hlrc

/*

 * This file is part of hlrc_server

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc_server

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

#pragma once

#include "hlrc_server/utteranceAction.h"

#include "CallbackWrapperROS.h"

#include "hlrc_server/phoneme.h"

#include "hlrc_server/soundchunk.h"

// callback handler incoming gaze requests:

class UtteranceCallbackWrapper : CallbackWrapper<hlrc_server::utteranceAction> {

protected:

        hlrc_server::utteranceFeedback feedback;

        hlrc_server::utteranceResult result;

public:

        UtteranceCallbackWrapper(Middleware* mw, std::string scope, std::string name)

           : CallbackWrapper<hlrc_server::utteranceAction>(mw, scope, name,

                                                           boost::bind(&UtteranceCallbackWrapper::call, this, _1)){

                   //

           };

        void call(const GoalConstPtr& goal) {

                hlrc_server::utteranceGoalConstPtr request = goal;

                printf("> incoming utterance '%s' (%d phone symbols)\n", request->utterance.text.c_str(),

                       (int)request->utterance.phonemes.size());

                // everything is ok, will be cleared on failures

                feedback.result = 1;

                std::shared_ptr<Utterance> utterance(new Utterance());

                // copy values:

                utterance->set_text(request->utterance.text);

                std::shared_ptr<AudioData> audio_data(new AudioData());

                if (!extract_audio(request->utterance.audio, audio_data)) {

                        feedback.result = 0;

                }

                utterance->set_audio_data(audio_data);

                utterance->set_phoneme_vector(extract_phoneme_vector(request->utterance.phonemes));

                // send to application;

                mw->utterance_callback(utterance);

                if (feedback.result) {

                        result.result = 1;

                        as_.setSucceeded(result);

                }

                else {

                        as_.setAborted(result);

                }

        }

        // convert ros message audio data to our own implementation

        bool extract_audio(hlrc_server::soundchunk sound_chunk, std::shared_ptr<AudioData> audio_data) {

                // extract data:

                unsigned int audio_len = sound_chunk.data.size();

                char* audio_data_char = (char*)sound_chunk.data.data();

                // audio.samples = vector<char>(audio_data_char, audio_data_char+audio_len);

                audio_data->samples.resize(audio_len);

                audio_data->samples.assign(audio_data_char, audio_data_char + audio_len);

                printf("audio samplesize is %d bytes\n", (int)audio_data->samples.size());

                // extract format:

                audio_data->sample_signed = true;

                switch (sound_chunk.sample_type) {

                        case (hlrc_server::soundchunk::SAMPLE_U8):

                                audio_data->sample_signed = false; // and fall through:

                        case (hlrc_server::soundchunk::SAMPLE_S8):

                                audio_data->sample_bit = 8;

                                break;

                        case (hlrc_server::soundchunk::SAMPLE_U16):

                                audio_data->sample_signed = false; // and fall through:

                        case (hlrc_server::soundchunk::SAMPLE_S16):

                                audio_data->sample_bit = 16;

                                break;

                        case (hlrc_server::soundchunk::SAMPLE_U24):

                                audio_data->sample_signed = false; // and fall through:

                        case (hlrc_server::soundchunk::SAMPLE_S24):

                                audio_data->sample_bit = 24;

                                break;

                        default:

                                printf("> invalid sample type %d in SoundChunk! ignoring request!\n", sound_chunk.sample_type);

                                return false;

            // throw runtime_error("UtteranceROS::convert_audio_data() unsupported sample type in soundchunk");

      }

                // bitrate

                audio_data->sample_rate = sound_chunk.rate;

                // endianness

                if (sound_chunk.endianess == hlrc_server::soundchunk::ENDIAN_LITTLE) {

                        audio_data->sample_big_endian = false;

                }

                else if (sound_chunk.endianess == hlrc_server::soundchunk::ENDIAN_BIG) {

                        audio_data->sample_big_endian = true;

                }

                else {

                        printf("> invalid SoundChunk byte_format");

                        throw std::runtime_error("UtteranceROS::convert_audio_data() unsupported byte_format in soundchunk");

                }

                // number of channels

                audio_data->sample_channels = sound_chunk.channels;

                printf("> new AudioData: %s\n", audio_data->to_string().c_str());

                return true;

        }

        // convert ros phoneme vector to out own implementation

        Utterance::phonemes_vector_t extract_phoneme_vector(std::vector<hlrc_server::phoneme> pv) {

                Utterance::phonemes_vector_t result;

                // extract phoneme vector

                for (unsigned int i = 0; i < pv.size(); i++) {

                        hlrc_server::phoneme ros_phoneme = pv[i];

                        Utterance::symbol_duration_pair_t phoneme = make_pair(ros_phoneme.symbol, ros_phoneme.duration);

                        result.push_back(phoneme);

                }

                return result;

        }

};