NAO robot: porting ALSoundExtractor to qi framwork

Question

When porting from NAOqi to qi framework I achieved a partial success. I do however still have the following problem. I do not know how to implement sound processing with ALSound

Answer 1

The following is what has eventually worked for me and concludes the topic.

// **************** service.h ****************

typedef signed short AL_SOUND_FORMAT;       // copy from alaudio/alsoundextractor.h

class SoundProcessing
  {
public:
    SoundProcessing(qi::SessionPtr session);
    void init(void);                // a replacement for a function automatically called in NAOqi 2.1.4
    virtual ~SoundProcessing(void); 
    void processRemote(const int& nbOfChannels, const int& nbrOfSamplesByChannel, const qi::AnyValue& timestamp, const qi::AnyValue& buffer);

private:
    qi::SessionPtr _session;
    qi::AnyObject audio;
  };

// **************** service.cpp ****************

SoundProcessing::SoundProcessing(qi::SessionPtr session) : _session(session)
  {
   _session->waitForService("ALAudioDevice");
    audio = _session->service("ALAudioDevice");
  } // constructor
  
QI_REGISTER_MT_OBJECT(SoundProcessing, init, processRemote);


SoundProcessing::~SoundProcessing(void)
  { 
    audio.call("unsubscribe", "SoundProcessing");
  } // destructor
  

void SoundProcessing::init(void)    
  {
    audio.call("setClientPreferences",
                              "SoundProcessing",
                             _FREQ48K,          // 48000 Hz requested
                              0,    
                              1     
                            );  
                            
    audio.call("subscribe", "SoundProcessing");
  } // SoundProcessing::init


void SoundProcessing::processRemote(const int& nbOfChannels,const int& nbrOfSamplesByChannel, const qi::AnyValue& timestamp, const qi::AnyValue& qibuffer)
  { 
    std::pair charBuffer = qibuffer.unwrap().asRaw();
    AL_SOUND_FORMAT *buffer = (AL_SOUND_FORMAT *)charBuffer.first;
    
    (...)
  } // SoundProcessing::process


// **************** main.cpp ****************

int main(int argc, char* argv[])
  {
    qi::ApplicationSession app(argc, argv);
    app.start();
    qi::SessionPtr session = app.session();
    
    session->registerService("SoundProcessing", qi::AnyObject(boost::make_shared(session)));

    qi::AnyObject sp = session->service("SoundProcessing");
    sp.call("init");
    
    app.run();
    return 0;
  }