cast byte[] to serializable Object; communicate with audio device #1
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In case someone who may have encountered the same issue finds this post in the future, I was able to bypass this issue by encoding the raw data into a Base64 string and passing the string to a simple service hosted on the robot (written in Python or C++), which would then decode the string and call sendRemoteBufferToOutput() function via qimessaging's Python (or C++) API. |
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In libqi, we can specify the "future callback type".
This influences the execution of callbacks: if the type is
Sync, then the callback is executed synchronously during setValue(…) or
then(…)/andThen(…). Otherwise, it is executed asynchronously.
For example:
Promise<String> promise = new Promise<>(FutureCallbackType.Sync);
System.out.println("#0");
promise.getFuture().andThen(new QiCallback<String>() {
@OverRide
public void onResult(String result) {
// executed in the same thread
System.out.println("#2");
}
});
System.out.println("#1");
promise.setValue("hello");
System.out.println("#3");
This code sample prints:
#0
#1
#2
#3
Change-Id: I732a76070a7ec67b58c1e666f0e538571689fede
Reviewed-on: http://gerrit.aldebaran.lan/72640
Reviewed-by: rvimont <rvimont@presta.aldebaran.com>
Tested-by: gerrit
Reviewed-by: epinault <epinault@aldebaran-robotics.com>
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I want to be able to send binary audio data remotely to a pepper robot. While I was able to do so using Naoqi's sendRemoteBufferToOutput() method with qi framework and C++ SDK (2.5.5), I can't find a simple way to call that method in Java.
In C++, sendRemoteBufferToOutput() accepts an ALValue constructed from a binary buffer (ALValue.setBinary()); in Java it's even more ambiguous. According to jnaoqi's API, it accepts merely an Object. I tried passing a byte array or a list of bytes or a byteBuffer, none of which works, and I constantly get this error:
qimessaging.jni: Cannot serialize return value: Unable to convert JObject in AnyValue(Additionally, when I was using qimessaging's API I got this error:
qimessaging.remoteobject: no promise found for req id:162 obj: 60 func: 2 type: Reply)I looked into old documentations, and in version 1.14 there is a binding class for ALValue, called Variant, that I can't find in the new API. Qimessaging seemed to support customizable serializers, but I don't think it was included in the 2.5.5 release. So I ran out of ideas. Another way I can think of now is to wrap either ALValue or my entire C++ application in JNI, but I'd like to know the right way to call sendRemoteBufferToOutput() in Java before going that route.
In conclusion, my issue is: is it possible to pass a byte buffer to sendRemoteBufferToOutput() in Java?
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