internal static uint AdvertiseMethod(
QiObjectBuilder objBuilder,
string completeSignature,
QiApiObjectMethod method,
IntPtr userdata
)
=> qi_object_builder_advertise_method(objBuilder.Handle, completeSignature, method, userdata);
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);
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);
