SpeakerAudioDriver class for handling audio output to a speaker. More...

#include <speaker_audio_driver.hpp>

Inheritance diagram for fp_perception::SpeakerAudioDriver:

Collaboration diagram for fp_perception::SpeakerAudioDriver:

Public Member Functions
	SpeakerAudioDriver ()
	Constructor for SpeakerAudioDriver.

	~SpeakerAudioDriver () override
	Destructor for SpeakerAudioDriver.

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.

void	play (const audio_data &input_data) override
	Set the latest audio data to the driver. This function sends the latest audio data to the speaker driver.

void	enqueuePlayback (const audio_data &input_data) override

void	stopPlayback () override

void	play_internal (const audio_data &input_data, bool wait_for_drain)

void	test () override
	Read test/mic_test.wav and play it through the speaker.

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	fill_output_buffer (void *output_buffer, unsigned long frames_per_buffer, PaStreamCallbackFlags status_flags)

void	queue_data (audio_data input_data, const std::string &stream_key, bool wait_for_drain)

void	wait_for_playback_drain ()

void	setup_diagnostics ()

void	produce_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &status)

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_output_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
int	device_id_

std::string	device_name_

PaError	err = paNoError

int	sample_rate_

int	channels_

std::string	test_file_path_

std::map< std::string, PaStream * >	stream_dict_

std::deque< int16_t >	playback_queue_

std::mutex	playback_mutex_

std::condition_variable	playback_cv_

std::atomic< uint64_t >	underrun_count_ { 0 }

std::atomic< uint64_t >	callback_lock_miss_count_ { 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

SpeakerAudioDriver class for handling audio output to a speaker.

This class is responsible for managing the audio output to a speaker using PortAudio. It provides methods to start and stop the audio stream, as well as play audio data.

Constructor & Destructor Documentation

◆ SpeakerAudioDriver()

fp_perception::SpeakerAudioDriver::SpeakerAudioDriver ( )

inline

Constructor for SpeakerAudioDriver.

Initializes the PortAudio library and prepares the audio stream.

◆ ~SpeakerAudioDriver()

fp_perception::SpeakerAudioDriver::~SpeakerAudioDriver ( )

inlineoverride

Destructor for SpeakerAudioDriver.

Stops the audio stream and terminates the PortAudio library.

Member Function Documentation

◆ deinitialize()

void fp_perception::SpeakerAudioDriver::deinitialize ( )

inlineoverridevirtual

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

Implements fp_perception::DriverBase.

◆ enqueuePlayback()

void fp_perception::SpeakerAudioDriver::enqueuePlayback ( const audio_data & input_data )

inlineoverridevirtual

Reimplemented from fp_perception::AudioSinkDriver.

◆ fill_output_buffer()

int fp_perception::SpeakerAudioDriver::fill_output_buffer	(	void *	output_buffer,
		unsigned long	frames_per_buffer,
		PaStreamCallbackFlags	status_flags
	)

inlineprotected

◆ initialize()

void fp_perception::SpeakerAudioDriver::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_output_callback()

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

inlinestaticprotected

◆ play()

void fp_perception::SpeakerAudioDriver::play ( const audio_data & input_data )

inlineoverridevirtual

Set the latest audio data to the driver. This function sends the latest audio data to the speaker driver.

Parameters

input The latest audio data to the driver in the form of const std::vector<std::vector<int16_t>>&.

Exceptions

fp_perception_exception if not implemented in derived classes

Implements fp_perception::AudioSinkDriver.

◆ play_internal()

void fp_perception::SpeakerAudioDriver::play_internal	(	const audio_data &	input_data,
		bool	wait_for_drain
	)

inline

◆ produce_diagnostics()

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

inlineprotected

◆ queue_data()

void fp_perception::SpeakerAudioDriver::queue_data	(	audio_data	input_data,
		const std::string &	stream_key,
		bool	wait_for_drain
	)

inlineprotected

◆ resample_linear_interleaved()

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

inlinestaticprotected

◆ setup_diagnostics()

void fp_perception::SpeakerAudioDriver::setup_diagnostics ( )

inlineprotected

◆ stopPlayback()

void fp_perception::SpeakerAudioDriver::stopPlayback ( )

inlineoverridevirtual

Reimplemented from fp_perception::AudioSinkDriver.

◆ test()

void fp_perception::SpeakerAudioDriver::test ( )

inlineoverridevirtual

Read test/mic_test.wav and play it through the speaker.

Reimplemented from fp_perception::DriverBase.

◆ wait_for_playback_drain()

void fp_perception::SpeakerAudioDriver::wait_for_playback_drain ( )

inlineprotected

Member Data Documentation

◆ callback_lock_miss_count_

std::atomic<uint64_t> fp_perception::SpeakerAudioDriver::callback_lock_miss_count_ { 0 }

protected

◆ channels_

int fp_perception::SpeakerAudioDriver::channels_

protected

◆ device_id_

int fp_perception::SpeakerAudioDriver::device_id_

protected

◆ device_name_

std::string fp_perception::SpeakerAudioDriver::device_name_

protected

◆ err

PaError fp_perception::SpeakerAudioDriver::err = paNoError

protected

◆ playback_cv_

std::condition_variable fp_perception::SpeakerAudioDriver::playback_cv_

protected

◆ playback_mutex_

std::mutex fp_perception::SpeakerAudioDriver::playback_mutex_

protected

◆ playback_queue_

std::deque<int16_t> fp_perception::SpeakerAudioDriver::playback_queue_

protected

◆ sample_rate_

int fp_perception::SpeakerAudioDriver::sample_rate_

protected

◆ stream_dict_

std::map<std::string, PaStream*> fp_perception::SpeakerAudioDriver::stream_dict_

protected

◆ test_file_path_

std::string fp_perception::SpeakerAudioDriver::test_file_path_

protected

◆ underrun_count_

std::atomic<uint64_t> fp_perception::SpeakerAudioDriver::underrun_count_ { 0 }

protected

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

fp_perception_driver_audio/include/fp_perception_driver_audio/speaker_audio_driver.hpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SpeakerAudioDriver()

◆ ~SpeakerAudioDriver()

Member Function Documentation

◆ deinitialize()

◆ enqueuePlayback()

◆ fill_output_buffer()

◆ initialize()

◆ pa_output_callback()

◆ play()

◆ play_internal()

◆ produce_diagnostics()

◆ queue_data()

◆ resample_linear_interleaved()

◆ setup_diagnostics()

◆ stopPlayback()

◆ test()

◆ wait_for_playback_drain()

Member Data Documentation

◆ callback_lock_miss_count_

◆ channels_

◆ device_id_

◆ device_name_

◆ err

◆ playback_cv_

◆ playback_mutex_

◆ playback_queue_

◆ sample_rate_

◆ stream_dict_

◆ test_file_path_

◆ underrun_count_