ありがとうございます。
無事TAMAGOで録音した8chの音声をROSを用いて送信することができました。
自分と同じような人が困らないよう、ここに自分のサンプルファイルを示しておきます。
このサンプルでは同じ階層に存在するinputというディレクトリの中のwavファイルを、全てROSへと送信します。
#!/usr/bin/env python
## coding: UTF-8
import pyaudio
import wave
import rospy
import numpy as np
import os
from hark_msgs.msg import HarkWave, HarkWaveVal
class MultiWav:
def __init__(self):
np.set_printoptions(threshold=0)
self._wav_data_pub = rospy.Publisher('wavdata_py', HarkWave, queue_size=10)
self.CHUNK = 512
self.multi_msgs = []
self.p = pyaudio.PyAudio()
print("-=" * 35)
self.count = 0
self.here_path = os.path.dirname(__file__)
if self.here_path == "":
self.here_path = "."
def initialize_HarkWave(self):
self.hw = HarkWave()
self.hwv = HarkWaveVal()
self.sent_flag = False
self.hw.length = 512
self.hw.nch = self.ch
self.hw.data_bytes = self.hw.length * self.hw.nch * 4
def read_input_dir(self, path):
inputs = os.listdir(path)
wf_list = []
for input in inputs:
input_path = path + "/" + input
wf = wave.open(input_path, 'rb')
wf_list.append(wf)
# 他のメソッドで使用するメンバ変数等を定義
self.channel0_path = path + "/" + inputs[0]
self.ch = len(inputs)
return wf_list
def wav2array(self, wfs):
for wf in wfs:
data = wf.readframes(self.CHUNK)
msgs_nest = []
while data != '':
# stream.write(data)
data = wf.readframes(self.CHUNK)
wavdata = np.fromstring(data, "Int16").tolist()
if len(wavdata) == 0:
break
msgs_nest.append(wavdata)
self.multi_msgs.append(msgs_nest)
def generate_senddata_with_playing(self, multi_msgs):
wf0 = wave.open(self.channel0_path, 'rb')
stream = self.p.open(
format=self.p.get_format_from_width(wf0.getsampwidth()),
channels=wf0.getnchannels(),
rate=wf0.getframerate(),
output=True
)
data = wf0.readframes(self.CHUNK)
while data != '':
stream.write(data)
data = wf0.readframes(self.CHUNK)
wavdata = np.fromstring(data, "Int16")
print("playing this now: " + str(wavdata))
if len(wavdata) == 0:
break
multi_msg_1d = []
for mono_msgs in multi_msgs:
multi_msg_1d.extend(mono_msgs[self.count])
self.send(multi_msg_1d)
self.count = self.count + 1
stream.close()
self.p.terminate()
def send(self, array):
hw = self.hw
hwv = self.hwv
hw.header.stamp = rospy.Time.now()
hw.header.frame_id = str(self.count)
hw.count = self.count
hw.src = []
for i in range(hw.nch):
start_index = i * hw.length
end_index = start_index + hw.length
mono_arr = array[start_index:end_index]
hwv.wavedata = mono_arr
hw.src.append(hwv)
self._wav_data_pub.publish(hw)
if __name__ == '__main__':
rospy.init_node('wav_reader_py',anonymous=True)
mw = MultiWav()
wavfiles = mw.read_input_dir(mw.here_path + "/input")
mw.initialize_HarkWave()
mw.wav2array(wavfiles)
mw.generate_senddata_with_playing(mw.multi_msgs)
