def sendMsg(self, snd, cmd, s, arg2="", vol=1.0, prior = 1, **kwargs):
"""
Internal method that publishes the sound request, either directly as a
SoundRequest to the soundplay_node or through the actionlib interface
(which blocks until the sound has finished playing).
The blocking behavior is nominally the class-wide setting unless it has
been explicitly specified in the play call.
"""
# Use the passed-in argument if it exists, otherwise fall back to the
# class-wide setting.
blocking = kwargs.get('blocking', self._blocking)
msg = SoundRequest()
msg.sound = snd
# Threshold volume between 0 and 1.
msg.volume = max(0, min(1, vol))
msg.command = cmd
msg.arg = s
msg.arg2 = arg2
msg.priority = prior
rospy.logdebug('Sending sound request with volume = {}'
' and blocking = {}'.format(msg.volume, blocking))
# Defensive check for the existence of the correct communicator.
if not blocking and not self.pub:
rospy.logerr('Publisher for SoundRequest must exist')
return
if blocking and not self.actionclient:
rospy.logerr('Action client for SoundRequest does not exist.')
return
if not blocking: # Publish message directly and return immediately
self.pub.publish(msg)
if self.pub.get_num_connections() < 1:
rospy.logwarn("Sound command issued, but no node is subscribed"
" to the topic. Perhaps you forgot to run"
" soundplay_node.py?")
else: # Block until result comes back.
assert self.actionclient, 'Actionclient must exist'
rospy.logdebug('Sending action client sound request [blocking]')
self.actionclient.wait_for_server()
goal = SoundRequestGoal()
goal.sound_request = msg
self.actionclient.send_goal(goal)
self.actionclient.wait_for_result()
rospy.logdebug('sound request response received')
return
def sendMsg(self, snd, cmd, s, arg2="", vol=1.0, **kwargs):
"""
Internal method that publishes the sound request, either directly as a
SoundRequest to the soundplay_node or through the actionlib interface
(which blocks until the sound has finished playing).
The blocking behavior is nominally the class-wide setting unless it has
been explicitly specified in the play call.
"""
# Use the passed-in argument if it exists, otherwise fall back to the
# class-wide setting.
blocking = kwargs.get('blocking', self._blocking)
msg = SoundRequest()
msg.sound = snd
# Threshold volume between 0 and 1.
msg.volume = max(0, min(1, vol))
msg.command = cmd
msg.arg = s
msg.arg2 = arg2
rospy.logdebug('Sending sound request with volume = {}'
' and blocking = {}'.format(msg.volume, blocking))
# Defensive check for the existence of the correct communicator.
if not blocking and not self.pub:
rospy.logerr('Publisher for SoundRequest must exist')
return
if blocking and not self.actionclient:
rospy.logerr('Action client for SoundRequest does not exist.')
return
if not blocking: # Publish message directly and return immediately
self.pub.publish(msg)
if self.pub.get_num_connections() < 1:
rospy.logwarn("Sound command issued, but no node is subscribed"
" to the topic. Perhaps you forgot to run"
" soundplay_node.py?")
else: # Block until result comes back.
assert self.actionclient, 'Actionclient must exist'
rospy.logdebug('Sending action client sound request [blocking]')
self.actionclient.wait_for_server()
goal = SoundRequestGoal()
goal.sound_request = msg
self.actionclient.send_goal(goal)
self.actionclient.wait_for_result()
rospy.logdebug('sound request response received')
return
def play_sound(sound,
lang='',
topic_name='robotsound',
volume=1.0,
wait=False):
"""
Plays sound using sound_play server
Args:
sound: if sound is pathname, plays sound file located at given path
if it is number, server plays builtin sound
otherwise server plays sound as speech sentence
topic-name: namespace of sound_play server
wait: wait until sound is played
"""
msg = SoundRequest(command=SoundRequest.PLAY_ONCE)
if isinstance(sound, int):
msg.sound = sound
elif isinstance(sound, str) and Path(sound).exists():
msg.sound = SoundRequest.PLAY_FILE
msg.arg = sound
elif isinstance(sound, str):
msg.sound = SoundRequest.SAY
msg.arg = sound
else:
raise ValueError
if hasattr(msg, 'volume'):
msg.volume = volume
if topic_name in _sound_play_clients:
client = _sound_play_clients[topic_name]
else:
client = actionlib.SimpleActionClient(topic_name, SoundRequestAction)
client.wait_for_server()
goal = SoundRequestGoal()
if client.get_state() == actionlib_msgs.msg.GoalStatus.ACTIVE:
client.cancel_goal()
client.wait_for_result(timeout=rospy.Duration(10))
goal.sound_request = msg
_sound_play_clients[topic_name] = client
client.send_goal(goal)
if wait is True:
client.wait_for_result(timeout=rospy.Duration(10))
return client
def do_speak(self, goal):
"""The action handler.
Note that although it responds to client after the audio play is
finished, a client can choose
not to wait by not calling ``SimpleActionClient.waite_for_result()``.
"""
self.goal_text = strip_tags(goal.text)
self.state_pub.publish(state=TTSState.SYNTHESIZING,
text=self.goal_text)
res = do_synthesize(goal)
rospy.loginfo('synthesizer returns: %s', res)
try:
res = json.loads(res.result)
except ValueError as err:
syn = 'Expecting JSON from synthesizer but got {}'.format(
res.result)
rospy.logerr('%s. Exception: %s', syn, err)
self.state_pub.publish(state=TTSState.ERROR, text=syn)
self.finish_with_result(syn)
return
if 'Audio File' in res:
audio_file = res['Audio File']
rospy.loginfo('Will play %s', audio_file)
mut_d = mutagen.File(audio_file)
self.length = mut_d.info.length
self.utterance_pub.publish(self.goal_text)
msg = SoundRequest()
# self.sendMsg(SoundRequest.PLAY_FILE, SoundRequest.PLAY_ONCE, sound,
# vol=volume, **kwargs)
msg.sound = SoundRequest.PLAY_FILE
msg.volume = rospy.get_param("/flo_hum_vol")
msg.command = SoundRequest.PLAY_ONCE
msg.arg = audio_file
msg.arg2 = ""
goal = SoundRequestGoal()
goal.sound_request = msg
self.done = False
self.sound_client.send_goal(goal,
active_cb=self.sound_received,
feedback_cb=self.sound_fb,
done_cb=self.sound_done)
# self.result = audio_file
t_rate = rospy.Rate(10)
success = True
while not self.done:
if self.server.is_preempt_requested():
self.sound_client.cancel_goal()
self.server.set_preempted()
success = False
break
t_rate.sleep()
self.state_pub.publish(state=TTSState.WAITING)
if success:
self.finish_with_result('completed sound play in')
else:
rospy.logerr('No audio file in synthesize voice result')
self.state_pub.publish(state=TTSState.ERROR, text='no audio file')
self.finish_with_result('no audio file')
