audio_component.cc

/******************************************************************************
 * Copyright 2020 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#include "modules/audio/audio_component.h"
#include "modules/audio/proto/audio_conf.pb.h"
#include "modules/common_msgs/basic_msgs/geometry.pb.h"
#include "modules/common/util/message_util.h"

namespace apollo {
namespace audio {

using apollo::common::Point3D;
using apollo::common::util::FillHeader;
using apollo::drivers::microphone::config::AudioData;

AudioComponent::~AudioComponent() {}

std::string AudioComponent::Name() const {
  // TODO(all) implement
  return "";
}

bool AudioComponent::Init() {
  AudioConf audio_conf;
  if (!ComponentBase::GetProtoConfig(&audio_conf)) {
    AERROR << "Unable to load audio conf file: "
           << ComponentBase::ConfigFilePath();
    return false;
  }
  localization_reader_ =
      node_->CreateReader<localization::LocalizationEstimate>(
          audio_conf.topic_conf().localization_topic_name(), nullptr);
  audio_writer_ = node_->CreateWriter<AudioDetection>(
      audio_conf.topic_conf().audio_detection_topic_name());
  respeaker_extrinsics_file_ = audio_conf.respeaker_extrinsics_path();
  return true;
}

bool AudioComponent::Proc(const std::shared_ptr<AudioData>& audio_data) {
  // TODO(all) remove GetSignals() multiple calls
  AudioDetection audio_detection;
  MessageProcess::OnMicrophone(*audio_data, respeaker_extrinsics_file_,
      &audio_info_, &direction_detection_, &moving_detection_,
      &siren_detection_, &audio_detection);

  FillHeader(node_->Name(), &audio_detection);
  audio_writer_->Write(audio_detection);
  return true;
}

}  // namespace audio
}  // namespace apollo