Add reverb option for SoundRequest

sound_play/msg/SoundRequest.msg

@@ -25,6 +25,7 @@ int8 command # Indicates what to do with the sound
 
 # Volume at which to play the sound, with 0 as mute and 1.0 as 100%.
 float32 volume
+float32 reverb
 
 string arg # file name or text to say
 string arg2 # other arguments

sound_play/scripts/soundplay_node.py

@@ -86,12 +86,13 @@ def stopall(self):
     def select_sound(self, data):
         if data.sound == SoundRequest.PLAY_FILE:
             if not data.arg2:
-                if data.arg not in self.filesounds.keys():
+                if data.arg not in self.filesounds.keys()\
+                   or self.filesounds[data.arg].reverb != data.reverb:
                     rospy.logdebug(
                         'command for uncached wave: "%s"' % data.arg)
                     try:
                         self.filesounds[data.arg] = SoundType(
-                            data.arg, self.device, data.volume)
+                            data.arg, self.device, data.volume, data.reverb)
                     except Exception:
                         rospy.logerr(
                             'Error setting up to play "%s".'
@@ -115,7 +116,7 @@ def select_sound(self, data):
                         'command for uncached wave: "%s"' % absfilename)
                     try:
                         self.filesounds[absfilename] = SoundType(
-                            absfilename, self.device, data.volume)
+                            absfilename, self.device, data.volume, data.reverb)
                     except Exception:
                         rospy.logerr(
                             'Error setting up to play "%s" from package "%s".'
@@ -135,7 +136,8 @@ def select_sound(self, data):
                 sound = self.filesounds[absfilename]
         elif data.sound == SoundRequest.SAY:
             voice_key = data.arg + '---' + data.arg2
-            if voice_key not in self.voicesounds.keys():
+            if voice_key not in self.voicesounds.keys()\
+               or self.voicesounds[voice_key].reverb != data.reverb:
                 rospy.logdebug('command for uncached text: "%s"' % voice_key)
                 if self.plugin is None:
                     rospy.logerr(
@@ -151,7 +153,7 @@ def select_sound(self, data):
                         rospy.logerr('Failed to generate wavfile.')
                     else:
                         self.voicesounds[voice_key] = SoundType(
-                            wavfilename, self.device, data.volume)
+                            wavfilename, self.device, data.volume, data.reverb)
             else:
                 rospy.logdebug('command for cached text: "%s"' % voice_key)
                 voicesound = self.voicesounds[voice_key]
@@ -171,7 +173,7 @@ def select_sound(self, data):
                 if params[1] != 1:
                     volume = (volume + params[1])/2
                 self.builtinsounds[data.sound] = SoundType(
-                    params[0], self.device, volume)
+                    params[0], self.device, volume, data.reverb)
             sound = self.builtinsounds[data.sound]
         if sound.staleness != 0 and data.command != SoundRequest.PLAY_STOP:
             # This sound isn't counted in active_sounds

sound_play/src/sound_play/libsoundplay.py

@@ -163,9 +163,9 @@ def builtinSound(self, id, volume=1.0):
 ##
 ## \param text String to say
 
-    def say(self,text, voice='', volume=1.0, **kwargs):
+    def say(self,text, voice='', volume=1.0, reverb=0.0, **kwargs):
         self.sendMsg(SoundRequest.SAY, SoundRequest.PLAY_ONCE, text, voice,
-                     volume, **kwargs)
+                     volume, reverb, **kwargs)
 
 ## \brief Say a string repeatedly
 ##
@@ -303,7 +303,7 @@ def stopAll(self):
         self.stop(SoundRequest.ALL)
 
     def sendMsg(
-        self, snd, cmd, s, arg2="", vol=1.0, replace=True,
+            self, snd, cmd, s, arg2="", vol=1.0, rv=0.0, replace=True,
         server_timeout=None, result_timeout=None,
         **kwargs
     ):
@@ -324,6 +324,7 @@ def sendMsg(
         msg.sound = snd
         # Threshold volume between 0 and 1.
         msg.volume = max(0, min(1, vol))
+        msg.reverb = max(0, min(1, rv))
         msg.command = cmd
         msg.arg = s
         msg.arg2 = arg2

sound_play/src/sound_play/sound_type.py

@@ -1,4 +1,7 @@
 import os
+from pedalboard.io import AudioFile
+from pedalboard import Pedalboard, Reverb
+import tempfile
 import threading
 
 import rospy
@@ -25,7 +28,7 @@ class SoundType(object):
     LOOPING = 1
     COUNTING = 2
 
-    def __init__(self, file, device, volume=1.0):
+    def __init__(self, file, device, volume=1.0, reverb=0.0):
         self.lock = threading.RLock()
         self.state = self.STOPPED
         self.sound = Gst.ElementFactory.make("playbin", None)
@@ -38,17 +41,33 @@ def __init__(self, file, device, volume=1.0):
             self.sound.set_property("audio-sink", self.sink)
 
         if (":" in file):
-            uri = file
+            input_file = file.replace("file://")
         elif os.path.isfile(file):
-            uri = "file://" + os.path.abspath(file)
+            input_file = file
         else:
             rospy.logerr('Error: URI is invalid: %s' % file)
 
+        if reverb > 0.0:
+            (wavfile, wavfilename) = tempfile.mkstemp(
+                prefix='sound_play', suffix='.wav')
+            os.close(wavfile)
+            board = Pedalboard([Reverb(room_size=reverb)])
+            with AudioFile(input_file) as f:
+                with AudioFile(wavfilename, 'w', f.samplerate, f.num_channels) as o:
+                    while f.tell() < f.frames:
+                        chunk = f.read(f.samplerate)
+                        effected = board(chunk, f.samplerate, reset=False)
+                        o.write(effected)
+            uri = "file://" + os.path.abspath(wavfilename)
+        else:
+            uri = "file://" + os.path.abspath(input_file)
+
         self.uri = uri
         self.volume = volume
         self.sound.set_property('uri', uri)
         self.sound.set_property("volume", volume)
         self.staleness = 1
+        self.reverb = reverb
         self.file = file
 
         self.bus = self.sound.get_bus()