control volume by dynamic reconfigure

jsk-ros-pkg · Nov 11, 2022 · ab8388a · ab8388a
1 parent 6501ad9
commit ab8388a
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Showing 4 changed files with 57 additions and 4 deletions.
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l
@@ -3,13 +3,26 @@
 (ros::roseus "twitter_client_tablet")
 (ros::roseus-add-msgs "roseus")
 
+(load "package://roseus/euslisp/dynamic-reconfigure-server.l")
 (load "package://jsk_robot_startup/lifelog/tweet_client.l")
 
+(setq *volume* (ros::get-param "~volume" 1.0))
+(setq *reconfigure-server*
+      (def-dynamic-reconfigure-server
+        ;;; ((name type level description (default) (min) (max) (edit_method)) ... )
+        (("volume"  double_t  0  "tweet speak volume" 1.0  0.0 1.0))
+        ;; use lamda-closure to avoid memory error
+        '(lambda-closure nil 0 0 (cfg level)
+            (setq *volume* (cdr (assoc "volume" cfg :test #'equal)))
+            (ros::ros-warn "Volume changed to: ~A" *volume*)
+            cfg)))
+
 (defun twit-cb (msg)
   (let ((twit-str (send msg :data)))
     (tweet-string twit-str
                   :warning-time nil
-                  :with-image "/tablet/marked/image_rect_color")))
+                  :with-image "/tablet/marked/image_rect_color"
+                  :volume *volume*)))
 (ros::subscribe "/pr2twit_from_tablet" roseus::StringStamped #'twit-cb)
 
 (ros::spin)
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l
@@ -2,6 +2,7 @@
 
 (ros::roseus "twitter_client_uptime")
 
+(load "package://roseus/euslisp/dynamic-reconfigure-server.l")
 (load "package://jsk_robot_startup/lifelog/tweet_client.l")
 
 (setq *src-lines* nil)
@@ -12,6 +13,17 @@
   (setq *robot-name* (ros::get-param "/active_user/robot_name"))
   )
 
+(setq *volume* (ros::get-param "~volume" 1.0))
+(setq *reconfigure-server*
+      (def-dynamic-reconfigure-server
+        ;;; ((name type level description (default) (min) (max) (edit_method)) ... )
+        (("volume"  double_t  0  "tweet speak volume" 1.0  0.0 1.0))
+        ;; use lamda-closure to avoid memory error
+        '(lambda-closure nil 0 0 (cfg level)
+            (setq *volume* (cdr (assoc "volume" cfg :test #'equal)))
+            (ros::ros-warn "Volume changed to: ~A" *volume*)
+            cfg)))
+
 (ros::rate 0.1)
 (do-until-key
   (setq *user-name* (ros::get-param "/active_user/launch_user_name")
@@ -55,8 +67,10 @@
                 (incf pos (length s))
                 (if (< pos (- ln 2)) (setf (elt dt pos) 10))
                 (incf pos))
-              (tweet-string dt :warning-time 1 :with-image t)
+              (tweet-string dt :warning-time 1 :with-image t
+                            :volume *volume*)
               ))
           ))))
+  (ros::spin-once)
   (ros::sleep)
   )
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l
@@ -2,9 +2,21 @@
 
 (ros::roseus "twitter_client_warning")
 
+(load "package://roseus/euslisp/dynamic-reconfigure-server.l")
 (load "package://jsk_robot_startup/lifelog/tweet_client.l")
 (ros::load-ros-manifest "diagnostic_msgs")
 
+(setq *volume* (ros::get-param "~volume" 1.0))
+(setq *reconfigure-server*
+      (def-dynamic-reconfigure-server
+        ;;; ((name type level description (default) (min) (max) (edit_method)) ... )
+        (("volume"  double_t  0  "tweet speak volume" 1.0  0.0 1.0))
+        ;; use lamda-closure to avoid memory error
+        '(lambda-closure nil 0 0 (cfg level)
+            (setq *volume* (cdr (assoc "volume" cfg :test #'equal)))
+            (ros::ros-warn "Volume changed to: ~A" *volume*)
+            cfg)))
+
 (defun diagnostics-cb (msg)
   (let ((diagnostics (make-hash-table :test #'equal))
 	(tm (ros::time-now))
@@ -34,7 +46,7 @@
       (setq id (random (length status)))
       (when (= (mod (round (send tm :sec)) 1000) 0)
         (tweet-string (format nil "Warning!! ~A is ~A at ~0,3f" (car (elt status id)) (cdr (elt status id)) (send tm :to-sec))
-                      :warning-time 1 :with-image t)
+                      :warning-time 1 :with-image t :volume *volume*)
 	)) ;; when
     )) ;; let
 

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l
@@ -2,13 +2,25 @@
 
 (ros::roseus "twitter_client_worktime")
 
+(load "package://roseus/euslisp/dynamic-reconfigure-server.l")
 (load "package://jsk_robot_startup/lifelog/tweet_client.l")
 
 (defvar *robot-name* "robot")
 (when (ros::has-param "/active_user/robot_name")
   (setq *robot-name* (ros::get-param "/active_user/robot_name"))
   )
 
+(setq *volume* (ros::get-param "~volume" 1.0))
+(setq *reconfigure-server*
+      (def-dynamic-reconfigure-server
+        ;;; ((name type level description (default) (min) (max) (edit_method)) ... )
+        (("volume"  double_t  0  "tweet speak volume" 1.0  0.0 1.0))
+        ;; use lamda-closure to avoid memory error
+        '(lambda-closure nil 0 0 (cfg level)
+            (setq *volume* (cdr (assoc "volume" cfg :test #'equal)))
+            (ros::ros-warn "Volume changed to: ~A" *volume*)
+            cfg)))
+
 (ros::rate 0.1)
 (do-until-key
   (setq *user-name* (ros::get-param "/active_user/launch_user_name")
@@ -49,8 +61,10 @@
               postsubstr ", Got some rest?")))
 
       (tweet-string (format nil "~A~A~A" presubstr mainstr postsubstr)
-                    :warning-time 1 :with-image t)
+                    :warning-time 1 :with-image t
+                    :volume *volume*)
 
       ))
+  (ros::spin-once)
   (ros::sleep)
   )