00001 #!/usr/bin/env python 00002 00003 #*********************************************************** 00004 #* Software License Agreement (BSD License) 00005 #* 00006 #* Copyright (c) 2009, Willow Garage, Inc. 00007 #* All rights reserved. 00008 #* 00009 #* Redistribution and use in source and binary forms, with or without 00010 #* modification, are permitted provided that the following conditions 00011 #* are met: 00012 #* 00013 #* * Redistributions of source code must retain the above copyright 00014 #* notice, this list of conditions and the following disclaimer. 00015 #* * Redistributions in binary form must reproduce the above 00016 #* copyright notice, this list of conditions and the following 00017 #* disclaimer in the documentation and/or other materials provided 00018 #* with the distribution. 00019 #* * Neither the name of the Willow Garage nor the names of its 00020 #* contributors may be used to endorse or promote products derived 00021 #* from this software without specific prior written permission. 00022 #* 00023 #* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 #* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 #* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 #* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 #* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 #* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 #* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 #* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 #* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 #* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 #* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 #* POSSIBILITY OF SUCH DAMAGE. 00035 #*********************************************************** 00036 00037 # Author: Blaise Gassend 00038 00039 00040 import sys 00041 00042 if __name__ == '__main__': 00043 if len(sys.argv) > 1 and sys.argv[1] == '--help': 00044 print 'Usage: %s \'String to say.\''%sys.argv[0] 00045 print ' %s < file_to_say.txt'%sys.argv[0] 00046 print 00047 print 'Says a string. For a string on the command line, you must use quotes as' 00048 print 'appropriate. For a string on standard input, the command will wait for' 00049 print 'EOF before saying anything.' 00050 exit(-1) 00051 00052 # Import after printing usage for speed. 00053 import roslib; roslib.load_manifest('sound_play') 00054 import rospy 00055 from sound_play.msg import SoundRequest 00056 from sound_play.libsoundplay import SoundClient 00057 00058 if len(sys.argv) == 1: 00059 print 'Awaiting something to say on standard input.' 00060 00061 # Ordered this way to minimize wait time. 00062 rospy.init_node('say', anonymous = True) 00063 soundhandle = SoundClient() 00064 rospy.sleep(1) 00065 00066 voice = 'voice_kal_diphone' 00067 00068 if len(sys.argv) == 1: 00069 s = sys.stdin.read() 00070 else: 00071 s = sys.argv[1] 00072 if len(sys.argv) == 3: 00073 voice = sys.argv[2] 00074 00075 print 'Saying: %s' % s 00076 print 'Voice: %s' % voice 00077 00078 soundhandle.say(s,voice) 00079 rospy.sleep(1)