00001 /* 00002 * Copyright 2015 Aldebaran 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 * 00016 */ 00017 00018 00019 #ifndef SPEECH_SUBSCRIBER_HPP 00020 #define SPEECH_SUBSCRIBER_HPP 00021 00022 /* 00023 * LOCAL includes 00024 */ 00025 #include "subscriber_base.hpp" 00026 00027 /* 00028 * ROS includes 00029 */ 00030 #include <ros/ros.h> 00031 #include <std_msgs/String.h> 00032 00033 namespace naoqi 00034 { 00035 namespace subscriber 00036 { 00037 00038 class SpeechSubscriber: public BaseSubscriber<SpeechSubscriber> 00039 { 00040 public: 00041 SpeechSubscriber( const std::string& name, const std::string& speech_topic, const qi::SessionPtr& session ); 00042 ~SpeechSubscriber(){} 00043 00044 void reset( ros::NodeHandle& nh ); 00045 void speech_callback( const std_msgs::StringConstPtr& speech_msg ); 00046 00047 private: 00048 00049 std::string speech_topic_; 00050 00051 qi::AnyObject p_tts_; 00052 ros::Subscriber sub_speech_; 00053 00054 00055 00056 }; // class Speech 00057 00058 } // subscriber 00059 }// naoqi 00060 #endif