def __init__(self):
rospy.init_node('speakeasy')
# We publish a latched message with this SpeakEasy node's speech, sound, and music capabilities:
self.status_pub = rospy.Publisher("/speakeasy_status", SpeakEasyStatus, latch=False)
# During music playback we also publish the playhead time position every 1/10 second:
SpeakEasyServer.soundDir = os.path.join(os.path.dirname(__file__),'../sounds')
SpeakEasyServer.musicDir = os.path.join(SpeakEasyServer.soundDir, 'music');
self.lock = threading.Lock();
self.ttsProvider = TextToSpeechProvider();
self.soundPlayer = SoundPlayer();
self.musicPlayer = MusicPlayer();
self.subscriberMusicReq = rospy.Subscriber("speakeasy_music_req", SpeakEasyMusic, self.handleMusicRequest);
self.subscriberSoundReq = rospy.Subscriber("speakeasy_sound_req", SpeakEasySound, self.handleSoundRequest);
self.subscriberTTSReq = rospy.Subscriber("speakeasy_text_to_speech_req", SpeakEasyTextToSpeech, self.handleTextToSpeechRequest)
# Thread used during music playback to publish playhead position, and
# at less frequent period publish general status:
self.playheadPublisherThread = PlayheadPublisher(self.musicPlayer, self.publishStatus).start();
class SpeakEasyServer(object):
STATUS_PUBLICATION_PERIOD = 1.0; # seconds
PLAYHEAD_PUBLICATION_PERIOD = 0.1; # seconds: Playhead time counter while playing
SAY = 0;
STOP= 1;
PLAY = 0;
STOP = 1;
PAUSE = 2;
UNPAUSE = 3;
SET_VOL = 4;
SET_PLAYHEAD = 5;
# Paths to where sound and music files are stored: In/below 'sounds' directory
# under package root dir:
soundDir = None;
musicDir = None;
# Dicts mapping sound and music filenames to their full paths.
# Each sound or music file has two entrys: one keyed by the
# full file name (e.g. 'foo.wav'), the other by the file name
# without extenseion (e.g. 'foo'). These dicts are populated
# by the maintenance thread that also publishes the status
# messages. That's why these are class vars, not instance vars:
soundNameToFileDict = {};
musicNameToFileDict = {};
def __init__(self):
rospy.init_node('speakeasy')
# We publish a latched message with this SpeakEasy node's speech, sound, and music capabilities:
self.status_pub = rospy.Publisher("/speakeasy_status", SpeakEasyStatus, latch=False)
# During music playback we also publish the playhead time position every 1/10 second:
SpeakEasyServer.soundDir = os.path.join(os.path.dirname(__file__),'../sounds')
SpeakEasyServer.musicDir = os.path.join(SpeakEasyServer.soundDir, 'music');
self.lock = threading.Lock();
self.ttsProvider = TextToSpeechProvider();
self.soundPlayer = SoundPlayer();
self.musicPlayer = MusicPlayer();
self.subscriberMusicReq = rospy.Subscriber("speakeasy_music_req", SpeakEasyMusic, self.handleMusicRequest);
self.subscriberSoundReq = rospy.Subscriber("speakeasy_sound_req", SpeakEasySound, self.handleSoundRequest);
self.subscriberTTSReq = rospy.Subscriber("speakeasy_text_to_speech_req", SpeakEasyTextToSpeech, self.handleTextToSpeechRequest)
# Thread used during music playback to publish playhead position, and
# at less frequent period publish general status:
self.playheadPublisherThread = PlayheadPublisher(self.musicPlayer, self.publishStatus).start();
def publishStatus(self):
# Build a message listing the speech status (which engines, which sounds):
statusMsg = self.buildStatusMsg()
# Publish the status message just once, latched:
self.status_pub.publish(statusMsg);
def handleTextToSpeechRequest(self, req):
rospy.logdebug("T2S request: " + str(req));
with self.lock:
ttsCmd = req.command;
if ttsCmd == SpeakEasyServer.SAY:
text = req.text;
engine = req.engineName;
voiceName = req.voiceName;
# Defaulted tts engine and voice names come as
# empty strings in the request message. Change
# those to None, so that the ttsProvider will
# understand to use default(s):
if len(engine) == 0:
engine = None;
if len(voiceName) == 0:
voiceName = None;
try:
self.ttsProvider.say(text, voiceName, engine)
except:
rospy.logerr("Error in received TextToSpeech.msg message caused text-to-speech error: " + self.makeMsg(sys.exc_info()));
elif ttsCmd == SpeakEasyServer.STOP:
self.ttsProvider.stop();
else:
rospy.logerr("Incorrect command type in received TextToSpeech.msg message: " + str(ttsCmd));
def handleSoundRequest(self, req):
with self.lock:
soundCmd = req.command;
if soundCmd == SpeakEasyServer.PLAY:
soundName = req.sound_name;
volume = req.volume;
# Default volume?:
if volume == -1.0:
volume = None;
# Ensure best effort to find the file:
try:
soundName = self.toFullPath(soundName, SpeakEasyServer.soundNameToFileDict);
except ValueError:
rospy.logerr("SpeakEasy error playing a sound: " + self.makeMsg(sys.exc_info()));
return;
try:
self.soundPlayer.play(soundName, blockTillDone=False, volume=volume);
except:
rospy.logerr("Error in received SoundPlay.msg message caused sound play error: " + self.makeMsg(sys.exc_info()));
elif soundCmd == SpeakEasyServer.STOP:
soundName = req.sound_name;
if len(soundName) == 0:
soundName = None;
# Ensure best effort to find the file:
if soundName is not None:
try:
soundName = self.toFullPath(soundName, SpeakEasyServer.soundNameToFileDict);
except ValueError:
rospy.logerr("SpeakEasy error stopping a sound: " + self.makeMsg(sys.exc_info()));
return;
try:
self.soundPlayer.stop(whatToStop=soundName);
except:
rospy.logerr("Error while calling sound player command 'stop': " + self.makeMsg(sys.exc_info()));
elif soundCmd == SpeakEasyServer.PAUSE:
soundName = req.sound_name;
if len(soundName) == 0:
soundName = None;
if soundName is not None:
# Ensure best effort to find the file:
try:
soundName = self.toFullPath(soundName, SpeakEasyServer.soundNameToFileDict);
except ValueError:
rospy.logerr("SpeakEasy error pausing a sound: " + self.makeMsg(sys.exc_info()));
return;
try:
self.soundPlayer.pause(whatToPause=soundName);
except:
rospy.logerr("Error while calling sound player command 'pause': " + self.makeMsg(sys.exc_info()));
elif soundCmd == SpeakEasyServer.UNPAUSE:
soundName = req.sound_name;
if len(soundName) == 0:
soundName = None;
if soundName is not None:
# Ensure best effort to find the file:
try:
soundName = self.toFullPath(soundName, SpeakEasyServer.soundNameToFileDict);
except ValueError:
rospy.logerr("SpeakEasy error un-pausing a sound: " + self.makeMsg(sys.exc_info()));
return;
try:
self.soundPlayer.unpause(whatToUnPause=soundName);
except:
rospy.logerr("Error while calling sound player command 'unpause': " + self.makeMsg(sys.exc_info()));
elif soundCmd == SpeakEasyServer.SET_VOL:
volume = req.volume;
soundName = req.sound_name;
if len(soundName) == 0:
soundName = None;
if soundName is not None:
# Ensure best effort to find the file:
try:
soundName = self.toFullPath(soundName, SpeakEasyServer.soundNameToFileDict);
except ValueError:
rospy.logerr("SpeakEasy error setting volume for a sound: " + self.makeMsg(sys.exc_info()));
return;
try:
self.soundPlayer.setSoundVolume(volume, whatToSetVolFor=soundName);
# Update latched status message to reflect this new volume:
self.publishStatus();
except:
rospy.logerr("Error while calling sound player command 'setSoundVolume': " + self.makeMsg(sys.exc_info()));
else:
rospy.logerr("Incorrect command type in received SoundPlay.msg message: " + str(soundCmd));
def handleMusicRequest(self, req):
with self.lock:
musicCmd = req.command;
if musicCmd == SpeakEasyServer.PLAY:
songName = req.song_name;
repeats = req.repeats;
startTime = req.time;
volume = req.volume;
# Default volume?:
if volume == -1.0:
volume = None;
# Ensure best effort to find the file:
try:
songName = self.toFullPath(songName, SpeakEasyServer.musicNameToFileDict);
except ValueError:
rospy.logerr("SpeakEasy error playing a song: " + self.makeMsg(sys.exc_info()));
return;
try:
self.musicPlayer.play(songName, repeats=repeats, startTime=startTime, blockTillDone=False, volume=volume);
except:
rospy.logerr("Error while calling music player command 'play': " + self.makeMsg(sys.exc_info()));
elif musicCmd == SpeakEasyServer.STOP:
try:
self.musicPlayer.stop();
except:
rospy.logerr("Error while calling music player command 'stop': " + self.makeMsg(sys.exc_info()));
elif musicCmd == SpeakEasyServer.PAUSE:
try:
self.musicPlayer.pause();
except:
rospy.logerr("Error while calling music player command 'pause': " + self.makeMsg(sys.exc_info()));
elif musicCmd == SpeakEasyServer.UNPAUSE:
try:
self.musicPlayer.unpause();
except:
rospy.logerr("Error while calling music player command 'unpause': " + self.makeMsg(sys.exc_info()));
elif musicCmd == SpeakEasyServer.SET_VOL:
volume = req.volume;
try:
self.musicPlayer.setSoundVolume(volume);
# Update latched status message to reflect this new volume:
self.publishStatus();
except:
rospy.logerr("Error while calling music player command 'setVol': " + self.makeMsg(sys.exc_info()));
elif musicCmd == SpeakEasyServer.SET_PLAYHEAD:
playheadTime = req.time;
timeReference = req.timeReference;
try:
self.musicPlayer.setPlayhead(playheadTime, timeReference=timeReference);
except:
rospy.logerr("Error while calling music player command 'setPlayhead': " + self.makeMsg(sys.exc_info()));
def buildStatusMsg(self):
# Create an empty Status message:
statusMsg = SpeakEasyStatus()
# initialize the text-to-speech engines field:
statusMsg.ttsEngines = self.ttsProvider.availableTextToSpeechEngines();
# Build ttsVoices structures for use in the Status
# message's TtsVoices field, which is an array of:
# string ttsEngine
# string[] voices
ttsVoicesFieldValue = [];
# Get dict mapping each text-to-speech engine name to an array of voice names
# that are available on that engine:
ttsEnginesAndVoicesThisMachine = self.ttsProvider.availableVoices()
for engine in ttsEnginesAndVoicesThisMachine.keys():
ttsVoices = TtsVoices();
ttsVoices.ttsEngine = engine;
ttsVoices.voices = ttsEnginesAndVoicesThisMachine[engine];
ttsVoicesFieldValue.append(ttsVoices);
statusMsg.voices = ttsVoicesFieldValue;
# List of available sound files:
filesInSoundDir = os.listdir(SpeakEasyServer.soundDir)
self.soundFiles = []
for soundFileName in filesInSoundDir:
fileExtension = os.path.splitext(soundFileName)[1][1:].strip()
if (fileExtension == "wav") or (fileExtension == "ogg"):
self.soundFiles.append(soundFileName)
statusMsg.sounds = self.soundFiles
# List of available music files:
filesInMusicDir = os.listdir(self.musicDir)
self.musicFiles = []
for musicFileName in filesInMusicDir:
fileExtension = os.path.splitext(musicFileName)[1][1:].strip()
if (fileExtension == "wav") or (fileExtension == "ogg"):
self.musicFiles.append(musicFileName)
statusMsg.music = self.musicFiles
statusMsg.numSoundChannels = self.soundPlayer.numChannels();
statusMsg.musicStatus = self.musicPlayer.getPlayStatus();
statusMsg.textToSpeechBusy = self.ttsProvider.busy();
statusMsg.soundVolume = self.soundPlayer.getSoundVolume(None) #**** Refine this
statusMsg.musicVolume = self.musicPlayer.getSoundVolume()
# Since we just collected all sound and music files, update
# the self.soundNameToFileDict and self.musicNameToFileDict
# maps to full file names:
for soundName in self.soundFiles:
soundPath = os.path.join(SpeakEasyServer.soundDir, soundName);
soundFileName = os.path.basename(soundPath);
SpeakEasyServer.soundNameToFileDict[soundFileName] = soundPath;
SpeakEasyServer.soundNameToFileDict[os.path.splitext(soundFileName)[0]] = soundPath;
for musicName in self.musicFiles:
musicPath = os.path.join(SpeakEasyServer.musicDir, musicName);
musicFileName = os.path.basename(musicPath);
SpeakEasyServer.musicNameToFileDict[musicFileName] = musicPath;
SpeakEasyServer.musicNameToFileDict[os.path.splitext(musicFileName)[0]] = musicPath;
return statusMsg
def sleep(self, duration):
try:
time.sleep(duration)
except rospy.exceptions.ROSInterruptException:
pass
def makeMsg(self, systemExceptionInfo):
'''
Return the error string portion of a sys.exc_info() result.
@param systemExceptionInfo: sys.exc_info() result
@type systemExceptionInfo: [exceptionTypeObj, string, tracebackObj];
'''
return str(systemExceptionInfo[1]);
def toFullPath(self, soundName, musicOrSoundDict):
'''
Given one of SpeakEasyServer.soundNameToFileDict or SpeakEasyServer.musicNameToFileDict
and an alleged sound or music file name, return the file's full path
if is not already an absolute path.
@param soundName: Sound or music file name. Might be "/foo/bar.wav", "foo.wav," or "foo"
@type soundName: string
@param musicOrSoundDict: one of SpeakEasyServer.soundNameToFileDict and SpeakEasyServer.musicNameToFileDict, which
are assumed to be initialized to map short versions of file names (e.g. 'foo' and 'foo.wav')
to full paths.
@type musicOrSoundDict: {string : string}
@raise ValueError: if file is not known.
'''
# Already an absolute path?
if os.path.isabs(soundName):
return soundName;
# No: is the non-absolute name known as is?
baseName = os.path.basename(soundName);
try:
return musicOrSoundDict[baseName];
except KeyError:
pass
# Final possibility: is the name known once the
# extension is removed?
baseNameNoExt = os.path.splitext(baseName)[0];
try:
return musicOrSoundDict[baseNameNoExt]
except KeyError:
raise ValueError("Sound or music name '%s' is unknown on this SpeakEasy node." % soundName);
