diff --git a/CMakeLists.txt b/CMakeLists.txt
index dd94b41a7dfcc5cb5c88e1b1499fc77ddf5db588..cf96b3652bcb8373e54876205bbec23d0bfe0c0d 100644
--- a/CMakeLists.txt
+++ b/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)
diff --git a/include/tiago_modules/tts_module.h b/include/tiago_modules/tts_module.h
index 9e59b4a4e4f81a74f0bf507dc4f2f0a2224cb2b6..5b23b18be7e0e6aa8489278ebce0c1a6603b210c 100644
--- a/include/tiago_modules/tts_module.h
+++ b/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();
};