diff --git a/CMakeLists.txt b/CMakeLists.txt
index a8056ba7beb9765398e2496705a0298d0549ad78..65d2e018776ff602513aba17e508b2cd44ac2267 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)
+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)
@@ -92,6 +92,7 @@ generate_dynamic_reconfigure_options(
cfg/PlayMotionModule.cfg
cfg/HeadModule.cfg
cfg/NavModule.cfg
+ cfg/TtsModule.cfg
)
###################################
@@ -105,8 +106,8 @@ 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 #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
+ 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
)
@@ -211,6 +212,21 @@ target_link_libraries(nav_module ${iriutils_LIBRARY})
## either from message generation or dynamic reconfigure
add_dependencies(nav_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+## Declare a C++ library
+add_library(tts_module
+ src/tts_module.cpp
+)
+
+target_link_libraries(tts_module ${catkin_LIBRARIES})
+target_link_libraries(tts_module ${iriutils_LIBRARY})
+##Link to other modules
+##target_link_libraries(new_module <module path>/lib<module_name>.so)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+add_dependencies(tts_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
diff --git a/cfg/TtsModule.cfg b/cfg/TtsModule.cfg
new file mode 100755
index 0000000000000000000000000000000000000000..8e516b482b0867987858f94dd3a20a24e2197702
--- /dev/null
+++ b/cfg/TtsModule.cfg
@@ -0,0 +1,51 @@
+#! /usr/bin/env python
+#* All rights reserved.
+#*
+#* Redistribution and use in source and binary forms, with or without
+#* modification, are permitted provided that the following conditions
+#* are met:
+#*
+#* * Redistributions of source code must retain the above copyright
+#* notice, this list of conditions and the following disclaimer.
+#* * Redistributions in binary form must reproduce the above
+#* copyright notice, this list of conditions and the following
+#* disclaimer in the documentation and/or other materials provided
+#* with the distribution.
+#* * Neither the name of the Willow Garage nor the names of its
+#* contributors may be used to endorse or promote products derived
+#* from this software without specific prior written permission.
+#*
+#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#* POSSIBILITY OF SUCH DAMAGE.
+#***********************************************************
+
+# Author:
+
+PACKAGE='tts_module'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+play_action = gen.add_group("Play motion action")
+
+# Name Type Reconfiguration level Description Default Min Max
+#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
+gen.add("rate_hz", double_t, 0, "TTS module rate in Hz", 1.0, 1.0, 100.0)
+
+play_action.add("action_max_retries",int_t, 0, "Maximum number of retries fro the action start", 1, 1, 10)
+play_action.add("feedback_watchdog_time_s",double_t, 0, "Maximum time between feedback messages", 1, 0.01, 50)
+play_action.add("timeout_s", double_t, 0, "Maximum time allowed to complete the action", 1, 0.1, 30)
+play_action.add("enable_timeout",bool_t, 0, "Enable action timeout ", True)
+
+exit(gen.generate(PACKAGE, "TTSModuleAlgorithm", "TTSModule"))
diff --git a/include/tiago_modules/tts_module.h b/include/tiago_modules/tts_module.h
new file mode 100644
index 0000000000000000000000000000000000000000..b7dddd145f6a49e0fc610636b326ea93c4a21dca
--- /dev/null
+++ b/include/tiago_modules/tts_module.h
@@ -0,0 +1,57 @@
+#ifndef _TTS_MODULE_H
+#define _TTS_MODULE_H
+
+#include <iri_ros_tools/module.h>
+#include <iri_ros_tools/module_action.h>
+
+#include <tiago_modules/TTSModuleConfig.h>
+
+//Action
+#include <pal_interaction_msgs/TtsAction.h>
+
+//States
+typedef enum {TTS_MODULE_IDLE,TTS_MODULE_START,TTS_MODULE_WAIT} tts_module_state_t;
+
+//Status
+typedef enum {TTS_MODULE_SUCCESS,
+ TTS_MODULE_ACTION_START_FAIL,
+ TTS_MODULE_TIMEOUT,
+ TTS_MODULE_FB_WATCHDOG,
+ TTS_MODULE_ABORTED,
+ TTS_MODULE_PREEMPTED,
+ TTS_MODULE_REJECTED,
+ TTS_MODULE_INVALID_ID} tts_module_status_t;
+
+class CTTSModule : public CModule<tts_module::TTSModuleConfig>
+{
+ private:
+
+ tts_module::TTSModuleConfig config;
+
+ CModuleAction<pal_interaction_msgs::TtsAction> tts_action;
+ pal_interaction_msgs::TtsGoal goal;
+
+ //Variables
+ tts_module_state_t state;
+ tts_module_status_t status;
+ bool new_speech;
+ bool cancel_pending;
+
+ protected:
+ void state_machine(void);
+ void reconfigure_callback(tts_module::TTSModuleConfig &config, uint32_t level);
+
+ 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 stop(void);
+ bool is_finished(void);
+ tts_module_status_t get_status(void);
+
+ ~CTTSModule();
+ };
+
+ #endif
diff --git a/package.xml b/package.xml
index 15f3a223ae018dc2a6877de684b0ecc2550ff6ca..6f243bd56f0ee4ab09823b9380794a618f5dcddd 100644
--- a/package.xml
+++ b/package.xml
@@ -52,6 +52,7 @@
<build_depend>nav_msgs</build_depend>
<build_depend>pal_navigation_msgs</build_depend>
<build_depend>pal_waypoint_msgs</build_depend>
+ <build_depend>pal_interaction_msgs</build_depend>
<build_depend>tf</build_depend>
<!-- new dependencies -->
<!--<build_depend>new build dependency</build_depend>-->
@@ -67,6 +68,7 @@
<run_depend>nav_msgs</run_depend>
<run_depend>pal_navigation_msgs</run_depend>
<run_depend>pal_waypoint_msgs</run_depend>
+ <run_depend>pal_interaction_msgs</run_depend>
<run_depend>tf</run_depend>
<!-- new dependencies -->
<!--<run_depend>new run dependency</run_depend>-->
diff --git a/src/tts_module.cpp b/src/tts_module.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f3b050ddd9d90f0903cfc77db478a319a85d6a15
--- /dev/null
+++ b/src/tts_module.cpp
@@ -0,0 +1,154 @@
+#include <tiago_modules/tts_module.h>
+
+
+CTTSModule::CTTSModule(const std::string &name,const std::string &name_space) : CModule(name,name_space),
+ tts_action("tts",name)
+{
+ this->start_operation();
+
+ //Variables
+ this->state=TTS_MODULE_IDLE;
+ this->status=TTS_MODULE_SUCCESS;
+ this->cancel_pending=false;
+ this->new_speech=false;
+}
+
+/* State machine */
+void CTTSModule::state_machine(void)
+{
+//Action
+ switch(this->state)
+ {
+ case TTS_MODULE_IDLE: ROS_DEBUG("CTTSModule: Idle");
+ if(this->new_speech)
+ {
+ this->new_speech=false;
+ this->state=TTS_MODULE_START;
+ }
+ else
+ this->state=TTS_MODULE_IDLE;
+ break;
+
+ case TTS_MODULE_START: ROS_DEBUG("CTTSModule: Start");
+ switch(this->tts_action.make_request(this->goal))
+ {
+ case ACT_SRV_SUCCESS: this->state=TTS_MODULE_WAIT;
+ ROS_DEBUG("CTTSModule : goal start successfull");
+ break;
+ case ACT_SRV_PENDING: this->state=TTS_MODULE_START;
+ ROS_WARN("CTTSModule : goal start pending");
+ break;
+ case ACT_SRV_FAIL: this->state=TTS_MODULE_IDLE;
+ ROS_ERROR("CTTSModule: goal start failed");
+ break;
+ }
+ break;
+
+ case TTS_MODULE_WAIT: ROS_DEBUG("CTTSModule : state WAIT");
+ switch(this->tts_action.get_state())
+ {
+ case ACTION_IDLE:
+ case ACTION_RUNNING: ROS_DEBUG("CTTSModule : action running");
+ this->state=TTS_MODULE_WAIT;
+ break;
+ case ACTION_SUCCESS: ROS_INFO("CTTSModule : action ended successfully");
+ this->state=TTS_MODULE_IDLE;
+ this->status=TTS_MODULE_SUCCESS;
+ this->tts_action.stop_timeout();
+ break;
+ case ACTION_TIMEOUT: ROS_ERROR("CTTSModule : action did not finish in the allowed time");
+ this->tts_action.cancel();
+ this->state=TTS_MODULE_IDLE;
+ this->status=TTS_MODULE_TIMEOUT;
+ this->tts_action.stop_timeout();
+ break;
+ case ACTION_FB_WATCHDOG: ROS_ERROR("CTTSModule : No feeback received for a long time");
+ this->tts_action.cancel();
+ this->state=TTS_MODULE_IDLE;
+ this->status=TTS_MODULE_FB_WATCHDOG;
+ this->tts_action.stop_timeout();
+ break;
+ case ACTION_ABORTED: ROS_ERROR("CTTSModule : Action failed to complete");
+ this->state=TTS_MODULE_IDLE;
+ this->status=TTS_MODULE_ABORTED;
+ this->tts_action.stop_timeout();
+ break;
+ case ACTION_PREEMPTED: ROS_ERROR("CTTSModule : Action was interrupted by another request");
+ this->state=TTS_MODULE_IDLE;
+ this->status=TTS_MODULE_PREEMPTED;
+ this->tts_action.stop_timeout();
+ break;
+ case ACTION_REJECTED: ROS_ERROR("CTTSModule : Action was rejected by server");
+ this->state=TTS_MODULE_IDLE;
+ this->status=TTS_MODULE_REJECTED;
+ this->tts_action.stop_timeout();
+ break;
+ }
+ if(this->cancel_pending)
+ {
+ this->cancel_pending=false;
+ this->tts_action.cancel();
+ }
+ break;
+ }
+}
+
+void CTTSModule::reconfigure_callback(tts_module::TTSModuleConfig &config, uint32_t level)
+{
+ ROS_INFO("CTTSModule : reconfigure callback");
+ this->lock();
+ this->config=config;
+ /* set the module rate */
+ this->set_rate(config.rate_hz);
+ /* motion action parameters */
+ this->tts_action.set_max_num_retries(config.action_max_retries);
+ this->tts_action.set_feedback_watchdog_time(config.feedback_watchdog_time_s);
+ if(this->config.enable_timeout)
+ this->tts_action.enable_timeout(config.timeout_s);
+ else
+ this->tts_action.disable_timeout();
+ this->unlock();
+}
+
+void CTTSModule::set_language(std::string &language)
+{
+
+}
+
+void CTTSModule::set_speaker(std::string &speaker)
+{
+
+}
+
+void CTTSModule::say(std::string &text,double delay)
+{
+
+}
+
+void CTTSModule::stop(void)
+{
+ if(this->state!=TTS_MODULE_IDLE)
+ this->cancel_pending=true;
+}
+
+bool CTTSModule::is_finished(void)
+{
+ if(this->state==TTS_MODULE_IDLE && this->new_speech==false)
+ return true;
+ else
+ return false;
+}
+
+tts_module_status_t CTTSModule::get_status(void)
+{
+ return this->status;
+}
+
+CTTSModule::~CTTSModule()
+{
+ if(!this->tts_action.is_finished())
+ {
+ this->tts_action.cancel();
+ while(!this->tts_action.is_finished());
+ }
+}