add services for get/set volume (new version of #97)

CMakeLists.txt

@@ -48,6 +48,8 @@ set(
   src/services/robot_config.cpp
   src/services/set_language.cpp
   src/services/get_language.cpp
+  src/services/set_volume.cpp
+  src/services/get_volume.cpp
   )
 
 set(

CMakeLists_catkin.txt

@@ -11,6 +11,7 @@ find_package(catkin COMPONENTS
   image_transport
   kdl_parser
   naoqi_bridge_msgs
+  nao_interaction_msgs
   naoqi_libqi
   naoqi_libqicore
   robot_state_publisher

src/helpers/driver_helpers.cpp

@@ -223,6 +223,57 @@ std::string& getLanguage( const qi::SessionPtr& session )
   return language;
 }
 
+/** Function that sets volume for robot
+ */
+static std_srvs::Empty& setVolumeLocal( const qi::SessionPtr& session, nao_interaction_msgs::SetAudioMasterVolumeRequest req)
+{
+  static qi::Url robot_url;
+
+  robot_url = session->url();
+
+  std::cout << "Receiving service call of setting volume" << std::endl;
+  qi::AnyObject p_audio_device = session->service("ALAudioDevice");
+  p_audio_device.call<void>("setOutputVolume", req.master_volume.data);
+}
+
+const bool& setVolume( const qi::SessionPtr& session, nao_interaction_msgs::SetAudioMasterVolumeRequest req)
+{
+  try{
+    setVolumeLocal(session, req);
+    return true;
+  }
+  catch(const std::exception& e){
+    return false;
+  }
+}
+
+/** Function that gets volume for robot
+ */
+static int& getVolumeLocal( const qi::SessionPtr& session )
+{
+  static qi::Url robot_url;
+  static int volume;
+
+  robot_url = session->url();
+
+  std::cout << "Receiving service call of getting volume" << std::endl;
+  qi::AnyObject p_audio_device = session->service("ALAudioDevice");
+  volume = p_audio_device.call<int>("getOutputVolume");
+  return volume;
+}
+
+const int& getVolume( const qi::SessionPtr& session)
+{
+  static int volume;
+  try{
+    volume = getVolumeLocal(session);
+    return volume;
+  }
+  catch(const std::exception& e){
+    return volume;
+  }
+}
+
 } // driver
 } // helpers
 } // naoqi

src/helpers/driver_helpers.hpp

@@ -25,6 +25,12 @@
 
 #include <naoqi_bridge_msgs/SetString.h>
 
+#include <nao_interaction_msgs/SetAudioMasterVolume.h>
+
+#include <nao_interaction_msgs/GetAudioMasterVolume.h>
+
+#include <std_srvs/Empty.h>
+
 #include <qi/applicationsession.hpp>
 
 namespace naoqi
@@ -42,6 +48,9 @@ bool& setLanguage( const qi::SessionPtr& session, naoqi_bridge_msgs::SetStringRe
 
 std::string& getLanguage( const qi::SessionPtr& session );
 
+const bool& setVolume( const qi::SessionPtr& session, nao_interaction_msgs::SetAudioMasterVolumeRequest req );
+
+const int& getVolume( const qi::SessionPtr& session );
 } // driver
 } // helpers
 } // naoqi

src/naoqi_driver.cpp

@@ -71,6 +71,8 @@
 #include "services/robot_config.hpp"
 #include "services/set_language.hpp"
 #include "services/get_language.hpp"
+#include "services/set_volume.hpp"
+#include "services/get_volume.hpp"
 
 /*
  * RECORDERS
@@ -893,6 +895,8 @@ void Driver::registerDefaultServices()
   registerService( boost::make_shared<service::RobotConfigService>("get_robot_config", "/naoqi_driver/get_robot_config", sessionPtr_) );
   registerService( boost::make_shared<service::SetLanguageService>("set_language", "/naoqi_driver/set_language", sessionPtr_) );
   registerService( boost::make_shared<service::GetLanguageService>("get_language", "/naoqi_driver/get_language", sessionPtr_) );
+  registerService( boost::make_shared<service::SetVolumeService>("set volume service", "/naoqi_driver/set_master_volume", sessionPtr_) );
+  registerService( boost::make_shared<service::GetVolumeService>("get volume service", "/naoqi_driver/get_master_volume", sessionPtr_) );
 }
 
 std::vector<std::string> Driver::getAvailableConverters()

src/services/get_volume.cpp

@@ -0,0 +1,45 @@
+/*
+ * Copyright 2017 Aldebaran
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include "get_volume.hpp"
+#include "../helpers/driver_helpers.hpp"
+
+namespace naoqi
+{
+namespace service
+{
+
+  GetVolumeService::GetVolumeService( const std::string& name, const std::string& topic, const qi::SessionPtr& session )
+    : name_(name),
+      topic_(topic),
+      session_(session)
+  {}
+
+  void GetVolumeService::reset( ros::NodeHandle& nh )
+  {
+    service_ = nh.advertiseService(topic_, &GetVolumeService::callback, this);
+  }
+
+  bool GetVolumeService::callback( nao_interaction_msgs::GetAudioMasterVolumeRequest& req, nao_interaction_msgs::GetAudioMasterVolumeResponse& resp )
+  {
+    resp.master_volume.data = helpers::driver::getVolume(session_);
+    return true;
+  }
+
+
+}
+}

src/services/get_volume.hpp

@@ -0,0 +1,67 @@
+/*
+ * Copyright 2017 Aldebaran
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+
+#ifndef GET_VOLUME_SERVICE_HPP
+#define GET_VOLUME_SERVICE_HPP
+
+#include <iostream>
+
+#include <ros/node_handle.h>
+#include <ros/service_server.h>
+
+#include <nao_interaction_msgs/GetAudioMasterVolume.h>
+#include <qi/session.hpp>
+
+namespace naoqi
+{
+namespace service
+{
+
+class GetVolumeService
+{
+public:
+  GetVolumeService( const std::string& name, const std::string& topic, const qi::SessionPtr& session );
+
+  ~GetVolumeService(){};
+
+  std::string name() const
+  {
+    return name_;
+  }
+
+  std::string topic() const
+  {
+    return topic_;
+  }
+
+  void reset( ros::NodeHandle& nh );
+
+  bool callback( nao_interaction_msgs::GetAudioMasterVolumeRequest& req, nao_interaction_msgs::GetAudioMasterVolumeResponse& resp );
+
+
+private:
+  const std::string name_;
+  const std::string topic_;
+
+  const qi::SessionPtr& session_;
+  ros::ServiceServer service_;
+};
+
+} // service
+} // naoqi
+#endif

src/services/set_volume.cpp

@@ -0,0 +1,50 @@
+/*
+ * Copyright 2017 Aldebaran
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include "set_volume.hpp"
+#include "../helpers/driver_helpers.hpp"
+
+namespace naoqi
+{
+namespace service
+{
+
+  SetVolumeService::SetVolumeService( const std::string& name, const std::string& topic, const qi::SessionPtr& session )
+    : name_(name),
+      topic_(topic),
+      session_(session)
+  {}
+
+  void SetVolumeService::reset( ros::NodeHandle& nh )
+  {
+    service_ = nh.advertiseService(topic_, &SetVolumeService::callback, this);
+  }
+
+  bool SetVolumeService::callback( nao_interaction_msgs::SetAudioMasterVolumeRequest& req, nao_interaction_msgs::SetAudioMasterVolumeResponse& resp )
+  {
+    if (req.master_volume.data < 0 or req.master_volume.data > 100){
+      return true;
+    }
+    else{
+      helpers::driver::setVolume(session_, req);
+      return true;
+    }
+  }
+
+
+}
+}

src/services/set_volume.hpp

@@ -0,0 +1,67 @@
+/*
+ * Copyright 2017 Aldebaran
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+
+#ifndef SET_VOLUME_SERVICE_HPP
+#define SET_VOLUME_SERVICE_HPP
+
+#include <iostream>
+
+#include <ros/node_handle.h>
+#include <ros/service_server.h>
+
+#include <nao_interaction_msgs/SetAudioMasterVolume.h>
+#include <qi/session.hpp>
+
+namespace naoqi
+{
+namespace service
+{
+
+class SetVolumeService
+{
+public:
+  SetVolumeService( const std::string& name, const std::string& topic, const qi::SessionPtr& session );
+
+  ~SetVolumeService(){};
+
+  std::string name() const
+  {
+    return name_;
+  }
+
+  std::string topic() const
+  {
+    return topic_;
+  }
+
+  void reset( ros::NodeHandle& nh );
+
+  bool callback( nao_interaction_msgs::SetAudioMasterVolumeRequest& req, nao_interaction_msgs::SetAudioMasterVolumeResponse& resp );
+
+
+private:
+  const std::string name_;
+  const std::string topic_;
+
+  const qi::SessionPtr& session_;
+  ros::ServiceServer service_;
+};
+
+} // service
+} // naoqi
+#endif