Merge branch 'master' into 'arm_module'

# Conflicts:
#   CMakeLists.txt
#   include/tiago_modules/head_module.h
#   include/tiago_modules/tts_module.h

CMakeLists.txt

@@ -7,7 +7,7 @@ project(tiago_modules)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs pal_waypoint_msgs pal_interaction_msgs moveit_msgs)
+find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib play_motion_msgs control_msgs geometry_msgs std_srvs move_base_msgs tf nav_msgs pal_navigation_msgs pal_waypoint_msgs pal_interaction_msgs)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)

include/tiago_modules/tts_module.h

@@ -13,6 +13,25 @@
 typedef enum {TTS_MODULE_IDLE,TTS_MODULE_START,TTS_MODULE_WAIT} tts_module_state_t;
 
 //Status
+/**
+  * \brief Possible module status returned by the get_status() function
+  * 
+  * These are the possible status of the module, which are:
+  *  * TTS_MODULE_RUNNING: indicates that the module is active and operating
+  *                        properly.
+  *  * TTS_MODULE_SUCCESS: indicates the last navigation goal has been reached
+  *                        successfully.
+  *  * TTS_MODULE_ACTION_START_FAIL: indicates that the goal could not be started.
+  *  * TTS_MODULE_TIMEOUT: indicates that the goal did not complete in the 
+  *                        allowed time.
+  *  * TTS_MODULE_FB_WATCHDOG: indicates that feedback has not been received for
+  *                            a long time.
+  *  * TTS_MODULE_ABORTED: indicates that the navigation goal could not be reached.
+  *  * TTS_MODULE_PREEMPTED: indicates that the current navigation goal has been 
+  *                          canceled by another goal.
+  *  * TTS_MODULE_REJECTED: indicates that the goal informatio is not valid and the
+  *                         goal will not be executed.
+  */
 typedef enum {TTS_MODULE_RUNNING,
               TTS_MODULE_SUCCESS,
               TTS_MODULE_ACTION_START_FAIL,
@@ -23,35 +42,140 @@ typedef enum {TTS_MODULE_RUNNING,
               TTS_MODULE_REJECTED,
               TTS_MODULE_INVALID_ID} tts_module_status_t;
 
+/**
+  * \brief Text to speech module
+  *
+  * This module wraps the basics features of the text to speech ROS node in the TIAGO
+  * robot. It allows to speack any sentence in english and monitor its progress;
+  *
+  */
 class CTTSModule : public CModule<tts_module::TTSModuleConfig>
 {
   private:
 
+    /**
+      * \brief
+      *  
+      */
     tts_module::TTSModuleConfig config;
 
+    /**
+      * \brief
+      *  
+      */
     CModuleAction<pal_interaction_msgs::TtsAction> tts_action;
+    /**
+      * \brief
+      *  
+      */
     pal_interaction_msgs::TtsGoal speech_goal;
+    /**
+      * \brief
+      *  
+      */
     std::string speaker;
 
     //Variables
+    /**
+      * \brief
+      *  
+      */
     tts_module_state_t state;
+    /**
+      * \brief
+      *  
+      */
     tts_module_status_t status;
+    /**
+      * \brief
+      *  
+      */
     bool new_speech;
+    /**
+      * \brief
+      *  
+      */
     bool cancel_pending;
 
   protected:
+    /**
+      * \brief
+      *  
+      */
     void state_machine(void);
+    /**
+      * \brief
+      *  
+      */
     void reconfigure_callback(tts_module::TTSModuleConfig &config, uint32_t level);
 
   public:
     //CTTSModule(const std::string &name);
+    /**
+      * \brief Constructor
+      *  
+      */
     CTTSModule(const std::string &name,const std::string &name_space=std::string(""));
+    /**
+      * \brief Sets the speacker name
+      *  
+      * This functions set the name of the speacker to use. At the moment, the speacker
+      * can not be changed, and it is an english male.
+      *
+      * \param speacker name of the desired speacker. At the moment this parameter is
+      *                 not used.
+      */
     void set_speaker(std::string &speaker);
+    /**
+      * \brief Starts a speech process
+      *  
+      * This function starts a speech. At the moment, the only supported language is 
+      * en_GB, which is the default value, and can not be changed. 
+      * 
+      * \param text the text to speak.
+      * 
+      * \param language the language identifier ti use. By default this value is set to 
+      *                 en_GB, which is the only supported language at the moment.
+      * 
+      * \param delay the time before start speaking in seconds. The defautl value is 0.
+      */
     void say(const std::string &text,const std::string &language=std::string("en_GB"),double delay=0.0);
+    /**
+      * \brief  Stops the current speech
+      *
+      * This functions stops the current speech. This functions signals the stop
+      * to the speech module, but the is_finished() function must be used to know 
+      * when the head has actually stopped.
+      *  
+      */
     void stop(void);
+    /**
+      * \brief Checks if the last speech has finished or not.
+      *
+      * This function must be used to know when the last speech has ended, either 
+      * successfully or by any error.
+      *
+      * \return a boolean indicating whether the last speech has ended (true) or not 
+      *         (false), reagardless of its success or not.
+      *  
+      */
     bool is_finished(void);
+    /**
+      * \brief Returns the current state
+      * 
+      * This function returns the current status of the TTS module. It returns
+      * one of the tts_module_status_t values. This can be called at any time, but is 
+      * has only meaning when a goal has just finished.
+      *
+      * \return the current status of the module.
+      *  
+      */
     tts_module_status_t get_status(void);
 
+    /**
+      * \brief Destructor
+      *  
+      */
     ~CTTSModule();
   };