├── .clang-format
├── .gitignore
├── .gitmodules
├── LICENSE
├── README.md
├── audio_utils
├── CMakeLists.txt
├── audio_utils
│ └── __init__.py
├── launch
│ ├── test_beat_detector_node.launch.xml
│ ├── test_capture_node.launch.xml
│ ├── test_playback_node.launch.xml
│ ├── test_python_nodes.launch.xml
│ ├── test_resampling_node.launch.xml
│ └── test_vad_node.launch.xml
├── models
│ ├── SILERO_VAD_LICENSE
│ └── silero_vad.onnx
├── package.xml
├── scripts
│ ├── format_conversion_node.py
│ ├── raw_file_writer_node.py
│ ├── resampling_node.py
│ └── split_channel_node.py
└── src
│ ├── PcmDevices
│ ├── AlsaPcmDevice.cpp
│ ├── AlsaPcmDevice.h
│ ├── PcmDevice.cpp
│ ├── PcmDevice.h
│ ├── PulseAudioPcmDevice.cpp
│ └── PulseAudioPcmDevice.h
│ ├── Utils
│ ├── AlsaException.cpp
│ ├── AlsaException.h
│ ├── PulseAudioException.cpp
│ ├── PulseAudioException.h
│ ├── Semaphore.cpp
│ └── Semaphore.h
│ ├── beat_detector_node.cpp
│ ├── capture_node.cpp
│ ├── playback_node.cpp
│ └── vad_node.cpp
├── audio_utils_msgs
├── CMakeLists.txt
├── msg
│ ├── AudioFrame.msg
│ └── VoiceActivity.msg
└── package.xml
└── requirements.txt
/.clang-format:
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--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
1 | .idea
2 | cmake-build-debug
3 | cmake-build-release
4 | build
5 |
--------------------------------------------------------------------------------
/.gitmodules:
--------------------------------------------------------------------------------
1 | [submodule "audio_utils/src/MusicBeatDetector"]
2 | path = audio_utils/src/MusicBeatDetector
3 | url = https://github.com/introlab/MusicBeatDetector.git
4 |
--------------------------------------------------------------------------------
/LICENSE:
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--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # audio_utils
2 |
3 | ROS2 nodes and utilities for audio streams.
4 |
5 | For ROS1, please see the `ros1` branch.
6 |
7 | Author(s): Marc-Antoine Maheux
8 |
9 | ## Setup (Ubuntu)
10 |
11 | The following subsections explain how to use the library on Ubuntu.
12 |
13 | ### Install Dependencies
14 |
15 | ```bash
16 | sudo apt-get install cmake build-essential gfortran texinfo libasound2-dev libpulse-dev libgfortran-*-dev
17 | ```
18 |
19 | ### Install Python Dependencies
20 |
21 | ```bash
22 | sudo pip install -r requirements.txt
23 | ```
24 |
25 | or
26 |
27 | ```bash
28 | sudo pip3 install -r requirements.txt
29 | ```
30 |
31 | ### Setup Submodules
32 |
33 | ```bash
34 | git submodule update --init --recursive
35 | ```
36 |
37 | # Nodes
38 |
39 | ## `capture_node`
40 |
41 | This node captures the sound from an ALSA or PulseAudio device and publishes it to a topic.
42 |
43 | ### Parameters
44 |
45 | - `backend` (string): The backend to use (`alsa` or `pulse_audio`).
46 | The default value is `alsa`.
47 | - `device` (string): The device to capture (ex: `hw:CARD=1,DEV=0` or `default` for ALSA, or
48 | `alsa_input.usb-IntRoLab_16SoundsUSB_Audio_2.0-00.multichannel-input` for PulseAudio).
49 | The default value is `default`.
50 | - `format` (string): The audio format (
51 | see [audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)).
52 | The default value is `signed_16`.
53 | - `channel_count` (int): The device channel count. The default value is `1`.
54 | - `sampling_frequency` (int): The device sampling frequency. The default value is `16000`.
55 | - `frame_sample_count` (int): The number of samples in each frame. The default value is `1024`.
56 | - `merge` (bool): Indicate to merge the channels or not. The default value is `false`.
57 | - `gain` (double): The gain to apply. The default value is `1.0`.
58 | - `latency_us` (int): The capture latency in microseconds. The default value is `64000`.
59 | - `channel_map` (Array of string): The PulseAudio channel mapping. If empty or omitted, the default mapping is used.
60 | This parameter must be set only with the PulseAudio backend. The default value is `[]`.
61 | - `queue_size` (int): The publisher queue size. The default value is `1`.
62 |
63 | ### Published Topics
64 |
65 | - `audio_out` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The
66 | captured sound.
67 |
68 | ## `playback_node`
69 |
70 | This node captures the sound from a topic and plays it to an ALSA or PulseAudio device.
71 |
72 | ### Parameters
73 |
74 | - `backend` (string): The backend to use (`alsa` or `pulse_audio`).
75 | The default value is `alsa`.
76 | - `device` (string): The device to capture (ex: `hw:CARD=1,DEV=0` or `default` for ALSA, or
77 | `alsa_input.usb-IntRoLab_16SoundsUSB_Audio_2.0-00.multichannel-input` for PulseAudio).
78 | The default value is `default`.
79 | - `format` (string): The audio format (
80 | see [audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)).
81 | The default value is `signed_16`.
82 | - `channel_count` (int): The device channel count. The default value is `1`.
83 | - `sampling_frequency` (int): The device sampling frequency. The default value is `16000`.
84 | - `frame_sample_count` (int): The number of samples in each frame. The default value is `1024`.
85 | - `latency_us` (int): The capture latency in microseconds. The default value is `64000`.
86 | - `channel_map` (Array of string): The PulseAudio channel mapping. If empty or omitted, the default mapping is used.
87 | This parameter must be set only with the PulseAudio backend. The default value is `[]`.
88 | - `queue_size` (int): The publisher queue size. The default value is `1`.
89 |
90 | ### Subscribed Topics
91 |
92 | - `audio_in` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The sound
93 | to play.
94 |
95 | ## `beat_detector_node`
96 |
97 | This node estimates the song tempo and detects if the beat is in the current frame.
98 |
99 | ### Parameters
100 |
101 | - `sampling_frequency` (int): The device sampling frequency. The default value is `44100`.
102 | - `frame_sample_count` (int): The number of samples in each analysed frame. It must be a multiple of `oss_fft_window_size`.
103 | The default value is `128`.
104 | - `oss_fft_window_size` (int): The onset strength signal window size. It must be greater than or equal to `frame_sample_count`.
105 | The default value is `1024`.
106 | - `flux_hamming_size` (int): The flux hamming window size to calculate the onset strength signal. The default value is `15`.
107 | - `oss_bpm_window_size` (int): The onset strength signal window size to calculate the BPM value. The default value is `1024`.
108 | - `min_bpm` (double): The minimum valid BPM value. The default value is `50`.
109 | - `max_bpm` (double): The maximum valid BPM value. The default value is `180`.
110 | - `bpm_candidate_count` (int): The number of cross-correlations to perform to find the best BPM. The default value is `10`.
111 |
112 | ### Subscribed Topics
113 |
114 | - `audio_in` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The sound
115 | to analyze. The channel count must be 1.
116 |
117 | ### Published Topics
118 |
119 | - `bpm` (std_msgs/Float32): The tempo in bpm (beats per minute) for each frame.
120 | - `beat` (std_msgs/Bool): Indicate if the beat is in the current frame.
121 |
122 | ## `vad_node`
123 |
124 | This node performs voice activity detection with [Silero VAD](https://github.com/snakers4/silero-vad).
125 | The [models](models) folder contains the model trained by [Silero VAD](https://github.com/snakers4/silero-vad). The license of the model is [MIT](models/SILERO_VAD_LICENSE).
126 |
127 | ### Parameters
128 |
129 | - `silence_to_voice_threshold` (double): The threshold to detect voice activity when silence was previously detected.
130 | The default value is `0.5`.
131 | - `voice_to_silence_threshold` (double): The threshold to detect silence when voice activity was previously detected.
132 | It must be lower than `silence_to_voice_threshold`. The default value is `0.4`.
133 | - `min_silence_duration_ms` (double): The minimum silence duration in ms.
134 | The default value is `500`.
135 |
136 | ### Subscribed Topics
137 |
138 | - `audio_in` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The sound
139 | to analyze. The channel count must be 1. The samply frequency must be 16000 Hz. The frame sample count must be a multiple of 512.
140 |
141 | ### Published Topics
142 |
143 | - `voice_activity` ([audio_utils_msgs/VoiceActivity](audio_utils_msgs/msg/VoiceActivity.msg)) The voice activity detection result.
144 |
145 | ## `format_conversion_node.py`
146 |
147 | This node converts the format of an audio topic.
148 |
149 | ### Parameters
150 |
151 | - `input_format` (string): The input audio format (
152 | see [audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)).
153 | - `output_format` (string): The output audio format (
154 | see [audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)).
155 |
156 | ### Subscribed Topics
157 |
158 | - `audio_in` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The sound
159 | topic to convert.
160 |
161 | ### Published Topics
162 |
163 | - `audio_out` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The
164 | converted sound.
165 |
166 | ## `resampling_node.py`
167 |
168 | This node resamples an audio topic.
169 |
170 | ### Parameters
171 |
172 | - `input_format` (string): The input audio format (
173 | see [audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)).
174 | - `output_format` (string): The output audio format (
175 | see [audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)).
176 | - `channel_count` (int): The device channel count.
177 | - `input_sampling_frequency` (int): The input sampling frequency.
178 | - `output_sampling_frequency` (int): The output sampling frequency.
179 | - `input_frame_sample_count` (int): The number of samples in each frame of the input.
180 | - `dynamic_input_resampling` (bool: default is `false`): If `true`, always adjust the input sampling informations (
181 | format, sampling frequency and frame sample count) to the sampling informations of the reveiced frames, dynamically.
182 | In this mode, `input_format`, `input_sampling_frequency` and `input_frame_sample_count` are not required, but they can
183 | be used to save a recomputation if the starting input sampling informations are known.
184 |
185 | ### Subscribed Topics
186 |
187 | - `audio_in` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The sound
188 | topic to resample.
189 |
190 | ### Published Topics
191 |
192 | - `audio_out` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The
193 | resampled sound.
194 |
195 | ## `split_channel_node.py`
196 |
197 | This node split a multichannel audio topic into several mono audio topics.
198 |
199 | ### Parameters
200 |
201 | - `input_format` (string): The input audio format (
202 | see [audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)).
203 | - `output_format` (string): The output audio format (
204 | see [audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)).
205 | - `channel_count` (int): The device channel count.
206 |
207 | ### Subscribed Topics
208 |
209 | - `audio_in` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The sound
210 | topic to split.
211 |
212 | ### Published Topics
213 |
214 | - `audio_out_0` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The
215 | first channel sound.
216 | - `audio_out_1` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The
217 | second channel sound.
218 | - ...
219 |
220 | ## `raw_file_writer_node.py`
221 |
222 | This node writes the raw sound data to a file.
223 |
224 | ### Parameters
225 |
226 | - `output_path` (string): The output file path.
227 |
228 | ### Subscribed Topics
229 |
230 | - `audio_in` ([audio_utils_msgs/AudioFrame](audio_utils_msgs/msg/AudioFrame.msg)) The sound
231 | topic to write.
232 |
233 | # License
234 |
235 | * [GPL-3.0 License ](LICENSE)
236 |
237 | # Sponsor
238 |
239 | 
240 |
241 | [IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab](https://introlab.3it.usherbrooke.ca)
242 |
--------------------------------------------------------------------------------
/audio_utils/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.5)
2 | project(audio_utils)
3 |
4 |
5 | # Default to C99
6 | if(NOT CMAKE_C_STANDARD)
7 | set(CMAKE_C_STANDARD 99)
8 | endif()
9 |
10 | # Default to C++17
11 | if(NOT CMAKE_CXX_STANDARD)
12 | set(CMAKE_CXX_STANDARD 17)
13 | endif()
14 |
15 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
16 | add_compile_options(-Wall -Wextra -Wpedantic)
17 | endif()
18 |
19 | set(MUSIC_BEAT_DETECTOR_ENABLE_TESTS OFF CACHE BOOL "")
20 |
21 | # Find dependencies
22 | find_package(ament_cmake REQUIRED)
23 | find_package(rclcpp REQUIRED)
24 | find_package(rclpy REQUIRED)
25 | find_package(audio_utils_msgs REQUIRED)
26 | find_package(ament_index_cpp REQUIRED)
27 | find_package(rosidl_default_generators REQUIRED)
28 |
29 | ## System dependencies are found with CMake's conventions
30 |
31 | # ******* ONNX Runtime dependency *******
32 | if (EXISTS "/etc/nv_tegra_release")
33 | if (NOT EXISTS "/usr/local/lib/libonnxruntime.so")
34 | message(FATAL_ERROR "The ONNX Runtime is not installed.")
35 | endif()
36 | include_directories(SYSTEM /usr/local/include/onnxruntime/core/session)
37 | set(ONNXRUNTIME_LIBRARIES "/usr/local/lib/libonnxruntime.so")
38 | elseif(${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "x86_64")
39 | set(ONNXRUNTIME_NAME "onnxruntime-linux-x64-1.15.1")
40 | elseif(${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "aarch64")
41 | set(ONNXRUNTIME_NAME "onnxruntime-linux-aarch64-1.15.1")
42 | else()
43 | message(FATAL_ERROR "The CPU architecture is not supported.")
44 | endif()
45 |
46 | if (ONNXRUNTIME_NAME)
47 | if (NOT EXISTS ${CMAKE_BINARY_DIR}/${ONNXRUNTIME_NAME}.tgz)
48 | file(DOWNLOAD https://github.com/microsoft/onnxruntime/releases/download/v1.15.1/${ONNXRUNTIME_NAME}.tgz ${CMAKE_BINARY_DIR}/${ONNXRUNTIME_NAME}.tgz SHOW_PROGRESS)
49 | endif()
50 | if (NOT EXISTS ${CMAKE_BINARY_DIR}/${ONNXRUNTIME_NAME}/VERSION_NUMBER)
51 | execute_process(COMMAND tar -xvf ${ONNXRUNTIME_NAME}.tgz WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
52 | endif()
53 | include_directories(SYSTEM ${CMAKE_BINARY_DIR}/${ONNXRUNTIME_NAME}/include)
54 | set(ONNXRUNTIME_LIBRARIES ${CMAKE_BINARY_DIR}/${ONNXRUNTIME_NAME}/lib/libonnxruntime.so)
55 |
56 | install(DIRECTORY ${CMAKE_BINARY_DIR}/${ONNXRUNTIME_NAME}/lib/ DESTINATION lib)
57 | endif()
58 |
59 | add_subdirectory(src/MusicBeatDetector)
60 |
61 | include_directories(SYSTEM
62 | src/MusicBeatDetector/MusicBeatDetector/include
63 | src/MusicBeatDetector/3rdParty/fftw/build/include
64 | src/MusicBeatDetector/3rdParty/armadillo-code/include
65 | src/MusicBeatDetector/3rdParty/OpenBLAS
66 | )
67 |
68 | install(DIRECTORY src/MusicBeatDetector/MusicBeatDetector/include/ DESTINATION include)
69 | install(DIRECTORY src/MusicBeatDetector/3rdParty/fftw/build/include/ DESTINATION include)
70 | install(DIRECTORY src/MusicBeatDetector/3rdParty/armadillo-code/include/ DESTINATION include)
71 | install(DIRECTORY src/MusicBeatDetector/3rdParty/OpenBLAS/ DESTINATION include)
72 | install(TARGETS MusicBeatDetector DESTINATION lib)
73 |
74 | # C++ Nodes
75 | add_executable(beat_detector_node src/beat_detector_node.cpp)
76 | ament_target_dependencies(beat_detector_node rclcpp std_msgs audio_utils_msgs)
77 | target_link_libraries(beat_detector_node MusicBeatDetector)
78 | install(TARGETS beat_detector_node DESTINATION lib/${PROJECT_NAME})
79 |
80 |
81 | add_executable(capture_node src/capture_node.cpp
82 | src/PcmDevices/PcmDevice.cpp
83 | src/PcmDevices/AlsaPcmDevice.cpp
84 | src/PcmDevices/PulseAudioPcmDevice.cpp
85 | src/Utils/AlsaException.cpp
86 | src/Utils/PulseAudioException.cpp
87 | )
88 | ament_target_dependencies(capture_node rclcpp std_msgs audio_utils_msgs)
89 | target_link_libraries(capture_node MusicBeatDetector asound pulse-simple pulse)
90 | install(TARGETS capture_node DESTINATION lib/${PROJECT_NAME})
91 |
92 |
93 | add_executable(playback_node src/playback_node.cpp
94 | src/PcmDevices/PcmDevice.cpp
95 | src/PcmDevices/AlsaPcmDevice.cpp
96 | src/PcmDevices/PulseAudioPcmDevice.cpp
97 | src/Utils/AlsaException.cpp
98 | src/Utils/PulseAudioException.cpp
99 | src/Utils/Semaphore.cpp
100 | )
101 | ament_target_dependencies(playback_node rclcpp std_msgs audio_utils_msgs)
102 | target_link_libraries(playback_node MusicBeatDetector asound pulse-simple pulse)
103 | install(TARGETS playback_node DESTINATION lib/${PROJECT_NAME})
104 |
105 |
106 | add_executable(vad_node src/vad_node.cpp)
107 | ament_target_dependencies(vad_node rclcpp std_msgs audio_utils_msgs ament_index_cpp)
108 | target_link_libraries(vad_node MusicBeatDetector ${ONNXRUNTIME_LIBRARIES})
109 | install(TARGETS vad_node DESTINATION lib/${PROJECT_NAME})
110 | install(DIRECTORY models DESTINATION share/${PROJECT_NAME})
111 |
112 |
113 | # Python Nodes
114 | ament_python_install_package(${PROJECT_NAME})
115 |
116 | install(PROGRAMS
117 | scripts/format_conversion_node.py
118 | scripts/raw_file_writer_node.py
119 | scripts/resampling_node.py
120 | scripts/split_channel_node.py
121 | DESTINATION lib/${PROJECT_NAME}
122 | )
123 |
124 | # Launch files
125 | install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
126 |
127 | # Exported libs
128 | ament_export_include_directories(
129 | include
130 | ${CMAKE_CURRENT_SOURCE_DIR}/src/MusicBeatDetector/MusicBeatDetector/include
131 | ${CMAKE_CURRENT_SOURCE_DIR}/src/MusicBeatDetector/3rdParty/fftw/build/include
132 | ${CMAKE_CURRENT_SOURCE_DIR}/src/MusicBeatDetector/3rdParty/armadillo-code/include
133 | ${CMAKE_CURRENT_SOURCE_DIR}/src/MusicBeatDetector/3rdParty/OpenBLAS
134 | )
135 | ament_export_libraries(
136 | MusicBeatDetector
137 | MusicBeatDetector_openblas
138 | MusicBeatDetector_fftw
139 | )
140 |
141 | ament_export_dependencies(audio_utils_msgs)
142 |
143 | ament_package()
144 |
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/audio_utils/audio_utils/__init__.py:
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1 | import numpy as np
2 |
3 | from audio_utils_msgs.msg import AudioFrame
4 |
5 |
6 | def get_format_information(format):
7 | if format == 'signed_8':
8 | return np.int8, 0, -np.iinfo(np.int8).min
9 | elif format == 'signed_16':
10 | return np.int16, 0, -np.iinfo(np.int16).min
11 | elif format == 'signed_24':
12 | raise NotImplementedError('signed_24 format is not supported')
13 | elif format == 'signed_padded_24':
14 | return np.int16, 0, 2**23
15 | elif format == 'signed_32':
16 | return np.int32, 0, -np.iinfo(np.int32).min
17 |
18 | elif format == 'unsigned_8':
19 | offset = np.iinfo(np.uint8).max // 2
20 | return np.uint8, -offset, offset
21 | elif format == 'unsigned_16':
22 | offset = np.iinfo(np.uint16).max // 2
23 | return np.uint16, -offset, offset
24 | elif format == 'unsigned_24':
25 | raise NotImplementedError('unsigned_24 format is not supported')
26 | elif format == 'unsigned_padded_24':
27 | offset = (2**24 - 1) // 2
28 | return np.uint32, -offset, offset
29 | elif format == 'unsigned_32':
30 | offset = np.iinfo(np.uint32).max // 2
31 | return np.uint32, -offset, offset
32 |
33 | elif format == 'float':
34 | return np.float32, 0, 1
35 | elif format == 'double':
36 | return np.float64, 0, 1
37 | else:
38 | raise ValueError('Invalid format ({})'.format(format))
39 |
40 |
41 | def convert_audio_data_to_numpy_frames(format_information, channel_count, data):
42 | dtype, offset, scale = format_information
43 | frame = (np.frombuffer(data, dtype=dtype).astype(np.float64) + offset) / scale
44 |
45 | if channel_count == 1:
46 | return [frame]
47 | else:
48 | return _split_frame_by_channels(channel_count, frame)
49 |
50 |
51 | def _split_frame_by_channels(channel_count, frame):
52 | return [frame[i::channel_count] for i in range(channel_count)]
53 |
54 |
55 | def convert_numpy_frames_to_audio_data(format_information, frames):
56 | dtype, offset, scale = format_information
57 |
58 | if dtype == np.float32 or dtype == np.float64:
59 | min_value = -1.0
60 | max_value = 1.0
61 | else:
62 | min_value = np.iinfo(dtype).min
63 | max_value = np.iinfo(dtype).max
64 |
65 | frame = _merge_frames(frames) * scale - offset
66 | frame = np.clip(frame, a_min=min_value, a_max=max_value)
67 | return frame.astype(dtype).tobytes()
68 |
69 |
70 | def _merge_frames(frames):
71 | frame = np.zeros(frames[0].shape[0] * len(frames), dtype=np.float64)
72 | for i in range(len(frames)):
73 | frame[i::len(frames)] = frames[i]
74 | return frame
75 |
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/audio_utils/models/SILERO_VAD_LICENSE:
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1 | MIT License
2 |
3 | Copyright (c) 2020-present Silero Team
4 |
5 | Permission is hereby granted, free of charge, to any person obtaining a copy
6 | of this software and associated documentation files (the "Software"), to deal
7 | in the Software without restriction, including without limitation the rights
8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 |
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 |
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 |
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/audio_utils/models/silero_vad.onnx:
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/audio_utils/package.xml:
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1 |
2 |
3 |
4 | audio_utils
5 | 0.0.0
6 | The audio_utils package
7 | Marc-Antoine Maheux
8 | GPL-3.0 license
9 |
10 | ament_cmake
11 |
12 | rclcpp
13 | rclpy
14 | ament_index_cpp
15 |
16 | audio_utils_msgs
17 |
18 | ros2launch
19 |
20 | ament_lint_auto
21 | ament_lint_common
22 |
23 |
24 | ament_cmake
25 |
26 |
27 |
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/audio_utils/scripts/format_conversion_node.py:
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1 | #!/usr/bin/env python3
2 |
3 | import rclpy
4 | import rclpy.node
5 |
6 | from audio_utils_msgs.msg import AudioFrame
7 | from audio_utils import get_format_information, convert_audio_data_to_numpy_frames, convert_numpy_frames_to_audio_data
8 |
9 |
10 | class FormatConversionNode(rclpy.node.Node):
11 | def __init__(self):
12 | super().__init__('format_conversion_node')
13 |
14 | self._input_format = self.declare_parameter('input_format', '').get_parameter_value().string_value
15 | self._output_format = self.declare_parameter('output_format', '').get_parameter_value().string_value
16 |
17 | self._input_format_information = get_format_information(self._input_format)
18 | self._output_format_information = get_format_information(self._output_format)
19 |
20 | self._audio_frame_msg = AudioFrame()
21 | self._audio_pub = self.create_publisher(AudioFrame, 'audio_out', 10)
22 | self._audio_sub = self.create_subscription(AudioFrame, 'audio_in', self._audio_cb, 10)
23 |
24 | def _audio_cb(self, msg):
25 | if msg.format != self._input_format:
26 | self.get_logger().error(
27 | f'Invalid input format (msg.format={msg.format}, param.input_format={self._input_format})')
28 | return
29 |
30 | frames = convert_audio_data_to_numpy_frames(self._input_format_information, msg.channel_count, msg.data)
31 | data = convert_numpy_frames_to_audio_data(self._output_format_information, frames)
32 |
33 | self._audio_frame_msg.header = msg.header
34 | self._audio_frame_msg.format = self._output_format
35 | self._audio_frame_msg.channel_count = msg.channel_count
36 | self._audio_frame_msg.sampling_frequency = msg.sampling_frequency
37 | self._audio_frame_msg.frame_sample_count = msg.frame_sample_count
38 | self._audio_frame_msg.data = data
39 |
40 | self._audio_pub.publish(self._audio_frame_msg)
41 |
42 | def run(self):
43 | rclpy.spin(self)
44 |
45 |
46 | def main():
47 | rclpy.init()
48 | format_conversion_node = FormatConversionNode()
49 |
50 | try:
51 | format_conversion_node.run()
52 | except KeyboardInterrupt:
53 | pass
54 | finally:
55 | format_conversion_node.destroy_node()
56 | if rclpy.ok():
57 | rclpy.shutdown()
58 |
59 |
60 | if __name__ == '__main__':
61 | main()
62 |
--------------------------------------------------------------------------------
/audio_utils/scripts/raw_file_writer_node.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python3
2 |
3 | import rclpy
4 | import rclpy.node
5 |
6 | from audio_utils_msgs.msg import AudioFrame
7 |
8 |
9 | class RawFileWriterNode(rclpy.node.Node):
10 | def __init__(self):
11 | super().__init__('raw_file_writer_node')
12 |
13 | self._output_path = self.declare_parameter('output_path', '').get_parameter_value().string_value
14 |
15 | self._file_descriptor = None
16 | self._audio_sub = self.create_subscription(AudioFrame, 'audio_in', self._audio_cb, 10)
17 |
18 | def _audio_cb(self, msg):
19 | if self._file_descriptor is None or self._file_descriptor.closed:
20 | return
21 | self._file_descriptor.write(msg.data)
22 |
23 | def run(self):
24 | with open(self._output_path, 'wb') as self._file_descriptor:
25 | rclpy.spin(self)
26 |
27 |
28 | def main():
29 | rclpy.init()
30 | raw_file_writer_node = RawFileWriterNode()
31 |
32 | try:
33 | raw_file_writer_node.run()
34 | except KeyboardInterrupt:
35 | pass
36 | finally:
37 | raw_file_writer_node.destroy_node()
38 | if rclpy.ok():
39 | rclpy.shutdown()
40 |
41 |
42 | if __name__ == '__main__':
43 | main()
44 |
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/audio_utils/scripts/resampling_node.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python3
2 |
3 | import numpy as np
4 | import scipy.signal
5 |
6 | import rclpy
7 | import rclpy.node
8 | import rclpy.parameter
9 |
10 | from audio_utils_msgs.msg import AudioFrame
11 | from audio_utils import get_format_information, convert_audio_data_to_numpy_frames, convert_numpy_frames_to_audio_data
12 | from abc import ABC, abstractmethod
13 |
14 |
15 | class FrameInfo:
16 | def __init__(self, format: str, sampling_frequency: int, frame_sample_count: int, channel_count: int) -> None:
17 | self.format = format
18 | self.sampling_frequency = sampling_frequency
19 | self.format_information = get_format_information(format)
20 | self.frame_sample_count = frame_sample_count
21 | self.step = frame_sample_count // 2
22 | self.channel_count = channel_count
23 |
24 | @classmethod
25 | def from_audio_frame(cls, audio_frame: AudioFrame) -> 'FrameInfo':
26 | return cls(audio_frame.format, audio_frame.sampling_frequency, audio_frame.frame_sample_count, audio_frame.channel_count)
27 |
28 | def __eq__(self, other: object) -> bool:
29 | return (
30 | isinstance(other, FrameInfo) and
31 | self.format == other.format and
32 | self.sampling_frequency == other.sampling_frequency and
33 | self.frame_sample_count == other.frame_sample_count and
34 | self.channel_count == other.channel_count
35 | )
36 |
37 |
38 | class FrameConverter:
39 | def __init__(self, format: str, sampling_frequency: int, frame_sample_count: int, channel_count: int) -> None:
40 | self.frame_info = FrameInfo(
41 | format, sampling_frequency, frame_sample_count, channel_count)
42 | self.window = np.sqrt(scipy.signal.windows.hann(frame_sample_count))
43 | self.buffer = np.zeros(
44 | (channel_count, int(self.frame_info.frame_sample_count * 3 / 2)))
45 |
46 |
47 | class InputFrameConverter(FrameConverter):
48 | def __init__(self, format: str, sampling_frequency: int, frame_sample_count: int, channel_count: int) -> None:
49 | super().__init__(format, sampling_frequency, frame_sample_count, channel_count)
50 |
51 | @classmethod
52 | def from_input_info(cls, input_frame_info: FrameInfo) -> 'InputFrameConverter':
53 | return cls(input_frame_info.format, input_frame_info.sampling_frequency, input_frame_info.frame_sample_count, input_frame_info.channel_count)
54 |
55 |
56 | class OutputFrameConverter(FrameConverter):
57 | def __init__(self, format: str, sampling_frequency: int, input_frame_info: FrameInfo) -> None:
58 | super().__init__(
59 | format,
60 | sampling_frequency,
61 | int(input_frame_info.frame_sample_count /
62 | input_frame_info.sampling_frequency * sampling_frequency),
63 | input_frame_info.channel_count
64 | )
65 |
66 | @classmethod
67 | def from_output_info(cls, output_frame_info: FrameInfo, input_frame_info: FrameInfo) -> 'OutputFrameConverter':
68 | return cls(output_frame_info.format, output_frame_info.sampling_frequency, input_frame_info)
69 |
70 |
71 | class Resampler:
72 | def __init__(self, node: rclpy.node.Node, input_frame_converter: InputFrameConverter, output_frame_converter: OutputFrameConverter) -> None:
73 | self._input_frame_converter: InputFrameConverter = input_frame_converter
74 | self._output_frame_converter: OutputFrameConverter = output_frame_converter
75 |
76 | self._node = node
77 |
78 | self._set_rclpy_input_parameters(
79 | self._input_frame_converter.frame_info)
80 |
81 | self._audio_frame_msg = self._create_initialiazed_audio_frame_msg(
82 | self._output_frame_converter.frame_info)
83 |
84 | def resample(self, frame: AudioFrame) -> AudioFrame:
85 | input_frames = convert_audio_data_to_numpy_frames(
86 | self._input_frame_converter.frame_info.format_information,
87 | self._input_frame_converter.frame_info.channel_count,
88 | frame.data
89 | )
90 | output_frames = [
91 | self._resample_frame(input_frames[i], i) for i in range(
92 | self._input_frame_converter.frame_info.channel_count
93 | )
94 | ]
95 |
96 | self._audio_frame_msg.header = frame.header
97 | self._audio_frame_msg.data = convert_numpy_frames_to_audio_data(
98 | self._output_frame_converter.frame_info.format_information,
99 | output_frames
100 | )
101 |
102 | return self._audio_frame_msg
103 |
104 | @staticmethod
105 | def _create_initialiazed_audio_frame_msg(output_frame_info: FrameInfo) -> AudioFrame:
106 | audio_frame_msg = AudioFrame()
107 | audio_frame_msg.format = output_frame_info.format
108 | audio_frame_msg.channel_count = output_frame_info.channel_count
109 | audio_frame_msg.sampling_frequency = output_frame_info.sampling_frequency
110 | audio_frame_msg.frame_sample_count = output_frame_info.frame_sample_count
111 | return audio_frame_msg
112 |
113 | def _resample_frame(self, input_frame, i):
114 | self._input_frame_converter.buffer[i,
115 | self._input_frame_converter.frame_info.step:] = input_frame
116 |
117 | input_window1 = self._input_frame_converter.buffer[i,
118 | :self._input_frame_converter.frame_info.frame_sample_count] * self._input_frame_converter.window
119 | input_window2 = self._input_frame_converter.buffer[i,
120 | self._input_frame_converter.frame_info.step:] * self._input_frame_converter.window
121 |
122 | output_window1 = scipy.signal.resample(
123 | input_window1, self._output_frame_converter.frame_info.frame_sample_count) * self._output_frame_converter.window
124 | output_window2 = scipy.signal.resample(
125 | input_window2, self._output_frame_converter.frame_info.frame_sample_count) * self._output_frame_converter.window
126 |
127 | self._output_frame_converter.buffer[i,
128 | self._output_frame_converter.frame_info.step:] = 0
129 | self._output_frame_converter.buffer[i,
130 | :self._output_frame_converter.frame_info.frame_sample_count] += output_window1
131 | self._output_frame_converter.buffer[i,
132 | self._output_frame_converter.frame_info.step:] += output_window2
133 |
134 | self._input_frame_converter.buffer[i] = np.roll(
135 | self._input_frame_converter.buffer[i], self._input_frame_converter.frame_info.step)
136 | self._output_frame_converter.buffer[i] = np.roll(
137 | self._output_frame_converter.buffer[i], self._output_frame_converter.frame_info.step)
138 |
139 | return self._output_frame_converter.buffer[i, self._output_frame_converter.frame_info.step:]
140 |
141 | def is_same_input_frame_info(self, new_input_info: FrameInfo) -> bool:
142 | return self._input_frame_converter.frame_info == new_input_info
143 |
144 | @property
145 | def input_frame_info(self) -> FrameInfo:
146 | return self._input_frame_converter.frame_info
147 |
148 | def update_input_frame_info(self, new_input_info: FrameInfo) -> None:
149 | self._input_frame_converter = InputFrameConverter.from_input_info(
150 | new_input_info)
151 | self._output_frame_converter = OutputFrameConverter.from_output_info(
152 | self._output_frame_converter.frame_info, new_input_info)
153 |
154 | self._set_rclpy_input_parameters(new_input_info)
155 |
156 | self._audio_frame_msg = self._create_initialiazed_audio_frame_msg(
157 | self._output_frame_converter.frame_info)
158 |
159 | def _set_rclpy_input_parameters(self, new_input_info: FrameInfo) -> None:
160 | self._node.set_parameters([
161 | rclpy.parameter.Parameter('input_format', rclpy.Parameter.Type.STRING, new_input_info.format),
162 | rclpy.parameter.Parameter('input_sampling_frequency', rclpy.Parameter.Type.INTEGER, new_input_info.sampling_frequency),
163 | rclpy.parameter.Parameter('input_frame_sample_count', rclpy.Parameter.Type.INTEGER, new_input_info.frame_sample_count),
164 | ])
165 |
166 |
167 | class OnCallbackStrategy(ABC):
168 | def register_node(self, node: rclpy.node.Node) -> None:
169 | self._node = node
170 |
171 | self._node.declare_parameter('input_format', '')
172 | self._node.declare_parameter('input_sampling_frequency', 0)
173 | self._node.declare_parameter('input_frame_sample_count', 0)
174 | self._node.declare_parameter('channel_count', 1)
175 |
176 | self._node.declare_parameter('output_format', '')
177 | self._node.declare_parameter('output_sampling_frequency', 0)
178 |
179 | def _validate_node_registered(self) -> None:
180 | if not hasattr(self, '_node'):
181 | raise ValueError(f"Node not registered with strategy {self.__class__.__name__}")
182 |
183 | @abstractmethod
184 | def make_initial_input_frame_converter(self) -> InputFrameConverter: ...
185 |
186 | @abstractmethod
187 | def make_initial_output_frame_converter(
188 | self, input_frame_info: FrameInfo) -> OutputFrameConverter: ...
189 |
190 | @abstractmethod
191 | def audio_cb(self, msg: AudioFrame, resampler: Resampler,
192 | publisher: rclpy.node.Publisher) -> None: ...
193 |
194 |
195 | class StaticResamplingOnCallbackStrategy(OnCallbackStrategy):
196 |
197 | def make_initial_input_frame_converter(self) -> InputFrameConverter:
198 | self._validate_node_registered()
199 | return InputFrameConverter(
200 | format=self._node.get_parameter('input_format').get_parameter_value().string_value,
201 | sampling_frequency=self._node.get_parameter('input_sampling_frequency').get_parameter_value().integer_value,
202 | frame_sample_count=self._node.get_parameter('input_frame_sample_count').get_parameter_value().integer_value,
203 | channel_count=self._node.get_parameter('channel_count').get_parameter_value().integer_value,
204 | )
205 |
206 | def make_initial_output_frame_converter(self, input_frame_info: FrameInfo) -> OutputFrameConverter:
207 | self._validate_node_registered()
208 | return OutputFrameConverter(
209 | format=self._node.get_parameter('output_format').get_parameter_value().string_value,
210 | sampling_frequency=self._node.get_parameter('output_sampling_frequency').get_parameter_value().integer_value,
211 | input_frame_info=input_frame_info,
212 | )
213 |
214 | def audio_cb(self, msg: AudioFrame, resampler: Resampler, publisher: rclpy.node.Publisher) -> None:
215 | self._validate_node_registered()
216 | # We don't support changing the input frame info dynamically
217 | if not resampler.is_same_input_frame_info(FrameInfo.from_audio_frame(msg)):
218 | input_param = resampler.input_frame_info
219 | self._node.get_logger().error(
220 | f"Invalid frame (msg.format={msg.format}, input_param.format={input_param.format}, "
221 | f"msg.channel_count={msg.channel_count}, input_param.channel_count={input_param.channel_count}, "
222 | f"msg.sampling_frequency={msg.sampling_frequency}, input_param.sampling_frequency={input_param.sampling_frequency}, "
223 | f"msg.frame_sample_count={msg.frame_sample_count}, input_param.frame_sample_count={input_param.frame_sample_count})"
224 | )
225 | return
226 |
227 | publisher.publish(resampler.resample(msg))
228 |
229 |
230 | class DynamicResamplingOnCallbackStrategy(OnCallbackStrategy):
231 | def register_node(self, node: rclpy.node.Node) -> None:
232 | super().register_node(node)
233 |
234 | self._node.set_parameters([
235 | rclpy.parameter.Parameter('input_format', rclpy.Parameter.Type.STRING, 'signed_16'),
236 | rclpy.parameter.Parameter('input_sampling_frequency', rclpy.Parameter.Type.INTEGER, 44100),
237 | rclpy.parameter.Parameter('input_frame_sample_count', rclpy.Parameter.Type.INTEGER, 480),
238 | rclpy.parameter.Parameter('channel_count', rclpy.Parameter.Type.INTEGER, 1),
239 | ])
240 |
241 | def make_initial_input_frame_converter(self) -> InputFrameConverter:
242 | self._validate_node_registered()
243 | # Default are valid, they can be set to choose the starting values, or they will adjust when the first frame is received
244 | return InputFrameConverter(
245 | format=self._node.get_parameter('input_format').get_parameter_value().string_value,
246 | sampling_frequency=self._node.get_parameter('input_sampling_frequency').get_parameter_value().integer_value,
247 | frame_sample_count=self._node.get_parameter('input_frame_sample_count').get_parameter_value().integer_value,
248 | channel_count=self._node.get_parameter('channel_count').get_parameter_value().integer_value,
249 | )
250 |
251 | def make_initial_output_frame_converter(self, input_frame_info: FrameInfo) -> OutputFrameConverter:
252 | self._validate_node_registered()
253 | return OutputFrameConverter(
254 | format=self._node.get_parameter('output_format').get_parameter_value().string_value,
255 | sampling_frequency=self._node.get_parameter('output_sampling_frequency').get_parameter_value().integer_value,
256 | input_frame_info=input_frame_info,
257 | )
258 |
259 | def audio_cb(self, msg: AudioFrame, resampler: Resampler, publisher: rclpy.node.Publisher) -> None:
260 | self._validate_node_registered()
261 | # If input frame info has changed
262 | if not resampler.is_same_input_frame_info(FrameInfo.from_audio_frame(msg)):
263 | # We don't support changing the channel_count dynamically, it needs to stay the same
264 | if resampler.input_frame_info.channel_count != msg.channel_count:
265 | input_param = resampler.input_frame_info
266 | self._node.get_logger().error(
267 | f"Invalid channel_count: (msg.channel_count={msg.channel_count}, "
268 | f"input_param.channel_count={input_param.channel_count}) can't change dynamically")
269 | return
270 |
271 | # We update the input frame info
272 | resampler.update_input_frame_info(FrameInfo.from_audio_frame(msg))
273 |
274 | publisher.publish(resampler.resample(msg))
275 |
276 |
277 | class ResamplingNode(rclpy.node.Node):
278 | def __init__(self, resamplingStrategy: OnCallbackStrategy) -> None:
279 | super().__init__('resampling_node')
280 |
281 | self._resamplingStrategy = resamplingStrategy
282 |
283 | resamplingStrategy.register_node(self)
284 |
285 | self._input_info = resamplingStrategy.make_initial_input_frame_converter()
286 |
287 | self._output_info = resamplingStrategy.make_initial_output_frame_converter(
288 | self._input_info.frame_info)
289 |
290 | self._resampler = Resampler(self,
291 | input_frame_converter=self._input_info, output_frame_converter=self._output_info)
292 |
293 | self._audio_pub = self.create_publisher(AudioFrame, 'audio_out', 100)
294 | self._audio_sub = self.create_subscription(AudioFrame, 'audio_in', self._audio_cb, 100)
295 |
296 | def _audio_cb(self, msg: AudioFrame):
297 | self._resamplingStrategy.audio_cb(
298 | msg=msg, resampler=self._resampler, publisher=self._audio_pub)
299 |
300 | def run(self):
301 | rclpy.spin(self)
302 |
303 |
304 | class ResamplingNodeFactory(rclpy.node.Node):
305 | @staticmethod
306 | def create():
307 | node = ResamplingNodeFactory('__resampling_node_factory')
308 | dynamic_input_resampling = (
309 | node.declare_parameter('dynamic_input_resampling', False)
310 | .get_parameter_value().bool_value
311 | )
312 | if dynamic_input_resampling:
313 | node.get_logger().info('Using dynamic resampling')
314 | node.destroy_node()
315 | return ResamplingNode(DynamicResamplingOnCallbackStrategy())
316 | else:
317 | node.get_logger().info('Using static resampling')
318 | node.destroy_node()
319 | return ResamplingNode(StaticResamplingOnCallbackStrategy())
320 |
321 |
322 | def main():
323 | rclpy.init()
324 | resampling_node = ResamplingNodeFactory.create()
325 |
326 | try:
327 | resampling_node.run()
328 | except KeyboardInterrupt:
329 | pass
330 | finally:
331 | resampling_node.destroy_node()
332 | if rclpy.ok():
333 | rclpy.shutdown()
334 |
335 |
336 | if __name__ == '__main__':
337 | main()
338 |
--------------------------------------------------------------------------------
/audio_utils/scripts/split_channel_node.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python3
2 |
3 | import rclpy
4 | import rclpy.node
5 |
6 | from audio_utils_msgs.msg import AudioFrame
7 | from audio_utils import get_format_information, convert_audio_data_to_numpy_frames, convert_numpy_frames_to_audio_data
8 |
9 |
10 | class SplitChannelNode(rclpy.node.Node):
11 | def __init__(self):
12 | super().__init__('split_channel_node')
13 |
14 | self._input_format = self.declare_parameter('input_format', '').get_parameter_value().string_value
15 | self._output_format = self.declare_parameter('output_format', '').get_parameter_value().string_value
16 | self._channel_count = self.declare_parameter('channel_count', 0).get_parameter_value().integer_value
17 |
18 | self._input_format_information = get_format_information(self._input_format)
19 | self._output_format_information = get_format_information(self._output_format)
20 |
21 | self._audio_pubs = [self.create_publisher(
22 | AudioFrame, f'audio_out_{i}', 10) for i in range(self._channel_count)]
23 | self._audio_sub = self.create_subscription(AudioFrame, 'audio_in', self._audio_cb, 10)
24 |
25 | def _audio_cb(self, msg):
26 | if msg.format != self._input_format or msg.channel_count != self._channel_count:
27 | self.get_logger().error(
28 | f'Invalid frame (msg.format={msg.format}, msg.channel_count={msg.channel_count})')
29 | return
30 |
31 | frames = convert_audio_data_to_numpy_frames(self._input_format_information, msg.channel_count, msg.data)
32 |
33 | audio_frame_msg = AudioFrame()
34 | audio_frame_msg.header = msg.header
35 | audio_frame_msg.format = self._output_format
36 | audio_frame_msg.channel_count = 1
37 | audio_frame_msg.sampling_frequency = msg.sampling_frequency
38 | audio_frame_msg.frame_sample_count = msg.frame_sample_count
39 |
40 | for i in range(len(frames)):
41 | data = convert_numpy_frames_to_audio_data(self._output_format_information, [frames[i]])
42 | audio_frame_msg.data = data
43 | self._audio_pubs[i].publish(audio_frame_msg)
44 |
45 | def run(self):
46 | rclpy.spin(self)
47 |
48 |
49 | def main():
50 | rclpy.init()
51 | split_channel_node = SplitChannelNode()
52 |
53 | try:
54 | split_channel_node.run()
55 | except KeyboardInterrupt:
56 | pass
57 | finally:
58 | split_channel_node.destroy_node()
59 | if rclpy.ok():
60 | rclpy.shutdown()
61 |
62 |
63 | if __name__ == '__main__':
64 | main()
65 |
--------------------------------------------------------------------------------
/audio_utils/src/PcmDevices/AlsaPcmDevice.cpp:
--------------------------------------------------------------------------------
1 | #if defined(__unix__) || defined(__linux__)
2 |
3 | #include "AlsaPcmDevice.h"
4 |
5 | #include "../Utils/AlsaException.h"
6 |
7 | #include
8 | #include