Sound based reaction

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Overview

This example module ALSoundBasedReaction makes NAO say “Hello there” each time a sudden and loud noise is detected.

To do so, it uses the processSound callback method.

This module can be remote or local.

Downloads

Whole example

soundbasedreaction.zip

Header: alsoundbasedreaction.h

alsoundbasedreaction.h

/**
* @author Gwennael Gate
* Copyright (c) Aldebaran Robotics 2010
*/

#ifndef SOUNDBASEDREACTION_H
#define SOUNDBASEDREACTION_H

#ifdef SOUNDBASEDREACTION_IS_REMOTE
#include <qi/application.hpp>
#include <boost/function.hpp>
#include <boost/bind.hpp>
#endif

#include <boost/shared_ptr.hpp>
#include <alcommon/almodule.h>
#include <string>
#include <alproxies/altexttospeechproxy.h>
#include "alaudio/alsoundextractor.h"

using namespace AL;

class ALSoundBasedReaction : public ALSoundExtractor
{
public:

  ALSoundBasedReaction(boost::shared_ptr<ALBroker> broker,
                       const std::string & name);
  virtual ~ALSoundBasedReaction();

  void init();

  void process(const int & nbOfChannels,
               const int & nbrOfSamplesByChannel,
               const AL_SOUND_FORMAT * buffer,
               const ALValue & timeStamp);

private:
  ALTextToSpeechProxy fProxyToTextToSpeech;
};

#endif  // SOUNDBASEDREACTION_H

Source: alsoundbasedreaction.cpp

alsoundbasedreaction.cpp

/**
* @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
                        );
#ifdef SOUNDBASEDREACTION_IS_REMOTE
  qi::Application::atStop(boost::bind(&ALSoundBasedReaction::stopDetection, this));
#endif
  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!");
  }
}

Main: main.cpp

main.cpp

/**
* @author Gwennael Gate
* Copyright (c) Aldebaran Robotics 2010
*/

#include <signal.h>
#include <boost/shared_ptr.hpp>
#include <alcommon/albroker.h>
#include <alcommon/almodule.h>
#include <alcommon/albrokermanager.h>
#include <alcommon/altoolsmain.h>

#include "alsoundbasedreaction.h"



#ifdef SOUNDBASEDREACTION_IS_REMOTE
# define ALCALL
#else
# ifdef _WIN32
#  define ALCALL __declspec(dllexport)
# else
#  define ALCALL
# endif
#endif

extern "C"
{
  ALCALL int _createModule(boost::shared_ptr<AL::ALBroker> pBroker)
  {
    // init broker with the main broker instance
    // from the parent executable
    AL::ALBrokerManager::setInstance(pBroker->fBrokerManager.lock());
    AL::ALBrokerManager::getInstance()->addBroker(pBroker);

    AL::ALModule::createModule<ALSoundBasedReaction>(pBroker, "ALSoundBasedReaction");

    return 0;
  }

  ALCALL int _closeModule()
  {
    return 0;
  }
}

#ifdef SOUNDBASEDREACTION_IS_REMOTE
int main(int argc, char *argv[])
{
  // pointer to createModule
  TMainType sig;
  sig = &_createModule;

  // call main
  ALTools::mainFunction("alsoundbasedreaction",argc, argv,sig);
}
#endif

CMakeLists.txt

CMakeLists.txt

# Copyright (C) 2010 Aldebaran Robotics

cmake_minimum_required(VERSION 2.6.4 FATAL_ERROR)
project(soundbasedreaction)
find_package(qibuild)

option(SOUNDBASEDREACTION_IS_REMOTE
  "module is compiled as a remote module (ON or OFF)"
  ON)

set(_srcs
    main.cpp
    alsoundbasedreaction.h
    alsoundbasedreaction.cpp
)

if(SOUNDBASEDREACTION_IS_REMOTE)
  add_definitions(" -DSOUNDBASEDREACTION_IS_REMOTE ")
  qi_create_bin(soundbasedreaction ${_srcs})
else()
  qi_create_lib(soundbasedreaction SHARED ${_srcs} SUBFOLDER naoqi)
endif()


qi_use_lib(soundbasedreaction ALCOMMON ALPROXIES ALAUDIO)
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