Microphone Done

src/lhw_qi/include/lhw_qi/microphone_component.hpp

@@ -22,9 +22,9 @@ namespace lhw_qi
     LHW_QI_PUBLIC
     explicit Microphone(const rclcpp::NodeOptions & options);
     void initiate(qi::SessionPtr session, boost::shared_ptr<Microphone> microphone_ptr);
-    void initiateService(void);
+    void init(void);
     virtual ~Microphone(void);
-    void process(  const int & nbOfChannels, 
+    void processRemote(  const int & nbOfChannels, 
               const int & nbrOfSamplesByChannel, 
               const qi::AnyValue & timestamp, 
               const qi::AnyValue & buffer);

src/lhw_qi/src/microphone_component.cpp

@@ -16,7 +16,7 @@ namespace lhw_qi
     pub_ = this->create_publisher<std_msgs::msg::Int16>("microphone_buffer", 1000);
   }
 
-  QI_REGISTER_MT_OBJECT(Microphone, initiateService, process)
+  QI_REGISTER_MT_OBJECT(Microphone, init, processRemote)
 
   Microphone::~Microphone(void)
   {
@@ -24,35 +24,37 @@ namespace lhw_qi
     listener_.call<qi::AnyValue>("unsubscribe", "Microphone");
   }
 
-  void Microphone::initiateService(void)
+  void Microphone::init(void)
   {
+
     listener_.call<qi::AnyValue>("setClientPreferences",
 			     "Microphone",
 			     48000,
 			     0,
 			     1);
+
     listener_.call<qi::AnyValue>("subscribe", "Microphone");
+
   }
   
   void Microphone::initiate(qi::SessionPtr session, boost::shared_ptr<Microphone> microphone_ptr)
   {
     session_ = session;
-    RCUTILS_LOG_INFO("timestamp inne i initiate");
+
     session_->waitForService("ALAudioDevice");
-    RCUTILS_LOG_INFO("initiate2");
-    
     
     listener_ = session_->service("ALAudioDevice");
  
     session_->registerService("Microphone", qi::AnyObject( microphone_ptr ) );
-    RCUTILS_LOG_INFO("initiate3");
+
+    
     qi::AnyObject microphone = session_ -> service("Microphone");
-    RCUTILS_LOG_INFO("initiate4");
-    microphone.call<qi::AnyValue>("initiateService");
-    RCUTILS_LOG_INFO("initiate5");
+    
+    microphone.call<qi::AnyValue>("init");
+    
   }
 
-  void Microphone::process(   const int & nbOfChannels, 
+  void Microphone::processRemote(   const int & nbOfChannels, 
                               const int & nbrOfSamplesByChannel, 
                               const qi::AnyValue & timestamp, 
                               const qi::AnyValue & buffer) {
@@ -60,7 +62,7 @@ namespace lhw_qi
                 std::pair<char*, size_t> charBuffer = buffer.unwrap().asRaw();
 
 		//RCUTILS_LOG_INFO("buffer %s", qi::encodeJSON(qibuffer).c_str());
-                RCUTILS_LOG_INFO("timestamp %s", qi::encodeJSON(timestamp).c_str());
+                //RCUTILS_LOG_INFO("timestamp %s", qi::encodeJSON(timestamp).c_str());
 
 		auto msg = std_msgs::msg::Int16();
 	        msg.data = *(signed short*) charBuffer.first;