ArSoundPlayer.cpp

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/


#include "ArExport.h"
#include "ArSoundPlayer.h"
#include "Aria.h"
#include "ArLog.h"

int ArSoundPlayer::myPlayChildPID = -1;
ArGlobalRetFunctor2<bool, const char*, const char*> ArSoundPlayer::ourPlayWavFileCB(&ArSoundPlayer::playWavFile);
ArGlobalFunctor ArSoundPlayer::ourStopPlayingCB(&ArSoundPlayer::stopPlaying);


AREXPORT ArRetFunctor2<bool, const char*, const char*>* ArSoundPlayer::getPlayWavFileCallback() 
{
  return &ourPlayWavFileCB;
}


AREXPORT ArFunctor* ArSoundPlayer::getStopPlayingCallback()
{
  return &ourStopPlayingCB;
}


#ifdef WIN32

      /* Windows: */

#include <assert.h>

AREXPORT bool ArSoundPlayer::playWavFile(const char* filename, const char* params) 
{
  return (PlaySound(filename, NULL, SND_FILENAME) == TRUE);
}

AREXPORT bool ArSoundPlayer::playNativeFile(const char* filename, const char* params)
{
  /* WAV is the Windows native format */
  return playWavFile(filename, 0);
}

AREXPORT void ArSoundPlayer::stopPlaying()
{
  PlaySound(NULL, NULL, NULL);
}


AREXPORT bool ArSoundPlayer::playSoundPCM16(char* data, int numSamples)
{
  ArLog::log(ArLog::Terse, "INTERNAL ERROR: ArSoundPlayer::playSoundPCM16() is not implemented for Windows yet! Bug reed@activmedia.com about it!");
  assert(false);

  return false;
}

#else

      /* Linux: */

#include <stdio.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/wait.h>
#include <fcntl.h>
#include <sys/soundcard.h>
//#include <linux/soundcard.h>
#include <unistd.h>
#include <errno.h>



bool ArSoundPlayer::playNativeFile(const char* filename, const char* params)
{
  int snd_fd = open("/dev/dsp", O_WRONLY); // | O_NONBLOCK);
  if(snd_fd < 0) {
    return false;
  }
  int file_fd = open(filename, O_RDONLY);
  if(file_fd < 0)
  {
    perror("ArSoundPlayer::playNativeFile");
    return false;
  }
  int len;
  const int buflen = 512;
  char buf[buflen];
  while((len = read(file_fd, buf, buflen)) > 0)
  {
    if (write(snd_fd, buf, len) != len) {
      perror("ArSoundPlayer::playNativeFile");
    }
  }
  close(file_fd);
  close(snd_fd);
  return true;
}

bool ArSoundPlayer::playWavFile(const char* filename, const char* params)
{
  char* prog = NULL;
  prog = getenv("PLAY_WAV");
  if(prog == NULL)
    prog = "play";
  myPlayChildPID = fork();
  if(myPlayChildPID == -1) 
  {
    ArLog::log(ArLog::Terse, "ArSoundPlayer: error forking!");
    perror("Aria: ArSoundPlayer");
    return false;
  }
  if(myPlayChildPID == 0)
  {
    // child process: execute sox
    ArLog::log(ArLog::Verbose, "ArSoundPlayer: executing \"%s\" with argument \"%s\" in child process...\n", prog, filename);
    if(execlp(prog, prog, filename, (char*)0) < 0) 
    {
      perror("Aria: ArSoundPlayer: Error executing Wav file playback program");
      exit(-1);
    }
  } 
  // parent process: wait for child to finish
  ArLog::log(ArLog::Verbose, "ArSoundPlayer: created child process %d to play wav file \"%s\".", 
      myPlayChildPID, filename);
  int status;
  waitpid(myPlayChildPID, &status, 0);
  if(WEXITSTATUS(status) != 0) {
    ArLog::log(ArLog::Terse, "ArSoundPlayer: Error: Wav file playback program \"%s\" exited with error code %d.", prog, WEXITSTATUS(status));
    myPlayChildPID = -1;
    return false;
  }
  myPlayChildPID = -1;
  return true;
}



void ArSoundPlayer::stopPlaying()
{
  // Kill a child processes (created by playWavFile) if it exists.
  if(myPlayChildPID > 0)
  {
    ArLog::log(ArLog::Verbose, "ArSoundPlayer: Sending SIGTERM to child process %d.", myPlayChildPID);
    kill(myPlayChildPID, SIGTERM);
  }
}


bool ArSoundPlayer::playSoundPCM16(char* data, int numSamples)
{
  //ArLog::log(ArLog::Normal, "ArSoundPlayer::playSoundPCM16[linux]: opening sound device.");
  int fd = open("/dev/dsp", O_WRONLY); // | O_NONBLOCK);
  if(fd < 0)
    return false;
  int arg = AFMT_S16_LE;
  if(ioctl(fd, SNDCTL_DSP_SETFMT, &arg) != 0)
  {
    close(fd);
    return false;
  }
  arg = 0;
  if(ioctl(fd, SNDCTL_DSP_STEREO, &arg) != 0)
  {
    close(fd);
    return false;
  }
  arg = 16000;
  if(ioctl(fd, SNDCTL_DSP_SPEED, &arg) != 0)
  {
    close(fd);
    return false;
  }
  //ArLog::log(ArLog::Normal, "ArSoundPlayer::playSoundPCM16[linux]: writing %d bytes to sound device.", 2*numSamples);
  int r;
  if((r = write(fd, data, 2*numSamples) < 0))
  {
    close(fd);
    return false;
  }
  close(fd);
  ArLog::log(ArLog::Verbose, "ArSoundPlayer::playSoundPCM16[linux]: finished playing sound. (wrote %d bytes of 16-bit monaural signed sound data to /dev/dsp)", r);
  return true;
}



#endif  // ifdef WIN32

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