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")
class AudioProcessing:
# Constructor performing initializations
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")
# Service callback for setting noise profile
def setNoiseProfile(self, req):
res = AudioProcessingSetNoiseProfileSrvResponse()
#-------------------------Check with database-------------------------#
authentication_service = rospy.ServiceProxy(self.serv_db_topic, fetchDataSrv)
req_db = fetchDataSrv()
req_db.req_cols=["username"]
entry1=["username", req.user]
req_db.where_data=[StringArrayMsg(s=entry1)]
resp = authentication_service(req_db.req_cols, req_db.where_data)
if resp.success.data != True or len(resp.res_data) == 0:
res.success = "false"
res.error = "Non authenticated user"
return res
#-------------------------set noise profile-------------------------#
ret = self.set_noise_profile_module.setNoise_profile(\
req.user,\
req.noise_audio_file,\
req.audio_file_type)
if ret == 'true':
res.success = ret
res.error = ''
else:
res.success = 'false'
res.error = ret
return res
# Service callback for handling denoising
def denoise(self, req):
res = AudioProcessingDenoiseSrvResponse()
res.success = self.sox_denoise_module.soxDenoise(\
req.user,\
req.audio_type,\
req.audio_file,\
req.denoised_audio_file,\
req.scale)
return res
# Service callback for detecting silence
def detect_silence(self, req):
res = AudioProcessingDetectSilenceSrvResponse()
[res.level, res.silence] = self.detect_silence_module.detectSilence(\
req.audio_file, req.threshold)
if res.silence == True:
res.silence = "true"
else:
res.silence = "false"
return res
# Service callback for energy denoising
def energy_denoise(self, req):
res = AudioProcessingDenoiseSrvResponse()
output = self.energy_denoise_module.energyDenoise(\
req.audio_file, req.scale, req.denoised_audio_file,\
self.energy_denoising_debug)
if output == True:
res.success = "true"
else:
res.success = "false"
return res
# Service callback for audio transformation
def transform_audio(self, req):
res = AudioProcessingTransformAudioSrvResponse()
[ res.error, res.fullpath ] = \
self.transform_audio_module.transform_audio( \
req.source_type, req.source_name, req.target_type, \
req.target_name, req.target_channels, req.target_rate )
return res
# Cleanup method
def cleanup(self, clean):
return self.utilities_module.cleanup(clean)
class AudioProcessing:
## Constructor performing initializations
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)
## Service callback for setting noise profile
#
# @param req [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingSetNoiseProfileSrv] The set noise profile request
#
# @return res [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingSetNoiseProfileSrvResponse] The set noise profile response
def setNoiseProfileCallback(self, req):
res = AudioProcessingSetNoiseProfileSrvResponse()
#-------------------------Check with database-------------------------#
serv_db_topic = rospy.get_param("rapp_mysql_wrapper_user_fetch_data_topic")
authentication_service = rospy.ServiceProxy(serv_db_topic, fetchDataSrv)
req_db = fetchDataSrv()
req_db.req_cols=["username"]
entry1=["username", req.user]
req_db.where_data=[StringArrayMsg(s=entry1)]
resp = authentication_service(req_db.req_cols, req_db.where_data)
if resp.success.data != True or len(resp.res_data) == 0:
res.success = "false"
res.error = "Non authenticated user"
return res
#-------------------------set noise profile-------------------------#
ret = self._set_noise_profile_module.setNoise_profile(\
req.user,\
req.noise_audio_file,\
req.audio_file_type)
if ret == 'true':
res.success = ret
res.error = ''
else:
res.success = 'false'
res.error = ret
return res
## Service callback for denoising
#
# @param req [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDenoiseSrv] The denoise request
#
# @return res [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDenoiseSrvResponse] The denoise response
def denoiseCallback(self, req):
res = AudioProcessingDenoiseSrvResponse()
res.success = self._sox_denoise_module.soxDenoise(\
req.user,\
req.audio_type,\
req.audio_file,\
req.denoised_audio_file,\
req.scale)
return res
## Service callback for Detecting silence
#
# @param req [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDetectSilence] The detect silence request
#
# @return res [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDetectSilenceSrvResponse] The detect silence response
def detectSilenceCallback(self, req):
res = AudioProcessingDetectSilenceSrvResponse()
[res.level, res.silence] = self._detect_silence_module.detectSilence(\
req.audio_file, req.threshold)
if res.silence == True:
res.silence = "true"
else:
res.silence = "false"
return res
## Service callback for Energy denoising
#
# @param req [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDenoiseSrv] The denoise request
#
# @return res [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDenoiseSrvResponse] The energy denoise response
def energyDenoiseCallback(self, req):
res = AudioProcessingDenoiseSrvResponse()
output = self._energy_denoise_module.energyDenoise(\
req.audio_file, req.scale, req.denoised_audio_file,\
self._energy_denoising_debug)
if output == True:
res.success = "true"
else:
res.success = "false"
return res
## Service callback for Audio transformation
#
# @param req [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingTransformAudioSrv] The transform audio request
#
# @return res [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingTransformAudioSrvResponse] The transform audio response
def transformAudioCallback(self, req):
res = AudioProcessingTransformAudioSrvResponse()
[ res.error, res.fullpath ] = \
self._transform_audio_module.transform_audio( \
req.source_type, req.source_name, req.target_type, \
req.target_name, req.target_channels, req.target_rate )
return res
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)
class AudioProcessing:
## Constructor performing initializations
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)
## Service callback for setting noise profile
#
# @param req [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingSetNoiseProfileSrv] The set noise profile request
#
# @return res [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingSetNoiseProfileSrvResponse] The set noise profile response
def setNoiseProfileCallback(self, req):
res = AudioProcessingSetNoiseProfileSrvResponse()
#-------------------------set noise profile-------------------------#
ret = self._set_noise_profile_module.setNoise_profile(\
req.user,\
req.noise_audio_file,\
req.audio_file_type)
if ret == 'true':
res.success = ret
res.error = ''
else:
res.success = 'false'
res.error = ret
return res
## Service callback for denoising
#
# @param req [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDenoiseSrv] The denoise request
#
# @return res [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDenoiseSrvResponse] The denoise response
def denoiseCallback(self, req):
res = AudioProcessingDenoiseSrvResponse()
res.success = self._sox_denoise_module.soxDenoise(\
req.user,\
req.audio_type,\
req.audio_file,\
req.denoised_audio_file,\
req.scale)
return res
## Service callback for Detecting silence
#
# @param req [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDetectSilence] The detect silence request
#
# @return res [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDetectSilenceSrvResponse] The detect silence response
def detectSilenceCallback(self, req):
res = AudioProcessingDetectSilenceSrvResponse()
[res.level, res.silence] = self._detect_silence_module.detectSilence(\
req.audio_file, req.threshold)
if res.silence == True:
res.silence = "true"
else:
res.silence = "false"
return res
## Service callback for Energy denoising
#
# @param req [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDenoiseSrv] The denoise request
#
# @return res [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingDenoiseSrvResponse] The energy denoise response
def energyDenoiseCallback(self, req):
res = AudioProcessingDenoiseSrvResponse()
output = self._energy_denoise_module.energyDenoise(\
req.audio_file, req.scale, req.denoised_audio_file,\
self._energy_denoising_debug)
if output == True:
res.success = "true"
else:
res.success = "false"
return res
## Service callback for Audio transformation
#
# @param req [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingTransformAudioSrv] The transform audio request
#
# @return res [rapp_platform_ros_comminications::AudioProcessing::AudioProcessingTransformAudioSrvResponse] The transform audio response
def transformAudioCallback(self, req):
res = AudioProcessingTransformAudioSrvResponse()
[ res.error, res.fullpath ] = \
self._transform_audio_module.transform_audio( \
req.source_type, req.source_name, req.target_type, \
req.target_name, req.target_channels, req.target_rate )
return res