[jsk_robot_startup] Speak when shut down or reboot

[nakane11]

Duplicate knorth55#319

Tell users that robot is shutting down like boot sound.

[k-okada]

I think shutdown.py is a fundamental program and we do not want to raise any errors during execution. For example,,,

        self.client_jp = SoundClient(sound_action='/robotsound_jp', blocking=True)

What will happen if sound_client failed to play sound and keep blocking ?

Another solution may use Non-ROS layer to tell everyone to shutdown.
As far as I understand, pr2 uses rc.d mechanism to play sound beep on startup.
and if rc0.d/K00endbootstartshutdownbeep.sh ? rc6.d/S80endshutdownbeep.sh ? rc6.d/K00endbootstartshutdownbeep.sh??? works correctly, it should play beep sound.

One reason would be... they try to play sound after OS stopped the sound driver? or something.
In that case, we could chnage/move file name.

https://linuc.org/study/knowledge/515/
https://www.2daygeek.com/6-commands-to-shutdown-halt-poweroff-reboot-the-linux-system/

$ find rc* | grep beep
rc0.d/S80endshutdownbeep.sh
rc0.d/K00endbootstartshutdownbeep.sh
rc1.d/S99endbootstartshutdownbeep.sh
rc2.d/S99endbootstartshutdownbeep.sh
rc3.d/S99endbootstartshutdownbeep.sh
rc4.d/S99endbootstartshutdownbeep.sh
rc5.d/S99endbootstartshutdownbeep.sh
rc6.d/S80endshutdownbeep.sh
rc6.d/K00endbootstartshutdownbeep.sh
rcS.d/S19startbootbeep.sh

applications@pr1040:/etc/rc0.d $ cat K00endbootstartshutdownbeep.sh
#!/bin/sh

if test -e /etc/slave; then
# Slave boot-start
    if (echo $0|grep 'S..startbootbeep.sh' > /dev/null); then
        beep -f 523.25 -l 250 -n -f 587.33 -l 250 -n -f 659.26 -l 250 -n -f 783.99 -l 500
# Slave boot-finish
    elif (echo $0|grep 'S..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 659.26 -l 250 -n -f 783.99 -l 250 -n -f 880.00 -l 250 -n -f 1046.50 -l 500
# Slave shutdown-start
    elif (echo $0|grep 'K..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 1046.50 -l 250 -n -f 880.00 -l 250 -n -f 783.99 -l 250 -n -f 659.26 -l 500
# Slave shutdown-finish
    elif (echo $0|grep 'S..endshutdownbeep.sh' > /dev/null); then
        beep -f 783.99 -l 250 -n -f 659.26 -l 250 -n -f 587.33 -l 250 -n -f 523.25 -l 500
    fi

else

# Master boot-start
    if (echo $0|grep 'S..startbootbeep.sh' > /dev/null); then
        beep -f 261.63 -l 250 -n -f 293.44 -l 250 -n -f 329.63 -l 250 -n -f 392.00 -l 500
# Master boot-finish
    elif (echo $0|grep 'S..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 329.63 -l 250 -n -f 392.00 -l 250 -n -f 440.00 -l 250 -n -f 523.25 -l 500
# Master shutdown-start
    elif (echo $0|grep 'K..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 523.25 -l 250 -n -f 440.00 -l 250 -n -f 392.00 -l 250 -n -f 329.63 -l 500
# Master shutdown-finish
    elif (echo $0|grep 'S..endshutdownbeep.sh' > /dev/null); then
        beep -f 392.00 -l 250 -n -f 329.63 -l 250 -n -f 293.44 -l 250 -n -f 261.33 -l 500
    fi

fi

applications@pr1040:/etc/rc0.d $ cat S80endshutdownbeep.sh
#!/bin/sh

if test -e /etc/slave; then
# Slave boot-start
    if (echo $0|grep 'S..startbootbeep.sh' > /dev/null); then
        beep -f 523.25 -l 250 -n -f 587.33 -l 250 -n -f 659.26 -l 250 -n -f 783.99 -l 500
# Slave boot-finish
    elif (echo $0|grep 'S..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 659.26 -l 250 -n -f 783.99 -l 250 -n -f 880.00 -l 250 -n -f 1046.50 -l 500
# Slave shutdown-start
    elif (echo $0|grep 'K..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 1046.50 -l 250 -n -f 880.00 -l 250 -n -f 783.99 -l 250 -n -f 659.26 -l 500
# Slave shutdown-finish
    elif (echo $0|grep 'S..endshutdownbeep.sh' > /dev/null); then
        beep -f 783.99 -l 250 -n -f 659.26 -l 250 -n -f 587.33 -l 250 -n -f 523.25 -l 500
    fi

else

# Master boot-start
    if (echo $0|grep 'S..startbootbeep.sh' > /dev/null); then
        beep -f 261.63 -l 250 -n -f 293.44 -l 250 -n -f 329.63 -l 250 -n -f 392.00 -l 500
# Master boot-finish
    elif (echo $0|grep 'S..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 329.63 -l 250 -n -f 392.00 -l 250 -n -f 440.00 -l 250 -n -f 523.25 -l 500
# Master shutdown-start
    elif (echo $0|grep 'K..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 523.25 -l 250 -n -f 440.00 -l 250 -n -f 392.00 -l 250 -n -f 329.63 -l 500
# Master shutdown-finish
    elif (echo $0|grep 'S..endshutdownbeep.sh' > /dev/null); then
        beep -f 392.00 -l 250 -n -f 329.63 -l 250 -n -f 293.44 -l 250 -n -f 261.33 -l 500
    fi

fi
applications@pr1040:/etc/rc5.d $ cat S99endbootstartshutdownbeep.sh
#!/bin/sh

if test -e /etc/slave; then
# Slave boot-start
    if (echo $0|grep 'S..startbootbeep.sh' > /dev/null); then
        beep -f 523.25 -l 250 -n -f 587.33 -l 250 -n -f 659.26 -l 250 -n -f 783.99 -l 500
# Slave boot-finish
    elif (echo $0|grep 'S..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 659.26 -l 250 -n -f 783.99 -l 250 -n -f 880.00 -l 250 -n -f 1046.50 -l 500
# Slave shutdown-start
    elif (echo $0|grep 'K..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 1046.50 -l 250 -n -f 880.00 -l 250 -n -f 783.99 -l 250 -n -f 659.26 -l 500
# Slave shutdown-finish
    elif (echo $0|grep 'S..endshutdownbeep.sh' > /dev/null); then
        beep -f 783.99 -l 250 -n -f 659.26 -l 250 -n -f 587.33 -l 250 -n -f 523.25 -l 500
    fi

else

# Master boot-start
    if (echo $0|grep 'S..startbootbeep.sh' > /dev/null); then
        beep -f 261.63 -l 250 -n -f 293.44 -l 250 -n -f 329.63 -l 250 -n -f 392.00 -l 500
# Master boot-finish
    elif (echo $0|grep 'S..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 329.63 -l 250 -n -f 392.00 -l 250 -n -f 440.00 -l 250 -n -f 523.25 -l 500
# Master shutdown-start
    elif (echo $0|grep 'K..endbootstartshutdownbeep.sh' > /dev/null); then
        beep -f 523.25 -l 250 -n -f 440.00 -l 250 -n -f 392.00 -l 250 -n -f 329.63 -l 500
# Master shutdown-finish
    elif (echo $0|grep 'S..endshutdownbeep.sh' > /dev/null); then
        beep -f 392.00 -l 250 -n -f 329.63 -l 250 -n -f 293.44 -l 250 -n -f 261.33 -l 500
    fi

fi

came up with a better solution.

[nakane11]

If we adopt rc.d mechanism, we have to put a script(ex. endshutdownbeep.sh) in /etc/init.d, create symbolic links from /etc/rc*.d to the script and install beep.
Buzzer in motherboard may be quiet compared to speaker.

I used SimpleActionClient to wait for speaking to finish before shutting down.

[iory]

This change adds the ability to speak, which is good because timeout is set and users not using robotsound_jp can safely use the shutdown node.

[k-okada]

I still in favor of adding spaking ability on highe level such as https://github.com/knorth55/jsk_robot/pull/314/files (or more higher) or lower level such as rc.d as startup beep sound.

[nakane11]

OK. I'll consider the best way.

[nakane11]

@k-okada
fetch cannot use beep because it does not have buzzer(maybe it comes with a case) and I checked Boot Beep is set to enabled in BIOS.

I tried to use rc.d and it worked on my laptop. master...nakane11:jsk_robot:rc-shutdown
However, it seemed possible that aplay could not be executed before alsa became unavailable.

So I used systemd instead. #1628
Even if services fail, they automatically end(/etc/systemd/system.conf) and shutdown is safely executed.

[k-okada]

moved to #1628