[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
@@ -28,6 +52,9 @@ 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})
 

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/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 +1,38 @@
+#!/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 recording')
+    client.start_record('/audio','/usb_cam_node/image_raw',file_name_01,30)
+    rospy.sleep(5)
+    client.start_record('/audio','/usb_cam_node/image_raw',file_name_02,30)
+    rospy.sleep(5)
+    rospy.loginfo('Stop recording')
+    client.stop_record(file_name_01)
+    rospy.sleep(5)
+    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>

audio_video_recorder/setup.py

@@ -0,0 +1,10 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['audio_video_recorder'],
+    scripts=[],
+    package_dir={'': 'src'}
+)
+
+setup(**d)

audio_video_recorder/src/audio_video_recorder/audio_video_recorder_client.py

@@ -0,0 +1,88 @@
+# -*- encoding: utf-8 -*-
+
+import rospy
+import roslaunch
+
+from sensor_msgs.msg import Image
+from .msg import RecordTask, RecordTaskArray
+from .srv import StartRecord, StartRecordRequest, StartRecordResponse
+from .srv import StopRecord, StopRecordRequest, StopRecordResponse
+
+import threading
+
+
+class AudioVideoRecorderClient:
+
+    def __init__(self):
+
+        self.record_task_array = RecordTaskArray()
+
+        self.client_start_record = rospy.ServiceProxy(
+                '/audio_video_recorder_server/start_record',
+                StartRecord)
+        self.client_stop_record = rospy.ServiceProxy(
+                '/audio_video_recorder_server/stop_record',
+                StopRecord)
+        self.sub_record_task_array = rospy.Subscriber(
+                '/audio_video_recorder_server/record_tasks',
+                RecordTaskArray,
+                self.__callback
+                )
+
+    def __callback(self, msg):
+        self.record_task_array = msg
+
+    def start_record(self,
+                    audio_topic_name,
+                    image_topic_name,
+                    file_name,
+                    video_framerate,
+                    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=None,
+                    video_width=None
+                    ):
+        # Get width and height from message
+        if video_height is None or video_width is None:
+            try:
+                msg_image = rospy.wait_for_message(image_topic_name,Image,timeout=rospy.Duration(5))
+                video_height = msg_image.height
+                video_width = msg_image.width
+            except rospy.ROSException as e:
+                return False, 'Image topic not published.'
+        #
+        req = StartRecordRequest()
+        req.task.audio_topic_name = audio_topic_name
+        req.task.image_topic_name = image_topic_name
+        req.task.queue_size = queue_size
+        req.task.file_name = file_name
+        req.task.file_format = file_format
+        req.task.audio_format = audio_format
+        req.task.audio_sample_format = audio_sample_format
+        req.task.audio_channels = audio_channels
+        req.task.audio_depth = audio_depth
+        req.task.audio_sample_rate = audio_sample_rate
+        req.task.video_encoding = video_encoding
+        req.task.video_height = video_height
+        req.task.video_width = video_width
+        req.task.video_framerate = video_framerate
+        #
+        res = self.client_start_record(req)
+        return res.success, res.message
+
+    def get_record_task_array(self):
+        return self.record_task_array
+
+    def stop_record(self, file_name):
+        #
+        req = StopRecordRequest()
+        req.file_name = file_name
+        #
+        res = self.client_stop_record(req)
+        return res.success, res.message