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) );
}
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 )
{}
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"))
{}