> $GITHUB_ENV
+ echo "### Changelog from version ${{ env.previous_tag }} to ${{ env.version }}:" >> $GITHUB_ENV
+ echo "$commits" >> $GITHUB_ENV
+ echo "EOF" >> $GITHUB_ENV
+
+ - name: Create GitHub release
+ uses: actions/create-release@latest
+ env:
+ GITHUB_TOKEN: ${{ secrets.RELEASE_TOKEN }}
+ with:
+ tag_name: "${{ env.version }}"
+ release_name: "${{ env.version }}"
+ body: "${{ env.release_body }}"
+ draft: false
+ prerelease: false
diff --git a/src/lib/.github/workflows/doxygen-deployment.yml b/src/lib/.github/workflows/doxygen-deployment.yml
new file mode 100644
index 000000000..fe991d15d
--- /dev/null
+++ b/src/lib/.github/workflows/doxygen-deployment.yml
@@ -0,0 +1,45 @@
+name: Doxygen Deployment
+
+on:
+ release:
+ types: [published]
+
+jobs:
+ doxygen_generation:
+ runs-on: ubuntu-latest
+
+ permissions:
+ contents: write
+
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0
+
+ - name: Generate Doxygen
+ uses: mattnotmitt/doxygen-action@edge
+ with:
+ doxyfile-path: ".github/Doxyfile"
+
+ - name: Create redirect for root
+ run: |
+ mkdir -p redirect
+ echo '' > redirect/index.html
+
+ - name: Deploy Doxygen page
+ uses: peaceiris/actions-gh-pages@v4
+ with:
+ github_token: ${{ secrets.GITHUB_TOKEN }}
+ publish_branch: gh-pages
+ publish_dir: docs
+ destination_dir: ${{ github.event.release.tag_name }}
+ keep_files: true
+
+ - name: Deploy redirect to root
+ uses: peaceiris/actions-gh-pages@v4
+ with:
+ github_token: ${{ secrets.GITHUB_TOKEN }}
+ publish_branch: gh-pages
+ publish_dir: redirect
+ keep_files: true
diff --git a/src/lib/.github/workflows/foxy-build-test.yml b/src/lib/.github/workflows/foxy-build-test.yml
new file mode 100644
index 000000000..08797924c
--- /dev/null
+++ b/src/lib/.github/workflows/foxy-build-test.yml
@@ -0,0 +1,28 @@
+name: Foxy Build and Test
+
+on:
+ push:
+ pull_request:
+ schedule:
+ - cron: "0 5 * * 1"
+
+jobs:
+ foxy_build_and_test:
+ runs-on: ubuntu-latest
+ container:
+ image: ros:foxy
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ - name: Build and Test
+ uses: ros-tooling/action-ros-ci@v0.4
+ with:
+ target-ros2-distro: foxy
+ coverage-result: false
+ skip-tests: true
+ colcon-defaults: |
+ {
+ "test": {
+ "parallel-workers" : 1
+ }
+ }
diff --git a/src/lib/.github/workflows/foxy-docker-push.yml b/src/lib/.github/workflows/foxy-docker-push.yml
new file mode 100644
index 000000000..3ce04e208
--- /dev/null
+++ b/src/lib/.github/workflows/foxy-docker-push.yml
@@ -0,0 +1,35 @@
+name: Foxy Docker Push
+
+on:
+ release:
+ types: [published]
+
+jobs:
+ foxy_docker_push:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0
+
+ - name: Get tag name
+ run: |
+ tag_name=$(git describe --tags --abbrev=0 HEAD^)
+ echo "tag_name=$tag_name" >> $GITHUB_ENV
+
+ - name: Set up Docker Buildx
+ uses: docker/setup-buildx-action@v3
+
+ - name: Login to Docker Hub
+ uses: docker/login-action@v3
+ with:
+ username: ${{ secrets.DOCKERHUB_USERNAME }}
+ password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+ - name: Build and push docker
+ uses: docker/build-push-action@v6
+ with:
+ build-args: ROS_DISTRO=foxy
+ push: true
+ tags: mgons/audio_common:foxy-${{ github.event.release.tag_name }}
diff --git a/src/lib/.github/workflows/galactic-build-test.yml b/src/lib/.github/workflows/galactic-build-test.yml
new file mode 100644
index 000000000..23b8a4c22
--- /dev/null
+++ b/src/lib/.github/workflows/galactic-build-test.yml
@@ -0,0 +1,28 @@
+name: Galactic Build and Test
+
+on:
+ push:
+ pull_request:
+ schedule:
+ - cron: "0 5 * * 1"
+
+jobs:
+ galactic_build_and_test:
+ runs-on: ubuntu-latest
+ container:
+ image: ros:galactic
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ - name: Build and Test
+ uses: ros-tooling/action-ros-ci@v0.4
+ with:
+ target-ros2-distro: galactic
+ coverage-result: false
+ skip-tests: true
+ colcon-defaults: |
+ {
+ "test": {
+ "parallel-workers" : 1
+ }
+ }
diff --git a/src/lib/.github/workflows/galactic-docker-push.yml b/src/lib/.github/workflows/galactic-docker-push.yml
new file mode 100644
index 000000000..738cd33dc
--- /dev/null
+++ b/src/lib/.github/workflows/galactic-docker-push.yml
@@ -0,0 +1,35 @@
+name: Galactic Docker Push
+
+on:
+ release:
+ types: [published]
+
+jobs:
+ galactic_docker_push:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0
+
+ - name: Get tag name
+ run: |
+ tag_name=$(git describe --tags --abbrev=0 HEAD^)
+ echo "tag_name=$tag_name" >> $GITHUB_ENV
+
+ - name: Set up Docker Buildx
+ uses: docker/setup-buildx-action@v3
+
+ - name: Login to Docker Hub
+ uses: docker/login-action@v3
+ with:
+ username: ${{ secrets.DOCKERHUB_USERNAME }}
+ password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+ - name: Build and push docker
+ uses: docker/build-push-action@v6
+ with:
+ build-args: ROS_DISTRO=galactic
+ push: true
+ tags: mgons/audio_common:galactic-${{ github.event.release.tag_name }}
diff --git a/src/lib/.github/workflows/humble-build-test.yml b/src/lib/.github/workflows/humble-build-test.yml
new file mode 100644
index 000000000..3c42460b7
--- /dev/null
+++ b/src/lib/.github/workflows/humble-build-test.yml
@@ -0,0 +1,28 @@
+name: Humble Build and Test
+
+on:
+ push:
+ pull_request:
+ schedule:
+ - cron: "0 5 * * 1"
+
+jobs:
+ humble_build_and_test:
+ runs-on: ubuntu-latest
+ container:
+ image: ros:humble
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ - name: Build and Test
+ uses: ros-tooling/action-ros-ci@v0.4
+ with:
+ target-ros2-distro: humble
+ coverage-result: false
+ skip-tests: true
+ colcon-defaults: |
+ {
+ "test": {
+ "parallel-workers" : 1
+ }
+ }
diff --git a/src/lib/.github/workflows/humble-docker-push.yml b/src/lib/.github/workflows/humble-docker-push.yml
new file mode 100644
index 000000000..2e63ffb3d
--- /dev/null
+++ b/src/lib/.github/workflows/humble-docker-push.yml
@@ -0,0 +1,30 @@
+name: Humble Docker Push
+
+on:
+ release:
+ types: [published]
+
+jobs:
+ humble_docker_push:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0
+
+ - name: Set up Docker Buildx
+ uses: docker/setup-buildx-action@v3
+
+ - name: Login to Docker Hub
+ uses: docker/login-action@v3
+ with:
+ username: ${{ secrets.DOCKERHUB_USERNAME }}
+ password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+ - name: Build and push docker
+ uses: docker/build-push-action@v6
+ with:
+ build-args: ROS_DISTRO=humble
+ push: true
+ tags: mgons/audio_common:humble-${{ github.event.release.tag_name }}
diff --git a/src/lib/.github/workflows/iron-build-test.yml b/src/lib/.github/workflows/iron-build-test.yml
new file mode 100644
index 000000000..b08113691
--- /dev/null
+++ b/src/lib/.github/workflows/iron-build-test.yml
@@ -0,0 +1,28 @@
+name: Iron Build and Test
+
+on:
+ push:
+ pull_request:
+ schedule:
+ - cron: "0 5 * * 1"
+
+jobs:
+ iron_build_and_test:
+ runs-on: ubuntu-latest
+ container:
+ image: ros:iron
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ - name: Build and Test
+ uses: ros-tooling/action-ros-ci@v0.4
+ with:
+ target-ros2-distro: iron
+ coverage-result: false
+ skip-tests: true
+ colcon-defaults: |
+ {
+ "test": {
+ "parallel-workers" : 1
+ }
+ }
diff --git a/src/lib/.github/workflows/iron-docker-push.yml b/src/lib/.github/workflows/iron-docker-push.yml
new file mode 100644
index 000000000..41c030417
--- /dev/null
+++ b/src/lib/.github/workflows/iron-docker-push.yml
@@ -0,0 +1,35 @@
+name: Iron Docker Push
+
+on:
+ release:
+ types: [published]
+
+jobs:
+ iron_docker_push:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0
+
+ - name: Get tag name
+ run: |
+ tag_name=$(git describe --tags --abbrev=0 HEAD^)
+ echo "tag_name=$tag_name" >> $GITHUB_ENV
+
+ - name: Set up Docker Buildx
+ uses: docker/setup-buildx-action@v3
+
+ - name: Login to Docker Hub
+ uses: docker/login-action@v3
+ with:
+ username: ${{ secrets.DOCKERHUB_USERNAME }}
+ password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+ - name: Build and push docker
+ uses: docker/build-push-action@v6
+ with:
+ build-args: ROS_DISTRO=iron
+ push: true
+ tags: mgons/audio_common:iron-${{ github.event.release.tag_name }}
diff --git a/src/lib/.github/workflows/jazzy-build-test.yml b/src/lib/.github/workflows/jazzy-build-test.yml
new file mode 100644
index 000000000..262a9e4e6
--- /dev/null
+++ b/src/lib/.github/workflows/jazzy-build-test.yml
@@ -0,0 +1,28 @@
+name: Jazzy Build and Test
+
+on:
+ push:
+ pull_request:
+ schedule:
+ - cron: "0 5 * * 1"
+
+jobs:
+ jazzy_build_and_test:
+ runs-on: ubuntu-latest
+ container:
+ image: ros:jazzy
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ - name: Build and Test
+ uses: ros-tooling/action-ros-ci@v0.4
+ with:
+ target-ros2-distro: jazzy
+ coverage-result: false
+ skip-tests: true
+ colcon-defaults: |
+ {
+ "test": {
+ "parallel-workers" : 1
+ }
+ }
diff --git a/src/lib/.github/workflows/jazzy-docker-push.yml b/src/lib/.github/workflows/jazzy-docker-push.yml
new file mode 100644
index 000000000..3631b3808
--- /dev/null
+++ b/src/lib/.github/workflows/jazzy-docker-push.yml
@@ -0,0 +1,35 @@
+name: Jazzy Docker Push
+
+on:
+ release:
+ types: [published]
+
+jobs:
+ jazzy_docker_push:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0
+
+ - name: Get tag name
+ run: |
+ tag_name=$(git describe --tags --abbrev=0 HEAD^)
+ echo "tag_name=$tag_name" >> $GITHUB_ENV
+
+ - name: Set up Docker Buildx
+ uses: docker/setup-buildx-action@v3
+
+ - name: Login to Docker Hub
+ uses: docker/login-action@v3
+ with:
+ username: ${{ secrets.DOCKERHUB_USERNAME }}
+ password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+ - name: Build and push docker
+ uses: docker/build-push-action@v6
+ with:
+ build-args: ROS_DISTRO=jazzy
+ push: true
+ tags: mgons/audio_common:jazzy-${{ github.event.release.tag_name }}
diff --git a/src/lib/.github/workflows/kilted-build-test.yml b/src/lib/.github/workflows/kilted-build-test.yml
new file mode 100644
index 000000000..b26699840
--- /dev/null
+++ b/src/lib/.github/workflows/kilted-build-test.yml
@@ -0,0 +1,28 @@
+name: Kilted Build and Test
+
+on:
+ push:
+ pull_request:
+ schedule:
+ - cron: "0 5 * * 1"
+
+jobs:
+ kilted_build_and_test:
+ runs-on: ubuntu-latest
+ container:
+ image: ros:kilted
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ - name: Build and Test
+ uses: ros-tooling/action-ros-ci@v0.4
+ with:
+ target-ros2-distro: kilted
+ coverage-result: false
+ skip-tests: true
+ colcon-defaults: |
+ {
+ "test": {
+ "parallel-workers" : 1
+ }
+ }
diff --git a/src/lib/.github/workflows/kilted-docker-push.yml b/src/lib/.github/workflows/kilted-docker-push.yml
new file mode 100644
index 000000000..13472c270
--- /dev/null
+++ b/src/lib/.github/workflows/kilted-docker-push.yml
@@ -0,0 +1,35 @@
+name: Kilted Docker Push
+
+on:
+ release:
+ types: [published]
+
+jobs:
+ kilted_docker_push:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0
+
+ - name: Get tag name
+ run: |
+ tag_name=$(git describe --tags --abbrev=0 HEAD^)
+ echo "tag_name=$tag_name" >> $GITHUB_ENV
+
+ - name: Set up Docker Buildx
+ uses: docker/setup-buildx-action@v3
+
+ - name: Login to Docker Hub
+ uses: docker/login-action@v3
+ with:
+ username: ${{ secrets.DOCKERHUB_USERNAME }}
+ password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+ - name: Build and push docker
+ uses: docker/build-push-action@v6
+ with:
+ build-args: ROS_DISTRO=kilted
+ push: true
+ tags: mgons/audio_common:kilted-${{ github.event.release.tag_name }}
diff --git a/src/lib/.github/workflows/rolling-build-test.yml b/src/lib/.github/workflows/rolling-build-test.yml
new file mode 100644
index 000000000..30204168d
--- /dev/null
+++ b/src/lib/.github/workflows/rolling-build-test.yml
@@ -0,0 +1,28 @@
+name: Rolling Build and Test
+
+on:
+ push:
+ pull_request:
+ schedule:
+ - cron: "0 5 * * 1"
+
+jobs:
+ rolling_build_and_test:
+ runs-on: ubuntu-latest
+ container:
+ image: ros:rolling
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ - name: Build and Test
+ uses: ros-tooling/action-ros-ci@v0.4
+ with:
+ target-ros2-distro: rolling
+ coverage-result: false
+ skip-tests: true
+ colcon-defaults: |
+ {
+ "test": {
+ "parallel-workers" : 1
+ }
+ }
diff --git a/src/lib/.github/workflows/rolling-docker-push.yml b/src/lib/.github/workflows/rolling-docker-push.yml
new file mode 100644
index 000000000..ec205621e
--- /dev/null
+++ b/src/lib/.github/workflows/rolling-docker-push.yml
@@ -0,0 +1,35 @@
+name: Rolling Docker Push
+
+on:
+ release:
+ types: [published]
+
+jobs:
+ rolling_docker_push:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout code
+ uses: actions/checkout@v4
+ with:
+ fetch-depth: 0
+
+ - name: Get tag name
+ run: |
+ tag_name=$(git describe --tags --abbrev=0 HEAD^)
+ echo "tag_name=$tag_name" >> $GITHUB_ENV
+
+ - name: Set up Docker Buildx
+ uses: docker/setup-buildx-action@v3
+
+ - name: Login to Docker Hub
+ uses: docker/login-action@v3
+ with:
+ username: ${{ secrets.DOCKERHUB_USERNAME }}
+ password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+ - name: Build and push docker
+ uses: docker/build-push-action@v6
+ with:
+ build-args: ROS_DISTRO=rolling
+ push: true
+ tags: mgons/audio_common:rolling-${{ github.event.release.tag_name }}
diff --git a/src/lib/.gitignore b/src/lib/.gitignore
new file mode 100644
index 000000000..600d2d33b
--- /dev/null
+++ b/src/lib/.gitignore
@@ -0,0 +1 @@
+.vscode
\ No newline at end of file
diff --git a/src/lib/.gitrepo b/src/lib/.gitrepo
new file mode 100644
index 000000000..500bb22ca
--- /dev/null
+++ b/src/lib/.gitrepo
@@ -0,0 +1,12 @@
+; DO NOT EDIT (unless you know what you are doing)
+;
+; This subdirectory is a git "subrepo", and this file is maintained by the
+; git-subrepo command. See https://github.com/ingydotnet/git-subrepo#readme
+;
+[subrepo]
+ remote = git@github.com:mgonzs13/audio_common.git
+ branch = main
+ commit = 61bfa834859dff8e63a62936074f14d6e4b69933
+ parent = e4cd28e2323d479ba9fb7db62c237157109d9509
+ method = merge
+ cmdver = 0.4.9
diff --git a/src/lib/audio_common/CITATION.cff b/src/lib/audio_common/CITATION.cff
new file mode 100644
index 000000000..5f3fa9e07
--- /dev/null
+++ b/src/lib/audio_common/CITATION.cff
@@ -0,0 +1,8 @@
+cff-version: 1.2.0
+message: "If you use this software, please cite it as below."
+authors:
+ - family-names: "González-Santamarta"
+ given-names: "Miguel Á."
+title: "audio_common"
+date-released: 2023-05-06
+url: "https://github.com/mgonzs13/audio_common"
\ No newline at end of file
diff --git a/src/lib/audio_common/Dockerfile b/src/lib/audio_common/Dockerfile
new file mode 100644
index 000000000..63d5ed1af
--- /dev/null
+++ b/src/lib/audio_common/Dockerfile
@@ -0,0 +1,24 @@
+# Use the official ROS 2 humble base image
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO} AS deps
+
+# Set the working directory and copy files
+WORKDIR /root/ros2_ws
+SHELL ["/bin/bash", "-c"]
+COPY . /root/ros2_ws/src
+
+# Install dependencies
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash
+RUN apt-get update
+RUN rosdep install --from-paths src --ignore-src -r -y
+
+# Colcon the ws
+FROM deps AS builder
+ARG CMAKE_BUILD_TYPE=Release
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build
+
+# Source the ROS2 setup file
+RUN echo "source /root/ros2_ws/install/setup.bash" >> ~/.bashrc
+
+# Run a default command, e.g., starting a bash shell
+CMD ["bash"]
diff --git a/src/lib/audio_common/LICENSE b/src/lib/audio_common/LICENSE
new file mode 100644
index 000000000..a32dfc40d
--- /dev/null
+++ b/src/lib/audio_common/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Miguel Ángel González Santamarta
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/src/lib/audio_common/README.md b/src/lib/audio_common/README.md
new file mode 100644
index 000000000..8feefc311
--- /dev/null
+++ b/src/lib/audio_common/README.md
@@ -0,0 +1,240 @@
+# audio_capture
+
+This repositiory provides a set of ROS 2 packages for audio. It provides a C++ version to capture and play audio data using PortAudio.
+
+
+
+[](https://opensource.org/license/mit) [](https://github.com/mgonzs13/audio_common/releases) [](https://github.com/mgonzs13/audio_common?branch=main) [](https://github.com/mgonzs13/audio_common/commits/main) [](https://github.com/mgonzs13/audio_common/issues) [](https://github.com/mgonzs13/audio_common/pulls) [](https://github.com/mgonzs13/audio_common/graphs/contributors) [](https://github.com/mgonzs13/audio_common/actions/workflows/cpp-formatter.yml?branch=main) [](https://mgonzs13.github.io/audio_common/latest)
+
+| ROS 2 Distro | Branch | Build status | Docker Image |
+| :----------: | :----------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------------------------------------------------------: |
+| **Foxy** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/foxy-build-test.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=foxy) |
+| **Galactic** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/galactic-build-test.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=galactic) |
+| **Humble** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/humble-build-test.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=humble) |
+| **Iron** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/iron-build-test.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=iron) |
+| **Jazzy** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/jazzy-build-test.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=jazzy) |
+| **Kilted** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/kilted-build-test.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=kilted) |
+| **Rolling** | [`main`](https://github.com/mgonzs13/audio_common/tree/main) | [](https://github.com/mgonzs13/audio_common/actions/workflows/rolling-build-test.yml?branch=main) | [](https://hub.docker.com/r/mgons/audio_common/tags?name=rolling) |
+
+
+
+## Table of Contents
+
+1. [Installation](#installation)
+2. [Docker](#docker)
+3. [Nodes](#nodes)
+4. [Demos](#demos)
+
+## Installation
+
+```shell
+cd ~/ros2_ws/src
+git clone https://github.com/mgonzs13/audio_common.git
+cd ~/ros2_ws
+rosdep install --from-paths src --ignore-src -r -y
+colcon build
+```
+
+## Docker
+
+You can create a docker image to test audio_common. Use the following command inside the directory of audio_common.
+
+```shell
+docker build -t audio_common .
+```
+
+After the image is created, run a docker container with the following command.
+
+```shell
+docker run -it --rm --device /dev/snd audio_common
+```
+
+## Nodes
+
+### audio_capturer_node
+
+Node to obtain audio data from a microphone and publish it into the `audio` topic.
+
+
+Click to expand
+
+#### Parameters
+
+- **format**: Specifies the audio format to be used for capturing. Possible values are:
+
+ - `1` (paFloat32 - 32-bit floating point)
+ - `2` (paInt32 - 32-bit integer)
+ - `8` (paInt16 - 16-bit integer)
+ - `16` (paInt8 - 8-bit integer)
+ - `32` (paUInt8 - 8-bit unsigned integer)
+
+ Default: `8` (paInt16)
+
+ The integer values correspond to PortAudio sample format flags.
+
+- **channels**: The number of audio channels to capture. Typically, `1` for mono and `2` for stereo. Default: `1`
+
+- **rate**: The sample rate that is how many samples per second should be captured. Default: `16000`
+
+- **chunk**: The size of each audio frame. Default: `512`
+
+- **device**: The ID of the audio input device. A value of `-1` indicates that the default audio input device should be used. Default: `-1`
+
+- **frame_id**: An identifier for the audio frame. This can be useful for synchronizing audio data with other data streams. Default: `""`
+
+#### ROS 2 Interfaces
+
+- **audio**: Topic to publish the audio data captured from the microphone. Type: `audio_common_msgs/msg/AudioStamped`
+
+
+
+### audio_player_node
+
+Node to play the audio data obtained from the `audio` topic.
+
+
+Click to expand
+
+#### Parameters
+
+- **channels**: The number of audio channels to play. Typically, `1` for mono and `2` for stereo. Default: `2`
+
+ - The node automatically handles conversion between mono and stereo formats if needed.
+
+- **device**: The ID of the audio output device. A value of `-1` indicates that the default audio output device should be used. Default: `-1`
+
+#### ROS 2 Interfaces
+
+- **audio**: Topic subscriber to get the audio data to be played. Type: `audio_common_msgs/msg/AudioStamped`
+
+
+
+### music_node
+
+Node to play music from audio files in `wav` format.
+
+
+Click to expand
+
+#### Parameters
+
+- **chunk**: The size of each audio frame. Default: `2048`
+
+- **frame_id**: An identifier for the audio frame. This can be useful for synchronizing audio data with other data streams. Default: `""`
+
+#### ROS 2 Interfaces
+
+- **audio**: Topic to publish the audio data from the files. Type: `audio_common_msgs/msg/AudioStamped`
+
+- **music_play**: Service to play audio files. Type: `audio_common_msgs/srv/MusicPlay`
+
+ - Parameters:
+ - `audio`: Name of a built-in audio sample (e.g., "elevator")
+ - `file_path`: Path to a custom WAV file (ignored if audio is specified)
+ - `loop`: Boolean to indicate if the audio should loop. Default: `false`
+
+- **music_stop**: Service to stop the currently playing music. Type: `std_srvs/srv/Trigger`
+
+- **music_pause**: Service to pause the currently playing music. Type: `std_srvs/srv/Trigger`
+
+- **music_resume**: Service to resume paused music. Type: `std_srvs/srv/Trigger`
+
+
+
+### tts_node
+
+Node to generate audio from text (TTS) using espeak.
+
+
+Click to expand
+
+#### Parameters
+
+- **chunk**: The size of each audio frame. Default: `4096`
+
+- **frame_id**: An identifier for the audio frame. This can be useful for synchronizing audio data with other data streams. Default: `""`
+
+#### ROS 2 Interfaces
+
+- **audio**: Topic publisher to send the audio data generated by the TTS. Type: `audio_common_msgs/msg/AudioStamped`
+
+- **say**: Action to generate audio data from a text. Type: `audio_common_msgs/action/TTS`
+ - Goal:
+ - `text`: The text to convert to speech
+ - `language`: The language to use for speech synthesis. Default: `"en"`
+ - `volume`: The volume of the generated speech (0.0-1.0). Default: `1.0`
+ - `rate`: The speech rate (1.0 is normal speed). Default: `1.0`
+ - Feedback:
+ - `audio`: The audio being currently played
+ - Result:
+ - `text`: The text that was converted to speech
+
+
+
+## Demos
+
+### Audio Capturer/Player
+
+```shell
+ros2 run audio_common audio_capturer_node
+```
+
+```shell
+ros2 run audio_common audio_player_node
+```
+
+### TTS
+
+```shell
+ros2 run audio_common tts_node
+```
+
+```shell
+ros2 run audio_common audio_player_node
+```
+
+```shell
+ros2 action send_goal /say audio_common_msgs/action/TTS "{'text': 'Hello World'}"
+```
+
+Advanced TTS example with additional parameters:
+
+```shell
+ros2 action send_goal /say audio_common_msgs/action/TTS "{'text': 'Hello World', 'language': 'en-us', 'volume': 0.8, 'rate': 1.2}"
+```
+
+### Music Player
+
+```shell
+ros2 run audio_common music_node
+```
+
+```shell
+ros2 run audio_common audio_player_node
+```
+
+Play a built-in sample:
+
+```shell
+ros2 service call /music_play audio_common_msgs/srv/MusicPlay "{audio: 'elevator'}"
+```
+
+Play a custom WAV file:
+
+```shell
+ros2 service call /music_play audio_common_msgs/srv/MusicPlay "{file_path: '/path/to/your/file.wav'}"
+```
+
+Play with looping enabled:
+
+```shell
+ros2 service call /music_play audio_common_msgs/srv/MusicPlay "{audio: 'elevator', loop: true}"
+```
+
+Control playback:
+
+```shell
+ros2 service call /music_pause std_srvs/srv/Trigger "{}"
+ros2 service call /music_resume std_srvs/srv/Trigger "{}"
+ros2 service call /music_stop std_srvs/srv/Trigger "{}"
+```
diff --git a/src/lib/audio_common/audio_common/.clang-format b/src/lib/audio_common/audio_common/.clang-format
new file mode 100644
index 000000000..48b2c6783
--- /dev/null
+++ b/src/lib/audio_common/audio_common/.clang-format
@@ -0,0 +1,192 @@
+---
+Language: Cpp
+# BasedOnStyle: LLVM
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignArrayOfStructures: None
+AlignConsecutiveMacros: None
+AlignConsecutiveAssignments: None
+AlignConsecutiveBitFields: None
+AlignConsecutiveDeclarations: None
+AlignEscapedNewlines: Right
+AlignOperands: Align
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortEnumsOnASingleLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: MultiLine
+AttributeMacros:
+ - __capability
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+ AfterCaseLabel: false
+ AfterClass: false
+ AfterControlStatement: Never
+ AfterEnum: false
+ AfterFunction: false
+ AfterNamespace: false
+ AfterObjCDeclaration: false
+ AfterStruct: false
+ AfterUnion: false
+ AfterExternBlock: false
+ BeforeCatch: false
+ BeforeElse: false
+ BeforeLambdaBody: false
+ BeforeWhile: false
+ IndentBraces: false
+ SplitEmptyFunction: true
+ SplitEmptyRecord: true
+ SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeConceptDeclarations: true
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit: 80
+CommentPragmas: '^ IWYU pragma:'
+QualifierAlignment: Leave
+CompactNamespaces: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: false
+DisableFormat: false
+EmptyLineAfterAccessModifier: Never
+EmptyLineBeforeAccessModifier: LogicalBlock
+ExperimentalAutoDetectBinPacking: false
+PackConstructorInitializers: BinPack
+BasedOnStyle: ''
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+AllowAllConstructorInitializersOnNextLine: true
+FixNamespaceComments: true
+ForEachMacros:
+ - foreach
+ - Q_FOREACH
+ - BOOST_FOREACH
+IfMacros:
+ - KJ_IF_MAYBE
+IncludeBlocks: Preserve
+IncludeCategories:
+ - Regex: '^"(llvm|llvm-c|clang|clang-c)/'
+ Priority: 2
+ SortPriority: 0
+ CaseSensitive: false
+ - Regex: '^(<|"(gtest|gmock|isl|json)/)'
+ Priority: 3
+ SortPriority: 0
+ CaseSensitive: false
+ - Regex: '.*'
+ Priority: 1
+ SortPriority: 0
+ CaseSensitive: false
+IncludeIsMainRegex: '(Test)?$'
+IncludeIsMainSourceRegex: ''
+IndentAccessModifiers: false
+IndentCaseLabels: false
+IndentCaseBlocks: false
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentExternBlock: AfterExternBlock
+IndentRequires: false
+IndentWidth: 2
+IndentWrappedFunctionNames: false
+InsertTrailingCommas: None
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+LambdaBodyIndentation: Signature
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCBreakBeforeNestedBlockParam: true
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakOpenParenthesis: 0
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+PenaltyIndentedWhitespace: 0
+PointerAlignment: Right
+PPIndentWidth: -1
+ReferenceAlignment: Pointer
+ReflowComments: true
+RemoveBracesLLVM: false
+SeparateDefinitionBlocks: Leave
+ShortNamespaceLines: 1
+SortIncludes: CaseSensitive
+SortJavaStaticImport: Before
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeParensOptions:
+ AfterControlStatements: true
+ AfterForeachMacros: true
+ AfterFunctionDefinitionName: false
+ AfterFunctionDeclarationName: false
+ AfterIfMacros: true
+ AfterOverloadedOperator: false
+ BeforeNonEmptyParentheses: false
+SpaceAroundPointerQualifiers: Default
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles: Never
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInLineCommentPrefix:
+ Minimum: 1
+ Maximum: -1
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+BitFieldColonSpacing: Both
+Standard: Latest
+StatementAttributeLikeMacros:
+ - Q_EMIT
+StatementMacros:
+ - Q_UNUSED
+ - QT_REQUIRE_VERSION
+TabWidth: 8
+UseCRLF: false
+UseTab: Never
+WhitespaceSensitiveMacros:
+ - STRINGIZE
+ - PP_STRINGIZE
+ - BOOST_PP_STRINGIZE
+ - NS_SWIFT_NAME
+ - CF_SWIFT_NAME
+...
+
diff --git a/src/lib/audio_common/audio_common/CMakeLists.txt b/src/lib/audio_common/audio_common/CMakeLists.txt
new file mode 100644
index 000000000..b6fd54fbe
--- /dev/null
+++ b/src/lib/audio_common/audio_common/CMakeLists.txt
@@ -0,0 +1,117 @@
+cmake_minimum_required(VERSION 3.10)
+project(audio_common)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(audio_common_msgs REQUIRED)
+find_library(PORTAUDIO_LIB portaudio REQUIRED)
+
+include_directories(
+ include
+ ${PORTAUDIO_INCLUDE_DIR}
+)
+
+# audio_capturer__node
+add_executable(audio_capturer_node
+ src/audio_common/audio_capturer_node.cpp
+ src/audio_capturer_main.cpp
+)
+target_link_libraries(audio_capturer_node
+ ${audio_common_msgs_TARGETS}
+ ${PORTAUDIO_LIB}
+ rclcpp::rclcpp
+)
+install(TARGETS
+ audio_capturer_node
+ DESTINATION lib/${PROJECT_NAME}
+)
+
+# audio_player_node
+add_executable(audio_player_node
+ src/audio_common/audio_player_node.cpp
+ src/audio_player_main.cpp
+)
+target_link_libraries(audio_player_node
+ ${audio_common_msgs_TARGETS}
+ ${PORTAUDIO_LIB}
+ rclcpp::rclcpp
+)
+install(TARGETS
+ audio_player_node
+ DESTINATION lib/${PROJECT_NAME}
+)
+
+# music_node
+add_executable(music_node
+ src/audio_common/wave_file.cpp
+ src/audio_common/music_node.cpp
+ src/music_main.cpp
+)
+target_link_libraries(music_node
+ ament_index_cpp::ament_index_cpp
+ ${audio_common_msgs_TARGETS}
+ ${PORTAUDIO_LIB}
+ rclcpp::rclcpp
+ ${std_srvs_TARGETS}
+)
+
+install(TARGETS
+ music_node
+ DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+ samples
+ DESTINATION share/${PROJECT_NAME}
+)
+
+# tts node
+add_executable(tts_node
+ src/audio_common/wave_file.cpp
+ src/audio_common/tts_node.cpp
+ src/tts_main.cpp
+)
+target_link_libraries(tts_node
+ ${audio_common_msgs_TARGETS}
+ rclcpp::rclcpp
+ rclcpp_action::rclcpp_action
+ ${PORTAUDIO_LIB}
+)
+install(TARGETS
+ tts_node
+ DESTINATION lib/${PROJECT_NAME}
+)
+
+# Create lib
+set(LIB ${CMAKE_PROJECT_NAME}_lib)
+set(SOURCES
+ src/audio_common/wave_file.cpp
+)
+
+add_library(${LIB} STATIC ${SOURCES})
+target_link_libraries(${LIB} ${DEPENDENCIES})
+
+install(TARGETS ${LIB}
+ ARCHIVE DESTINATION lib
+ LIBRARY DESTINATION lib
+ RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY include/
+ DESTINATION include/
+)
+
+if(BUILD_TESTING)
+ find_package(ament_cmake_clang_format REQUIRED)
+ ament_clang_format(CONFIG_FILE .clang-format)
+endif()
+
+ament_export_dependencies(${DEPENDENCIES})
+ament_export_include_directories(include)
+ament_export_libraries(${LIB})
+
+ament_package()
diff --git a/src/lib/audio_common/audio_common/include/audio_common/audio_capturer_node.hpp b/src/lib/audio_common/audio_common/include/audio_common/audio_capturer_node.hpp
new file mode 100644
index 000000000..0d65467a3
--- /dev/null
+++ b/src/lib/audio_common/audio_common/include/audio_common/audio_capturer_node.hpp
@@ -0,0 +1,57 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#ifndef AUDIO_COMMON__AUDIO_CAPTURER_NODE
+#define AUDIO_COMMON__AUDIO_CAPTURER_NODE
+
+#include
+#include
+#include
+
+#include "audio_common_msgs/msg/audio_stamped.hpp"
+
+namespace audio_common {
+
+class AudioCapturerNode : public rclcpp::Node {
+public:
+ AudioCapturerNode();
+ ~AudioCapturerNode() override;
+
+ void work();
+
+private:
+ PaStream *stream_;
+ int format_;
+ int channels_;
+ int rate_;
+ int chunk_;
+ std::string frame_id_;
+
+ rclcpp::Publisher::SharedPtr audio_pub_;
+
+ // Methods
+ template std::vector read_data();
+};
+
+} // namespace audio_common
+
+#endif
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common/include/audio_common/audio_player_node.hpp b/src/lib/audio_common/audio_common/include/audio_common/audio_player_node.hpp
new file mode 100644
index 000000000..b35bc820a
--- /dev/null
+++ b/src/lib/audio_common/audio_common/include/audio_common/audio_player_node.hpp
@@ -0,0 +1,61 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#ifndef AUDIO_COMMON__AUDIO_PLAYER_NODE
+#define AUDIO_COMMON__AUDIO_PLAYER_NODE
+
+#include
+#include
+#include
+
+#include "audio_common_msgs/msg/audio_stamped.hpp"
+
+namespace audio_common {
+
+class AudioPlayerNode : public rclcpp::Node {
+public:
+ AudioPlayerNode();
+ ~AudioPlayerNode() override;
+
+private:
+ // ROS 2 subscription for audio messages
+ rclcpp::Subscription::SharedPtr
+ audio_sub_;
+
+ // PortAudio stream dictionary
+ std::unordered_map stream_dict_;
+
+ // Parameters
+ int channels_;
+ int device_;
+
+ // Methods
+ void
+ audio_callback(const audio_common_msgs::msg::AudioStamped::SharedPtr msg);
+ template
+ void write_data(const std::vector &data, int channels, int chunk,
+ const std::string &stream_key);
+};
+
+} // namespace audio_common
+
+#endif
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common/include/audio_common/music_node.hpp b/src/lib/audio_common/audio_common/include/audio_common/music_node.hpp
new file mode 100644
index 000000000..49e65d5c6
--- /dev/null
+++ b/src/lib/audio_common/audio_common/include/audio_common/music_node.hpp
@@ -0,0 +1,86 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#ifndef AUDIO_COMMON__MUSIC_NODE
+#define AUDIO_COMMON__MUSIC_NODE
+
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+#include
+#include
+
+namespace audio_common {
+
+class MusicNode : public rclcpp::Node {
+public:
+ MusicNode();
+ ~MusicNode() override;
+
+private:
+ // ROS 2 parameters
+ int chunk_;
+ std::string frame_id_;
+
+ // Audio control flags
+ std::atomic pause_music_;
+ std::atomic stop_music_;
+ bool audio_loop_;
+ std::atomic is_thread_alive_;
+
+ // Threads and synchronization
+ std::thread publish_thread_;
+ std::mutex pause_mutex_;
+ std::condition_variable pause_cv_;
+
+ // ROS 2 publisher and services
+ rclcpp::Publisher::SharedPtr
+ player_pub_;
+ rclcpp::Service::SharedPtr play_service_;
+ rclcpp::Service::SharedPtr stop_service_;
+ rclcpp::Service::SharedPtr pause_service_;
+ rclcpp::Service::SharedPtr resume_service_;
+
+ // Methods
+ void publish_audio(const std::string &file_path);
+ void play_callback(
+ const std::shared_ptr request,
+ std::shared_ptr response);
+ void
+ pause_callback(const std::shared_ptr request,
+ std::shared_ptr response);
+ void resume_callback(
+ const std::shared_ptr request,
+ std::shared_ptr response);
+ void
+ stop_callback(const std::shared_ptr request,
+ std::shared_ptr response);
+};
+
+} // namespace audio_common
+
+#endif
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common/include/audio_common/tts_node.hpp b/src/lib/audio_common/audio_common/include/audio_common/tts_node.hpp
new file mode 100644
index 000000000..cf28a81a3
--- /dev/null
+++ b/src/lib/audio_common/audio_common/include/audio_common/tts_node.hpp
@@ -0,0 +1,75 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#ifndef AUDIO_COMMON__TTS_NODE
+#define AUDIO_COMMON__TTS_NODE
+
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+
+#include "audio_common/wave_file.hpp"
+#include "audio_common_msgs/action/tts.hpp"
+#include "audio_common_msgs/msg/audio_stamped.hpp"
+
+namespace audio_common {
+
+class TtsNode : public rclcpp::Node {
+public:
+ using TTS = audio_common_msgs::action::TTS;
+ using GoalHandleTTS = rclcpp_action::ServerGoalHandle;
+
+ TtsNode();
+
+private:
+ int chunk_;
+ std::string frame_id_;
+ rclcpp::Publisher::SharedPtr
+ player_pub_;
+ rclcpp_action::Server::SharedPtr action_server_;
+ std::mutex goal_lock_;
+ std::shared_ptr goal_handle_;
+
+ // Methods
+ rclcpp_action::GoalResponse
+ handle_goal(const rclcpp_action::GoalUUID &uuid,
+ std::shared_ptr goal);
+ rclcpp_action::CancelResponse
+ handle_cancel(const std::shared_ptr goal_handle);
+ void handle_accepted(const std::shared_ptr goal_handle);
+ void execute_callback(const std::shared_ptr goal_handle);
+};
+
+} // namespace audio_common
+
+#endif
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common/include/audio_common/wave_file.hpp b/src/lib/audio_common/audio_common/include/audio_common/wave_file.hpp
new file mode 100644
index 000000000..f92d764e2
--- /dev/null
+++ b/src/lib/audio_common/audio_common/include/audio_common/wave_file.hpp
@@ -0,0 +1,57 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#ifndef AUDIO_COMMON__WAVE_FILE_HPP
+#define AUDIO_COMMON__WAVE_FILE_HPP
+
+#include
+#include
+#include
+
+namespace audio_common {
+
+class WaveFile {
+public:
+ explicit WaveFile(const std::string &filepath);
+ ~WaveFile();
+
+ bool open();
+ void rewind();
+ bool read(std::vector &buffer, size_t size);
+ int get_sample_rate() const { return this->sample_rate_; }
+ int get_num_channels() const { return this->channels_; }
+ int get_bits_per_sample() const { return this->bits_per_sample_; }
+
+private:
+ std::string filepath_;
+ std::ifstream file_;
+ int sample_rate_;
+ int channels_;
+ int bits_per_sample_;
+
+ // Convert int16_t sample to float [-1.0, 1.0]
+ float int16ToFloat(int16_t sample) { return sample / 32768.0f; }
+};
+
+} // namespace audio_common
+
+#endif // WAVE_FILE_HPP
diff --git a/src/lib/audio_common/audio_common/package.xml b/src/lib/audio_common/audio_common/package.xml
new file mode 100644
index 000000000..43b5dd8da
--- /dev/null
+++ b/src/lib/audio_common/audio_common/package.xml
@@ -0,0 +1,20 @@
+
+
+
+ audio_common
+ 4.0.8
+ audio_common
+ Miguel Ángel González Santamarta
+ MIT
+ ament_cmake
+ ament_lint_auto
+ ament_clang_format
+ ament_cmake_clang_format
+ ament_index_cpp
+ audio_common_msgs
+ portaudio19-dev
+ espeak
+
+ ament_cmake
+
+
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common/samples/elevator.wav b/src/lib/audio_common/audio_common/samples/elevator.wav
new file mode 100644
index 000000000..964dddd28
Binary files /dev/null and b/src/lib/audio_common/audio_common/samples/elevator.wav differ
diff --git a/src/lib/audio_common/audio_common/src/audio_capturer_main.cpp b/src/lib/audio_common/audio_common/src/audio_capturer_main.cpp
new file mode 100644
index 000000000..838816c55
--- /dev/null
+++ b/src/lib/audio_common/audio_common/src/audio_capturer_main.cpp
@@ -0,0 +1,33 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include
+
+#include "audio_common/audio_capturer_node.hpp"
+
+int main(int argc, char *argv[]) {
+ rclcpp::init(argc, argv);
+ auto node = std::make_shared();
+ node->work();
+ rclcpp::shutdown();
+ return 0;
+}
diff --git a/src/lib/audio_common/audio_common/src/audio_common/audio_capturer_node.cpp b/src/lib/audio_common/audio_common/src/audio_common/audio_capturer_node.cpp
new file mode 100644
index 000000000..cfe8b1ad3
--- /dev/null
+++ b/src/lib/audio_common/audio_common/src/audio_common/audio_capturer_node.cpp
@@ -0,0 +1,142 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include
+#include
+#include
+
+#include "audio_common/audio_capturer_node.hpp"
+#include "audio_common_msgs/msg/audio_stamped.hpp"
+
+using namespace audio_common;
+
+AudioCapturerNode::AudioCapturerNode() : Node("audio_capturer_node") {
+
+ // Declare parameters with default values
+ this->declare_parameter("format", paInt16);
+ this->declare_parameter("channels", 1);
+ this->declare_parameter("rate", 16000);
+ this->declare_parameter("chunk", 512);
+ this->declare_parameter("device", -1);
+ this->declare_parameter("frame_id", "");
+
+ // Get parameters
+ this->format_ = this->get_parameter("format").as_int();
+ this->channels_ = this->get_parameter("channels").as_int();
+ this->rate_ = this->get_parameter("rate").as_int();
+ this->chunk_ = this->get_parameter("chunk").as_int();
+ int device = this->get_parameter("device").as_int();
+ this->frame_id_ = this->get_parameter("frame_id").as_string();
+
+ // Initialize PortAudio
+ PaError err = Pa_Initialize();
+ if (err != paNoError) {
+ RCLCPP_ERROR(this->get_logger(), "PortAudio error: %s",
+ Pa_GetErrorText(err));
+ throw std::runtime_error("Failed to initialize PortAudio");
+ }
+
+ PaStreamParameters inputParameters;
+ inputParameters.device = (device >= 0) ? device : Pa_GetDefaultInputDevice();
+ inputParameters.channelCount = this->channels_;
+ inputParameters.sampleFormat = this->format_;
+ inputParameters.suggestedLatency =
+ Pa_GetDeviceInfo(inputParameters.device)->defaultLowInputLatency;
+ inputParameters.hostApiSpecificStreamInfo = nullptr;
+
+ err = Pa_OpenStream(&this->stream_, &inputParameters,
+ nullptr, // output parameters (not used)
+ this->rate_, this->chunk_, paClipOff, nullptr, nullptr);
+
+ if (err != paNoError) {
+ RCLCPP_ERROR(this->get_logger(), "Failed to open audio stream: %s",
+ Pa_GetErrorText(err));
+ throw std::runtime_error("Failed to open PortAudio stream");
+ }
+
+ err = Pa_StartStream(this->stream_);
+ if (err != paNoError) {
+ RCLCPP_ERROR(this->get_logger(), "Failed to start audio stream: %s",
+ Pa_GetErrorText(err));
+ throw std::runtime_error("Failed to start PortAudio stream");
+ }
+
+ this->audio_pub_ =
+ this->create_publisher(
+ "audio", rclcpp::SensorDataQoS());
+
+ RCLCPP_INFO(this->get_logger(), "AudioCapturer node started");
+}
+
+AudioCapturerNode::~AudioCapturerNode() {
+ Pa_StopStream(this->stream_);
+ Pa_CloseStream(this->stream_);
+ Pa_Terminate();
+}
+
+void AudioCapturerNode::work() {
+ while (rclcpp::ok()) {
+
+ auto msg = audio_common_msgs::msg::AudioStamped();
+ msg.header.frame_id = this->frame_id_;
+ msg.header.stamp = this->get_clock()->now();
+
+ switch (this->format_) {
+ case paFloat32: {
+ msg.audio.audio_data.float32_data = this->read_data();
+ break;
+ }
+ case paInt32: {
+ msg.audio.audio_data.int32_data = this->read_data();
+ break;
+ }
+ case paInt16: {
+ msg.audio.audio_data.int16_data = this->read_data();
+ break;
+ }
+ case paInt8: {
+ msg.audio.audio_data.int8_data = this->read_data();
+ break;
+ }
+ case paUInt8: {
+ msg.audio.audio_data.uint8_data = this->read_data();
+ break;
+ }
+ default:
+ RCLCPP_ERROR(this->get_logger(), "Unsupported format");
+ continue;
+ }
+
+ msg.audio.info.format = this->format_;
+ msg.audio.info.channels = this->channels_;
+ msg.audio.info.chunk = this->chunk_;
+ msg.audio.info.rate = this->rate_;
+
+ this->audio_pub_->publish(msg);
+ }
+}
+
+template std::vector AudioCapturerNode::read_data() {
+ std::vector data(this->chunk_ * this->channels_);
+ Pa_ReadStream(this->stream_, data.data(), this->chunk_);
+ return data;
+}
diff --git a/src/lib/audio_common/audio_common/src/audio_common/audio_player_node.cpp b/src/lib/audio_common/audio_common/src/audio_common/audio_player_node.cpp
new file mode 100644
index 000000000..17cdd1d60
--- /dev/null
+++ b/src/lib/audio_common/audio_common/src/audio_common/audio_player_node.cpp
@@ -0,0 +1,201 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include
+#include
+#include
+#include
+
+#include
+#include
+
+#include "audio_common/audio_player_node.hpp"
+#include "audio_common_msgs/msg/audio.hpp"
+#include "audio_common_msgs/msg/audio_stamped.hpp"
+
+using namespace audio_common;
+using std::placeholders::_1;
+
+AudioPlayerNode::AudioPlayerNode() : Node("audio_player_node") {
+ // Declare parameters
+ this->declare_parameter("channels", 2);
+ this->declare_parameter("device", -1);
+
+ // Get parameters
+ this->channels_ = this->get_parameter("channels").as_int();
+ this->device_ = this->get_parameter("device").as_int();
+
+ // Initialize PortAudio
+ PaError err = Pa_Initialize();
+ if (err != paNoError) {
+ RCLCPP_ERROR(this->get_logger(), "PortAudio error: %s",
+ Pa_GetErrorText(err));
+ throw std::runtime_error("Failed to initialize PortAudio");
+ }
+
+ // Subscription to audio topic
+ auto qos_profile = rclcpp::SensorDataQoS();
+ this->audio_sub_ =
+ this->create_subscription(
+ "audio", qos_profile,
+ std::bind(&AudioPlayerNode::audio_callback, this, _1));
+
+ RCLCPP_INFO(this->get_logger(), "AudioPlayer node started");
+}
+
+AudioPlayerNode::~AudioPlayerNode() {
+ // Close all open streams and terminate PortAudio
+ for (auto &stream_pair : this->stream_dict_) {
+ Pa_StopStream(stream_pair.second);
+ Pa_CloseStream(stream_pair.second);
+ }
+ Pa_Terminate();
+}
+
+void AudioPlayerNode::audio_callback(
+ const audio_common_msgs::msg::AudioStamped::SharedPtr msg) {
+
+ // Create a unique stream key based on format, rate, and channels
+ std::string stream_key = std::to_string(msg->audio.info.format) + "_" +
+ std::to_string(msg->audio.info.rate) + "_" +
+ std::to_string(this->channels_);
+
+ // Check if stream already exists, if not, create one
+ if (this->stream_dict_.find(stream_key) == this->stream_dict_.end()) {
+ PaStreamParameters outputParameters;
+ outputParameters.device =
+ (this->device_ >= 0) ? this->device_ : Pa_GetDefaultOutputDevice();
+ outputParameters.channelCount = this->channels_;
+ outputParameters.sampleFormat = msg->audio.info.format;
+ outputParameters.suggestedLatency =
+ Pa_GetDeviceInfo(outputParameters.device)->defaultHighOutputLatency;
+ outputParameters.hostApiSpecificStreamInfo = nullptr;
+
+ PaError err = Pa_OpenStream(&this->stream_dict_[stream_key], nullptr,
+ &outputParameters, msg->audio.info.rate, 1024,
+ paClipOff, nullptr, nullptr);
+
+ if (err != paNoError) {
+ RCLCPP_ERROR(this->get_logger(), "Failed to open audio stream: %s",
+ Pa_GetErrorText(err));
+ return;
+ }
+ Pa_StartStream(this->stream_dict_[stream_key]);
+ }
+
+ // Write audio from ROS 2 msg
+ switch (msg->audio.info.format) {
+ case paFloat32:
+ this->write_data(msg->audio.audio_data.float32_data,
+ msg->audio.info.channels, msg->audio.info.chunk,
+ stream_key);
+ break;
+
+ case paInt32:
+ this->write_data(msg->audio.audio_data.int32_data, msg->audio.info.channels,
+ msg->audio.info.chunk, stream_key);
+ break;
+
+ case paInt16:
+ this->write_data(msg->audio.audio_data.int16_data, msg->audio.info.channels,
+ msg->audio.info.chunk, stream_key);
+ break;
+
+ case paInt8:
+ this->write_data(msg->audio.audio_data.int8_data, msg->audio.info.channels,
+ msg->audio.info.chunk, stream_key);
+ break;
+
+ case paUInt8:
+ this->write_data(msg->audio.audio_data.uint8_data, msg->audio.info.channels,
+ msg->audio.info.chunk, stream_key);
+ break;
+ default:
+ RCLCPP_ERROR(this->get_logger(), "Unsupported format");
+ return;
+ }
+}
+
+template
+void AudioPlayerNode::write_data(const std::vector &input_data, int channels,
+ int chunk, const std::string &stream_key) {
+
+ std::vector data; // Buffer for the actual data to write
+
+ // Handle mono-to-stereo or stereo-to-mono conversions if necessary
+ if (channels != this->channels_) {
+ if (channels == 1 && this->channels_ == 2) {
+ // Mono to stereo conversion
+ data.resize(input_data.size() * 2);
+ for (size_t i = 0; i < input_data.size(); ++i) {
+ data[2 * i] = input_data[i];
+ data[2 * i + 1] = input_data[i];
+ }
+
+ } else if (channels == 2 && this->channels_ == 1) {
+ // Stereo to mono conversion
+ data.resize(input_data.size() / 2);
+ for (size_t i = 0; i < data.size(); ++i) {
+ data[i] =
+ static_cast((input_data[2 * i] + input_data[2 * i + 1]) / 2);
+ }
+ }
+
+ } else {
+ // No conversion needed
+ data = input_data;
+ }
+
+ // Make sure chunk size is correct for frames (not samples)
+ if (data.size() < chunk * this->channels_) {
+ RCLCPP_WARN(this->get_logger(),
+ "Insufficient data (%ld) for requested chunk size (%d).",
+ data.size(), chunk * this->channels_);
+ return;
+ }
+
+ // Write in smaller blocks to reduce underrun risk
+ size_t frames_written = 0;
+ size_t total_frames = chunk;
+ const size_t max_block = 1024;
+
+ while (frames_written < total_frames) {
+ size_t frames_to_write = std::min(max_block, total_frames - frames_written);
+ PaError err = Pa_WriteStream(this->stream_dict_[stream_key],
+ data.data() + frames_written * this->channels_,
+ frames_to_write);
+
+ if (err == paOutputUnderflowed) {
+ RCLCPP_WARN(this->get_logger(),
+ "PortAudio underrun detected, retrying...");
+ std::this_thread::sleep_for(std::chrono::milliseconds(10));
+ continue; // Try again this block
+
+ } else if (err != paNoError) {
+ RCLCPP_ERROR(this->get_logger(), "PortAudio write error: %s",
+ Pa_GetErrorText(err));
+ break;
+ }
+
+ frames_written += frames_to_write;
+ }
+}
diff --git a/src/lib/audio_common/audio_common/src/audio_common/music_node.cpp b/src/lib/audio_common/audio_common/src/audio_common/music_node.cpp
new file mode 100644
index 000000000..7587dd7df
--- /dev/null
+++ b/src/lib/audio_common/audio_common/src/audio_common/music_node.cpp
@@ -0,0 +1,210 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+#include
+#include
+
+#include "audio_common/music_node.hpp"
+#include "audio_common/wave_file.hpp"
+
+using namespace audio_common;
+using std::placeholders::_1;
+using std::placeholders::_2;
+
+MusicNode::MusicNode()
+ : Node("music_node"), pause_music_(false), stop_music_(false),
+ audio_loop_(false), is_thread_alive_(false) {
+
+ // Parameters
+ this->declare_parameter("chunk", 2048);
+ this->declare_parameter("frame_id", "");
+
+ this->chunk_ = this->get_parameter("chunk").as_int();
+ this->frame_id_ = this->get_parameter("frame_id").as_string();
+
+ // Publisher
+ this->player_pub_ =
+ this->create_publisher(
+ "audio", rclcpp::SensorDataQoS());
+
+ // Services
+ this->play_service_ = this->create_service(
+ "music_play", std::bind(&MusicNode::play_callback, this, _1, _2));
+ this->stop_service_ = this->create_service(
+ "music_stop", std::bind(&MusicNode::stop_callback, this, _1, _2));
+ this->pause_service_ = this->create_service(
+ "music_pause", std::bind(&MusicNode::pause_callback, this, _1, _2));
+ this->resume_service_ = this->create_service(
+ "music_resume", std::bind(&MusicNode::resume_callback, this, _1, _2));
+
+ RCLCPP_INFO(this->get_logger(), "Music node started");
+}
+
+MusicNode::~MusicNode() {
+ this->stop_music_ = true;
+ if (this->publish_thread_.joinable()) {
+ this->publish_thread_.join();
+ }
+}
+
+void MusicNode::publish_audio(const std::string &file_path) {
+
+ this->is_thread_alive_ = true;
+
+ audio_common::WaveFile wf(file_path);
+ if (!wf.open()) {
+ RCLCPP_ERROR(this->get_logger(), "Error opening audio file: %s",
+ file_path.c_str());
+ return;
+ }
+
+ // Create rate
+ std::chrono::nanoseconds period(
+ (int)(1e9 * this->chunk_ / wf.get_sample_rate()));
+ rclcpp::Rate pub_rate(period);
+ std::vector data(this->chunk_);
+
+ while (!this->stop_music_) {
+ while (wf.read(data, this->chunk_)) {
+
+ auto msg = audio_common_msgs::msg::AudioStamped();
+ msg.header.frame_id = this->frame_id_;
+ msg.header.stamp = this->get_clock()->now();
+ msg.audio.audio_data.float32_data = data;
+ msg.audio.info.channels = wf.get_num_channels();
+ msg.audio.info.chunk = this->chunk_;
+ msg.audio.info.format = 1;
+ msg.audio.info.rate = wf.get_sample_rate();
+
+ this->player_pub_->publish(msg);
+ pub_rate.sleep();
+
+ if (this->pause_music_) {
+ std::unique_lock lock(this->pause_mutex_);
+ this->pause_cv_.wait(lock, [&]() { return !this->pause_music_; });
+ }
+
+ if (this->stop_music_) {
+ break;
+ }
+ }
+
+ wf.rewind();
+ if (!this->audio_loop_ || this->stop_music_) {
+ break;
+ }
+ }
+
+ this->is_thread_alive_ = false;
+}
+
+void MusicNode::play_callback(
+ const std::shared_ptr request,
+ std::shared_ptr response) {
+
+ if (this->is_thread_alive_) {
+ RCLCPP_WARN(this->get_logger(), "There is other music playing");
+ response->success = false;
+ return;
+ }
+
+ if (this->publish_thread_.joinable()) {
+ this->publish_thread_.join();
+ }
+
+ std::string path = request->file_path;
+ if (path.empty()) {
+ path = ament_index_cpp::get_package_share_directory("audio_common") +
+ "/samples/" + request->audio + ".wav";
+ }
+
+ if (!std::ifstream(path).good()) {
+ RCLCPP_ERROR(this->get_logger(), "File %s not found", path.c_str());
+ response->success = false;
+ return;
+ }
+
+ RCLCPP_INFO(this->get_logger(), "Playing %s", path.c_str());
+ this->audio_loop_ = request->loop;
+ this->pause_music_ = false;
+ this->stop_music_ = false;
+ response->success = true;
+
+ this->publish_thread_ = std::thread(&MusicNode::publish_audio, this, path);
+}
+
+void MusicNode::pause_callback(
+ const std::shared_ptr request,
+ std::shared_ptr response) {
+
+ if (this->is_thread_alive_) {
+ this->pause_music_ = true;
+ RCLCPP_INFO(this->get_logger(), "Music paused");
+ response->success = true;
+
+ } else {
+ RCLCPP_WARN(this->get_logger(), "No music to pause");
+ response->success = false;
+ }
+}
+
+void MusicNode::resume_callback(
+ const std::shared_ptr request,
+ std::shared_ptr response) {
+
+ if (this->is_thread_alive_) {
+ this->pause_music_ = false;
+ this->pause_cv_.notify_all();
+ RCLCPP_INFO(this->get_logger(), "Music resumed");
+ response->success = true;
+
+ } else {
+ RCLCPP_WARN(this->get_logger(), "No music to resume");
+ response->success = false;
+ }
+}
+
+void MusicNode::stop_callback(
+ const std::shared_ptr request,
+ std::shared_ptr response) {
+
+ if (this->is_thread_alive_) {
+ this->stop_music_ = true;
+ this->publish_thread_.join();
+ RCLCPP_INFO(this->get_logger(), "Music stopped");
+ response->success = true;
+
+ } else {
+ RCLCPP_WARN(this->get_logger(), "No music to stop");
+ response->success = false;
+ }
+}
diff --git a/src/lib/audio_common/audio_common/src/audio_common/tts_node.cpp b/src/lib/audio_common/audio_common/src/audio_common/tts_node.cpp
new file mode 100644
index 000000000..c402996e8
--- /dev/null
+++ b/src/lib/audio_common/audio_common/src/audio_common/tts_node.cpp
@@ -0,0 +1,164 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+
+#include "audio_common/tts_node.hpp"
+#include "audio_common/wave_file.hpp"
+#include "audio_common_msgs/action/tts.hpp"
+#include "audio_common_msgs/msg/audio_stamped.hpp"
+
+using namespace audio_common;
+using namespace std::chrono_literals;
+using std::placeholders::_1;
+using std::placeholders::_2;
+
+TtsNode::TtsNode() : Node("tts_node") {
+
+ this->declare_parameter("chunk", 4096);
+ this->declare_parameter("frame_id", "");
+
+ this->chunk_ = this->get_parameter("chunk").as_int();
+ this->frame_id_ = this->get_parameter("frame_id").as_string();
+
+ this->player_pub_ =
+ this->create_publisher(
+ "audio", rclcpp::SensorDataQoS());
+
+ // Action server
+ this->action_server_ = rclcpp_action::create_server(
+ this, "say", std::bind(&TtsNode::handle_goal, this, _1, _2),
+ std::bind(&TtsNode::handle_cancel, this, _1),
+ std::bind(&TtsNode::handle_accepted, this, _1));
+
+ RCLCPP_INFO(this->get_logger(), "TTS node started");
+}
+
+rclcpp_action::GoalResponse
+TtsNode::handle_goal(const rclcpp_action::GoalUUID &uuid,
+ std::shared_ptr goal) {
+ (void)uuid;
+ return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+}
+
+rclcpp_action::CancelResponse
+TtsNode::handle_cancel(const std::shared_ptr goal_handle) {
+ RCLCPP_INFO(this->get_logger(), "Canceling TTS...");
+ (void)goal_handle;
+ return rclcpp_action::CancelResponse::ACCEPT;
+}
+
+void TtsNode::handle_accepted(
+ const std::shared_ptr goal_handle) {
+ std::unique_lock lock(this->goal_lock_);
+ if (this->goal_handle_ != nullptr && this->goal_handle_->is_active()) {
+ auto result = std::make_shared();
+ this->goal_handle_->abort(result);
+ this->goal_handle_ = goal_handle;
+ }
+
+ std::thread{std::bind(&TtsNode::execute_callback, this, _1), goal_handle}
+ .detach();
+}
+
+void TtsNode::execute_callback(
+ const std::shared_ptr goal_handle) {
+ auto result = std::make_shared();
+ const auto goal = goal_handle->get_goal();
+ std::string text = goal->text;
+ std::string language = goal->language;
+ int rate = static_cast(goal->rate * 175);
+ int volume = static_cast(goal->volume * 100);
+
+ // Create audio file using espeak
+ char temp_file[] = "/tmp/tts_audio.wav";
+ std::stringstream cmd;
+ cmd << "espeak -v" << language << " -s" << rate << " -a" << volume << " -w "
+ << temp_file << " '" << text << "'";
+
+ int ret = std::system(cmd.str().c_str());
+ if (ret != 0) {
+ RCLCPP_ERROR(this->get_logger(),
+ "espeak command failed with return code: %d", ret);
+ goal_handle->abort(result);
+ return;
+ }
+
+ // Read audio file
+ audio_common::WaveFile wf(temp_file);
+ if (!wf.open()) {
+ RCLCPP_ERROR(this->get_logger(), "Error opening audio file: %s", temp_file);
+ goal_handle->abort(result);
+ return;
+ }
+
+ // Create rate
+ std::chrono::nanoseconds period(
+ (int)(1e9 * this->chunk_ / wf.get_sample_rate()));
+ rclcpp::Rate pub_rate(period);
+ std::vector data(this->chunk_);
+
+ // Initialize the audio message
+ audio_common_msgs::msg::AudioStamped msg;
+ msg.header.frame_id = this->frame_id_;
+
+ // Publish the audio data in chunks
+ while (wf.read(data, this->chunk_)) {
+ if (!goal_handle->is_active()) {
+ return;
+ }
+
+ if (goal_handle->is_canceling()) {
+ goal_handle->canceled(result);
+ return;
+ }
+
+ auto msg = audio_common_msgs::msg::AudioStamped();
+ msg.header.stamp = this->get_clock()->now();
+ msg.audio.audio_data.float32_data = data;
+ msg.audio.info.channels = wf.get_num_channels();
+ msg.audio.info.chunk = this->chunk_;
+ msg.audio.info.format = 1;
+ msg.audio.info.rate = wf.get_sample_rate();
+
+ auto feedback = std::make_shared();
+ feedback->audio = msg;
+
+ this->player_pub_->publish(msg);
+ goal_handle->publish_feedback(feedback);
+ pub_rate.sleep();
+ }
+
+ // Cleanup and set result
+ std::remove(temp_file);
+
+ result->text = text;
+ goal_handle->succeed(result);
+}
diff --git a/src/lib/audio_common/audio_common/src/audio_common/wave_file.cpp b/src/lib/audio_common/audio_common/src/audio_common/wave_file.cpp
new file mode 100644
index 000000000..17ebdd434
--- /dev/null
+++ b/src/lib/audio_common/audio_common/src/audio_common/wave_file.cpp
@@ -0,0 +1,87 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include
+#include
+
+#include "audio_common/wave_file.hpp"
+
+using namespace audio_common;
+
+WaveFile::WaveFile(const std::string &filepath)
+ : filepath_(filepath), sample_rate_(0), channels_(0), bits_per_sample_(0) {}
+
+WaveFile::~WaveFile() { this->file_.close(); }
+
+bool WaveFile::open() {
+ this->file_.open(this->filepath_, std::ios::binary);
+ if (!this->file_.is_open()) {
+ std::cerr << "Failed to open file: " << this->filepath_ << std::endl;
+ return false;
+ }
+ // Read the WAV header
+ char riff_header[4];
+ this->file_.read(riff_header, 4);
+ if (std::strncmp(riff_header, "RIFF", 4) != 0) {
+ std::cerr << "Invalid WAV file" << std::endl;
+ return false;
+ }
+ this->file_.seekg(24);
+ this->file_.read(reinterpret_cast(&this->sample_rate_), 4);
+ this->file_.seekg(22);
+ this->file_.read(reinterpret_cast(&this->channels_), 2);
+ this->file_.seekg(34);
+ this->file_.read(reinterpret_cast(&this->bits_per_sample_), 2);
+ this->file_.seekg(44); // Move to the data section start
+ return true;
+}
+
+void WaveFile::rewind() {
+ this->file_.close();
+ this->open();
+}
+
+bool WaveFile::read(std::vector &buffer, size_t size) {
+ if (this->bits_per_sample_ != 16) {
+ std::cerr << "Only 16-bit PCM WAV files are supported" << std::endl;
+ return false;
+ }
+
+ // Allocate temporary buffer to read int16 data
+ std::vector temp_buffer(size * this->channels_);
+
+ // Read raw int16 samples from the file
+ this->file_.read(reinterpret_cast(temp_buffer.data()),
+ size * this->channels_ * sizeof(int16_t));
+ if (this->file_.gcount() !=
+ static_cast(size * this->channels_ * sizeof(int16_t))) {
+ return false; // End of file or read error
+ }
+
+ // Convert int16 samples to float and store in buffer
+ buffer.resize(size * this->channels_);
+ for (size_t i = 0; i < size * this->channels_; ++i) {
+ buffer[i] = int16ToFloat(temp_buffer[i]);
+ }
+
+ return true;
+}
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common/src/audio_player_main.cpp b/src/lib/audio_common/audio_common/src/audio_player_main.cpp
new file mode 100644
index 000000000..fb0b13f89
--- /dev/null
+++ b/src/lib/audio_common/audio_common/src/audio_player_main.cpp
@@ -0,0 +1,33 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include
+
+#include "audio_common/audio_player_node.hpp"
+
+int main(int argc, char *argv[]) {
+ rclcpp::init(argc, argv);
+ auto node = std::make_shared();
+ rclcpp::spin(node);
+ rclcpp::shutdown();
+ return 0;
+}
diff --git a/src/lib/audio_common/audio_common/src/music_main.cpp b/src/lib/audio_common/audio_common/src/music_main.cpp
new file mode 100644
index 000000000..e93c441c3
--- /dev/null
+++ b/src/lib/audio_common/audio_common/src/music_main.cpp
@@ -0,0 +1,33 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include
+
+#include "audio_common/music_node.hpp"
+
+int main(int argc, char **argv) {
+ rclcpp::init(argc, argv);
+ auto node = std::make_shared();
+ rclcpp::spin(node);
+ rclcpp::shutdown();
+ return 0;
+}
diff --git a/src/lib/audio_common/audio_common/src/tts_main.cpp b/src/lib/audio_common/audio_common/src/tts_main.cpp
new file mode 100644
index 000000000..07f23d775
--- /dev/null
+++ b/src/lib/audio_common/audio_common/src/tts_main.cpp
@@ -0,0 +1,33 @@
+// MIT License
+//
+// Copyright (c) 2024 Miguel Ángel González Santamarta
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include
+
+#include "audio_common/tts_node.hpp"
+
+int main(int argc, char *argv[]) {
+ rclcpp::init(argc, argv);
+ auto node = std::make_shared();
+ rclcpp::spin(node);
+ rclcpp::shutdown();
+ return 0;
+}
diff --git a/src/lib/audio_common/audio_common_msgs/CMakeLists.txt b/src/lib/audio_common/audio_common_msgs/CMakeLists.txt
new file mode 100644
index 000000000..a30191cd1
--- /dev/null
+++ b/src/lib/audio_common/audio_common_msgs/CMakeLists.txt
@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.10)
+project(audio_common_msgs)
+
+if(POLICY CMP0148)
+ cmake_policy(SET CMP0148 OLD)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+ "msg/AudioData.msg"
+ "msg/AudioInfo.msg"
+ "msg/Audio.msg"
+ "msg/AudioStamped.msg"
+ "action/TTS.action"
+ "srv/MusicPlay.srv"
+ DEPENDENCIES std_msgs
+)
+
+ament_export_dependencies(
+ std_msgs
+ rosidl_default_runtime
+)
+
+ament_package()
diff --git a/src/lib/audio_common/audio_common_msgs/action/TTS.action b/src/lib/audio_common/audio_common_msgs/action/TTS.action
new file mode 100644
index 000000000..1f02060fe
--- /dev/null
+++ b/src/lib/audio_common/audio_common_msgs/action/TTS.action
@@ -0,0 +1,8 @@
+string text
+string language "en"
+float32 volume 1.0
+float32 rate 1.0
+---
+string text
+---
+audio_common_msgs/AudioStamped audio
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common_msgs/msg/Audio.msg b/src/lib/audio_common/audio_common_msgs/msg/Audio.msg
new file mode 100644
index 000000000..1f237c0b7
--- /dev/null
+++ b/src/lib/audio_common/audio_common_msgs/msg/Audio.msg
@@ -0,0 +1,2 @@
+audio_common_msgs/AudioData audio_data
+audio_common_msgs/AudioInfo info
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common_msgs/msg/AudioData.msg b/src/lib/audio_common/audio_common_msgs/msg/AudioData.msg
new file mode 100644
index 000000000..712da1afa
--- /dev/null
+++ b/src/lib/audio_common/audio_common_msgs/msg/AudioData.msg
@@ -0,0 +1,5 @@
+float32[] float32_data
+int32[] int32_data
+int16[] int16_data
+int8[] int8_data
+uint8[] uint8_data
diff --git a/src/lib/audio_common/audio_common_msgs/msg/AudioInfo.msg b/src/lib/audio_common/audio_common_msgs/msg/AudioInfo.msg
new file mode 100644
index 000000000..a7498f5dd
--- /dev/null
+++ b/src/lib/audio_common/audio_common_msgs/msg/AudioInfo.msg
@@ -0,0 +1,4 @@
+int32 format
+int32 channels
+int32 rate
+int32 chunk
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common_msgs/msg/AudioStamped.msg b/src/lib/audio_common/audio_common_msgs/msg/AudioStamped.msg
new file mode 100644
index 000000000..ac6ea5b8f
--- /dev/null
+++ b/src/lib/audio_common/audio_common_msgs/msg/AudioStamped.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+audio_common_msgs/Audio audio
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common_msgs/package.xml b/src/lib/audio_common/audio_common_msgs/package.xml
new file mode 100644
index 000000000..dc3cff815
--- /dev/null
+++ b/src/lib/audio_common/audio_common_msgs/package.xml
@@ -0,0 +1,17 @@
+
+
+
+ audio_common_msgs
+ 4.0.8
+ audio_common_msgs
+ Miguel Ángel González Santamarta
+ MIT
+ ament_cmake
+ rosidl_interface_packages
+ std_msgs
+
+ ament_cmake
+ rosidl_default_generators
+ rosidl_default_runtime
+
+
\ No newline at end of file
diff --git a/src/lib/audio_common/audio_common_msgs/srv/MusicPlay.srv b/src/lib/audio_common/audio_common_msgs/srv/MusicPlay.srv
new file mode 100644
index 000000000..5699d6bc8
--- /dev/null
+++ b/src/lib/audio_common/audio_common_msgs/srv/MusicPlay.srv
@@ -0,0 +1,5 @@
+string audio
+string file_path ""
+bool loop false
+---
+bool success
\ No newline at end of file
diff --git a/src/lib/bio_ik/.gitrepo b/src/lib/bio_ik/.gitrepo
new file mode 100644
index 000000000..ef37371df
--- /dev/null
+++ b/src/lib/bio_ik/.gitrepo
@@ -0,0 +1,12 @@
+; DO NOT EDIT (unless you know what you are doing)
+;
+; This subdirectory is a git "subrepo", and this file is maintained by the
+; git-subrepo command. See https://github.com/ingydotnet/git-subrepo#readme
+;
+[subrepo]
+ remote = git@github.com:bit-bots/bio_ik.git
+ branch = ros2
+ commit = ffec29f7aebb16a9ae67667db4a29d375046c23b
+ parent = f103e55158ff81138583dcffe2a56546fc193590
+ method = merge
+ cmdver = 0.4.9
diff --git a/src/lib/bio_ik/CMakeLists.txt b/src/lib/bio_ik/CMakeLists.txt
new file mode 100644
index 000000000..3e38441ef
--- /dev/null
+++ b/src/lib/bio_ik/CMakeLists.txt
@@ -0,0 +1,184 @@
+cmake_minimum_required(VERSION 3.15)
+project(bio_ik)
+
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+ set(CMAKE_BUILD_TYPE Release)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+ Eigen3
+ moveit_core
+ moveit_ros_planning
+ pluginlib
+ rclcpp
+ tf2_eigen
+ tf2_ros
+ tf2_kdl
+ tf2_geometry_msgs
+)
+
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+ find_package(${Dependency} REQUIRED)
+endforeach()
+
+find_package(OpenMP)
+# the specific flag is not yet present in cmake 2.8.12
+if(OpenMP_CXX_FOUND OR OPENMP_FOUND)
+ message(STATUS "OPENMP FOUND")
+ add_compile_options(${OpenMP_CXX_FLAGS})
+ if(NOT OpenMP_CXX_LIBRARIES)
+ # cmake 2.8.12 does not yet specify the library - assume we might need libgomp
+ set(OpenMP_LIBS gomp)
+ else()
+ set(OpenMP_LIBS ${OpenMP_CXX_LIBRARIES})
+ endif()
+else()
+ message(WARNING "OPENMP NOT FOUND. You will suffer performance loss.")
+ set(OpenMP_LIBS)
+endif()
+
+option(USE_FANN "build the neural-network-based IK solver (experimental)" OFF)
+if(USE_FANN)
+ find_library(FANN_LIBRARIES NAMES fann)
+ find_path(FANN_INCLUDE_DIRS NAMES fann.h)
+ if(NOT FANN_INCLUDE_DIRS OR NOT FANN_LIBRARIES)
+ message(FATAL_ERROR "Neural network solver requested, but libfann was not found.")
+ else()
+ message("Found libfann: ${FANN_LIBRARIES} / ${FANN_INCLUDE_DIRS}")
+ endif()
+else()
+ set(FANN_LIBRARIES)
+ set(FANN_INCLUDE_DIRS)
+endif()
+
+option(USE_CPPOPTLIB "Include gradient-based solvers from CppNumericalSolvers (bio_ik also provides its own solver)" OFF)
+if(USE_CPPOPTLIB)
+ find_path(CPPOPTLIB_INCLUDE_DIRS
+ NAMES cppoptlib/solver/bfgssolver.h
+ HINTS ../../CppNumericalSolvers/include)
+ if(NOT CPPOPTLIB_INCLUDE_DIRS)
+ message(FATAL_ERROR "cppoptlib support requested, but the headers could not be found.")
+ else()
+ message("Found cppoptlib: ${CPPOPTLIB_INCLUDE_DIRS}")
+ endif()
+ add_definitions(-DENABLE_CPP_OPTLIB)
+else()
+ set(CPPOPTLIB_INCLUDE_DIRS)
+endif()
+
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+ add_compile_options(-frecord-gcc-switches)
+endif()
+
+add_compile_options($<$:-O3>)
+add_compile_options($<$:-ftree-vectorize>)
+add_compile_options($<$:-ffast-math>)
+
+include_directories(
+ include
+ ${FANN_INCLUDE_DIRS}
+ ${CPPOPTLIB_INCLUDE_DIRS}
+)
+
+set(SOURCES
+ src/goal_types.cpp
+ src/problem.cpp
+ src/ik_test.cpp
+ src/ik_gradient.cpp
+ src/ik_evolution_1.cpp
+ src/ik_evolution_2.cpp
+)
+
+if(USE_FANN)
+ list(APPEND SOURCES src/ik_neural.cpp)
+endif()
+
+if(USE_CPPOPTLIB)
+ list(APPEND SOURCES src/ik_cppoptlib.cpp)
+endif()
+
+add_library(${PROJECT_NAME} ${SOURCES})
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+ $
+ $
+)
+
+ament_target_dependencies(
+ ${PROJECT_NAME}
+ PUBLIC
+ ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+
+target_link_libraries(
+ ${PROJECT_NAME}
+ PUBLIC
+ ${FANN_LIBRARIES}
+ ${OpenMP_LIBS}
+)
+
+add_library(${PROJECT_NAME}_plugin SHARED
+ ${SOURCES}
+ src/kinematics_plugin.cpp
+)
+
+target_include_directories(${PROJECT_NAME}_plugin PUBLIC
+ $
+ $
+)
+
+target_link_libraries(
+ ${PROJECT_NAME}_plugin
+ PRIVATE
+ ${PROJECT_NAME}
+)
+
+
+install(
+ DIRECTORY include/
+ DESTINATION include
+)
+install(
+ TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_plugin
+ EXPORT export_${PROJECT_NAME}
+ LIBRARY DESTINATION lib
+ ARCHIVE DESTINATION lib
+ RUNTIME DESTINATION bin
+ INCLUDES DESTINATION include
+)
+
+
+pluginlib_export_plugin_description_file(
+ moveit_core
+ bio_ik_kinematics_description.xml
+)
+
+ament_export_include_directories(
+ include
+)
+ament_export_libraries(
+ ${PROJECT_NAME}_plugin
+)
+ament_export_targets(
+ export_${PROJECT_NAME}
+)
+
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+if(BUILD_TESTING)
+ find_package(ament_cmake_gtest REQUIRED)
+
+ ament_add_gtest(bio_ik_test test/utest.cpp)
+ target_link_libraries(bio_ik_test
+ bio_ik
+ )
+ target_include_directories(bio_ik_test
+ PUBLIC $
+ PUBLIC $)
+
+endif()
+
+ament_package()
diff --git a/src/lib/bio_ik/Doxyfile b/src/lib/bio_ik/Doxyfile
new file mode 100644
index 000000000..82db879ad
--- /dev/null
+++ b/src/lib/bio_ik/Doxyfile
@@ -0,0 +1,2427 @@
+# Doxyfile 1.8.11
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all text
+# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
+# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
+# for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
+
+PROJECT_NAME = "bio_ik"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
+
+PROJECT_NUMBER =
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF = "MoveIt kinematics_base plugin based on particle optimization & GA"
+
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
+# the logo to the output directory.
+
+PROJECT_LOGO =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
+
+OUTPUT_DIRECTORY = docs
+
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
+# directories (in 2 levels) under the output directory of each output format and
+# will distribute the generated files over these directories. Enabling this
+# option can be useful when feeding doxygen a huge amount of source files, where
+# putting all generated files in the same directory would otherwise causes
+# performance problems for the file system.
+# The default value is: NO.
+
+CREATE_SUBDIRS = NO
+
+# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
+# characters to appear in the names of generated files. If set to NO, non-ASCII
+# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
+# U+3044.
+# The default value is: NO.
+
+ALLOW_UNICODE_NAMES = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
+# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
+# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
+# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
+# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
+# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
+# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
+# Ukrainian and Vietnamese.
+# The default value is: English.
+
+OUTPUT_LANGUAGE = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
+# descriptions after the members that are listed in the file and class
+# documentation (similar to Javadoc). Set to NO to disable this.
+# The default value is: YES.
+
+BRIEF_MEMBER_DESC = YES
+
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
+# description of a member or function before the detailed description
+#
+# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+# The default value is: YES.
+
+REPEAT_BRIEF = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator that is
+# used to form the text in various listings. Each string in this list, if found
+# as the leading text of the brief description, will be stripped from the text
+# and the result, after processing the whole list, is used as the annotated
+# text. Otherwise, the brief description is used as-is. If left blank, the
+# following values are used ($name is automatically replaced with the name of
+# the entity):The $name class, The $name widget, The $name file, is, provides,
+# specifies, contains, represents, a, an and the.
+
+ABBREVIATE_BRIEF =
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# doxygen will generate a detailed section even if there is only a brief
+# description.
+# The default value is: NO.
+
+ALWAYS_DETAILED_SEC = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+# The default value is: NO.
+
+INLINE_INHERITED_MEMB = NO
+
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
+# before files name in the file list and in the header files. If set to NO the
+# shortest path that makes the file name unique will be used
+# The default value is: YES.
+
+FULL_PATH_NAMES = YES
+
+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
+# Stripping is only done if one of the specified strings matches the left-hand
+# part of the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the path to
+# strip.
+#
+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+STRIP_FROM_PATH =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
+# path mentioned in the documentation of a class, which tells the reader which
+# header file to include in order to use a class. If left blank only the name of
+# the header file containing the class definition is used. Otherwise one should
+# specify the list of include paths that are normally passed to the compiler
+# using the -I flag.
+
+STRIP_FROM_INC_PATH =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
+# less readable) file names. This can be useful is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
+
+SHORT_NAMES = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
+# description. If set to NO, the Javadoc-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
+
+JAVADOC_AUTOBRIEF = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
+# line (until the first dot) of a Qt-style comment as the brief description. If
+# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
+
+QT_AUTOBRIEF = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
+# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
+# a brief description. This used to be the default behavior. The new default is
+# to treat a multi-line C++ comment block as a detailed description. Set this
+# tag to YES if you prefer the old behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
+
+INHERIT_DOCS = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
+# page for each member. If set to NO, the documentation of a member will be part
+# of the file/class/namespace that contains it.
+# The default value is: NO.
+
+SEPARATE_MEMBER_PAGES = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
+# uses this value to replace tabs by spaces in code fragments.
+# Minimum value: 1, maximum value: 16, default value: 4.
+
+TAB_SIZE = 4
+
+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
+# "sideeffect=@par Side Effects:\n"
+# will allow you to put the command \sideeffect (or @sideeffect) in the
+# documentation, which will result in a user-defined paragraph with heading
+# "Side Effects:". You can put \n's in the value part of an alias to insert
+# newlines.
+
+ALIASES =
+
+# This tag can be used to specify a number of word-keyword mappings (TCL only).
+# A mapping has the form "name=value". For example adding "class=itcl::class"
+# will allow you to use the command class in the itcl::class meaning.
+
+TCL_SUBST =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, Javascript,
+# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran:
+# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran:
+# Fortran. In the later case the parser tries to guess whether the code is fixed
+# or free formatted code, this is the default for Fortran type files), VHDL. For
+# instance to make doxygen treat .inc files as Fortran files (default is PHP),
+# and .f files as C (default is Fortran), use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen.
+
+EXTENSION_MAPPING =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See http://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT = YES
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL = NO
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# (class|struct|union) declarations. If set to NO, these declarations will be
+# included in the documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
+# names in lower-case letters. If set to YES, upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if ... \endif and \cond
+# ... \endcond blocks.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong or incomplete
+# parameter documentation, but not about the absence of documentation.
+# The default value is: NO.
+
+WARN_NO_PARAMDOC = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered.
+# The default value is: NO.
+
+WARN_AS_ERROR = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr).
+
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT = src README.md
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# possible encodings.
+# The default value is: UTF-8.
+
+INPUT_ENCODING = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl,
+# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js.
+
+FILE_PATTERNS =
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE =
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH = doc
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+#
+#
+# where is the value of the INPUT_FILTER tag, and is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE = README.md
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER = YES
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# function all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see http://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS = YES
+
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
+# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
+# cost of reduced performance. This can be particularly helpful with template
+# rich C++ code for which doxygen's built-in parser lacks the necessary type
+# information.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse-libclang=ON option for CMake.
+# The default value is: NO.
+
+CLANG_ASSISTED_PARSING = NO
+
+# If clang assisted parsing is enabled you can provide the compiler with command
+# line options that you would normally use when invoking the compiler. Note that
+# the include paths will already be set by doxygen for the files and directories
+# specified with INPUT and INCLUDE_PATH.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_OPTIONS =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX = YES
+
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all classes will
+# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
+# can be used to specify a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT = "../docs"
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list). For an example see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a colorwheel, see
+# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use grayscales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP = NO
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
+# Makefile in the HTML output directory. Running make will produce the docset in
+# that directory and running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME = "Doxygen generated docs"
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# Windows.
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the master .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
+# folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS =
+
+# The QHG_LOCATION tag can be used to specify the location of Qt's
+# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
+# generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH = 250
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW = NO
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE = 10
+
+# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are not
+# supported properly for IE 6.0, but are supported on all modern browsers.
+#
+# Note that when changing this option you need to delete any form_*.png files in
+# the HTML output directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_TRANSPARENT = YES
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# http://www.mathjax.org) which uses client side Javascript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX = NO
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from http://www.mathjax.org before deployment.
+# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use + S
+# (what the is depends on the OS and browser, but it is typically
+# , /