def stopSIPServer(self):
try:
self.processSiprtmp.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a siprtmp. "+str(e)
try:
self.processLinphone.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a linphone. "+str(e)
try:
self.processSipd.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a sipd. "+str(e)
# We go back to the default audio control
cmd = "roslaunch qbo_audio_control audio_control_listener.launch"
try:
subprocess.Popen(cmd.split(),env=self.envi)
except:
print "ERROR when launching audio_control_listener.launch"+str(e)
# ECO cancelation off
if self.ecoCancelationId != "notDefined":
print "ECO Cancelation off "+str(self.ecoCancelationId)
cmd = "pactl unload-module "+self.ecoCancelationId
out = runCmd(cmd)
#print "salida "+str(out)
print "Done"
def stopSIPServer(self):
try:
self.processSiprtmp.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a siprtmp. " + str(e)
try:
self.processLinphone.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a linphone. " + str(e)
try:
self.processSipd.send_signal(signal.SIGINT)
except Exception as e:
print "ERROR when killing a sipd. " + str(e)
# We go back to the default audio control
cmd = "roslaunch qbo_audio_control audio_control_listener.launch"
try:
subprocess.Popen(cmd.split(), env=self.envi)
except:
print "ERROR when launching audio_control_listener.launch" + str(e)
# ECO cancelation off
if self.ecoCancelationId != "notDefined":
print "ECO Cancelation off " + str(self.ecoCancelationId)
cmd = "pactl unload-module " + self.ecoCancelationId
out = runCmd(cmd)
#print "salida "+str(out)
print "Done"
def main():
global client_speak
global language
rospy.init_node("music_master")
print "Starting Master Listener Node"
rospy.Subscriber("/hand_gesture_node/hand_gesture", String, hand_gesture_callback)
client_speak = rospy.ServiceProxy("/qbo_talk/festival_say_no_wait", Text2Speach)
runCmd("xmms2-launcher")
lang = rospy.get_param("/system_lang", "en")
loadDictionary(lang)
speak_this(language["I AM READY TO PLAY MUSIC"])
rospy.Subscriber("/system_lang", String, change_lang_callback)
rospy.spin()
runCmd("nyxmms2 stop")
def get_song_info_2():
(ph_out, ph_err, ph_ret) = runCmd("nyxmms2 list")
out_str = str(ph_out)
song_info = out_str.split("->")
song_info = song_info[1]
song_info = song_info.split("]")
song_info = song_info[1]
song_info = song_info.split("(")
song_info = song_info[0]
song_info = song_info.strip()
song_info = song_info.split(" - ")
print "Artist: "+song_info[0]+ ", Song: "+song_info[1]
return song_info
def startSIPServer(self, data):
print "Start sip server"
path2webi = roslib.packages.get_pkg_dir("qbo_webi")
chars = string.ascii_letters + string.digits
self.envi = environ.copy()
path = self.envi["PYTHONPATH"]
self.envi[
"PYTHONPATH"] = "/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/app:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/external:/opt/ros/hydro/stacks/qbo_webi/src/teleoperation/sip2rtmp/rtmplite:" + path
self.auth = "notDefined"
self.authBot = "notDefined"
self.auth = "".join(choice(chars) for x in range(randint(4, 4)))
self.authBot = "".join(choice(chars) for x in range(randint(4, 4)))
# We check if sipd is already active, if so, we close it
cmd = "ps -aux | grep sipd"
out = runCmd(cmd)
out = out[0]
if "sipd.py" in out:
pid = out.split(" ")[2]
os.kill(int(pid), signal.SIGTERM)
# The same with siprtmp
cmd = "ps -aux | grep siprtmp"
out = runCmd(cmd)
out = out[0]
if "siprtmp.py" in out:
pid = out.split(" ")[2]
os.kill(int(pid), signal.SIGTERM)
# Launch audio control with sip profile
cmd = "roslaunch qbo_audio_control audio_control_sip.launch"
self.processAudioControl = subprocess.Popen(cmd.split(), env=self.envi)
# Launch sipd.py
cmd = "python " + path2webi + "/src/teleoperation/sip2rtmp/p2p-sip/src/app/sipd.py -u " + self.auth + " -b " + self.authBot
self.processSipd = subprocess.Popen(cmd.split(), env=self.envi)
# Launch siprtmp.py
cmd = "python " + path2webi + "/src/teleoperation/sip2rtmp/rtmplite/siprtmp.py"
self.processSiprtmp = subprocess.Popen(cmd.split(), env=self.envi)
# We give them sometime to finish the job
time.sleep(0.5)
# Data ready for the node qbo_linphone, but we still need to know the host
rospy.set_param("linphone_botName", self.authBot)
rospy.set_param("linphone_host",
"waiting for the mobile to know the IP")
# ECO cancelation on
if data['ecoCancelation']:
cmd = "pactl load-module module-echo-cancel"
out = runCmd(cmd)
self.ecoCancelationId = out[0].replace("\n", "")
print "ECO cancelation ON " + str(self.ecoCancelationId)
def startSIPServer(self,data):
print "Start sip server"
path2webi = roslib.packages.get_pkg_dir("qbo_webi")
chars = string.ascii_letters + string.digits
self.envi = environ.copy()
path = self.envi["PYTHONPATH"]
self.envi["PYTHONPATH"] = "/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/app:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/p2p-sip/src/external:/opt/ros/electric/stacks/qbo_stack/qbo_webi/src/teleoperation/sip2rtmp/rtmplite:"+path
self.auth = "notDefined"
self.authBot = "notDefined"
self.auth = "".join(choice(chars) for x in range(randint(4, 4)))
self.authBot = "".join(choice(chars) for x in range(randint(4, 4)))
# We check if sipd is already active, if so, we close it
cmd = "ps -aux | grep sipd"
out = runCmd(cmd)
out = out[0]
if "sipd.py" in out:
pid = out.split(" ")[2]
os.kill(int(pid), signal.SIGTERM)
# The same with siprtmp
cmd = "ps -aux | grep siprtmp"
out = runCmd(cmd)
out = out[0]
if "siprtmp.py" in out:
pid = out.split(" ")[2]
os.kill(int(pid), signal.SIGTERM)
# Launch audio control with sip profile
cmd = "roslaunch qbo_audio_control audio_control_sip.launch"
self.processAudioControl = subprocess.Popen(cmd.split(),env=self.envi)
# Launch sipd.py
cmd = "python "+path2webi+"/src/teleoperation/sip2rtmp/p2p-sip/src/app/sipd.py -u "+self.auth+" -b "+self.authBot
self.processSipd = subprocess.Popen(cmd.split(),env=self.envi)
# Launch siprtmp.py
cmd = "python "+path2webi+"/src/teleoperation/sip2rtmp/rtmplite/siprtmp.py"
self.processSiprtmp = subprocess.Popen(cmd.split(),env=self.envi)
# We give them sometime to finish the job
time.sleep(0.5)
# Data ready for the node qbo_linphone, but we still need to know the host
rospy.set_param("linphone_botName",self.authBot)
rospy.set_param("linphone_host","waiting for the mobile to know the IP")
# ECO cancelation on
if data['ecoCancelation']:
cmd = "pactl load-module module-echo-cancel"
out = runCmd(cmd);
self.ecoCancelationId = out[0].replace("\n","")
print "ECO cancelation ON "+str(self.ecoCancelationId)
def hand_gesture_callback(data):
global language
command = str(data.data)
rospy.loginfo(rospy.get_name()+": I heard %s",command)
global playing_music
global music_volume
if command == "play":
runCmd("nyxmms2 toggle")
if playing_music :
speak_this(language["MUSIC PAUSE"])
playing_music = False
else:
runCmd("nyxmms2 play")
song_info = get_song_info_2()
speak_this(language["PLAYING"]+" "+song_info[1]+" "+language["BY"]+" "+song_info[0])
playing_music = True
elif command == "stop":
runCmd("nyxmms2 "+command)
speak_this(language["MUSIC STOPPED"])
playing_music = False
elif command == "next" or command == "prev":
runCmd("nyxmms2 "+command)
if playing_music:
time.sleep(1)
song_info = get_song_info_2()
speak_this(language["PLAYING"]+" "+song_info[1]+" "+language["BY"]+" "+song_info[0])
else:
time.sleep(1)
song_info = get_song_info_2()
speak_this(language["SONG SELECTED"])
speak_this(song_info[1]+" "+language["BY"]+" "+song_info[0])
elif command=="volume_up":
if music_volume<=80:
music_volume+=20
runCmd("nyxmms2 server volume "+str(music_volume))
speak_this(language["VOLUME UP"])
elif command=="volume_down":
if music_volume>20:
music_volume-=20
runCmd("nyxmms2 server volume "+str(music_volume))
speak_this(language["VOLUME DOWN"])
