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")
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)