def playSound(strFilename, bWait=True, bDirectPlay=False, nSoundVolume=100):
"Play a sound, return True if ok"
"bDirectPlay: play it Now! (could fragilise system and video drivers"
"nSoundVolume: if bDirectPlay is on, will play the sound with a specific volume (ndev)"
print(
"playSound( '%s', bWait = %s, bDirectPlay = %s, nSoundVolume = %d )" %
(strFilename, str(bWait), str(bDirectPlay), nSoundVolume))
if (config.bRemoveDirectPlay):
print(
"WRN: DISABLING_DIRECTPLAY SETTINGS for testing/temporary purpose")
bDirectPlay = False
try:
# If strFilename has an absolute path, go ahead with this path !
if strFilename.startswith(pathtools.getDirectorySeparator()):
strSoundFile = strFilename
else:
strSoundFile = pathtools.getApplicationSharedPath(
) + "wav/0_work_free/" + strFilename
if (not filetools.isFileExists(strSoundFile)):
# then try another path
strSoundFile = pathtools.getApplicationSharedPath(
) + "wav/1_validated/" + strFilename
if (not filetools.isFileExists(strSoundFile)):
# and another path
strSoundFile = pathtools.getApplicationSharedPath(
) + "wav/0_work_copyright/" + strFilename
if (not filetools.isFileExists(strSoundFile)):
# and another path
strSoundFile = pathtools.getApplicationSharedPath(
) + "wav/" + strFilename
if (not filetools.isFileExists(strSoundFile)):
# and another path
strSoundFile = pathtools.getNaoqiPath(
) + "/share/naoqi/wav/" + strFilename
if (not filetools.isFileExists(strSoundFile)):
print("ERR: appu.playSound: can't find file '%s'" %
strFilename)
return False
analyseSound_pause(bWait)
if (bDirectPlay):
system.mySystemCall("aplay -q " + strSoundFile, bWait)
else:
global_proxyAudioPlayer = naoqitools.myGetProxy("ALAudioPlayer")
if (global_proxyAudioPlayer == None):
print(
"ERR: sound.playSound: can't find module 'ALAudioPlayer'")
else:
if (bWait):
global_proxyAudioPlayer.playFile(strSoundFile)
else:
global_proxyAudioPlayer.post.playFile(strSoundFile)
analyseSound_resume(bWait)
except BaseException, err:
debug.debug("playSound: ERR: " + str(err))
print("errr: " + str(err))
def setMasterMute( bMute ):
"mute nao sound volume"
if( bMute ):
strVal = "off";
else:
strVal = "on";
debug.debug( "setMasterMute: %s" % strVal );
system.mySystemCall( "amixer -q sset Master " + strVal );
def setMasterMute(bMute):
"mute nao sound volume"
if (bMute):
strVal = "off"
else:
strVal = "on"
debug.debug("setMasterMute: %s" % strVal)
system.mySystemCall("amixer -q sset Master " + strVal)
def sayMumbled( strText ):
sayAndCache( strText, bJustPrepare = True );
strText = assumeTextHasDefaultSettings( strText );
szFilename = sayAndCache_getFilename( strText );
szPathFilename = pathtools.getVolatilePath() + "generatedvoices" + pathtools.getDirectorySeparator() + szFilename + ".raw";
szProcessed = szPathFilename + "_mumbled.raw";
if( not processSoundMumbled( szPathFilename, szProcessed ) ):
return False;
nFreq = 22050;
system.mySystemCall( "aplay -c1 -r%d -fS16_LE -q %s" % ( nFreq, szProcessed ) );
return True;
def sayMumbled(strText):
sayAndCache(strText, bJustPrepare=True)
strText = assumeTextHasDefaultSettings(strText)
szFilename = sayAndCache_getFilename(strText)
szPathFilename = pathtools.getVolatilePath(
) + "generatedvoices" + pathtools.getDirectorySeparator(
) + szFilename + ".raw"
szProcessed = szPathFilename + "_mumbled.raw"
if (not processSoundMumbled(szPathFilename, szProcessed)):
return False
nFreq = 22050
system.mySystemCall("aplay -c1 -r%d -fS16_LE -q %s" % (nFreq, szProcessed))
return True
def playSound( strFilename, bWait = True, bDirectPlay = False, nSoundVolume = 100 ):
"Play a sound, return True if ok"
"bDirectPlay: play it Now! (could fragilise system and video drivers"
"nSoundVolume: if bDirectPlay is on, will play the sound with a specific volume (ndev)"
print( "playSound( '%s', bWait = %s, bDirectPlay = %s, nSoundVolume = %d )" % ( strFilename, str( bWait ), str( bDirectPlay ), nSoundVolume ) );
if( config.bRemoveDirectPlay ):
print( "WRN: DISABLING_DIRECTPLAY SETTINGS for testing/temporary purpose" );
bDirectPlay = False;
try:
# If strFilename has an absolute path, go ahead with this path !
if strFilename.startswith( pathtools.getDirectorySeparator() ):
strSoundFile = strFilename
else:
strSoundFile = pathtools.getApplicationSharedPath() + "wav/0_work_free/" + strFilename;
if( not filetools.isFileExists( strSoundFile ) ):
# then try another path
strSoundFile = pathtools.getApplicationSharedPath() + "wav/1_validated/" + strFilename;
if( not filetools.isFileExists( strSoundFile ) ):
# and another path
strSoundFile = pathtools.getApplicationSharedPath() + "wav/0_work_copyright/" + strFilename;
if( not filetools.isFileExists( strSoundFile ) ):
# and another path
strSoundFile = pathtools.getApplicationSharedPath() + "wav/" + strFilename;
if( not filetools.isFileExists( strSoundFile ) ):
# and another path
strSoundFile = pathtools.getNaoqiPath() + "/share/naoqi/wav/" + strFilename;
if( not filetools.isFileExists( strSoundFile ) ):
print( "ERR: appu.playSound: can't find file '%s'" % strFilename );
return False;
analyseSound_pause( bWait );
if( bDirectPlay ):
system.mySystemCall( "aplay -q " + strSoundFile, bWait );
else:
global_proxyAudioPlayer = naoqitools.myGetProxy( "ALAudioPlayer" );
if( global_proxyAudioPlayer == None ):
print( "ERR: sound.playSound: can't find module 'ALAudioPlayer'" );
else:
if( bWait ):
global_proxyAudioPlayer.playFile( strSoundFile );
else:
global_proxyAudioPlayer.post.playFile( strSoundFile );
analyseSound_resume( bWait );
except BaseException, err:
debug.debug( "playSound: ERR: " + str( err ) );
print( "errr: " + str( err ) );
def setMasterPanning(nPanning=0):
"change the sound master panning: 0: center -100: left +100: right"
"current bug: currently volume is louder when at border, than at center, sorry"
try:
debug.debug("setMasterPanning to %d" % nPanning)
nVol = getCurrentMasterVolume()
nCoefR = nVol + nVol * nPanning / 100
nCoefL = nVol - nVol * nPanning / 100
nCoefR = nCoefR * 32 / 100
nCoefL = nCoefL * 32 / 100
system.mySystemCall("amixer -q sset Master %d,%d" % (nCoefL, nCoefR))
system.mySystemCall("amixer -q sset PCM 25")
system.mySystemCall("amixer -q sset \"Master Mono\" 32")
except BaseException, err:
print("setMasterPanning: error '%s'" % str(err))
def setMasterPanning( nPanning = 0 ):
"change the sound master panning: 0: center -100: left +100: right"
"current bug: currently volume is louder when at border, than at center, sorry"
try:
debug.debug( "setMasterPanning to %d" % nPanning );
nVol = getCurrentMasterVolume();
nCoefR = nVol + nVol*nPanning/100;
nCoefL = nVol - nVol*nPanning/100;
nCoefR = nCoefR * 32 / 100;
nCoefL = nCoefL * 32 / 100;
system.mySystemCall( "amixer -q sset Master %d,%d" % ( nCoefL, nCoefR ) );
system.mySystemCall( "amixer -q sset PCM 25" );
system.mySystemCall( "amixer -q sset \"Master Mono\" 32" );
except BaseException, err:
print( "setMasterPanning: error '%s'" % str( err ) );
print( "WRN: getHtmlPage: CPP method error: return empty, trying other method" );
except BaseException, err:
print( "WRN: getHtmlPage: CPP method error: %s" % str( err ) );
pass # use oldies version
print( "WRN: nettools.getHtmlPage: using old one using fork and shell!" );
# not very efficient: should store it in var/volatile (but less os independent)
debug.debug( "getHtmlPage( %s, bWaitAnswer = %d, rTimeOutForAnswerInSec = %d )" % ( strHtmlAdress, bWaitAnswer, rTimeOutForAnswerInSec ) );
strRandomFilename = pathtools.getVolatilePath() + "getHtmlPage_%s.html" % filetools.getFilenameFromTime();
# sous windows wget peut geler, donc on va l'appeller avec un timeout (qui ne fonctionne pas, c'est drole...)
# threadWGet = system.mySystemCall( "wget %s --output-document=%s --tries=16 --timeout=60 --cache=off -q" % ( strHtmlAdress, strRandomFilename ), False, True ); # commenter cette ligne pour avoir toujours le meme fichier
# en fait plein d'options n'existe pas sur Nao, donc on ne laisse que celle ci:
if( strSaveAs != None ):
strRandomFilename = strSaveAs;
threadWGet = system.mySystemCall( "wget \"%s\" --output-document=%s -q" % ( strHtmlAdress, strRandomFilename ), bWaitEnd = False, bStoppable = True ); # commenter cette ligne pour avoir toujours le meme fichier
if( not bWaitAnswer ):
debug.debug( "getHtmlPage( %s, %d ) - direct return" % ( strHtmlAdress, bWaitAnswer ) );
return "";
timeBegin = time.time();
timeElapsed = 0.0;
time.sleep( 1.0 ); # time for the process to be created !
if( isinstance( threadWGet, int ) ):
# on est ici dans un post d'un systemCall thréadé sur un UsageRemoteTools
try:
usage = naoqitools.myGetProxy( 'UsageRemoteTools', True );
usage.wait( threadWGet, rTimeOutForAnswerInSec*1000 ); # On a très souvent cette erreur la: "'Function wait exists but parameters are wrong'" la tache est peut etre deja fini ?
except BaseException, err:
if( not bJustPrepare ):
# debug.debug( "speech::sayAndCache: launching sound now!" );
if( bWaitEnd ):
sound.analyseSound_pause( True );
if( bDirectPlay ):
nLang = nUseLang;
if( nLang == -1 ):
nLang = getSpeakLanguage();
nFreq = 22050;
if( nLang == constants.LANG_CH or nLang == constants.LANG_KO ):
nFreq = 17000; # parce que c'est beau, (ca fait a peu pres du speed a 72%) # todo: ca désynchronise les yeux qui se lisent trop vite ! argh !
if( strUseVoice == None ):
strUseVoice = getVoice();
if( 'Antoine16' in strUseVoice ):
nFreq = 16000;
system.mySystemCall( "aplay -c1 -r%d -fS16_LE -q %s" % ( nFreq, szPathFilename ), bWaitEnd = bWaitEnd );
else:
leds = naoqitools.myGetProxy( "ALLeds", True );
leds.post.fadeRGB( "RightFootLeds", 0xFF0000, 0.7 ); # right in red (skip)
audioProxy = naoqitools.myGetProxy( "ALAudioPlayer", True );
# read it in background and check if someone press the right feet a long times => skip text playing
id = audioProxy.post.playFile(szPathFilename);
if( not bWaitEnd ):
# attention: no unpause of analyse dans ce cas la!
return rLength;
nbrFramesBumpersPushed = 0;
nbrFramesBumpersPushedMinToSkip = 2;
strTemplateKeyName = "Device/SubDeviceList/%sFoot/Bumper/%s/Sensor/Value";
stm = naoqitools.myGetProxy( "ALMemory" );
while( audioProxy.isRunning( id ) ):
nVolPercent = 100;
debug.debug( "setMasterVolume to %d%%" % nVolPercent );
try:
ad = naoqitools.myGetProxy( 'ALAudioDevice' );
ad.setOutputVolume( nVolPercent );
return;
except BaseException, err:
print( "getCurrentMasterVolume: error '%s'" % str( err ) );
print( "WRN: => using old one using fork and shell!" );
strCommand = "amixer -q sset Master " + str( nVolPercent * 32 / 100 );
strCommand += "; amixer -q sset \"Master Mono\" 32";
strCommand += "; amixer -q sset PCM 25";
system.mySystemCall( strCommand );
# setMasterVolume - end
def volumeFadeOut():
"Fade out master sound system"
nVol = getCurrentMasterVolume();
print( "volumeFadeOut: %d -----> 0" % nVol );
nCpt = 0;
while( nVol > 0 and nCpt < 30 ): # when concurrent calls are made with other fade type, it could go to a dead lock. because getCurrentMasterVolume take some time, we prefere to add some counter
++nCpt;
# ramping
if( nVol > 55 ):
nVol -= 3;
else:
nVol -= 9;
def unPauseMusic():
debug.debug("unPauseMusic")
system.mySystemCall("killall -CONT mpg321b")
def pauseMusic():
"pause the music player"
debug.debug("pauseMusic")
system.mySystemCall("killall -STOP mpg321b")
nVolPercent = 100
debug.debug("setMasterVolume to %d%%" % nVolPercent)
try:
ad = naoqitools.myGetProxy('ALAudioDevice')
ad.setOutputVolume(nVolPercent)
return
except BaseException, err:
print("getCurrentMasterVolume: error '%s'" % str(err))
print("WRN: => using old one using fork and shell!")
strCommand = "amixer -q sset Master " + str(nVolPercent * 32 / 100)
strCommand += "; amixer -q sset \"Master Mono\" 32"
strCommand += "; amixer -q sset PCM 25"
system.mySystemCall(strCommand)
# setMasterVolume - end
def volumeFadeOut():
"Fade out master sound system"
nVol = getCurrentMasterVolume()
print("volumeFadeOut: %d -----> 0" % nVol)
nCpt = 0
while (
nVol > 0 and nCpt < 30
): # when concurrent calls are made with other fade type, it could go to a dead lock. because getCurrentMasterVolume take some time, we prefere to add some counter
++nCpt
# ramping
if (bWaitEnd):
sound.analyseSound_pause(True)
if (bDirectPlay):
nLang = nUseLang
if (nLang == -1):
nLang = getSpeakLanguage()
nFreq = 22050
if (nLang == constants.LANG_CH or nLang == constants.LANG_KO):
nFreq = 17000
# parce que c'est beau, (ca fait a peu pres du speed a 72%) # todo: ca désynchronise les yeux qui se lisent trop vite ! argh !
if (strUseVoice == None):
strUseVoice = getVoice()
if ('Antoine16' in strUseVoice):
nFreq = 16000
system.mySystemCall("aplay -c1 -r%d -fS16_LE -q %s" %
(nFreq, szPathFilename),
bWaitEnd=bWaitEnd)
else:
leds = naoqitools.myGetProxy("ALLeds", True)
leds.post.fadeRGB("RightFootLeds", 0xFF0000, 0.7)
# right in red (skip)
audioProxy = naoqitools.myGetProxy("ALAudioPlayer", True)
# read it in background and check if someone press the right feet a long times => skip text playing
id = audioProxy.post.playFile(szPathFilename)
if (not bWaitEnd):
# attention: no unpause of analyse dans ce cas la!
return rLength
nbrFramesBumpersPushed = 0
nbrFramesBumpersPushedMinToSkip = 2
strTemplateKeyName = "Device/SubDeviceList/%sFoot/Bumper/%s/Sensor/Value"
def unPauseMusic(): debug.debug( "unPauseMusic" ); system.mySystemCall( "killall -CONT mpg321b" );
def pauseMusic(): "pause the music player" debug.debug( "pauseMusic" ); system.mySystemCall( "killall -STOP mpg321b" );
