MicrophoneAudioDriver class for handling audio input from a microphone. More...

#include <microphone_audio_driver.hpp>

Inheritance diagram for fp_perception::MicrophoneAudioDriver:

Collaboration diagram for fp_perception::MicrophoneAudioDriver:

Public Member Functions
	MicrophoneAudioDriver ()
	Constructor for MicrophoneAudioDriver.

	~MicrophoneAudioDriver () override
	Start the audio stream.

void	initialize (const rclcpp::Node::SharedPtr &node) override
	Initialize the driver.

void	deinitialize () override
	Stop driver streaming. This function stops the audio stream and closes it. It also terminates the PortAudio library.

audio_data	readChunk () override
	Get latest audio data from the driver as a stream. This function reads audio data from the microphone stream and returns it as a fp_perception::audio_data. Best approach is to use this to get a certain amount of audio data by repeatedly calling this function until enough data is collected.

void	test () override
	Test the driver.

Public Member Functions inherited from fp_perception::AudioSourceDriver
virtual audio_data	readBufferedAudio (int duration_seconds)

Public Member Functions inherited from fp_perception::DriverBase
virtual	~DriverBase ()=default

virtual std::string	getName () const
	Get the name of the driver.

void	check_directory (std::string folder_name)
	Check if the test directory exists, create it if not.

const std::filesystem::path	check_file (const std::string &file_name)

Protected Member Functions
int	capture_input_buffer (const void *input_buffer, unsigned long frames_per_buffer, PaStreamCallbackFlags status_flags)

void	setup_diagnostics ()

void	produce_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &status)

void	write_samples_locked (const int16_t *samples, size_t sample_count)

void	read_samples_locked (int16_t *destination, size_t sample_count)

Protected Member Functions inherited from fp_perception::DriverBase
void	initialize_base (const rclcpp::Node::SharedPtr &node)
	Initializer base driver in place of constructor due to plugin semantics.

bool	diagnostics_enabled () const

void	enable_diagnostics (const std::string &hardware_id, const std::string &task_name, std::function< void(diagnostic_updater::DiagnosticStatusWrapper &)> task, std::chrono::milliseconds period=std::chrono::seconds(1))

void	disable_diagnostics ()

Static Protected Member Functions
static int	pa_input_callback (const void input_buffer, void output_buffer, unsigned long frames_per_buffer, const PaStreamCallbackTimeInfo time_info, PaStreamCallbackFlags status_flags, void user_data)

static std::vector< int16_t >	resample_linear_interleaved (const std::vector< int16_t > &input, int channels, int input_rate, int output_rate)

Protected Attributes
PaStream *	stream_

PaError	err = paNoError

std::vector< int16_t >	audio_buffer_

int	device_id_

std::string	device_name_

unsigned long	chunk_size_

int	sample_rate_

int	capture_sample_rate_ { 0 }

int	channels_

int	capture_buffer_window_

int	timeout_sec_ { -1 }

int	buffer_size_ { 0 }

size_t	read_index_ { 0 }

size_t	write_index_ { 0 }

size_t	buffered_sample_count_ { 0 }

std::atomic< uint64_t >	input_overflow_count_ { 0 }

std::atomic< uint64_t >	dropped_callback_chunks_ { 0 }

Protected Attributes inherited from fp_perception::DriverBase
rclcpp::Node::SharedPtr	node_
	ROS node for the driver.

std::string	name_
	Name of the driver.

std::mutex	buffer_mutex_
	Mutex to protect access to the driver data.

std::condition_variable	buffer_cv_
	Condition variable to notify when new data is available.

std::atomic< bool >	is_running_ { false }
	Flag to indicate if the driver thread is running.

bool	diagnostics_enabled_ { false }
	Flag to enable standard ROS diagnostics publishing.

std::unique_ptr< diagnostic_updater::Updater >	diagnostics_updater_

rclcpp::TimerBase::SharedPtr	diagnostics_timer_

Detailed Description

MicrophoneAudioDriver class for handling audio input from a microphone.

This class is responsible for managing the audio input from a microphone using PortAudio. It provides methods to start and stop the audio stream, as well as retrieve audio data.

Constructor & Destructor Documentation

◆ MicrophoneAudioDriver()

fp_perception::MicrophoneAudioDriver::MicrophoneAudioDriver ( )

inline

Constructor for MicrophoneAudioDriver.

Initializes the PortAudio library and prepares the audio stream.

◆ ~MicrophoneAudioDriver()

fp_perception::MicrophoneAudioDriver::~MicrophoneAudioDriver ( )

inlineoverride

Start the audio stream.

This function starts the audio stream using PortAudio.

Member Function Documentation

◆ capture_input_buffer()

int fp_perception::MicrophoneAudioDriver::capture_input_buffer	(	const void *	input_buffer,
		unsigned long	frames_per_buffer,
		PaStreamCallbackFlags	status_flags
	)

inlineprotected

◆ deinitialize()

void fp_perception::MicrophoneAudioDriver::deinitialize ( )

inlineoverridevirtual

Stop driver streaming. This function stops the audio stream and closes it. It also terminates the PortAudio library.

Implements fp_perception::DriverBase.

◆ initialize()

void fp_perception::MicrophoneAudioDriver::initialize ( const rclcpp::Node::SharedPtr & node )

inlineoverridevirtual

Initialize the driver.

This function should be overridden in derived classes to provide specific initialization.

Parameters

node	Shared pointer to the ROS node

Reimplemented from fp_perception::DriverBase.

◆ pa_input_callback()

static int fp_perception::MicrophoneAudioDriver::pa_input_callback	(	const void *	input_buffer,
		void *	output_buffer,
		unsigned long	frames_per_buffer,
		const PaStreamCallbackTimeInfo *	time_info,
		PaStreamCallbackFlags	status_flags,
		void *	user_data
	)

inlinestaticprotected

◆ produce_diagnostics()

void fp_perception::MicrophoneAudioDriver::produce_diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & status )

inlineprotected

◆ read_samples_locked()

void fp_perception::MicrophoneAudioDriver::read_samples_locked	(	int16_t *	destination,
		size_t	sample_count
	)

inlineprotected

◆ readChunk()

audio_data fp_perception::MicrophoneAudioDriver::readChunk ( )

inlineoverridevirtual

Get latest audio data from the driver as a stream. This function reads audio data from the microphone stream and returns it as a fp_perception::audio_data. Best approach is to use this to get a certain amount of audio data by repeatedly calling this function until enough data is collected.

Returns: fp_perception::audio_data The latest audio chunk(s) from the driver.

Exceptions

fp_perception_exception if the stream is not active

Implements fp_perception::AudioSourceDriver.

◆ resample_linear_interleaved()

static std::vector< int16_t > fp_perception::MicrophoneAudioDriver::resample_linear_interleaved	(	const std::vector< int16_t > &	input,
		int	channels,
		int	input_rate,
		int	output_rate
	)

inlinestaticprotected

◆ setup_diagnostics()

void fp_perception::MicrophoneAudioDriver::setup_diagnostics ( )

inlineprotected

◆ test()

void fp_perception::MicrophoneAudioDriver::test ( )

inlineoverridevirtual

Test the driver.

This function is used to test the driver functionality. It can be overridden in derived classes.

Reimplemented from fp_perception::DriverBase.

◆ write_samples_locked()

void fp_perception::MicrophoneAudioDriver::write_samples_locked	(	const int16_t *	samples,
		size_t	sample_count
	)

inlineprotected

Member Data Documentation

◆ audio_buffer_

std::vector<int16_t> fp_perception::MicrophoneAudioDriver::audio_buffer_

protected

◆ buffer_size_

int fp_perception::MicrophoneAudioDriver::buffer_size_ { 0 }

protected

◆ buffered_sample_count_

size_t fp_perception::MicrophoneAudioDriver::buffered_sample_count_ { 0 }

protected

◆ capture_buffer_window_

int fp_perception::MicrophoneAudioDriver::capture_buffer_window_

protected

◆ capture_sample_rate_

int fp_perception::MicrophoneAudioDriver::capture_sample_rate_ { 0 }

protected

◆ channels_

int fp_perception::MicrophoneAudioDriver::channels_

protected

◆ chunk_size_

unsigned long fp_perception::MicrophoneAudioDriver::chunk_size_

protected

◆ device_id_

int fp_perception::MicrophoneAudioDriver::device_id_

protected

◆ device_name_

std::string fp_perception::MicrophoneAudioDriver::device_name_

protected

◆ dropped_callback_chunks_

std::atomic<uint64_t> fp_perception::MicrophoneAudioDriver::dropped_callback_chunks_ { 0 }

protected

◆ err

PaError fp_perception::MicrophoneAudioDriver::err = paNoError

protected

◆ input_overflow_count_

std::atomic<uint64_t> fp_perception::MicrophoneAudioDriver::input_overflow_count_ { 0 }

protected

◆ read_index_

size_t fp_perception::MicrophoneAudioDriver::read_index_ { 0 }

protected

◆ sample_rate_

int fp_perception::MicrophoneAudioDriver::sample_rate_

protected

◆ stream_

PaStream* fp_perception::MicrophoneAudioDriver::stream_

protected

◆ timeout_sec_

int fp_perception::MicrophoneAudioDriver::timeout_sec_ { -1 }

protected

◆ write_index_

size_t fp_perception::MicrophoneAudioDriver::write_index_ { 0 }

protected

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

fp_perception_driver_audio/include/fp_perception_driver_audio/microphone_audio_driver.hpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MicrophoneAudioDriver()

◆ ~MicrophoneAudioDriver()

Member Function Documentation

◆ capture_input_buffer()

◆ deinitialize()

◆ initialize()

◆ pa_input_callback()

◆ produce_diagnostics()

◆ read_samples_locked()

◆ readChunk()

◆ resample_linear_interleaved()

◆ setup_diagnostics()

◆ test()

◆ write_samples_locked()

Member Data Documentation

◆ audio_buffer_

◆ buffer_size_

◆ buffered_sample_count_

◆ capture_buffer_window_

◆ capture_sample_rate_

◆ channels_

◆ chunk_size_

◆ device_id_

◆ device_name_

◆ dropped_callback_chunks_

◆ err

◆ input_overflow_count_

◆ read_index_

◆ sample_rate_

◆ stream_

◆ timeout_sec_

◆ write_index_