sound.py 文件源码

def __init__(self):
        self.rospack = RosPack()
        with open(join(self.rospack.get_path('apex_playground'), 'config', 'environment.json')) as f:
            self.params = json.load(f)

        with open(join(self.rospack.get_path('apex_playground'), 'config', 'bounds.json')) as f:
            self.bounds = json.load(f)["sensory"]["sound"][0]

        self.p = pyaudio.PyAudio()
        self.fs = 44100       # sampling rate, Hz, must be integer
        self.duration = 1./self.params['rate']

        # for paFloat32 sample values must be in range [-1.0, 1.0]
        self.stream = self.p.open(format=pyaudio.paFloat32,
                                  channels=1,
                                  rate=self.fs,
                                  output=True)