internal static uint AdvertiseMethod( QiObjectBuilder objBuilder, string completeSignature, QiApiObjectMethod method, IntPtr userdata ) => qi_object_builder_advertise_method(objBuilder.Handle, completeSignature, method, userdata);
public async Task Run() { if (!IsInitialized || IsStarted || IsDisposed) { return; } IsStarted = true; var mmDevice = new MMDeviceEnumerator().GetDefaultAudioEndpoint(DataFlow.Render, Role.Multimedia); var wavProvider = new BufferedWaveProvider(new WaveFormat(SoundSamplingRate, 16, 1)); var wavPlayer = new WasapiOut(mmDevice, AudioClientShareMode.Shared, false, 200); wavPlayer.Init(new VolumeWaveProvider16(wavProvider)); wavPlayer.Play(); var objBuilder = QiObjectBuilder.Create(); objBuilder.AdvertiseMethod( "processRemote::v(iimm)", (sig, arg) => { byte[] raw = arg[3].GetRaw(); wavProvider.AddSamples(raw, 0, raw.Length); return(QiValue.Void); }); var _soundSubscriberService = objBuilder.BuildObject(); uint _soundSubscriberId = _session.RegisterService(SoundSubscriberServiceName, _soundSubscriberService); _audioDevice.Call("setClientPreferences", new QiString(SoundSubscriberServiceName), new QiInt32(SoundSamplingRate), new QiInt32(3), new QiInt32(0) ); _audioDevice.Call("subscribe", new QiString(SoundSubscriberServiceName)); await Task.Delay(-1, _cts.Token) .ContinueWith(_ => { _audioDevice.Call("unsubscribe", new QiString(SoundSubscriberServiceName)); _session.UnregisterService(_soundSubscriberId); wavPlayer.Stop(); wavPlayer.Dispose(); }); }
public static void Execute(QiSession session) { string serviceName = "CSharpSoundDownloaderSpare"; var audioDevice = session.GetService("ALAudioDevice"); var waveIn = new WaveInEvent(); #region 1/4: ロボットへ音を投げる方の仕込み //出力サンプリングレートをデフォルト(48kHz)から16kHzに下げる //16000, 22050, 44100, 48000のいずれかしか選択できない点に注意 audioDevice["setParameter"].Call("outputSampleRate", 16000); //下のDataAvailableイベントが発生する頻度、バッファの長さに影響する。 //バッファ長は16384を超えてはいけない点に注意 //(詳細は公式ドキュメンテーション参照) waveIn.BufferMilliseconds = 200; //マイクの集音時フォーマット: 周波数を上で設定した値に合わせる waveIn.WaveFormat = new WaveFormat(16000, 16, 2); int count = 0; waveIn.DataAvailable += (_, e) => { if (e.BytesRecorded > 16384) { return; } byte[] bufferToSend = new byte[e.BytesRecorded]; Array.Copy(e.Buffer, bufferToSend, e.BytesRecorded); int p = audioDevice["sendRemoteBufferToOutput"].Post(bufferToSend.Length / 4, bufferToSend); Console.WriteLine($"received data, {count}"); count++; }; #endregion #region 2/4 ロボットから音を拾う, 再生デバイス準備 var mmDevice = new MMDeviceEnumerator().GetDefaultAudioEndpoint(DataFlow.Render, Role.Multimedia); var wavProvider = new BufferedWaveProvider(new WaveFormat(16000, 16, 1)); var wavPlayer = new WasapiOut(mmDevice, AudioClientShareMode.Shared, false, 200); wavPlayer.Init(new VolumeWaveProvider16(wavProvider)); wavPlayer.Play(); #endregion #region 3/4 ロボットから音を拾う, ロボットのマイク監視モードに入る var objBuilder = QiObjectBuilder.Create(); //コールバックであるprocessRemote関数を登録することでALAudioDevice側の仕様に対応 objBuilder.AdvertiseMethod( "processRemote::v(iimm)", (sig, arg) => { //ここで処理 //Console.WriteLine("Received Buffer!"); //Console.WriteLine(arg.Dump()); //データの内容については上記のダンプを行うことである程度確認可能 byte[] raw = arg[3].ToBytes(); wavProvider.AddSamples(raw, 0, raw.Length); return(QiValue.Void); }); //上記のコールバック取得用サービスを登録 session.Listen("tcp://0.0.0.0:0").Wait(); ulong registeredId = session.RegisterService(serviceName, objBuilder.BuildObject()).GetUInt64(0UL); #endregion #region 4/4 設定を調整して実際に入出力を行う //マジックナンバーあるけど詳細は右記参照 http://www.baku-dreameater.net/archives/2411 audioDevice["setClientPreferences"].Call(serviceName, 16000, 3, 0); //開始 audioDevice["subscribe"].Call(serviceName); waveIn.StartRecording(); #endregion Console.WriteLine("Press ENTER to quit.."); Console.ReadLine(); audioDevice["unsubscribe"].Call(serviceName); session.UnregisterService((uint)registeredId); wavPlayer.Stop(); wavPlayer.Dispose(); waveIn.StopRecording(); waveIn.Dispose(); }
internal static QiObject BuildObject(QiObjectBuilder objBuilder) => new QiObject(qi_object_builder_get_object(objBuilder.Handle));
internal static uint AdvertiseProperty(QiObjectBuilder objBuilder, string name, string signature) => qi_object_builder_advertise_property(objBuilder.Handle, name, signature);
internal static void DestroyBuilder(QiObjectBuilder objBuilder) => qi_object_builder_destroy(objBuilder.Handle);