Sound

This file presents the different functions, enums and topics available with the Sound API

Sound - Command functions

This section reference all existing functions to control the Sound interface of the Ned2. All functions are accessible via an instance of the class NiryoRobot

robot = NiryoRobot(<robot_ip_address>)

robot.sound.play('connected.wav')
...

List of functions:

class Sound(client)[source]

Sound robot functions

Example:

ros_instance = NiryoRos("127.0.0.1") # Hotspot
sound_interface = Sound(ros_instance)
Parameters

client (NiryoRos) – Niryo ROS client

Sound - Play

Sound.play(sound_name, wait_end=False, start_time_sec=0, end_time_sec=0)[source]

Play a sound that as already been imported by the user on the robot.

Example:

# If you know that the sound test_sound.wav is already imported on the robot
sound.play_sound_user("test_sound.wav")

# If you want to play the first sound of the ones that are already on the robot without knowing its name
sound_name = sound.get_sounds()[0]
sound_duration = sound.play(sound_name)

# Waits until the sound has been fully played
sound_duration = sound.play(sound_name, wait_end=True)

#  Doesn't wait until the sound has been fully played
sound_duration = sound.play(sound_name, wait_end=False)

# Plays sound from 1.1 seconds from start to 4.3 seconds from start
sound_duration = sound.play(sound_name, start_time_sec=1.1, end_time_sec=4.3)
Param

sound_name: Name of the sound that will be played

Parameters

  • wait_end (bool) – wait for the end of the sound before exiting the function

  • start_time_sec (float) – start the sound from this value in seconds

  • end_time_sec (float) – end the sound at this value in seconds

Return type

None

Sound.stop()[source]

Stop a sound being played. It will get automatically the name of the sound being played and stop it.

Example:

self.sound.stop()
Return type

None

property Sound.state

Returns the sound state client which can be used synchronously or asynchronously to obtain the current played sound.

Examples:

# Get last value
sound.state()
sound.state.value

# Subscribe a callback
def sound_callback(sound_name):
    print sound_name

sound.state.subscribe(sound_callback)
sound.state.unsubscribe()
Returns

sound state topic instance

Return type

NiryoTopic

Sound.say(text, language=<Language.ENGLISH: 0>)[source]

Use gtts (Google Text To Speech) to interpret a string as sound

Languages available are:

- English: Language. ENGLISH
- French: Language.FRENCH
- Spanish: Language.SPANISH
- Mandarin: Language.MANDARIN
- Portuguese: Language.PORTUGUESE

Example

robot.say("Hello", Language.ENGLISH)
robot.say("Bonjour", Language.FRENCH)
robot.say("Hola", Language.SPANISH)
Parameters

  • text (str) – Text that needs to be spoken < 100 char

  • language (Language) – language of the text

Return type

None

Sound - Volume

property Sound.volume

Returns the volume state client which can be used synchronously or asynchronously to obtain the current volume.

Examples:

# Get last value
sound.volume()
sound.volume.value

# Subscribe a callback
def volume_callback(value):
    print value

sound.volume.subscribe(volume_callback)
sound.volume.unsubscribe()
Returns

volume topic instance

Return type

NiryoTopic

Sound.get_volume()[source]

Returns the volume of the robot. The sound can be set between 0 (sound off) and 100 (sound max)

Examples:

# Get the volume of the sound
sound.get_volume()
Returns

int8 corresponding to the volume (0: sound off, 100: sound max)

Return type

int8

Sound.set_volume(sound_volume)[source]

Set the volume of the robot. You can set it between 0 and 100 (0: sound off and 100: sound max). If you put less than 0, the volume will be set to 0. If you put more than 100, the volume will be set to 100.

Example:

# Set the volume to 25
self.sound.set_volume(25)
self.sound.play_sound_user("test_sound.wav")
Parameters

sound_volume (int8) – Between O and 100 (0 sound off and 100 sound maximum)

Return type

None

Sound - Manage

property Sound.sounds

Returns the list of available sounds in the robot

Examples:

sounds_list = sound.sounds
Returns

Returns the list of available sounds in the robot

Return type

list[str]

Sound.get_sounds()[source]

Returns the list of available sounds in the robot

Examples:

sounds_list = sound.get_sounds()
Returns

Returns the list of available sounds in the robot

Return type

list[str]

Sound.save(sound_name, sound_path)[source]

Import a sound on the RaspberryPi of the robot. To do that, you will need the encoded data from a wav or mp3 sound. It is preferable to put the encoded data from the sound on a text file and directly read it from this file. You also need to give the name of the sound you want to import.

Example:

sound_name = "test_import_sound.wav"
sound_path = "/home/niryo/test_sound.wav"

ros_instance = pyniryo2.NiryoRos("10.10.10.10")
sound = pyniryo2.Sound(ros_instance)
sound.save(sound_name, sound_path)
sound.play(sound_name)
Parameters

  • sound_name (str) – For example, test.wav. Il will be the name of the sound in the robot

  • sound_path (str) – absolute path to the sound file

Return type

None

Sound.delete(sound_name)[source]

Delete a sound imported on the robot

Example:

self.sound.delete("test_sound.wav")
Parameters

sound_name (str) – For example, test.wav

Return type

None

Sound.get_sound_duration(sound_name)[source]

Get the duration of a sound in seconds

Examples:

sound_name = sound.get_sounds()[0]
sound_duration = sound.get_sound_duration(sound_name)
sound_duration = sound.get_sound_duration('test_sound.mp3')
Returns

Returns the duration of a sound in seconds

Return type

float

Sound - Niryo Topics

The use of these functions is explained in the NiryoTopics, section. They allow the acquisition of data in real time by callbacks or by direct call.

Sound’s Niryo Topics

Name

Function

Return type

/niryo_robot_sound/sound

state

str

/niryo_robot_sound/sound_database

sounds

dict

/niryo_robot_sound/volume

volume

int

Sound - Enums

List of enums:

class ManageSound(value)[source]

Enumeration of the actions of sound database management

ADD = 1
DELETE = 2
class Language(value)[source]

Enumeration of the Text To Speech languages

ENGLISH = 0
FRENCH = 1
SPANISH = 3
MANDARIN = 4
PORTUGUESE = 5