasyController.SOUND_DIR, full_file_name)
return sound_file_basenames
def __init__(self):
'''
Initialize sound to play at the robot. Initializes
self.sound_file_names to a list of sound file names
for use with play-sound calls to the Robot via ROS.
@raise NotImplementedError: if ROS initialization failed.
@raise IOError: if SpeakEasy node is online, but service call to it failed.
'''
if not ROS_IMPORT_OK:
raise NotImplementedError("ROS is not installed on this machine.");
self.rosSpeakEasyNodeAvailable = False;
self.latestCapabilitiesReply = None;
self.nodeStatusLock = threading.Lock();
self.textToSpeechLock = threading.Lock();
self.musicLock = threading.Lock();
self.soundLock = threading.Lock();
# Place to remember threads that repeat voice/sound/music.
# These lists are used when stopping those threads:
self.speechThreads = [];
self.soundThreads = [];
self.musicThreads = [];
# init_node hangs indefinitely if roscore is not running.
# Therefore: check for that.
if not SpeakeasyUtils.rosMasterRunning():
raise NotImplementedError("The roscore process is not running.");
# We now know that ROS is installed, and that roscore is running.
# Publishers of requests for sound effects, music, and text-to-speech:
self.rosSoundRequestor = rospy.Publisher('speakeasy_sound_req', SpeakEasySound);
self.rosMusicRequestor = rospy.Publisher('speakeasy_music_req', SpeakEasyMusic);
self.rosTTSRequestor = rospy.Publisher('speakeasy_text_to_speech_req', SpeakEasyTextToSpeech);
# Declare us to be a ROS node.
# Allow multiple GUIs to run simultaneously. Therefore
# the anonymous=True:
nodeInfo = rospy.init_node('speakeasy_remote_gui', anonymous=True);
# Don't know why, but without a bit of delay after this init, the first
# published message will not be transmitted, no matter what the message type:
rospy.sleep(1.0);
# Wait for Ros SpeakEasy service for a limited time; there might be none:
waitTime = 4; # seconds
secsWaited = 0;
while not self.robotAvailable() and (secsWaited < waitTime):
rospy.loginfo("No SpeakEasy node available. Keep checking for %d more second(s)..." % (waitTime - secsWaited));
rospy.sleep(1);
secsWaited += 1;
if secsWaited >= waitTime:
rospy.logerr("Speech/sound/music capabilities service is offline.");
self.rosSpeakEasyNodeAvailable = False;
raise NotImplementedError("Speech capabilities service is offline.");
rospy.loginfo("Speech capabilities service online.");