[DEV] Add ros channel compatibility

audio/channel.cpp

@@ -103,3 +103,19 @@ namespace etk {
 		return false;
 	}
 }
+
+std::vector<uint8_t> audio::convertChannel(const std::vector<enum audio::channel>& _obj) {
+	std::vector<uint8_t> out;
+	for (size_t iii=0; iii<_obj.size(); ++iii) {
+		out.push_back(static_cast<uint8_t>(_obj[iii]));
+	}
+	return out;
+}
+
+std::vector<enum audio::channel> audio::convertChannel(const std::vector<uint8_t>& _obj) {
+	std::vector<enum audio::channel> out;
+	for (size_t iii=0; iii<_obj.size(); ++iii) {
+		out.push_back(static_cast<enum audio::channel>(_obj[iii]));
+	}
+	return out;
+}

audio/channel.h

@@ -9,7 +9,25 @@
 
 #include <string>
 #include <vector>
-
+#ifdef ETK_EXTERN_FRAMEWORK_ROS
+	#include <ros/ros.h>
+	#include "audio_msg/AudioBuffer.h"
+	namespace audio {
+		enum channel {
+			channel_unknow        = audio_msg::AudioBuffer::CHANNEL_UNKNOW,
+			channel_frontLeft     = audio_msg::AudioBuffer::CHANNEL_FRONT_LEFT,
+			channel_frontCenter   = audio_msg::AudioBuffer::CHANNEL_FRONT_CENTER,
+			channel_frontRight    = audio_msg::AudioBuffer::CHANNEL_FRONT_RIGHT,
+			channel_rearLeft      = audio_msg::AudioBuffer::CHANNEL_REAR_LEFT,
+			channel_rearCenter    = audio_msg::AudioBuffer::CHANNEL_REAR_CENTER,
+			channel_rearRight     = audio_msg::AudioBuffer::CHANNEL_REAR_RIGHT,
+			channel_surroundLeft  = audio_msg::AudioBuffer::CHANNEL_SURROUND_LEFT,
+			channel_surroundRight = audio_msg::AudioBuffer::CHANNEL_SURROUND_RIGHT,
+			channel_subWoofer     = audio_msg::AudioBuffer::CHANNEL_SUBWOOFER,
+			channel_lfe           = audio_msg::AudioBuffer::CHANNEL_LFE
+		};
+	};
+#else
 	namespace audio {
 		enum channel {
 			channel_unknow, //!< Error channel ...
@@ -24,6 +42,9 @@ namespace audio {
 			channel_subWoofer, //!< channel Sub-woofer
 			channel_lfe, //!< channel Low frequency
 		};
+	};
+#endif
+namespace audio {
 	std::string getChannelString(enum audio::channel _obj);
 	std::string getChannelString(const std::vector<enum audio::channel>& _obj);
 	enum audio::channel getChannelFromString(const std::string& _value);
@@ -31,6 +52,9 @@ namespace audio {
 	std::ostream& operator <<(std::ostream& _os, enum audio::channel _obj);
 	std::ostream& operator <<(std::ostream& _os, const std::vector<enum audio::channel>& _obj);
 	std::ostream& operator <<(std::ostream& _os, const std::vector<std::vector<enum audio::channel> >& _obj);
+	// For ROS Interface:
+	std::vector<uint8_t> convertChannel(const std::vector<enum audio::channel>& _obj);
+	std::vector<enum audio::channel> convertChannel(const std::vector<uint8_t>& _obj);
 };
 
 

audio/format.cpp

@@ -63,19 +63,22 @@ std::vector<enum audio::format> audio::getListFormatFromString(const std::string
 }
 
 uint32_t audio::getFormatBytes(audio::format _format) {
-	if (_format == audio::format_int8) {
+	switch(_format) {
+		case audio::format_int8:
 			return sizeof(int8_t);
-	} else if (_format == audio::format_int16) {
+		case audio::format_int8_on_int16:
+		case audio::format_int16:
 			return sizeof(int16_t);
-	} else if (_format == audio::format_int16_on_int32) {
+		case audio::format_int16_on_int32:
+		case audio::format_int24:
+		case audio::format_int32:
 			return sizeof(int32_t);
-	} else if (_format == audio::format_int24) {
+		case audio::format_int32_on_int64:
-		return sizeof(int32_t);
+		case  audio::format_int64:
-	} else if (_format == audio::format_int32) {
+			return sizeof(int64_t);
-		return sizeof(int32_t);
+		case audio::format_float:
-	} else if (_format == audio::format_float) {
 			return sizeof(float);
-	} else if (_format == audio::format_double) {
+		case audio::format_double:
 			return sizeof(double);
 	}
 	AUDIO_ERROR("undefined format : " << _format);
@@ -98,3 +101,27 @@ namespace etk {
 		return false;
 	}
 }
+
+std::vector<uint8_t> audio::convertFormat(const std::vector<enum audio::format>& _obj) {
+	std::vector<uint8_t> out;
+	for (size_t iii=0; iii<_obj.size(); ++iii) {
+		out.push_back(static_cast<uint8_t>(_obj[iii]));
+	}
+	return out;
+}
+
+std::vector<enum audio::format> audio::convertFormat(const std::vector<uint8_t>& _obj) {
+	std::vector<enum audio::format> out;
+	for (size_t iii=0; iii<_obj.size(); ++iii) {
+		out.push_back(static_cast<enum audio::format>(_obj[iii]));
+	}
+	return out;
+}
+
+uint8_t audio::convertFormat(enum audio::format _obj) {
+	return static_cast<uint8_t>(_obj);
+}
+
+enum audio::format audio::convertFormat(uint8_t _obj) {
+	return static_cast<enum audio::format>(_obj);
+}

audio/format.h

@@ -9,6 +9,25 @@
 
 #include <string>
 
+#ifdef ETK_EXTERN_FRAMEWORK_ROS
+	#include <ros/ros.h>
+	#include "audio_msg/AudioBuffer.h"
+	namespace audio {
+		enum format {
+			format_unknow         = audio_msg::AudioBuffer::FORMAT_UNKNOW,
+			format_int8           = audio_msg::AudioBuffer::FORMAT_INT8,
+			format_int8_on_int16  = audio_msg::AudioBuffer::FORMAT_INT8_ON_INT16,
+			format_int16          = audio_msg::AudioBuffer::FORMAT_INT16,
+			format_int16_on_int32 = audio_msg::AudioBuffer::FORMAT_INT16_ON_INT32,
+			format_int24          = audio_msg::AudioBuffer::FORMAT_INT24,
+			format_int32          = audio_msg::AudioBuffer::FORMAT_INT32,
+			format_int32_on_int64 = audio_msg::AudioBuffer::FORMAT_INT32_ON_INT64,
+			format_int64          = audio_msg::AudioBuffer::FORMAT_INT64,
+			format_float          = audio_msg::AudioBuffer::FORMAT_FLOAT,
+			format_double         = audio_msg::AudioBuffer::FORMAT_DOUBLE
+		};
+	};
+#else
 	namespace audio {
 		enum format {
 			format_unknow,
@@ -23,12 +42,21 @@ namespace audio {
 			format_float, //!< Floating point 32 bits (single precision)
 			format_double //!< Floating point 64 bits (double precision)
 		};
+	};
+#endif
+
+namespace audio {
 	std::string getFormatString(enum audio::format _format);
 	enum audio::format getFormatFromString(const std::string& _value);
 	std::vector<enum audio::format> getListFormatFromString(const std::string& _value);
 	std::ostream& operator <<(std::ostream& _os, enum audio::format _obj);
 	std::ostream& operator <<(std::ostream& _os, const std::vector<enum audio::format>& _obj);
 	uint32_t getFormatBytes(enum audio::format _format);
+	// For ROS Interface:
+	std::vector<uint8_t> convertFormat(const std::vector<enum audio::format>& _obj);
+	std::vector<enum audio::format> convertFormat(const std::vector<uint8_t>& _obj);
+	uint8_t convertFormat(enum audio::format _obj);
+	enum audio::format convertFormat(uint8_t _obj);
 };
 
 

catkin/CMakeLists.txt

@@ -8,6 +8,7 @@ set(CMAKE_VERBOSE_MAKEFILE ON)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   etk
+  audio_msg
   )
 
 
@@ -45,7 +46,7 @@ add_library(${PROJECT_NAME}
   ../${PROJECT_NAME}/format.cpp
 )
 
-set(CMAKE_CXX_FLAGS "-std=c++11 -DDEBUG_LEVEL=3 -DDEBUG=1 -D__CPP_VERSION__=2011")
+set(CMAKE_CXX_FLAGS "-std=c++11 -DDEBUG_LEVEL=3 -DDEBUG=1 -D__CPP_VERSION__=2011 -DETK_EXTERN_FRAMEWORK_ROS")
 
 
 ## Add cmake target dependencies of the executable/library

catkin/package.xml

@@ -6,6 +6,8 @@
   <maintainer email="yui.heero@gmail.com">Edouard DUPIN</maintainer>
   <license>Apache-2.0</license>
   <build_depend>etk</build_depend>
+  <build_depend>audio_msg</build_depend>
   <buildtool_depend>catkin</buildtool_depend>
   <run_depend>etk</run_depend>
+  <run_depend>audio_msg</run_depend>
 </package>