qrb_ros_audio_service

Overview

It is the entry point for ROS to provide audio capabilities.

The communication mode for Playback and Record:

AudioServer is a ROS service server which provide interface for client. The interface is qrb_ros_audio_serivce_msgs.

AudioCommonClient is a ROS action client which invoke qrb_ros_audio_common to implement playback and record function. The interface is qrb_ros_audio_common_msgs.

API

AudioServer

Function Name	Comment
void shutdown_callback()	Release resource when got ctrl+c.

AudioCommonClient

Function Name	Comment
rclcpp_action::ClientGoalHandle<AudioCommonAction>::WrappedResult AudioCommonClient::send_and_wait(rclcpp_action::Client<AudioCommonAction>::SharedPtr client, std::shared_ptr<qrb_ros_audio_common_msgs::action::AudioCommon_Goal_<std::allocator<void>>> goal_msg)	Send request to qrb_ros_audio_common and wait for response. client: response from qrb_ros_audio_common. goal_msg: request send to qrb_ros_audio_common. Return: response from qrb_ros_audio_common.
static bool stream_cb(const void * const payload, StreamCommand cmd, uint32_t & audio_comm_handle)	Callback registers with qrb_audio_manager and is used for communication between qrb_audio_manager and AudioCommonClient. payload: request from qrb_audio_manager. cmd: command from qrb_audio_manager. audio_comm_handle: stream is created in qrb_ros_audio_common. Return: true is success, false is failed.