[audio_video_recorder] Add audio_video_recorder_server and client library to audio_video_recorder

audio_video_recorder/CMakeLists.txt

@@ -2,13 +2,37 @@ cmake_minimum_required(VERSION 2.8.3)
 
 project(audio_video_recorder)
 
-find_package(catkin REQUIRED COMPONENTS roscpp audio_common_msgs sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    rospy
+    audio_common_msgs
+    message_generation
+    sensor_msgs
+)
 
 find_package(PkgConfig)
 pkg_check_modules(GST1.0 gstreamer-1.0 REQUIRED)
 
 find_package(Boost REQUIRED COMPONENTS thread)
 
+catkin_python_setup()
+
+add_message_files(
+  FILES
+  RecordTask.msg
+  RecordTaskArray.msg
+)
+
+add_service_files(
+  FILES
+  StartRecord.srv
+  StopRecord.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+)
+
 catkin_package(
   INCLUDE_DIRS include
   CATKIN_DEPENDS
@@ -28,8 +52,11 @@ add_executable(audio_video_recorder src/audio_video_recorder.cpp)
 target_link_libraries(audio_video_recorder ${catkin_LIBRARIES} ${GST1.0_LIBRARIES} ${Boost_LIBRARIES})
 add_dependencies(audio_video_recorder ${catkin_EXPORTED_TARGETS})
 
+catkin_install_python(PROGRAMS node_scripts/audio_video_recorder_server node_scripts/sample_audio_video_recorder_client.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
 install(TARGETS audio_video_recorder
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(DIRECTORY launch sample
+install(DIRECTORY launch sample euslisp
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

audio_video_recorder/README.md

@@ -15,11 +15,25 @@ You can record audio and video on your laptop.
 roslaunch audio_video_recorder sample_audio_video_recorder.launch
 ```
 
-## Parameters
+If you want to sedd ROS Interface Sample (Topic/Service) of audio_video_recorder, Please run audio_video_recorder_server demo.
+
+```
+roslaunch audio_video_recorder sample_audio_video_recorder_server.launch
+```
+
+And if you want to see an example of client script for audio_video_recorder_server. please see [sample_audio_video_recorder_client.py](./node_scripts/sample_audio_video_recorder_client.py).
+
+## Nodes
+
+### audio_video_recorder
+
+Node to record audio and video with given parameters.
+
+#### Parameters
 
 Node: `audio_video_recorder/audio_video_recorder`
 
-### Common parameters
+##### Common parameters
 
 - `queue_size` (`Int`, default: `100`)
 
@@ -33,7 +47,7 @@ Node: `audio_video_recorder/audio_video_recorder`
 
   Output file format (Only `avi` is supported now.)
 
-### Audio parameters
+##### Audio parameters
 
 - `audio_format` (`String`, default: `mp3`)
 
@@ -55,7 +69,7 @@ Node: `audio_video_recorder/audio_video_recorder`
 
   Audio sample rate
 
-### Video parameters
+##### Video parameters
 
 - `video_encoding` (`String`, default: `RGB`)
 
@@ -72,3 +86,23 @@ Node: `audio_video_recorder/audio_video_recorder`
 - `video_framerate` (`Int`, default: `30`)
 
   Video frame rate
+
+### audio_video_recorder_server
+
+ROS Interface and recording task manager for audio_video_recorder.
+
+#### Services
+
+- `~start_record` (`audio_video_recorder/StartRecord`)
+
+  Start a recording task
+
+- `~stop_record` (`audio_video_recorder/StopRecord`)
+
+  Stop a specified recording task
+
+#### Publisher
+
+- `~record_tasks` (`audio_video_recorder/RecordTaskArray`)
+
+  Recording tasks currently running.

audio_video_recorder/euslisp/audio-video-recorder-client.l

@@ -0,0 +1,76 @@
+(ros::load-ros-manifest "audio_video_recorder")
+(ros::load-ros-manifest "sensor_msgs")
+
+
+(defun call-start-record-service
+    (audio-topic-name
+     image-topic-name
+     file-name
+     video-framerate
+     &key
+     (queue-size 100)
+     (file-format "avi")
+     (audio-format "mp3")
+     (audio-sample-format "S16LE")
+     (audio-channels 1)
+     (audio-depth 16)
+     (audio-sample-rate 16000)
+     (video-encoding "RGB")
+     (video-height nil)
+     (video-width nil))
+ (let (msg req res)
+   (if (or (not video-height) (not video-width))
+     (progn
+       (setq msg (one-shot-subscribe image-topic-name sensor_msgs::Image :timeout 5000))
+       (if (not msg)
+         (progn
+           (ros::ros-error "Image is not published from ~A" image-topic-name)
+           (return-from call-start-record-service nil)))
+       (setq video-height (send msg :height))
+       (setq video-width (send msg :width))))
+   (setq req (instance audio_video_recorder::StartRecordRequest :init))
+   (send req :task :audio_topic_name audio-topic-name)
+   (send req :task :image_topic_name image-topic-name)
+   (send req :task :queue_size queue-size)
+   (send req :task :file_name file-name)
+   (send req :task :file_format file-format)
+   (send req :task :audio_format audio-format)
+   (send req :task :audio_sample_format audio-sample-format)
+   (send req :task :audio_channels audio-channels)
+   (send req :task :audio_depth audio-depth)
+   (send req :task :audio_sample_rate audio-sample-rate)
+   (send req :task :video_encoding video-encoding)
+   (send req :task :video_height video-height)
+   (send req :task :video_width video-width)
+   (send req :task :video_framerate video-framerate)
+   (setq res (ros::service-call "/audio_video_recorder_server/start_record" req t))
+   (if (not (send res :success))
+     (progn
+       (ros::ros-error "Failed to start recording: ~A" (send res :message))
+       (return-from call-start-record-service nil)))
+   (send res :success)
+   ))
+
+(defun call-stop-record-service
+  (file-name)
+  (let (req res)
+    (setq req (instance audio_video_recorder::StopRecordRequest :init))
+    (send req :file_name file-name)
+    (setq res (ros::service-call "/audio_video_recorder_server/stop_record" req t))
+    (if (not (send res :success))
+      (progn
+        (ros::ros-error "Failed to stop recording: ~A" (send res :message))
+        (return-from call-stop-record-service nil)))
+    (send res :success)
+    ))
+
+(defun get-recording-task-array
+  ()
+  (let (msg)
+    (setq msg (one-shot-subscribe "/audio_video_recorder_server/record_tasks" audio_video_recorder::RecordTaskArray :timeout 10000))
+    (if (not msg)
+      (progn
+        (ros::ros-error "Failed to get a task array message.")
+        (return-from get-recording-task-array nil)))
+    (send msg :array)
+    ))

audio_video_recorder/euslisp/sample-audio-video-recorder-client.l

@@ -0,0 +1,38 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "sensor_msgs")
+(ros::load-ros-manifest "audio_common_msgs")
+
+(load "package://audio_video_recorder/euslisp/audio-video-recorder-client.l")
+
+(ros::roseus "audio_video_recorder_client_demo")
+
+(setq destination (ros::get-param "~destination" "/tmp/"))
+(setq file-name-01 (concatenate string destination "audio_video_recorder_server_demo_01.avi"))
+(setq file-name-02 (concatenate string destination "audio_video_recorder_server_demo_02.avi"))
+
+(setq msg-image (one-shot-subscribe "/usb_cam_node/image_raw" sensor_msgs::Image :timeout 10000))
+(setq msg-audio (one-shot-subscribe "/audio" audio_common_msgs::AudioData :timeout 10000))
+
+(if (or (not msg-image) (not msg-audio))
+  (progn
+    (ros::ros-error "Failed to get image or audio message")
+    (exit 1)))
+
+(ros::ros-info "Start a recording task")
+(call-start-record-service "/audio" "/usb_cam_node/image_raw" file-name-01 30)
+(unix::sleep 5)
+(ros::ros-info "Start another recording task")
+(call-start-record-service "/audio" "/usb_cam_node/image_raw" file-name-02 30)
+(unix::sleep 2)
+(ros::ros-info "Get a recording task array")
+(setq task-array (get-recording-task-array))
+(ros::ros-info " : ~A" task-array)
+(unix::sleep 3)
+(ros::ros-info "Stopped the first recording task.")
+(call-stop-record-service file-name-01)
+(unix::sleep 5)
+(ros::ros-info "Stopped the second recording task.")
+(call-stop-record-service file-name-02)
+
+(exit 0)

audio_video_recorder/launch/audio_video_recorder.launch

@@ -13,7 +13,7 @@
   <arg name="video_framerate" />
   <arg name="video_encoding" />
 
-  <node name="audio_video_recorder" pkg="audio_video_recorder"
+  <node name="$(anon audio_video_recorder)" pkg="audio_video_recorder"
         type="audio_video_recorder" output="screen">
     <remap from="~input/audio" to="$(arg audio_topic_name)" />
     <remap from="~input/image" to="$(arg image_topic_name)" />

audio_video_recorder/launch/audio_video_recorder_server.launch

@@ -0,0 +1,7 @@
+<launch>
+  <node
+    pkg="audio_video_recorder"
+    type="audio_video_recorder_server"
+    name="audio_video_recorder_server"
+    />
+</launch>

audio_video_recorder/msg/RecordTask.msg

@@ -0,0 +1,14 @@
+string audio_topic_name
+string image_topic_name
+int32 queue_size
+string file_name # This will be used as key
+string file_format
+string audio_format
+string audio_sample_format
+int32 audio_channels
+int32 audio_depth
+int32 audio_sample_rate
+string video_encoding
+int32 video_height
+int32 video_width
+int32 video_framerate

audio_video_recorder/msg/RecordTaskArray.msg

@@ -0,0 +1 @@
+audio_video_recorder/RecordTask[] array

audio_video_recorder/node_scripts/audio_video_recorder_server

@@ -0,0 +1,16 @@
+#!/usr/bin/env python
+# -*- encoding: utf-8 -*-
+
+import rospy
+from audio_video_recorder.audio_video_recorder_server import AudioVideoRecorderServer
+
+
+def main():
+
+    rospy.init_node('audio_video_recorder_server')
+    server = AudioVideoRecorderServer()
+    server.spin()
+
+
+if __name__=='__main__':
+    main()

audio_video_recorder/node_scripts/sample_audio_video_recorder_client.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+# -*- encoding: utf-8 -*-
+
+import rospy
+from audio_video_recorder.audio_video_recorder_client import AudioVideoRecorderClient
+from sensor_msgs.msg import Image
+from audio_common_msgs.msg import AudioData
+
+
+def main():
+
+    rospy.init_node('audio_video_recorder_client_demo')
+
+    destination = rospy.get_param('~destination','/tmp/')
+    file_name_01 = destination + 'audio_video_recorder_server_demo_01.avi'
+    file_name_02 = destination + 'audio_video_recorder_server_demo_02.avi'
+
+    try:
+        msg_image = rospy.wait_for_message('/usb_cam_node/image_raw', Image, timeout=rospy.Duration(10))
+        msg_audio = rospy.wait_for_message('/audio', AudioData, timeout=rospy.Duration(10))
+    except rospy.ROSException as e:
+        rospy.logerr(e)
+        return
+
+    client = AudioVideoRecorderClient()
+    rospy.loginfo('Start a recording task')
+    client.start_record('/audio','/usb_cam_node/image_raw',file_name_01,30)
+    rospy.sleep(5)
+    rospy.loginfo('Start another recording task')
+    client.start_record('/audio','/usb_cam_node/image_raw',file_name_02,30)
+    rospy.sleep(2)
+    task_array = client.get_record_task_array()
+    rospy.loginfo('Get a recording task array : {}'.format(task_array))
+    rospy.sleep(3)
+    rospy.loginfo('Stop the first recording task')
+    client.stop_record(file_name_01)
+    rospy.sleep(5)
+    rospy.loginfo('Stop the second recording task')
+    client.stop_record(file_name_02)
+
+
+if __name__ == '__main__':
+    main()

audio_video_recorder/package.xml

@@ -12,18 +12,23 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
   <build_depend>audio_common_msgs</build_depend>
   <build_depend>libgstreamer1.0-dev</build_depend>
   <build_depend>libgstreamer-plugins-base1.0-dev</build_depend>
   <build_depend>message_filters</build_depend>
+  <build_depend>message_generation</build_depend>
   <build_depend>sensor_msgs</build_depend>
 
   <exec_depend>roscpp</exec_depend>
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>rospy</exec_depend>
   <exec_depend>audio_common_msgs</exec_depend>
   <exec_depend>gstreamer1.0</exec_depend>
   <exec_depend>gstreamer1.0-plugins-base</exec_depend>
   <exec_depend>gstreamer1.0-plugins-good</exec_depend>
   <exec_depend>gstreamer1.0-plugins-ugly</exec_depend>
   <exec_depend>message_filters</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
 </package>

audio_video_recorder/sample/sample_audio_video_recorder_server.launch

@@ -0,0 +1,37 @@
+<launch>
+    <node pkg="audio_capture" type="audio_capture" name="audio_capture" output="log">
+        <rosparam subst_value="true">
+            bitrate: 128
+            device: ""
+            channels: 1
+            sample_rate: 16000
+            format: mp3
+            sample_format: S16LE
+        </rosparam>
+    </node>
+
+    <node name="usb_cam_node" pkg="usb_cam" type="usb_cam_node" output="log">
+        <rosparam subst_value="true">
+            pixel_format: yuyv
+            image_height: 480
+            image_width: 640
+            framerate: 30
+        </rosparam>
+    </node>
+
+    <node
+        pkg="audio_video_recorder"
+        type="audio_video_recorder_server"
+        name="audio_video_recorder_server"
+        output="screen"
+        />
+
+    <node
+        pkg="audio_video_recorder"
+        type="sample_audio_video_recorder_client.py"
+        name="sample_audio_video_recorder_client"
+        required="true"
+        output="screen"
+        />
+
+</launch>