fp_perception::AudioBuffer Class Reference

#include <audio_buffer.hpp>

Collaboration diagram for fp_perception::AudioBuffer:

Public Member Functions
void	append (const audio_data &data, int max_duration_seconds)
void	append (const audio_data &data, int max_duration_seconds, const rclcpp::Time &end_time)
void	waitForAudio (std::chrono::seconds timeout=std::chrono::seconds(5))
audio_data	readLatest (int duration_seconds)
audio_data	readWindow (const rclcpp::Time &start_time, int duration_seconds)
void	waitForWindow (const rclcpp::Time &start_time, int duration_seconds, std::chrono::seconds timeout=std::chrono::seconds(30))
rclcpp::Time	startTime () const
rclcpp::Time	endTime () const

Static Public Attributes
static constexpr const char *	kExpiredAudioSliceError

Private Member Functions
bool	isInitializedLocked () const
rclcpp::Time	currentEndTimeLocked () const
bool	isExpiredLocked (const rclcpp::Time &start_time) const

Static Private Member Functions
static rclcpp::Duration	framesToDuration (size_t frames, int sample_rate)
static size_t	durationToFrames (const rclcpp::Duration &duration, int sample_rate)

Private Attributes
audio_data	buffer_
std::mutex	mutex_
std::condition_variable	condition_variable_
uint64_t	total_samples_ { 0 }
uint64_t	total_frames_ { 0 }
int	max_duration_seconds_ { 0 }
bool	initialized_time_ { false }
rclcpp::Time	buffer_start_time_ { 0, 0, RCL_ROS_TIME }
rclcpp::Time	buffer_end_time_ { 0, 0, RCL_ROS_TIME }

Member Function Documentation

append() [1/2]

void fp_perception::AudioBuffer::append ( const audio_data &  data, int  max_duration_seconds  )

inline

append() [2/2]

void fp_perception::AudioBuffer::append ( const audio_data &  data, int  max_duration_seconds, const rclcpp::Time &  end_time  )

inline

currentEndTimeLocked()

rclcpp::Time fp_perception::AudioBuffer::currentEndTimeLocked ( ) const

inlineprivate

durationToFrames()

static size_t fp_perception::AudioBuffer::durationToFrames ( const rclcpp::Duration &  duration, int  sample_rate  )

inlinestaticprivate

endTime()

rclcpp::Time fp_perception::AudioBuffer::endTime ( ) const

inline

framesToDuration()

static rclcpp::Duration fp_perception::AudioBuffer::framesToDuration ( size_t  frames, int  sample_rate  )

inlinestaticprivate

isExpiredLocked()

bool fp_perception::AudioBuffer::isExpiredLocked ( const rclcpp::Time &  start_time ) const

inlineprivate

isInitializedLocked()

bool fp_perception::AudioBuffer::isInitializedLocked ( ) const

inlineprivate

readLatest()

audio_data fp_perception::AudioBuffer::readLatest ( int  duration_seconds )

inline

readWindow()

audio_data fp_perception::AudioBuffer::readWindow ( const rclcpp::Time &  start_time, int  duration_seconds  )

inline

startTime()

rclcpp::Time fp_perception::AudioBuffer::startTime ( ) const

inline

waitForAudio()

void fp_perception::AudioBuffer::waitForAudio ( std::chrono::seconds  timeout = std::chrono::seconds(5) )

inline

waitForWindow()

void fp_perception::AudioBuffer::waitForWindow ( const rclcpp::Time &  start_time, int  duration_seconds, std::chrono::seconds  timeout = std::chrono::seconds(30)  )

inline

Member Data Documentation

buffer_

audio_data fp_perception::AudioBuffer::buffer_

private

buffer_end_time_

rclcpp::Time fp_perception::AudioBuffer::buffer_end_time_ { 0, 0, RCL_ROS_TIME }

private

buffer_start_time_

rclcpp::Time fp_perception::AudioBuffer::buffer_start_time_ { 0, 0, RCL_ROS_TIME }

private

condition_variable_

std::condition_variable fp_perception::AudioBuffer::condition_variable_

private

initialized_time_

bool fp_perception::AudioBuffer::initialized_time_ { false }

private

kExpiredAudioSliceError

constexpr const char* fp_perception::AudioBuffer::kExpiredAudioSliceError

staticconstexpr

Initial value:

= "error: requested audio slice is expired. for future "
                                                         "interactions, increase the audio retention window parameter."

max_duration_seconds_

int fp_perception::AudioBuffer::max_duration_seconds_ { 0 }

private

mutex_

std::mutex fp_perception::AudioBuffer::mutex_

mutableprivate

total_frames_

uint64_t fp_perception::AudioBuffer::total_frames_ { 0 }

private

total_samples_

uint64_t fp_perception::AudioBuffer::total_samples_ { 0 }

private

---

The documentation for this class was generated from the following file:

• fp_perception/include/fp_perception/audio_buffer.hpp