structs.hpp

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#pragma once
 
#include <vector>
#include <string>
#include <rclcpp/rclcpp.hpp>
#include <fp_perception_msgs/msg/perception_audio.hpp>
#include <fp_perception_msgs/msg/perception_text.hpp>
 
namespace fp_perception
{
 
struct audio_data
{
  std::vector<int16_t> samples;  
  int sample_rate = 44100;       
  int channels = 1;              
  int chunk_size = 256;          
  int chunk_count = 0;           
  bool override = false;  
};
 
struct audio_buffer_request
{
  int duration_seconds = 0;
  bool use_time_window = false;
  rclcpp::Time start_time;
};
 
struct text_data
{
  std::string text;          
  std::string voice;         
  std::string instructions;  
};
 
fp_perception_msgs::msg::PerceptionAudio audio_data_to_msg(const audio_data& data)
{
  fp_perception_msgs::msg::PerceptionAudio msg;
 
  msg.header.stamp = rclcpp::Clock().now();
  msg.header.frame_id = "audio_frame";  // Default frame ID, can be changed as needed
  msg.sample_rate = data.sample_rate;
  msg.channels = data.channels;
  msg.chunk_size = data.chunk_size;
  msg.chunk_count = data.chunk_count;
  msg.samples = data.samples;
  msg.override = data.override;
 
  return msg;
}
 
audio_data msg_to_audio_data(const fp_perception_msgs::msg::PerceptionAudio& msg)
{
  audio_data data;
 
  data.samples = msg.samples;
  data.sample_rate = msg.sample_rate;
  data.channels = msg.channels;
  data.chunk_size = msg.chunk_size;
  data.chunk_count = msg.chunk_count;
  data.override = msg.override;
 
  return data;
}
 
fp_perception_msgs::msg::PerceptionText text_data_to_msg(const text_data& data)
{
  fp_perception_msgs::msg::PerceptionText msg;
 
  msg.header.stamp = rclcpp::Clock().now();
  msg.header.frame_id = "text_frame";  // Default frame ID, can be changed as needed
  msg.text = data.text;
  msg.voice = data.voice;
  msg.instructions = data.instructions;
 
  return msg;
}
 
text_data msg_to_text_data(const fp_perception_msgs::msg::PerceptionText& msg)
{
  text_data data;
 
  data.text = msg.text;
  data.voice = msg.voice;
  data.instructions = msg.instructions;
 
  return data;
}
 
}  // namespace fp_perception