rosaria/Legacy/Aria/include/ArSoundsQueue.h

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/

#ifndef ARSOUNDSQUEUE_H
#define ARSOUNDSQUEUE_H


#include "ariaTypedefs.h"
#include "ArASyncTask.h"
#include "ArCondition.h"
#include "ArFunctor.h"
#include "ArSpeech.h"
#include <list>
#include <string>
#include <set>

/**
 * @brief This class manages a queue of items to play as WAV files or as text to 
 *  speak using a speech synthesizer.
 *
 * The actual playback of sound and speech is done through callbacks 
 * (which you can supply in the constructor or afterwards).
 * Some callbacks you can use are provided by classes like ArSoundPlayer (for sound file
 * playback) and ArFestival (from the ArSpeechSynth_Festival library) and ArCepstral 
 * (from the ArSpeechSynth_Cepstral librrary) for speech synthesis. 
 *
 * Add sound files to the queue with play(), and text to speak with
 * speak(). Use runAsync() to run
 * the processing thread in the background, or run() to run synchronously in the
 * current thread.
 *
 *
 * @sa ArSoundPlayer
 * @sa @ref soundsQueueExample.cpp
 *
  @ingroup UtilityClasses
 */ 

class ArSoundsQueue: public ArASyncTask
{
public:

  /** Opaque identifier for the type of an item in the sound queue. Not used 
   * during processing, but may be used to search for items in the queue. */
  enum ItemType { SPEECH, SOUND_FILE, SOUND_DATA, OTHER };

  /** Callback for playing a queue item. First argument is the "data", second is
   * item type-specific "parameters". Return true to continue processing more
   * callbacks in a list, false to cancel processing.
   */
  typedef ArRetFunctor2<bool, const char*, const char*> PlayItemFunctor;
  typedef ArFunctor InterruptItemFunctor;

  /** Callback types for determining whether to commence playing an item,
   * or skipping it.
   */
  typedef ArRetFunctor<bool> PlaybackConditionFunctor;

  /** A sound item in the queue, with callbacks for dealing with the
   * item and the data to pass to those callbacks. 
   */
  class Item {
  public:
    std::string data;
    ItemType type;
    std::string params;
    int priority;
    std::list<InterruptItemFunctor*> interruptCallbacks;
    std::list<PlayItemFunctor*> playCallbacks;
    std::list<ArFunctor*> doneCallbacks;
    std::list<PlaybackConditionFunctor*> playbackConditionCallbacks;

    AREXPORT Item();
    AREXPORT Item(std::string _data, ItemType _type, std::string _params = "", int priority = 0);
    AREXPORT Item(std::string _data, ItemType _type, std::string _params, int priority, std::list<PlayItemFunctor*> callbacks); 

	  AREXPORT Item(const ArSoundsQueue::Item& toCopy);

    /** Note: does not compare priority! */
    bool operator==(const Item& other) const
    {
      return (other.type == type && other.params == params && other.data == data);
    }

    /** Called by sound queue to play this item by calling play callbacks. */
    void play();

    /** Called by sound queue to interrupt this item by calling interrupt
     * callbacks. */
    void interrupt();

    /** Called by sound queue thread after playing this item by calling done
     * callbacks. */
    void done();
  };


  AREXPORT ArSoundsQueue();

  /** @deprecated
   *  @see addInitCallback()
   *  @see setSpeakCallback()
   *  @see setInterruptSpeechCallback()
   *  @see setPlayFileCallback
   *  @see setInterruptFileCallback
   */
  AREXPORT ArSoundsQueue(ArRetFunctor<bool> *speakInitCB, 
		    PlayItemFunctor *speakCB = 0, 
        InterruptItemFunctor *interruptSpeechCB = 0,
		    ArRetFunctor<bool> *playInitCB = 0, 
		    PlayItemFunctor *playFileCB = 0,
        InterruptItemFunctor *interruptFileCB = 0);

  /** Set default speech and WAV file callbacks for use
   * by the convenience methods speak() and play().
   * Omit the last three arguments to use 
   * callbacks into ArSoundPlayer.
   */
  AREXPORT ArSoundsQueue(ArSpeechSynth* speechSynthesizer, 
		    ArRetFunctor<bool> *playInitCB = 0, 
		    PlayItemFunctor *playFileCB = 0,
        InterruptItemFunctor *interruptFileCB = 0);

  AREXPORT virtual ~ArSoundsQueue();

  /** Add a callback to be called when the sound queue begins to run in its
   *  thread.  (For example, the speech synthesizers must be initialized in
   *  the same thread as they are used.)
   */
  AREXPORT void addInitCallback(ArRetFunctor<bool> *cb) {
    myInitCallbacks.push_back(cb);
  }

  /** @deprecated */
  AREXPORT void setSpeakInitCallback(ArRetFunctor<bool> *cb) {
    addInitCallback(cb);
  }

  /** Add (a copy of) the given item to the queue. */
  AREXPORT void addItem(ArSoundsQueue::Item item);

  /** Create a new queue item with the given data and add to the queue. */
  AREXPORT void addItem(ItemType type, const char* data, std::list<PlayItemFunctor*> callbacks, int priority = 0, const char* params = 0);

  /** Return true if all initialization callbacks have completed, false
   * otherwise.  
   */
  AREXPORT bool isInitialized()
  {
    return myInitialized;
  }

  /** @deprecated
   *  @see isPlaying()
   */
  AREXPORT bool isSpeakingOrPlaying(void) { return (myPlayingSomething); }

  /// Returns true if an item is currently being played.
  AREXPORT bool isPlaying() { return myPlayingSomething; }


  /** @deprecated
   *  @return true if any queue item is being played.
   *  @see isPlaying()
   */
  AREXPORT bool isSpeaking() { return myPlayingSomething; }


  /// Begin processing the sounds queue synchronously (in this thread; does not return)
  AREXPORT void run(void) { runInThisThread(); }

  /// Begin processing the sounds queue in a background thread
  AREXPORT void runAsync(void) { create(false); }

  /** Temporarily stop processing the sounds queue. (Any currently playing sound
      or speech utterance will finish. The sound device may remain open.)
  */
  AREXPORT void pause();

  /// Resume processing the sounds queue
  AREXPORT void resume() ;

  /** @return true if the queue is paused */
  AREXPORT bool isPaused();

  /// If sound is currently being played or speech is being spoken, interrupt it. (but continue processing the queue). SoundFinished callbacks will not be called.
  AREXPORT void interrupt();

  /** Empty the queue.  If a sound is currently playing, it will not be interrupted.
      QueueEmpty callbacks will be called. SoundFinished callbacks will not be
      called.
  */
  AREXPORT void clearQueue();

  /**  End the processing thread.
   * This function is deprecated. Use stopRunning() instead.
   * @deprecated
      This shuts down the sound queue completely. To 
      temporarily stop the queue processing, use pause(). To interrupt the
      currently playing sound, use interrupt().
  */
  AREXPORT void stop() ;

  /// Create and return a new a functor for pause(), which other modules can use to pause this sounds
  /// queue.
  AREXPORT ArFunctor* getPauseCallback() 
  {
    return new ArFunctorC<ArSoundsQueue>(this, &ArSoundsQueue::pause);
  }

  /// Create and return a new functor for resume(), which other modules can use to resume this
  ///  sounds queue.
  AREXPORT ArFunctor* getResumeCallback() 
  {
    return new ArFunctorC<ArSoundsQueue>(this, &ArSoundsQueue::resume);
  }


  /// Get the current size of the speech/sound playback queue.
  AREXPORT size_t getCurrentQueueSize()
  {
    size_t size;
    lock();
    size = myQueue.size();
    unlock();
    return size;
  }

  /** Add a callback functor to be invoked when playback of one sound or speech utterance starts. */
  AREXPORT void addSoundStartedCallback(ArFunctor* f)
  {
    myStartPlaybackCBList.push_back(f);
  }

  /** Remove a callback functor to be invoked when playback one sound or speech utterance starts. */
  AREXPORT void remSoundStartedCallback(ArFunctor* f)
  {
    myStartPlaybackCBList.remove(f);
  }

  /** Add a callback functor to be invoked when plackback of one sound or speech
   * utterance finishes */
  AREXPORT void addSoundFinishedCallback(ArFunctor* f)
  {
    myEndPlaybackCBList.push_back(f);
  }

  /** Remove a callback functor to be invoked when plackback of one sound or
   * speech utterance finishes. */
  AREXPORT void remSoundFinishedCallback(ArFunctor* f)
  {
    myEndPlaybackCBList.remove(f);
  }

  /** Add a callback functor to be invoked when playback of one sound or speech utterance starts. */
  AREXPORT void addSoundItemStartedCallback(
	  ArFunctor1<ArSoundsQueue::Item> *f)
  {
    myStartItemPlaybackCBList.push_back(f);
  }

  /** Remove a callback functor to be invoked when playback one sound or speech utterance starts. */
  AREXPORT void remSoundItemStartedCallback(
	  ArFunctor1<ArSoundsQueue::Item> *f)
  {
    myStartItemPlaybackCBList.remove(f);
  }

  /** Add a callback functor to be invoked when plackback of one sound or speech
   * utterance finishes */
  AREXPORT void addSoundItemFinishedCallback(
	  ArFunctor1<ArSoundsQueue::Item> *f)
  {
    myEndItemPlaybackCBList.push_back(f);
  }

  /** Remove a callback functor to be invoked when plackback of one sound or
   * speech utterance finishes. */
  AREXPORT void remSoundItemFinishedCallback(
	  ArFunctor1<ArSoundsQueue::Item> *f)
  {
    myEndItemPlaybackCBList.remove(f);
  }

  /** Add a callback functor to be invoked when a the sound queue becomes
   * non-empty, that is, when a block of sounds/speech utterances begins.
   */
  AREXPORT void addQueueNonemptyCallback(ArFunctor* f)
  {
    myQueueNonemptyCallbacks.push_back(f);
  }

  /** Remove a functor added by addQueueNonemptyCallback(). */
  AREXPORT void remQueueNonemptyCallback(ArFunctor* f)
  {
    myQueueNonemptyCallbacks.remove(f);
  }

  /** Add a callback functor to be invoked when the sound queue becomes empty
   * and the last sound has finished playing,
   * that is, when a block of sounds/speech utterances ends. This will not
   * be called when the sound queue first begins running.
   */
  AREXPORT void addQueueEmptyCallback(ArFunctor* f)
  {
    myQueueEmptyCallbacks.push_back(f);
  }

  /** Remove a functor added by addQueueEmptyCallback() */
  AREXPORT void remQueueEmptyCallback(ArFunctor* f)
  {
    myQueueEmptyCallbacks.remove(f);
  }


  
  /** Find items waiting in the queue. This is mainly useful in finding 
   *  speech text.
   * @param item  Item to search for.  
   * @return A set of positions in the queue. 1 indicates the next sound that will
   * play, followed by 2, etc.
   * @note You have a potential race condition if an item is removed from the queue 
   * after this method returns, but before you on the information returned.
   * For best results, pause the sound queue while using this information.
   */
  AREXPORT std::set<int> findPendingItems(const char* item);

  /** Remove pending items with the given data and type. */
  AREXPORT void removePendingItems(const char* item, ItemType type);

  /** Remove pending items with the given data. */
  AREXPORT void removePendingItems(const char* data);

  /** Remove pending items with a priority less than that given. */
  AREXPORT void removePendingItems(int priority);

  /** Remove pending items with priority less the given priority and with the given type. */
  AREXPORT void removePendingItems(int priority, ItemType type);

  /** Remove pending items with the given type. */
  AREXPORT void removePendingItems(ItemType type);

  /** Remove pending and current items with a priority less than that given. */
  AREXPORT void removeItems(int priority);

  /** Removes pending and current items with the same data and type as the given item **/
  AREXPORT void removeItems(Item item);

  AREXPORT std::string nextItem(ItemType type);
  AREXPORT std::string nextItem(int priority);
  AREXPORT std::string nextItem(ItemType type, int priority);

  /// Convenience methods for special speech synthesis and WAV file queue items: 
  //@{
  
  /**
   * As a convenience, you may set a "default" speech synthesis callback,
   * and then simply use the speak() method to add a speech item to the queue 
   * with those callbacks. 
   * @sa Item
   */
  AREXPORT void setSpeakCallback(PlayItemFunctor *cb) {
    myDefaultSpeakCB = cb;
  }

  /** Set the "default" callback to interrupt a current speech utterance, used
   * by speak() 
   * @sa Item
   */
  AREXPORT void setInterruptSpeechCallback(InterruptItemFunctor *cb) {
    myDefaultInterruptSpeechCB = cb;
  }

  /** As a convenience, you may set a "default" WAV file playback callback,
   * and then simply use the play() method to add the file to the queue with
   * this callback.
   * @sa Item
   */
  AREXPORT void setPlayFileCallback(PlayItemFunctor *cb) {
    myDefaultPlayFileCB = cb;
  }

  /** @deprecated use setPlayFileCallback() */
  AREXPORT void setPlayWavFileCallback(PlayItemFunctor* cb) {
    setPlayFileCallback(cb);
  }

  /** Set the "default" callback to interrupt current wav file playback, for use
   * by the play() convenience method. 
   * @sa Item
   */
  AREXPORT void setInterruptFileCallback(InterruptItemFunctor *cb) {
    myDefaultInterruptFileCB = cb;
  }

  /** @deprecated use setInterruptFileCallback() */
  AREXPORT void setInterruptWavFileCallback(InterruptItemFunctor* cb) {
    setInterruptFileCallback(cb);
  }
  

  /** Add text string item to the queue for speech synthesis. The text will be
   * sent to the "speak" callback, if set, otherwise the SynthesiseToSound and
   * PlaySynthesizedSound callbacks are used, if set.
   */
  AREXPORT void speak(const char *str);

  /** Add a sound file to the queue for default sound file playback.  */
  AREXPORT void play(const char *filename);
  
#if !(defined(WIN32) && defined(_MANAGED)) && !defined(SWIG)

  /** Add a formatted text string (like printf) to the queue configured for default speech
   * synthesis. When reached in the queue while running, the text will be 
   * sent to the "speak" callback, if set, otherwise, the "SythesizeToSound" and
   * "PlaySynthesizedSound" callbacks will be used (if they are set.)
   *
   * @param fmt Format string. 
   * @param ... Arguments to format into the format string.
   */
  AREXPORT void speakf(const char *fmt, ...);


  /** Speak with alternate voice. */
  AREXPORT void speakWithVoice(const char* voice, const char* fmt, ...);

  /** Speak with alternate priority. */
  AREXPORT void speakWithPriority(int priority, const char* fmt, ...);

  /** Add a sound file to the queue for default sound file playback.
   *
   * @param filename_fmt  Format string for determining the filename of the WAV
   * file, same as printf().
   * @param ... If given, arguments to format into the format string.
   */
  AREXPORT void playf(const char *filename_fmt, ...);

#endif // MS Managed C++ or SWIG

  /** Return an item set up for speech with previously set default speech
   * callbacks.
   * @param speech Text to speak (optional)
   * @see setSpeechCallback()
   * @see addItem()
   */
  AREXPORT ArSoundsQueue::Item createDefaultSpeechItem(const char* speech = 0);

  /** Return an item set up for sound file playback with previously set default
   * play callbacks.
   * @param filename Filename to set (optional)
   * @see setPlayFileCallback()
   * @see addItem()
   */
  AREXPORT ArSoundsQueue::Item createDefaultFileItem(const char* filename = 0);

  //@}

  /** Set a playback condition functor used for default speech and sound file
   * items. Set to NULL to clear. */
  AREXPORT void setDefaultPlayConditionCB(PlaybackConditionFunctor* f) {
    myDefaultPlayConditionCB = f;
  }
  
  /// main function for thread
  /** @internal */
  AREXPORT virtual void *runThread(void *arg);

protected:
  bool myInitialized;
  std::list<Item> myQueue;
  ArMutex myQueueMutex;
  void lock() {
    myQueueMutex.lock();
  }
  void unlock() {
    myQueueMutex.unlock();
  }
  bool tryLock() {
    return myQueueMutex.tryLock();
  }

  /// Functors to invoke when we start running in our thread
  std::list< ArRetFunctor<bool>* > myInitCallbacks;

  bool myPlayingSomething;
  Item myLastItem; ///< The current or most recent item played.

  /// Used by speak() and play() convenience methods:
  //@{
  PlayItemFunctor *myDefaultSpeakCB;
  InterruptItemFunctor *myDefaultInterruptSpeechCB;
  PlayItemFunctor *myDefaultPlayFileCB;
  InterruptItemFunctor *myDefaultInterruptFileCB;
  //@}
 
  int myPauseRequestCount;  ///< Semaphore for doing pausing and resuming of the queue
  ArCondition myPausedCondition;    ///< Condition variable used by the thread to pause

  /// Functors to invoke during queue processing
  //@{
  std::list<ArFunctor*> myStartPlaybackCBList;
  std::list<ArFunctor*> myEndPlaybackCBList;
  std::list<ArFunctor1<ArSoundsQueue::Item> *> myStartItemPlaybackCBList;
  std::list<ArFunctor1<ArSoundsQueue::Item> *> myEndItemPlaybackCBList;
  std::list<ArFunctor*> myQueueNonemptyCallbacks;
  std::list<ArFunctor*> myQueueEmptyCallbacks;
  //@}
  
  PlaybackConditionFunctor* myDefaultPlayConditionCB; ///< Used when creating default configured speech and sound file items

  /// Invoke each functor in a list
  void invokeCallbacks(const std::list<ArFunctor*>& lst);

  /// Invoke each functor in a list, but stop if any of them return false.
  void invokeCallbacks(const std::list<ArRetFunctor<bool>*>& lst);

  /**  push item onto queue 
   * @sa addItem()
   */
  //@{
  void pushQueueItem(Item item);
  void pushQueueItem_NoLock(Item item);
  //@}

  /** Pop item from queue and return it */
  //@{
  Item popQueueItem();
  Item popQueueItem_NoLock();
  //@}

};

#endif