/**
* @author Gwennael Gate
* Copyright (c) Aldebaran Robotics 2010
*/
#include "alsoundbasedreaction.h"
#include <alvalue/alvalue.h>
#include <alcommon/alproxy.h>
#include <alcommon/albroker.h>
#include <iostream>
#include <fstream>
ALSoundBasedReaction::ALSoundBasedReaction(boost::shared_ptr<ALBroker> broker,
const std::string& name) :
ALSoundExtractor(broker, name)
{
/// This line will display a description of this module on the web page of the robot
setModuleDescription("This module launch a texttospeech command when a "
"sudden and significative noise is heard.");
}
void ALSoundBasedReaction::init()
{
/// Setting up the appropriate language
fProxyToTextToSpeech.setLanguage("English");
audioDevice->callVoid("setClientPreferences",
getName(), //Name of this module
16000, //16000 Hz requested
(int)FRONTCHANNEL, //Front Channels requested
0 //Deinterleaving is not needed here
);
startDetection();
}
ALSoundBasedReaction::~ALSoundBasedReaction()
{
stopDetection();
}
/// This function will be automatically called by the module ALAudioDevice
/// every 170ms with the appropriate audio buffer (front channel at 16000Hz)
void ALSoundBasedReaction::process(const int & nbOfChannels,
const int & nbrOfSamplesByChannel,
const AL_SOUND_FORMAT * buffer,
const ALValue & timeStamp)
{
/// Compute the maximum value of the front microphone signal.
int maxValueFront = 0;
for(int i = 0 ; i < nbrOfSamplesByChannel ; i++)
{
if(buffer[i] > maxValueFront)
{
maxValueFront = buffer[i];
}
}
/// Print it in the console
/// (Naoqi needs to be launched in console mode to see the log)
std::cout << "maxvalue : " << maxValueFront << std::endl;
/// Launch a texttospeech command when it is appropriate
if(maxValueFront > 10000)
{
fProxyToTextToSpeech.say("Hello there!");
}
}