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labrobotica
ros
platforms
TIAGo
iri_tiago_tts_module
Commits
ac5e6c72
Commit
ac5e6c72
authored
7 years ago
by
Sergi Hernandez
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Basic documentation of the API of the TTS module.
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include/tiago_modules/tts_module.h
+126
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126 additions, 1 deletion
include/tiago_modules/tts_module.h
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126 additions
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1 deletion
include/tiago_modules/tts_module.h
+
126
−
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ac5e6c72
...
...
@@ -13,7 +13,27 @@
typedef
enum
{
TTS_MODULE_IDLE
,
TTS_MODULE_START
,
TTS_MODULE_WAIT
}
tts_module_state_t
;
//Status
typedef
enum
{
TTS_MODULE_SUCCESS
,
/**
* \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
,
TTS_MODULE_TIMEOUT
,
TTS_MODULE_FB_WATCHDOG
,
...
...
@@ -22,35 +42,140 @@ typedef enum {TTS_MODULE_SUCCESS,
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
();
};
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