diff --git a/src/lhw_qi/CMakeLists.txt b/src/lhw_qi/CMakeLists.txt
index b93b244effc8be5b086b845711c19870a598b19f..5df9a71260cf4c66daf7e2f8f94ffb4370d17b18 100644
--- a/src/lhw_qi/CMakeLists.txt
+++ b/src/lhw_qi/CMakeLists.txt
@@ -55,6 +55,16 @@ ament_target_dependencies(motion_component
rclcpp_components_register_nodes(motion_component "lhw_qi::Motion")
set(node_plugins "${node_plugins}lhw_qi::Motion;$<TARGET_FILE:motion_component>\n")
+add_library(microphone_component SHARED
+ src/microphone_component.cpp)
+target_compile_definitions(microphone_component
+ PRIVATE "LHW_QI_BUILDING_DLL")
+ament_target_dependencies(microphone_component
+ "rclcpp"
+ "rclcpp_components")
+rclcpp_components_register_nodes(microphone_component "lhw_qi::Microphone")
+set(node_plugins "${node_plugins}lhw_qi::Microphone;$<TARGET_FILE:microphone_component>\n")
+
add_library(animated_speech_component SHARED
src/animated_speech_component.cpp)
@@ -128,6 +138,7 @@ add_executable(manual_composition
target_link_libraries(manual_composition
leds_component
motion_component
+ microphone_component
animated_speech_component
speech_recognition_component
touch_component
@@ -168,6 +179,17 @@ ament_target_dependencies(motion
"rclcpp_components"
"geometry_msgs"
)
+
+add_executable(microphone src/standalone_microphone.cpp src/microphone_component.cpp)
+target_include_directories(microphone PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>)
+target_link_libraries(microphone ${QI_LIBRARIES} ${Boost_LIBRARIES})
+ament_target_dependencies(microphone
+ "rclcpp"
+ "rclcpp_components"
+)
+
add_executable(touch src/standalone_touch.cpp src/touch_component.cpp)
target_include_directories(touch PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -210,6 +232,7 @@ ament_target_dependencies(camera
install(TARGETS
leds_component
motion_component
+ microphone_component
animated_speech_component
speech_recognition_component
touch_component
@@ -225,6 +248,7 @@ install(TARGETS
animated_speech
leds
motion
+ microphone
joint_states
camera
manual_composition
diff --git a/src/lhw_qi/include/lhw_qi/microphone_component.hpp b/src/lhw_qi/include/lhw_qi/microphone_component.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..031bf874b7cd9905fdc23dac94a07f5e49e986b3
--- /dev/null
+++ b/src/lhw_qi/include/lhw_qi/microphone_component.hpp
@@ -0,0 +1,41 @@
+#ifndef LHW_QI__MICROPHPNE_COMPONENT_HPP_
+#define LHW_QI__MICROPHPNE_COMPONENT_HPP_
+
+#include "lhw_qi/visibility_control.h"
+
+#include <std_msgs/msg/bool.hpp>
+#include <std_msgs/msg/float64.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <qi/anyobject.hpp>
+#include <qi/applicationsession.hpp>
+
+
+
+namespace lhw_qi
+{
+
+ class Microphone : public rclcpp::Node
+ {
+ public:
+ LHW_QI_PUBLIC
+ explicit Microphone(const rclcpp::NodeOptions & options);
+ void initiate(qi::SessionPtr session);
+
+ void processRemote( const int & nbOfChannels,
+ const int & nbrOfSamplesByChannel,
+ const signed short * buffer,
+ const qi::AnyValue & timeStamp);
+ //private:
+
+ qi::SessionPtr session_;
+ qi::AnyObject microphone_service_;
+ rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr start_listen_sub_;
+
+ };
+
+} // namespace lhw_qi
+
+
+
+#endif // LHW_QI__LEDS_COMPONENT_HPP_
diff --git a/src/lhw_qi/src/microphone_component.cpp b/src/lhw_qi/src/microphone_component.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..757eb88e52709425e7ffe0294db77637af985fd7
--- /dev/null
+++ b/src/lhw_qi/src/microphone_component.cpp
@@ -0,0 +1,91 @@
+#include "lhw_qi/microphone_component.hpp"
+
+#define _USE_MATH_DEFINES
+#include <cmath>
+#include <string>
+#include <iostream>
+
+namespace lhw_qi
+{
+
+ Microphone::Microphone(const rclcpp::NodeOptions & options)
+ : Node("microphone", options)
+ {
+
+
+
+
+ auto move_cb =
+ //Istället för Float64 ha en twist?
+ [this](const typename std_msgs::msg::Float64::SharedPtr msg) -> void
+ {
+ RCUTILS_LOG_INFO("Event detected!");
+ //motion_service_.call<void>("moveInit");
+ //motion_service_.call<void>("move", msg->data, 0.0, 0.0);
+ };
+
+
+ // Create subscribers
+ start_listen_sub_ = create_subscription<std_msgs::msg::Float64>("move", 10, move_cb);
+
+
+ RCUTILS_LOG_INFO("end of init");
+
+ }
+
+ QI_REGISTER_MT_OBJECT(Microphone, initiate, processRemote);
+
+ void Microphone::initiate(qi::SessionPtr session){
+ session_ = session;
+ microphone_service_ = session_->service("ALAudioDevice");
+
+ RCUTILS_LOG_INFO("init");
+ /*
+ fALMemoryKeys.push_back("ALSoundProcessing/leftMicEnergy");
+ fALMemoryKeys.push_back("ALSoundProcessing/rightMicEnergy");
+ fALMemoryKeys.push_back("ALSoundProcessing/frontMicEnergy");
+ fALMemoryKeys.push_back("ALSoundProcessing/rearMicEnergy");
+
+ fProxyToALMemory.insertData(fALMemoryKeys[0],0.0f);
+ fProxyToALMemory.insertData(fALMemoryKeys[1],0.0f);
+ fProxyToALMemory.insertData(fALMemoryKeys[2],0.0f);
+ fProxyToALMemory.insertData(fALMemoryKeys[3],0.0f);
+ */
+
+ // Do not call the function setClientPreferences in your constructor!
+ // setClientPreferences : can be called after its construction!
+ microphone_service_.call<void>("setClientPreferences",
+ "microphone", //Name of this module
+ 48000, //48000 Hz requested
+ 0, //4 Channels requested
+ 1 //Deinterleaving requested
+ );
+
+ RCUTILS_LOG_INFO("after init");
+ //startDetection();
+ microphone_service_.call<void>("subscribe", "microphone");
+ RCUTILS_LOG_INFO("after init 2");
+
+ }
+
+ void Microphone::processRemote( const int & nbOfChannels,
+ const int & nbrOfSamplesByChannel,
+ const signed short * buffer,
+ const qi::AnyValue & timeStamp) {
+
+ RCUTILS_LOG_INFO("Listening!");
+
+
+ }
+
+
+} // namespace lhw_qi
+
+
+#include "rclcpp_components/register_node_macro.hpp"
+
+// Register the component with class_loader.
+// This acts as a sort of entry point, allowing the component to be discoverable when its library
+// is being loaded into a running process.
+
+RCLCPP_COMPONENTS_REGISTER_NODE(lhw_qi::Microphone)
diff --git a/src/lhw_qi/src/standalone_microphone.cpp b/src/lhw_qi/src/standalone_microphone.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9c190989ce70da6ed8d63fbff18ec8380fae7836
--- /dev/null
+++ b/src/lhw_qi/src/standalone_microphone.cpp
@@ -0,0 +1,35 @@
+#include "lhw_qi/microphone_component.hpp"
+
+#include <rcutils/cmdline_parser.h>
+
+
+int main(int argc, char * argv[])
+{
+ rclcpp::init(argc, argv);
+
+ // Parse the command line options.
+ auto ip = std::string("localhost");
+ char * cli_option = rcutils_cli_get_option(argv, argv + argc, "-i");
+ if (nullptr != cli_option) {
+ ip = std::string(cli_option);
+ }
+ auto port = std::string("9559");
+ cli_option = rcutils_cli_get_option(argv, argv + argc, "-p");
+ if (nullptr != cli_option) {
+ port = std::string(cli_option);
+ }
+
+ // Connect to naoqi
+ qi::ApplicationSession app(argc, argv, 0, "tcp://" + ip + ":" + port);
+ RCUTILS_LOG_INFO("Attempting connection to %s on port %s", ip.c_str(), port.c_str());
+ app.startSession();
+ qi::SessionPtr session = app.session();
+ RCUTILS_LOG_INFO("Session started");
+
+ auto microphone = std::make_shared<lhw_qi::Microphone>(rclcpp::NodeOptions());
+ microphone->initiate(session);
+ rclcpp::spin(microphone);
+
+ rclcpp::shutdown();
+ return 0;
+}