OpenAL.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_OPENAL_HH_
#define _GAZEBO_OPENAL_HH_

#include <string>
#include <vector>
#include <sdf/sdf.hh>

#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/common/SingletonT.hh"
#include "gazebo/util/UtilTypes.hh"

#include "gazebo/gazebo_config.h"
#include "gazebo/util/system.hh"

#ifdef HAVE_OPENAL

struct ALCcontext_struct;
struct ALCdevice_struct;

namespace gazebo
{
  namespace util
  {
    class OpenALIface;
    class OpenALSource;
    class OpenALSink;


    class GAZEBO_VISIBLE OpenAL : public SingletonT<OpenAL>
    {
      private: OpenAL();

      private: virtual ~OpenAL();

      public: bool Load(sdf::ElementPtr _sdf = sdf::ElementPtr());

      public: void Fini();

      public: OpenALSourcePtr CreateSource(sdf::ElementPtr _sdf);

      public: OpenALSinkPtr CreateSink(sdf::ElementPtr _sdf);

      private: ALCcontext_struct *context;

      private: ALCdevice_struct *audioDevice;

      private: OpenALSinkPtr sink;

      private: friend class SingletonT<OpenAL>;
    };

    class GAZEBO_VISIBLE OpenALSink
    {
      public: OpenALSink();

      public: virtual ~OpenALSink();

      public: bool SetPose(const math::Pose &_pose);

      public: bool SetVelocity(const math::Vector3 &_vel);
    };

    class GAZEBO_VISIBLE OpenALSource
    {
      public: OpenALSource();

      public: virtual ~OpenALSource();

      public: bool Load(sdf::ElementPtr _sdf);

      public: bool SetPose(const math::Pose &_pose);

      public: bool SetVelocity(const math::Vector3 &_vel);

      public: bool SetPitch(float _p);

      public: bool SetGain(float _g);

      public: bool SetLoop(bool _state);

      public: bool GetOnContact() const;

      public: std::vector<std::string> GetCollisionNames() const;

      public: bool HasCollisionName(const std::string &_name) const;

      public: void Play();

      public: void Pause();

      public: void Stop();

      public: void Rewind();

      public: bool IsPlaying();

      public: bool FillBufferFromPCM(uint8_t *_pcmData, unsigned int _dataCount,
                                     int _sampleRate);

      public: void FillBufferFromFile(const std::string &_audioFile);

      private: unsigned int alSource;

      private: unsigned int alBuffer;

      private: std::vector<std::string> collisionNames;
    };
  }
}
#endif
#endif