这里的 “小” 样本
# -*- coding: utf-8 -*-
###########################################################
# Retrieve robot audio buffer
# Syntaxe:
# python scriptname --pip <ip> --pport <port>
#
# --pip <ip>: specify the ip of your robot (without specification it will use the NAO_IP defined some line below
#
# Author: Alexandre Mazel
###########################################################
NAO_IP = "10.0.252.126" # Romeo on table
#~ NAO_IP = "10.0.253.99" # Nao Alex Blue
from optparse import OptionParser
import naoqi
import numpy as np
import time
import sys
class SoundReceiverModule(naoqi.ALModule):
"""
Use this object to get call back from the ALMemory of the naoqi world.
Your callback needs to be a method with two parameter (variable name, value).
"""
def __init__(self, strModuleName, strNaoIp):
try:
naoqi.ALModule.__init__(self, strModuleName);
self.BIND_PYTHON(self.getName(),"callback");
self.strNaoIp = strNaoIp;
self.outfile = None;
self.aOutfile = [None]*(4-1); # ASSUME max nbr channels = 4
except BaseException, err:
print("ERR: abcdk.naoqitools.SoundReceiverModule: loading error: %s" % str(err));
# __init__ - end
def __del__(self):
print("INF: abcdk.SoundReceiverModule.__del__: cleaning everything");
self.stop();
def start(self):
audio = naoqi.ALProxy("ALAudioDevice", self.strNaoIp, 9559);
nNbrChannelFlag = 0; # ALL_Channels: 0, AL::LEFTCHANNEL: 1, AL::RIGHTCHANNEL: 2; AL::FRONTCHANNEL: 3 or AL::REARCHANNEL: 4.
nDeinterleave = 0;
nSampleRate = 48000;
audio.setClientPreferences(self.getName(), nSampleRate, nNbrChannelFlag, nDeinterleave); # setting same as default generate a bug !?!
audio.subscribe(self.getName());
print("INF: SoundReceiver: started!");
# self.processRemote(4, 128, [18,0], "A"*128*4*2); # for local test
# on romeo, here's the current order:
# 0: right; 1: rear; 2: left; 3: front,
def stop(self):
print("INF: SoundReceiver: stopping...");
audio = naoqi.ALProxy("ALAudioDevice", self.strNaoIp, 9559);
audio.unsubscribe(self.getName());
print("INF: SoundReceiver: stopped!");
if(self.outfile != None):
self.outfile.close();
def processRemote(self, nbOfChannels, nbrOfSamplesByChannel, aTimeStamp, buffer):
"""
This is THE method that receives all the sound buffers from the "ALAudioDevice" module
"""
#~ print("process!");
#~ print("processRemote: %s, %s, %s, lendata: %s, data0: %s (0x%x), data1: %s (0x%x)" % (nbOfChannels, nbrOfSamplesByChannel, aTimeStamp, len(buffer), buffer[0],ord(buffer[0]),buffer[1],ord(buffer[1])));
#~ print("raw data: "),
#~ for i in range(8):
#~ print("%s (0x%x), " % (buffer[i],ord(buffer[i]))),
#~ print("");
aSoundDataInterlaced = np.fromstring(str(buffer), dtype=np.int16);
#~ print("len data: %s " % len(aSoundDataInterlaced));
#~ print("data interlaced: "),
#~ for i in range(8):
#~ print("%d, " % (aSoundDataInterlaced[i])),
#~ print("");
aSoundData = np.reshape(aSoundDataInterlaced, (nbOfChannels, nbrOfSamplesByChannel), 'F');
#~ print("len data: %s " % len(aSoundData));
#~ print("len data 0: %s " % len(aSoundData[0]));
if(False):
# compute average
aAvgValue = np.mean(aSoundData, axis = 1);
print("avg: %s" % aAvgValue);
if(False):
# compute fft
nBlockSize = nbrOfSamplesByChannel;
signal = aSoundData[0] * np.hanning(nBlockSize);
aFft = (np.fft.rfft(signal)/nBlockSize);
print aFft;
if(False):
# compute peak
aPeakValue = np.max(aSoundData);
if(aPeakValue > 16000):
print("Peak: %s" % aPeakValue);
if(True):
bSaveAll = True;
# save to file
if(self.outfile == None):
strFilenameOut = "/out.raw";
print("INF: Writing sound to '%s'" % strFilenameOut);
self.outfile = open(strFilenameOut, "wb");
if(bSaveAll):
for nNumChannel in range(1, nbOfChannels):
strFilenameOutChan = strFilenameOut.replace(".raw", "_%d.raw"%nNumChannel);
self.aOutfile[nNumChannel-1] = open(strFilenameOutChan, "wb");
print("INF: Writing other channel sound to '%s'" % strFilenameOutChan);
#~ aSoundDataInterlaced.tofile(self.outfile); # wrote the 4 channels
aSoundData[0].tofile(self.outfile); # wrote only one channel
#~ print("aTimeStamp: %s" % aTimeStamp);
#~ print("data wrotten: "),
#~ for i in range(8):
#~ print("%d, " % (aSoundData[0][i])),
#~ print("");
#~ self.stop(); # make naoqi crashes
if(bSaveAll):
for nNumChannel in range(1, nbOfChannels):
aSoundData[nNumChannel].tofile(self.aOutfile[nNumChannel-1]);
# processRemote - end
def version(self):
return "0.6";
# SoundReceiver - end
def main():
""" Main entry point
"""
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=NAO_IP,
pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = naoqi.ALBroker("myBroker",
"0.0.0.0", # listen to anyone
0, # find a free port and use it
pip, # parent broker IP
pport) # parent broker port
# Warning: SoundReceiver must be a global variable
# The name given to the constructor must be the name of the
# variable
global SoundReceiver
SoundReceiver = SoundReceiverModule("SoundReceiver", pip)
SoundReceiver.start()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
if __name__ == "__main__":
main()
你是如何发送您的声音？我正在尝试使用arecord过程来流式传输Nao的音频，但我不知道实际发生的事情是否正确。我没有收到接收方的回复/确认。 – Andy
上面的代码“要求”NAO通过一些ALAudioDevice回调向我发送一些缓冲区，并接收和粘贴这些块。你不需要更多的东西。 –