Merge branch 'master' of ssh://gitlab.iri.upc.edu:2202/nen/modules/tiago_modules

CMakeLists.txt

@@ -107,8 +107,9 @@ generate_dynamic_reconfigure_options(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
  INCLUDE_DIRS include
- LIBRARIES gripper_module play_motion_module head_module torso_module nav_module arm_module tts_module #leds_module
- CATKIN_DEPENDS 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
+ LIBRARIES gripper_module play_motion_module head_module torso_module nav_module tts_module#leds_module
+ CATKIN_DEPENDS 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
+
 #  DEPENDS system_lib
 )
 

include/tiago_modules/tts_module.h

 #ifndef _TTS_MODULE_H
 #define _TTS_MODULE_H
 
-#include <iri_ros_tools/module.h> 
+#include <iri_ros_tools/module.h>
 #include <iri_ros_tools/module_action.h>
 
 #include <tiago_modules/TTSModuleConfig.h>
@@ -15,19 +15,19 @@ typedef enum {TTS_MODULE_IDLE,TTS_MODULE_START,TTS_MODULE_WAIT} tts_module_state
 //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 
+  *  * 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 
+  *  * 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.
@@ -55,57 +55,57 @@ class CTTSModule : public CModule<tts_module::TTSModuleConfig>
 
     /**
       * \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);
 
@@ -113,12 +113,12 @@ class CTTSModule : public CModule<tts_module::TTSModuleConfig>
     //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.
       *
@@ -128,15 +128,15 @@ class CTTSModule : public CModule<tts_module::TTSModuleConfig>
     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. 
-      * 
+      *
+      * 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 
+      *
+      * \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);
@@ -144,37 +144,37 @@ class CTTSModule : public CModule<tts_module::TTSModuleConfig>
       * \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 
+      * 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 
+      * 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 
+      * \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 
+      * 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();
   };