IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_tts_client_alg_node.h>

Inheritance diagram for TibiDaboTtsClientAlgNode:

Public Member Functions
	TibiDaboTtsClientAlgNode (void)
	Constructor.
	~TibiDaboTtsClientAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	cancelCurrentGoals (void)
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
void	speak (void)
Private Member Functions
std::string	readInput ()
void	ttsActive (void)
void	ttsDone (const actionlib::SimpleClientGoalState &state, const iri_common_drivers_msgs::ttsResultConstPtr &result)
void	ttsFeedback (const iri_common_drivers_msgs::ttsFeedbackConstPtr &feedback)
void	ttsMakeActionRequest (const iri_common_drivers_msgs::ttsGoal &tts_goal)
Private Attributes
bool	empty_leds_sequence_
ros::Publisher	facial_expression_publisher_
TTtsClient	tts_
bool	tts_connected_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 56 of file tibi_dabo_tts_client_alg_node.h.

Constructor & Destructor Documentation

TibiDaboTtsClientAlgNode::TibiDaboTtsClientAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file tibi_dabo_tts_client_alg_node.cpp.

TibiDaboTtsClientAlgNode::~TibiDaboTtsClientAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 29 of file tibi_dabo_tts_client_alg_node.cpp.

Member Function Documentation

void TibiDaboTtsClientAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< TibiDaboTtsClientAlgorithm >.

Definition at line 188 of file tibi_dabo_tts_client_alg_node.cpp.

void TibiDaboTtsClientAlgNode::cancelCurrentGoals ( void ) [protected]

Definition at line 38 of file tibi_dabo_tts_client_alg_node.cpp.

void TibiDaboTtsClientAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< TibiDaboTtsClientAlgorithm >.

Definition at line 64 of file tibi_dabo_tts_client_alg_node.cpp.

void TibiDaboTtsClientAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< TibiDaboTtsClientAlgorithm >.

Definition at line 181 of file tibi_dabo_tts_client_alg_node.cpp.

std::string TibiDaboTtsClientAlgNode::readInput ( ) [private]

Definition at line 172 of file tibi_dabo_tts_client_alg_node.cpp.

void TibiDaboTtsClientAlgNode::speak ( void ) [protected]

Definition at line 46 of file tibi_dabo_tts_client_alg_node.cpp.

void TibiDaboTtsClientAlgNode::ttsActive ( void ) [private]

Definition at line 137 of file tibi_dabo_tts_client_alg_node.cpp.

void TibiDaboTtsClientAlgNode::ttsDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_common_drivers_msgs::ttsResultConstPtr &	result
	)		`[private]`