AudioRecorderWrapper.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_AUDIORECORDERWRAPPER_H
#define YARP_DEV_AUDIORECORDERWRAPPER_H
 
#include <cstdio>
 
 
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/AudioGrabberInterfaces.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/IMultipleWrapper.h>
#include <yarp/os/Time.h>
#include <yarp/os/Network.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Vocab.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/Log.h>
 
class AudioRecorderStatusThread;
class AudioRecorderDataThread;
 
class AudioRecorderWrapper :
        public yarp::dev::DeviceDriver,
        public yarp::dev::IMultipleWrapper,
        public yarp::os::PortReader
{
private:
    yarp::dev::PolyDriver          m_driver;
    yarp::dev::IAudioGrabberSound* m_mic = nullptr; //The microphone device
    double                         m_period;
    yarp::os::Port                 m_rpcPort;
    yarp::os::Port                 m_streamingPort;
    yarp::os::Port                 m_statusPort;
    yarp::os::Stamp                m_stamp;
    size_t                         m_min_number_of_samples_over_network;
    size_t                         m_max_number_of_samples_over_network;
    yarp::dev::AudioBufferSize     m_current_buffer_size;
    yarp::dev::AudioBufferSize     m_max_buffer_size;
    double                         m_getSound_timeout;
    bool                           m_isDeviceOwned =false;
    bool                           m_isRecording=false;
    AudioRecorderStatusThread*     m_statusThread = nullptr;
    AudioRecorderDataThread*       m_dataThread =nullptr;
    bool                           m_debug_enabled = false;
 
private:
    double                         m_debug_last_time=0;
 
public:
    AudioRecorderWrapper();
    AudioRecorderWrapper(const AudioRecorderWrapper&) = delete;
    AudioRecorderWrapper(AudioRecorderWrapper&&) = delete;
    AudioRecorderWrapper& operator=(const AudioRecorderWrapper&) = delete;
    AudioRecorderWrapper& operator=(AudioRecorderWrapper&&) = delete;
 
    ~AudioRecorderWrapper() override;
 
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
    bool attachAll(const yarp::dev::PolyDriverList &p) override;
    bool detachAll() override;
 
    void attach(yarp::dev::IAudioGrabberSound *igrab);
    void detach();
 
    bool read(yarp::os::ConnectionReader& connection) override;
    friend class AudioRecorderStatusThread;
    friend class AudioRecorderDataThread;
};
 
//----------------------------------------------------------------
class AudioRecorderStatusThread : public yarp::os::PeriodicThread
{
public:
    AudioRecorderWrapper* m_ARW = nullptr;
 
public:
    AudioRecorderStatusThread(AudioRecorderWrapper* mi) : PeriodicThread(0.010), m_ARW(mi) {}
 
    bool threadInit() override { return true; }
    void threadRelease() override { return; }
    void run() override;
};
 
//----------------------------------------------------------------
class AudioRecorderDataThread : public yarp::os::PeriodicThread
{
public:
    AudioRecorderWrapper* m_ARW = nullptr;
 
public:
    AudioRecorderDataThread(AudioRecorderWrapper* mi) : PeriodicThread(0.010), m_ARW(mi) {}
 
    bool threadInit() override { return true; }
    void threadRelease() override { return; }
    void run() override;
};
 
#endif // YARP_DEV_AUDIORECORDERWRAPPER_H