AudioEventRegister::AudioEventRegister( const std::string& name, const float& frequency, const qi::SessionPtr& session )
: serviceId(0),
p_audio_( session->service("ALAudioDevice")),
p_robot_model_(session->service("ALRobotModel")),
session_(session),
isStarted_(false),
isPublishing_(false),
isRecording_(false),
isDumping_(false)
{
int micConfig = p_robot_model_.call<int>("_getMicrophoneConfig");
if(micConfig){
channelMap.push_back(3);
channelMap.push_back(5);
channelMap.push_back(0);
channelMap.push_back(2);
}
else{
channelMap.push_back(0);
channelMap.push_back(2);
channelMap.push_back(1);
channelMap.push_back(4);
}
publisher_ = boost::make_shared<publisher::BasicPublisher<naoqi_bridge_msgs::AudioBuffer> >( name );
recorder_ = boost::make_shared<recorder::BasicEventRecorder<naoqi_bridge_msgs::AudioBuffer> >( name );
converter_ = boost::make_shared<converter::AudioEventConverter>( name, frequency, session );
converter_->registerCallback( message_actions::PUBLISH, boost::bind(&publisher::BasicPublisher<naoqi_bridge_msgs::AudioBuffer>::publish, publisher_, _1) );
converter_->registerCallback( message_actions::RECORD, boost::bind(&recorder::BasicEventRecorder<naoqi_bridge_msgs::AudioBuffer>::write, recorder_, _1) );
converter_->registerCallback( message_actions::LOG, boost::bind(&recorder::BasicEventRecorder<naoqi_bridge_msgs::AudioBuffer>::bufferize, recorder_, _1) );
}
bool SessionInitializer::setUpNightmare(qi::SessionPtr session, const std::string &serviceDirectoryUrl)
{
std::string serviceName;
// #1 Connect session to service directory.
if(session->connect(serviceDirectoryUrl).wait(1000) != qi::FutureState_FinishedWithValue)
return false;
// #1.1 If session is a client session, that's it.
if (_listen == false)
return true;
// #1.2 Make session listen.
session->listen("tcp://0.0.0.0:0");
// #2 Allocate population and traffic tools.
_populationGenerator = new PopulationGenerator();
_trafficGenerator = new TrafficGenerator();
// #3 Generate an unique name for hidder service
if (DefaultService::generateUniqueServiceName(serviceName) == false)
throw TestSessionError("[Internal] Cannot generate unique service name.");
// #4 Register hidden service.
session->registerService(serviceName, DefaultService::getDefaultService());
// #5 Populate with client session and generate traffic.
if (_populationGenerator->populateClients(serviceDirectoryUrl, 10000) == false)
return false;
if (_trafficGenerator->generateCommonTraffic(_populationGenerator->clientPopulation(), serviceName) == false)
return false;
return true;
}
bool SessionInitializer::setUpSD(qi::SessionPtr session, const std::string &serviceDirectoryUrl)
{
session->connect(serviceDirectoryUrl);
if (_listen == true)
session->listen("tcp://0.0.0.0:0");
return true;
}
bool SessionInitializer::setUpSSL(qi::SessionPtr session, const std::string &serviceDirectoryUrl)
{
if(session->connect(serviceDirectoryUrl).wait(1000) != qi::FutureState_FinishedWithValue)
return false;
if (_listen == true)
{
session->setIdentity("../tests/server.key", "../tests/server.crt");
session->listen("tcps://0.0.0.0:0");
}
return true;
}
bool SessionInitializer::tearDownSD(qi::SessionPtr session)
{
if (session->close().wait(1000) != qi::FutureState_FinishedWithValue)
return false;
return true;
}
void alternateModule(qi::SessionPtr session) {
while (!boost::this_thread::interruption_requested())
{
boost::this_thread::interruption_point();
//a--;
qi::AnyObject obj = newObject();
qi::Future<unsigned int> fut = session->registerService("TestToto", obj);
if (fut.hasError()) {
std::cout << "Error registering service: " << fut.error() << std::endl;
continue;
}
std::cout << "Service TestToto registered" << std::endl;
qi::os::msleep(50);
qi::Future<void> futun = session->unregisterService(fut.value());
if (futun.hasError()) {
std::cout << "Error unregistering service: " << futun.error() << std::endl;
continue;
}
std::cout << "Service TestToto unregistered" << std::endl;
}
}
bool SessionInitializer::tearDownNightmare(qi::SessionPtr session)
{
if (_trafficGenerator)
_trafficGenerator->stopTraffic();
delete _populationGenerator;
delete _trafficGenerator;
if (session->close().wait(1000) != qi::FutureState_FinishedWithValue)
return false;
return true;
}
PeopleEventRegister<T>::PeopleEventRegister( const std::string& name, const std::vector<std::string> keys, const float& frequency, const qi::SessionPtr& session )
: serviceId(0),
p_memory_( session->service("ALMemory")),
session_(session),
isStarted_(false),
isPublishing_(false),
isRecording_(false),
isDumping_(false)
{
publisher_ = boost::make_shared<publisher::BasicPublisher<T> >( name );
//recorder_ = boost::make_shared<recorder::BasicEventRecorder<T> >( name );
converter_ = boost::make_shared<converter::PeopleEventConverter<T> >( name, frequency, session );
converter_->registerCallback( message_actions::PUBLISH, boost::bind(&publisher::BasicPublisher<T>::publish, publisher_, _1) );
//converter_->registerCallback( message_actions::RECORD, boost::bind(&recorder::BasicEventRecorder<T>::write, recorder_, _1) );
//converter_->registerCallback( message_actions::LOG, boost::bind(&recorder::BasicEventRecorder<T>::bufferize, recorder_, _1) );
keys_.resize(keys.size());
size_t i = 0;
for(std::vector<std::string>::const_iterator it = keys.begin(); it != keys.end(); ++it, ++i)
keys_[i] = *it;
name_ = name;
}
MovetoSubscriber::MovetoSubscriber( const std::string& name, const std::string& topic, const qi::SessionPtr& session,
const boost::shared_ptr<tf2_ros::Buffer>& tf2_buffer):
BaseSubscriber( name, topic, session ),
p_motion_( session->service("ALMotion") ),
tf2_buffer_( tf2_buffer )
{}
static void session_close(qi::SessionPtr s, qi::Atomic<int>* counter)
{
s->close();
++(*counter);
}
LifeStatusSubscriber::LifeStatusSubscriber(const std::string& name, const std::string& life_status, const qi::SessionPtr& session):
life_status_(life_status),
BaseSubscriber(name, life_status, session),
p_life_status_(session->service("ALAutonomousLife"))
{}
