From 7e88f1e361893b936cc1d9924ea29c9a9be90c2f Mon Sep 17 00:00:00 2001
From: alexCharters <alexCharters45@gmail.com>
Date: Sat, 5 Feb 2022 11:54:22 -0800
Subject: [PATCH] moved audio services from testing to dedicated audio package

---
 src/audio/CMakeLists.txt          | 29 ++++++-------
 src/audio/scripts/AudioServer.py  | 69 +++++++++++++++++++++++++++++++
 src/audio/scripts/audio_client.py | 28 +++++++++++++
 src/audio/srv/audio.srv           |  3 ++
 4 files changed, 115 insertions(+), 14 deletions(-)
 create mode 100755 src/audio/scripts/AudioServer.py
 create mode 100755 src/audio/scripts/audio_client.py
 create mode 100644 src/audio/srv/audio.srv

diff --git a/src/audio/CMakeLists.txt b/src/audio/CMakeLists.txt
index a3580c6..24acade 100644
--- a/src/audio/CMakeLists.txt
+++ b/src/audio/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
+  message_generation
 )
 
 ## System dependencies are found with CMake's conventions
@@ -54,11 +55,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
+add_service_files(
+  FILES
+  audio.srv
+)
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -68,10 +68,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -105,7 +105,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES audio
-#  CATKIN_DEPENDS roscpp rospy std_msgs
+CATKIN_DEPENDS roscpp rospy std_msgs
 #  DEPENDS system_lib
 )
 
@@ -159,10 +159,11 @@ include_directories(
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+catkin_install_python(PROGRAMS
+  scripts/audio_client.py
+  scripts/AudioServer.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark executables for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
diff --git a/src/audio/scripts/AudioServer.py b/src/audio/scripts/AudioServer.py
new file mode 100755
index 0000000..f288a68
--- /dev/null
+++ b/src/audio/scripts/AudioServer.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python
+
+import pyaudio
+import wave
+import rospy
+from testing.srv import audio,audioResponse
+import time as tm
+import os 
+import errno
+
+class AudioServer():
+    
+    def __init__(self):
+	rospy.init_node('AudioServer')
+	self.audio_service = rospy.Service("Audio", audio, self.sendAudio)
+         #self.audio = some audio file
+	print("Ready to respond")
+    	rospy.spin()
+    
+    
+    def getAudio(self, time):
+        form_1 = pyaudio.paInt16 # 16-bit resolution
+	chans = 1 # 1 channel
+	samp_rate = 44100 # 44.1kHz sampling rate
+	chunk = 4096 # 2^12 samples for buffer
+	record_secs = time # seconds to record
+	dev_index = 22 # device index found by p.get_device_info_by_index(ii)
+	try:
+		os.makedirs("/home/usr/recordings/")
+	except OSError as e:
+		if e.errno != errno.EEXIST:
+			raise
+	wav_output_filename = '/home/usr/recordings/'+str(tm.time())+'.wav' # name of .wav file
+
+	audio = pyaudio.PyAudio() # create pyaudio instantiation
+
+	# create pyaudio stream
+	stream = audio.open(format = form_1,rate = samp_rate,channels = chans, \
+                    input_device_index = dev_index,input = True, \
+                    frames_per_buffer=chunk)
+	print("recording")
+	frames = []
+
+	# loop through stream and append audio chunks to frame array
+	for ii in range(0,int((samp_rate/chunk)*record_secs)):
+	    data = stream.read(chunk)
+	    frames.append(data)
+
+	print("finished recording")
+
+	# stop the stream, close it, and terminate the pyaudio instantiation
+	stream.stop_stream()
+	stream.close()
+	audio.terminate()
+
+	# save the audio frames as .wav file
+	wavefile = wave.open(wav_output_filename,'wb')
+	wavefile.setnchannels(chans)
+	wavefile.setsampwidth(audio.get_sample_size(form_1))
+	wavefile.setframerate(samp_rate)
+	wavefile.writeframes(b''.join(frames))
+	wavefile.close()
+	return wav_output_filename
+
+    def sendAudio(self,req):
+	return audioResponse(self.getAudio(req.time))
+	    
+if __name__ == '__main__':
+	audioServer = AudioServer()
diff --git a/src/audio/scripts/audio_client.py b/src/audio/scripts/audio_client.py
new file mode 100755
index 0000000..8803617
--- /dev/null
+++ b/src/audio/scripts/audio_client.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import sys
+import rospy
+import errno
+from testing.srv import audio
+
+def audio_client(time):
+    rospy.wait_for_service('Audio')
+    try:
+        audio_srv = rospy.ServiceProxy('Audio', audio)
+        resp1 = audio_srv(time)
+        return resp1.filePath
+    except rospy.ServiceException as e:
+        print("Service call failed: %s"%e)
+
+def usage():
+    return "%s [time]"%sys.argv[0]
+
+if __name__ == "__main__":
+    if len(sys.argv) == 2:
+        time = float(sys.argv[1])
+    else:
+        print(usage())
+        sys.exit(1)
+    print("%s"%(audio_client(time)))
diff --git a/src/audio/srv/audio.srv b/src/audio/srv/audio.srv
new file mode 100644
index 0000000..76a41c1
--- /dev/null
+++ b/src/audio/srv/audio.srv
@@ -0,0 +1,3 @@
+float32 time
+---
+string filePath