Initial commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(audio_file_player)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  actionlib_msgs
+)
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+
+# Generate actions in the 'action' folder
+add_action_files(
+  FILES
+  AudioFilePlay.action
+)
+
+# Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  actionlib_msgs
+)
+
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+	CATKIN_DEPENDS actionlib_msgs
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+#############
+## Install ##
+#############
+
+# Mark executable scripts (Python etc.) for installation
+# in contrast to setup.py, you can choose the destination
+install(PROGRAMS
+  scripts/play_file_server.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark other files for installation (e.g. launch and bag files, etc.)
+foreach (dir launch assets)
+	install(DIRECTORY ${dir}/
+	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

README.md

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+# audio_file_player
+audio_file_player offers a simple way to play audio files through
+an action server interface and a topic interface.
+
+By default it uses sox's `play` to play the audio files (as it plays more file types than for example `aplay`).
+You may need to install:
+````
+sudo apt-get install sox libsox-fmt-all
+````
+
+# Example usage
+
+You can find an example mp3 file in this package in the folder assets, called `tada.mp3`.
+
+Launch the node:
+
+    roslaunch audio_file_player audio_file_player.launch
+
+Try the topic interface:
+
+    rostopic pub /audio_file_player/play std_msgs/String `rospack find audio_file_player`/assets/tada.mp3
+
+Try the actionlib interface:
+
+    rosrun actionlib axclient.py /audio_file_player
+
+# Use your own playing script
+If you want to use your own command for playing the files (or even use this node for some other
+purpose) just modify the launch file to use the command and flags that you want:
+
+````
+<launch>
+    <node pkg="audio_file_player" name="audio_file_player" type="play_file_server.py" output="screen">
+        <!-- Parameters to change the player to use other commands, flags and the rate (Hz) at which
+        the feedback is published, this is equivalent to the default configuration -->
+        <param name="command" value="play"/>
+        <param name="flags" value=""/>
+        <param name="feedback_rate" value="10"/>
+    </node>
+</launch>
+````

action/AudioFilePlay.action

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+# Path to the audio file
+string filepath
+---
+# Result information
+# If it was successful
+bool success
+# If it wasn't reason why it wasn't
+string reason
+# Total time the file was playing
+time total_time
+---
+# Feedback about the amount of time the audio has been played
+time elapsed_played_time

launch/audio_file_player.launch

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+<launch>
+    <node pkg="audio_file_player" name="audio_file_player" type="play_file_server.py" output="screen">
+        <!-- Parameters to change the player to use other commands, flags and the rate (Hz) at which
+        the feedback is published, this is equivalent to the default configuration -->
+        <param name="command" value="play"/>
+        <param name="flags" value=""/>
+        <param name="feedback_rate" value="10"/>
+    </node>
+</launch>

launch/audio_file_player_aplay.launch

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+<launch>
+    <node pkg="audio_file_player" name="audio_file_player" type="play_file_server.py" output="screen">
+        <!-- Parameters to change the player to use other commands, flags and the rate (Hz) at which
+        the feedback is published, this is equivalent to the default configuration -->
+        <param name="command" value="aplay"/>
+        <param name="flags" value=""/>
+        <param name="feedback_rate" value="10"/>
+    </node>
+</launch>

package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>audio_file_player</name>
+  <version>0.0.1</version>
+  <description>The audio_file_player package contains a node to play audio files
+    through an action server or a topic interface.</description>
+
+  <author email="Sammy.Pfeiffer@student.uts.edu.au">Sammy Pfeiffer</author>
+  <maintainer email="Sammy.Pfeiffer@student.uts.edu.au">Sammy Pfeiffer</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
+
+</package>

scripts/play_file_server.py

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+#!/usr/bin/env python
+
+import subprocess
+import tempfile
+import os
+import signal
+import time
+import rospy
+from actionlib import SimpleActionServer
+from audio_file_player.msg import AudioFilePlayAction, AudioFilePlayGoal, AudioFilePlayResult, AudioFilePlayFeedback
+from std_msgs.msg import String
+
+
+class ShellCmd:
+    """Helpful class to spawn commands and keep track of them"""
+
+    def __init__(self, cmd):
+        self.retcode = None
+        self.outf = tempfile.NamedTemporaryFile(mode="w")
+        self.errf = tempfile.NamedTemporaryFile(mode="w")
+        self.inf = tempfile.NamedTemporaryFile(mode="r")
+        self.process = subprocess.Popen(cmd, shell=True, stdin=self.inf,
+                                        stdout=self.outf, stderr=self.errf,
+                                        preexec_fn=os.setsid, close_fds=True)
+
+    def __del__(self):
+        if not self.is_done():
+            self.kill()
+        self.outf.close()
+        self.errf.close()
+        self.inf.close()
+
+    def get_stdout(self):
+        with open(self.outf.name, "r") as f:
+            return f.read()
+
+    def get_stderr(self):
+        with open(self.errf.name, "r") as f:
+            return f.read()
+
+    def get_retcode(self):
+        """Get retcode or None if still running"""
+        if self.retcode is None:
+            self.retcode = self.process.poll()
+        return self.retcode
+
+    def is_done(self):
+        return self.get_retcode() is not None
+
+    def is_succeeded(self):
+        """Check if the process ended with success state (retcode 0)
+        If the process hasn't finished yet this will be False."""
+        return self.get_retcode() == 0
+
+    def kill(self):
+        self.retcode = -1
+        os.killpg(self.process.pid, signal.SIGTERM)
+        self.process.wait()
+
+
+class AudioFilePlayer(object):
+    def __init__(self):
+        rospy.loginfo("Initializing AudioFilePlayer...")
+        self.current_playing_process = None
+        self.afp_as = SimpleActionServer(rospy.get_name(), AudioFilePlayAction,
+                                         self.as_cb, auto_start=False)
+        self.afp_sub = rospy.Subscriber('~play', String, self.topic_cb,
+                                        queue_size=1)
+        # By default this node plays files using the aplay command
+        # Feel free to use any other command or flags
+        # by using the params provided
+        self.command = rospy.get_param('~/command', 'play')
+        self.flags = rospy.get_param('~/flags', '')
+        self.feedback_rate = rospy.get_param('~/feedback_rate', 10)
+        self.afp_as.start()
+        # Needs to be done after start
+        self.afp_as.register_preempt_callback(self.as_preempt_cb)
+
+        rospy.loginfo(
+            "Done, playing files from action server or topic interface.")
+
+    def as_preempt_cb(self):
+        if self.current_playing_process:
+            self.current_playing_process.kill()
+            # Put the AS as cancelled/preempted
+            res = AudioFilePlayResult()
+            res.success = False
+            res.reason = "Got a cancel request."
+            self.afp_as.set_preempted(res, text="Cancel requested.")
+
+    def as_cb(self, goal):
+        initial_time = time.time()
+        self.play_audio_file(goal.filepath)
+        r = rospy.Rate(self.feedback_rate)
+        while not rospy.is_shutdown() and not self.current_playing_process.is_done():
+            feedback = AudioFilePlayFeedback()
+            curr_time = time.time()
+            feedback.elapsed_played_time = rospy.Duration(
+                curr_time - initial_time)
+            self.afp_as.publish_feedback(feedback)
+            r.sleep()
+
+        final_time = time.time()
+        res = AudioFilePlayResult()
+        if self.current_playing_process.is_succeeded():
+            res.success = True
+            res.total_time = rospy.Duration(final_time)
+            self.afp_as.set_succeeded(res)
+        else:
+            if self.afp_as.is_preempt_requested():
+                return
+            res.success = False
+            reason = "stderr: " + self.current_playing_process.get_stderr()
+            reason += "\nstdout: " + self.current_playing_process.get_stdout()
+            res.reason = reason
+            self.afp_as.set_aborted(res)
+
+    def topic_cb(self, data):
+        if self.current_playing_process:
+            if not self.current_playing_process.is_done():
+                self.current_playing_process.kill()
+        self.play_audio_file(data.data)
+
+    def play_audio_file(self, audio_file_path):
+        # Replace any ' or " characters with emptyness to avoid bad usage
+        audio_file_path = audio_file_path.replace("'", "")
+        audio_file_path = audio_file_path.replace('"', '')
+        full_command = self.command + " " + self.flags + " '" + audio_file_path + "'"
+        rospy.loginfo("Playing audio file: " + str(audio_file_path) +
+                      " with command: " + str(full_command))
+        self.current_playing_process = ShellCmd(full_command)
+
+
+if __name__ == '__main__':
+    rospy.init_node('audio_file_player')
+    afp = AudioFilePlayer()
+    rospy.spin()