This class is in charge of handling multiple instances of chuck, as much instances as the user wants, but one per device. More...

#include <libacoustic_touch.h>

Classes
struct	ck_soundCardAttributes

Public Member Functions
	ChucKHandler (const vector< string > &)
	Construct a new Chuck Handler:: Chuck Handler object. More...

	ChucKHandler (const vector< string > &, const vector< int > &, const vector< int > &, const string &="default")
	Construct a new ChucKHandler object with a set of parameters. More...

	ChucKHandler (const vector< string > &, const vector< int > &, const vector< int > &, const vector< bool > &, const string &="default")
	Construct a new ChucKHandler object with a set of parameters. More...

	~ChucKHandler ()

string	getRobot () const
	Returns the value of the attribute robot_. More...

string	getChucKMode () const
	Returns the current mode of ChucK installed in the system. More...

map< string, ck_cardAttribs_t >	getSoundCards () const
	Returns a map containing the soundcards' ID's and its assigned attributes. More...

vector< string >	getSoundCardIDs () const
	Returns the set of soundcard ids. More...

string	getSoundCardID (const int &) const
	Returns a single soundcard id from an attribute vector containing all the soundcard id's. More...

int	getSoundCardIndex (const string &) const
	Returns the index (order given by the system) of a soundcard from its id. More...

int	getSoundCardNumber (const string &) const
	Returns the number (order given by the user) of a soundcard from its id. More...

int	getSoundCardVolume (const string &) const
	Returns the volume assigned to a soundcard. More...

bool	getSoundCardCapacitive (const string &) const
	Returns the capacitive condition assigned to a soundcard. More...

bool	getKillChucK () const
	Returns the value of the attribute kill_chuck_. More...

void	setRobot (const string &)
	Sets the attribute robot_. More...

void	setChucKMode ()
	Obtains the ChucK version (alsa, pulse or jack) from the proper CLI ChucK command. More...

void	setSoundCards (const vector< string > &)
	Create the list of tuples based in a set of soundcard ID. It is assumed that the number of the card is correlated to its position in the vector. More...

void	setSoundCards (const vector< string > &, const vector< int > &)
	Sets values for a set of soundcards. It assumes no soundcards with the selected ids, so the function creates them from zero (revise this behaviour) More...

void	setSoundCards (const vector< string > &, const vector< int > &, const vector< int > &)
	Sets values for a set of soundcards. It assumes no soundcards with the selected ids, so the function creates them from zero (revise this behaviour) More...

void	setSoundCards (const vector< string > &, const vector< int > &, const vector< int > &, const vector< bool > &)

void	setSoundCardIDs (const vector< string > &)
	Changes values of the soundcard ids contained in a vector. More...

void	setSoundCardIndex (const int &, const string &)
	Sets the Index (pulse or alsa) of the selected soundcard. More...

void	setSoundCardNumber (const int &, const string &)
	Sets the number of a soundcard internal attribute. More...

void	setSoundCardVolume (const int &, const string &)
	Changes the assigned volume for a certain soundcard internal attribute. It actually does not changes the values externally (e.g. in pulse or alsa) More...

void	setSoundCardCapacitive (const bool &, const string &)
	Sets the capacitive condition for a certain soundcard internal attribute. This capacitive condition means if there is a capacitive sensor attached to the microphone. More...

void	setKillChucK (const bool &)
	Changes the value of the attribute kill_chuck_. More...

void	printSoundCards () const
	Prints the id's and the attributes of all the soundcards contained in the Handler. Designed for debugging purpouses. More...

void	setAttributesAlsa ()
	Fills the soundcard attributes for ChucK's Alsa mode. More...

void	setAttributesPulse ()
	Fills the soundcard attributes for ChucK's Pulse mode. More...

void	setSoundCardInputVol (const int &, const string &)
	Changes the capture volume of a soundcard. More...

void	chucKThread (const string &)
	This function is destined to run an instance of ChucK in a C++11 thread. More...

void	launchChucK (const bool &=CK_DEBUG)
	Init function, prepares the ChucK command and launches an instance per soundcard through several fork() calls. More...

void	killChucK ()

Static Public Member Functions
static void	getShellOutput (const string &, string , string )
	Gets the shell output. Returns from sterr and stdout. More...

static string	fetchAlsaModel (const string &)
	Finds the corresponding model for a certain ALSA soundcard. More...

static vector< string >	fetchAlsaModels (const vector< string > &)
	From a given set of soundcard ids, this function return a vector with their unique soundcard models. There could be more than one model in the output, but there will not be repeated models within the resultant string. More...

static vector< string >	fetchAlsaIDs (const string &)
	This function tries to find a set of devices and their attributes by their common soundcard model. More...

static vector< int >	fetchChucKIndexes (const string &)
	Retrieves all the devices' indexes from the command 'chuck –probe' for a given soundcard model. More...

Private Types
typedef struct ChucKHandler::ck_soundCardAttributes	ck_cardAttribs_t

Private Attributes
string	robot_

string	chuck_mode_

vector< string >	sndcard_ids_

map< string, ck_cardAttribs_t >	sound_cards_

vector< thread >	ck_threads_

bool	kill_chuck_

Detailed Description

This class is in charge of handling multiple instances of chuck, as much instances as the user wants, but one per device.

Member Typedef Documentation

◆ ck_cardAttribs_t

typedef struct ChucKHandler::ck_soundCardAttributes ChucKHandler::ck_cardAttribs_t

private

Constructor & Destructor Documentation

◆ ChucKHandler() [1/3]

ChucKHandler::ChucKHandler ( const vector< string > & soundcards )

Construct a new Chuck Handler:: Chuck Handler object.

Parameters

soundcards A set of strings containing the soundcard names in the desired order

◆ ChucKHandler() [2/3]

ChucKHandler::ChucKHandler	(	const vector< string > &	soundcards,
		const vector< int > &	mic_numbers,
		const vector< int > &	mic_vols,
		const string &	robot = `"default"`
	)

Construct a new ChucKHandler object with a set of parameters.

Parameters

soundcards	A set of soundcard ids
mic_numbers	A number representing the order of the soundcards
mic_vols	The corresponding input volume of the soundcards

◆ ChucKHandler() [3/3]

ChucKHandler::ChucKHandler	(	const vector< string > &	soundcards,
		const vector< int > &	mic_numbers,
		const vector< int > &	mic_vols,
		const vector< bool > &	is_capacitive,
		const string &	robot = `"default"`
	)

Construct a new ChucKHandler object with a set of parameters.

Parameters

soundcards
mic_numbers
mic_vols
is_capacitive
robot

◆ ~ChucKHandler()

ChucKHandler::~ChucKHandler ( )

inline

Member Function Documentation

◆ chucKThread()

void ChucKHandler::chucKThread ( const string & command )

This function is destined to run an instance of ChucK in a C++11 thread.

Parameters

command

◆ fetchAlsaIDs()

vector< string > ChucKHandler::fetchAlsaIDs ( const string & sndcard_model )

static

This function tries to find a set of devices and their attributes by their common soundcard model.

Parameters

sndcard_model The soundcard model

Returns: vector<string> The set of soundcards that share a model

◆ fetchAlsaModel()

string ChucKHandler::fetchAlsaModel ( const string & soundcard_id )

static

Finds the corresponding model for a certain ALSA soundcard.

Parameters

soundcard_id The id of the soundcard to find

Returns: string The corresponding model of the selected id

◆ fetchAlsaModels()

vector< string > ChucKHandler::fetchAlsaModels ( const vector< string > & soundcard_ids )

static

From a given set of soundcard ids, this function return a vector with their unique soundcard models. There could be more than one model in the output, but there will not be repeated models within the resultant string.

Parameters

soundcard_ids A set of soundcard ids

Returns: vector<string> A set of unique soundcard models

◆ fetchChucKIndexes()

vector< int > ChucKHandler::fetchChucKIndexes ( const string & sndcard_model )

static

Retrieves all the devices' indexes from the command 'chuck –probe' for a given soundcard model.

Parameters

sndcard_model

Returns: vector<int>

◆ getChucKMode()

string ChucKHandler::getChucKMode ( ) const

Returns the current mode of ChucK installed in the system.

Returns: string The value of the current mode of ChucK

◆ getKillChucK()

bool ChucKHandler::getKillChucK ( ) const

Returns the value of the attribute kill_chuck_.

Returns: true; false

◆ getRobot()

string ChucKHandler::getRobot ( ) const

Returns the value of the attribute robot_.

Returns: string The value of the attribute

◆ getShellOutput()

void ChucKHandler::getShellOutput	(	const string &	command,
		string *	std_out,
		string *	std_err
	)

static

Gets the shell output. Returns from sterr and stdout.

Parameters

command	The command
std_out	The stdout output
std_err	The stderr output

◆ getSoundCardCapacitive()

bool ChucKHandler::getSoundCardCapacitive ( const string & id ) const

Returns the capacitive condition assigned to a soundcard.

Parameters

id

Returns: true; false

◆ getSoundCardID()

string ChucKHandler::getSoundCardID ( const int & pos ) const

Returns a single soundcard id from an attribute vector containing all the soundcard id's.

Parameters

pos	The position of the id in the vector

Returns: string The id in this position

◆ getSoundCardIDs()

vector< string > ChucKHandler::getSoundCardIDs ( ) const

Returns the set of soundcard ids.

Returns: vector<string> The ids in a vector

◆ getSoundCardIndex()

int ChucKHandler::getSoundCardIndex ( const string & id ) const

Returns the index (order given by the system) of a soundcard from its id.

Parameters

id	The id of the soundcard

Returns: int The index of the selected soundcard

◆ getSoundCardNumber()

int ChucKHandler::getSoundCardNumber ( const string & id ) const

Returns the number (order given by the user) of a soundcard from its id.

Parameters

id	The id of the soundcard

Returns: int The number (order) of the soundcard

◆ getSoundCards()

map< string, ChucKHandler::ck_cardAttribs_t > ChucKHandler::getSoundCards ( ) const

Returns a map containing the soundcards' ID's and its assigned attributes.

Returns: map<string, ChucKHandler::ck_cardAttribs_t> A map containing a set of soundcard attributes

◆ getSoundCardVolume()

int ChucKHandler::getSoundCardVolume ( const string & id ) const

Returns the volume assigned to a soundcard.

Parameters

id	The id of the selected soundcard

Returns: int The input volume assigned to this soundcard

◆ killChucK()

void ChucKHandler::killChucK ( )

◆ launchChucK()

void ChucKHandler::launchChucK ( const bool & debug = CK_DEBUG )

Init function, prepares the ChucK command and launches an instance per soundcard through several fork() calls.

Returns: void

◆ printSoundCards()

void ChucKHandler::printSoundCards ( ) const

Prints the id's and the attributes of all the soundcards contained in the Handler. Designed for debugging purpouses.

◆ setAttributesAlsa()

void ChucKHandler::setAttributesAlsa ( )

Fills the soundcard attributes for ChucK's Alsa mode.

◆ setAttributesPulse()

void ChucKHandler::setAttributesPulse ( )

Fills the soundcard attributes for ChucK's Pulse mode.

◆ setChucKMode()

void ChucKHandler::setChucKMode ( )

Obtains the ChucK version (alsa, pulse or jack) from the proper CLI ChucK command.

◆ setKillChucK()

void ChucKHandler::setKillChucK ( const bool & kill_chuck )

Changes the value of the attribute kill_chuck_.

Parameters

kill_chuck A boolean representing the value to set

◆ setRobot()

void ChucKHandler::setRobot ( const string & robot )

Sets the attribute robot_.

Parameters

robot The robot in which the Handler is running

◆ setSoundCardCapacitive()

void ChucKHandler::setSoundCardCapacitive	(	const bool &	cap,
		const string &	id
	)

Sets the capacitive condition for a certain soundcard internal attribute. This capacitive condition means if there is a capacitive sensor attached to the microphone.

Parameters

cap
id

◆ setSoundCardIDs()

void ChucKHandler::setSoundCardIDs ( const vector< string > & sndcard_ids )

Changes values of the soundcard ids contained in a vector.

Parameters

sndcard_ids

◆ setSoundCardIndex()

void ChucKHandler::setSoundCardIndex	(	const int &	indx,
		const string &	id
	)

Sets the Index (pulse or alsa) of the selected soundcard.

Parameters

indx	The selected index to be changed
id	The id of the card that will suffer the change

◆ setSoundCardInputVol()

void ChucKHandler::setSoundCardInputVol	(	const int &	vol,
		const string &	id
	)

Changes the capture volume of a soundcard.

Parameters

vol	The desired volume for the soundcard
id	The id of the corresponding soundcard

◆ setSoundCardNumber()

void ChucKHandler::setSoundCardNumber	(	const int &	num,
		const string &	id
	)

Sets the number of a soundcard internal attribute.

Parameters

num	The number, commonly associated with the order set by the user
id	The id of the soundcard whose number will change

◆ setSoundCards() [1/4]

void ChucKHandler::setSoundCards ( const vector< string > & sndcard_ids )

Create the list of tuples based in a set of soundcard ID. It is assumed that the number of the card is correlated to its position in the vector.

Parameters

sndcard_ids A vector containing a set of soundcard ids

◆ setSoundCards() [2/4]

void ChucKHandler::setSoundCards	(	const vector< string > &	sndcard_ids,
		const vector< int > &	volumes
	)

Sets values for a set of soundcards. It assumes no soundcards with the selected ids, so the function creates them from zero (revise this behaviour)

Parameters

sndcard_ids	The ids of the soundcards to create
volumes	The input volume of the soundcards

◆ setSoundCards() [3/4]

void ChucKHandler::setSoundCards	(	const vector< string > &	sndcard_ids,
		const vector< int > &	mic_nums,
		const vector< int > &	volumes
	)

Sets values for a set of soundcards. It assumes no soundcards with the selected ids, so the function creates them from zero (revise this behaviour)

Parameters

sndcard_ids	The ids of the soundcards to create
mic_nums	The order of the soundcards desired by the user
volumes	The input volume of the soundcards

◆ setSoundCards() [4/4]

void ChucKHandler::setSoundCards	(	const vector< string > &	sndcard_ids,
		const vector< int > &	mic_nums,
		const vector< int > &	volumes,
		const vector< bool > &	is_capacitive
	)

◆ setSoundCardVolume()

void ChucKHandler::setSoundCardVolume	(	const int &	vol,
		const string &	id
	)

Changes the assigned volume for a certain soundcard internal attribute. It actually does not changes the values externally (e.g. in pulse or alsa)

Parameters

vol	The desired volume
id	The id of the soundcard

Member Data Documentation

◆ chuck_mode_

string ChucKHandler::chuck_mode_

private

◆ ck_threads_

vector<thread> ChucKHandler::ck_threads_

private

◆ kill_chuck_

bool ChucKHandler::kill_chuck_

private

◆ robot_

string ChucKHandler::robot_

private

◆ sndcard_ids_

vector<string> ChucKHandler::sndcard_ids_

private

◆ sound_cards_

map<string, ck_cardAttribs_t> ChucKHandler::sound_cards_

private

The documentation for this class was generated from the following files:

/home/trekirk/ROS/catkin_dev/src/acoustic_touch_recognition/include/acoustic_touch_recognition/libacoustic_touch.h
/home/trekirk/ROS/catkin_dev/src/acoustic_touch_recognition/src/acoustic_touch_recognition/chuck_handler.cpp

Classes

Public Member Functions

Static Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ck_cardAttribs_t

Constructor & Destructor Documentation

◆ ChucKHandler() [1/3]

◆ ChucKHandler() [2/3]

◆ ChucKHandler() [3/3]

◆ ~ChucKHandler()

Member Function Documentation

◆ chucKThread()

◆ fetchAlsaIDs()

◆ fetchAlsaModel()

◆ fetchAlsaModels()

◆ fetchChucKIndexes()

◆ getChucKMode()

◆ getKillChucK()

◆ getRobot()

◆ getShellOutput()

◆ getSoundCardCapacitive()

◆ getSoundCardID()

◆ getSoundCardIDs()

◆ getSoundCardIndex()

◆ getSoundCardNumber()

◆ getSoundCards()

◆ getSoundCardVolume()

◆ killChucK()

◆ launchChucK()

◆ printSoundCards()

◆ setAttributesAlsa()

◆ setAttributesPulse()

◆ setChucKMode()

◆ setKillChucK()

◆ setRobot()

◆ setSoundCardCapacitive()

◆ setSoundCardIDs()

◆ setSoundCardIndex()

◆ setSoundCardInputVol()

◆ setSoundCardNumber()

◆ setSoundCards() [1/4]

◆ setSoundCards() [2/4]

◆ setSoundCards() [3/4]

◆ setSoundCards() [4/4]

◆ setSoundCardVolume()

Member Data Documentation

◆ chuck_mode_

◆ ck_threads_

◆ kill_chuck_

◆ robot_

◆ sndcard_ids_

◆ sound_cards_