From 6345748cf1b15c5178fce4f40d1212cff43a2ec4 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 20 Oct 2017 09:56:30 +0000
Subject: [PATCH] Implemented the API functions of the TTS module.
---
include/tiago_modules/tts_module.h | 6 +++---
src/tts_module.cpp | 21 ++++++++++++---------
2 files changed, 15 insertions(+), 12 deletions(-)
diff --git a/include/tiago_modules/tts_module.h b/include/tiago_modules/tts_module.h
index b7dddd1..78a4745 100644
--- a/include/tiago_modules/tts_module.h
+++ b/include/tiago_modules/tts_module.h
@@ -29,7 +29,8 @@ class CTTSModule : public CModule<tts_module::TTSModuleConfig>
tts_module::TTSModuleConfig config;
CModuleAction<pal_interaction_msgs::TtsAction> tts_action;
- pal_interaction_msgs::TtsGoal goal;
+ pal_interaction_msgs::TtsGoal speech_goal;
+ std::string speaker;
//Variables
tts_module_state_t state;
@@ -44,9 +45,8 @@ class CTTSModule : public CModule<tts_module::TTSModuleConfig>
public:
//CTTSModule(const std::string &name);
CTTSModule(const std::string &name,const std::string &name_space=std::string(""));
- void set_language(std::string &language);
void set_speaker(std::string &speaker);
- void say(std::string &text,double delay=0.0);
+ void say(const std::string &text,const std::string &language=std::string("en_GB"),double delay=0.0);
void stop(void);
bool is_finished(void);
tts_module_status_t get_status(void);
diff --git a/src/tts_module.cpp b/src/tts_module.cpp
index f3b050d..def7167 100644
--- a/src/tts_module.cpp
+++ b/src/tts_module.cpp
@@ -30,7 +30,7 @@ void CTTSModule::state_machine(void)
break;
case TTS_MODULE_START: ROS_DEBUG("CTTSModule: Start");
- switch(this->tts_action.make_request(this->goal))
+ switch(this->tts_action.make_request(this->speech_goal))
{
case ACT_SRV_SUCCESS: this->state=TTS_MODULE_WAIT;
ROS_DEBUG("CTTSModule : goal start successfull");
@@ -110,19 +110,22 @@ void CTTSModule::reconfigure_callback(tts_module::TTSModuleConfig &config, uint3
this->unlock();
}
-void CTTSModule::set_language(std::string &language)
-{
-
-}
-
void CTTSModule::set_speaker(std::string &speaker)
{
-
+ this->lock();
+ this->speaker=speaker;
+ this->unlock();
}
-void CTTSModule::say(std::string &text,double delay)
+void CTTSModule::say(const std::string &text,const std::string &language,double delay)
{
-
+ this->lock();
+ this->speech_goal.rawtext.text=text;
+ this->speech_goal.rawtext.lang_id=language;
+ this->speech_goal.wait_before_speaking=delay;
+ this->speech_goal.speakerName=this->speaker;
+ this->new_speech=true;
+ this->unlock();
}
void CTTSModule::stop(void)
--
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