voice.cpp

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// Copyright 2022 PAL Robotics S.L.
//
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// modification, are permitted provided that the following conditions are met:
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//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
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//    * Neither the name of the PAL Robotics S.L. nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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#include <std_msgs/Bool.h>
#include "hri/voice.h"
 
using namespace std;
using namespace hri;
 
Voice::Voice(ID id, ros::NodeHandle& nh, tf2_ros::Buffer* tf_buffer_ptr,
             const std::string& reference_frame)
  : FeatureTracker{ id, nh }, _tf_buffer_ptr(tf_buffer_ptr), _reference_frame(reference_frame)
{
}
 
Voice::~Voice()
{
  ROS_DEBUG_STREAM("Deleting voice " << id_);
}
 
void Voice::init()
{
  ns_ = "/humans/voices/" + id_;
  ROS_DEBUG_STREAM("New voice detected: " << ns_);
 
  is_speaking_subscriber_ = node_.subscribe<std_msgs::Bool>(
      ns_ + "/is_speaking", 1, [&](const std_msgs::BoolConstPtr msg) {
        _is_speaking = msg->data;
        for (auto& cb : is_speaking_callbacks)
        {
          cb(msg->data);
        }
      });
 
  speech_subscriber_ =
      node_.subscribe<hri_msgs::LiveSpeech>(ns_ + "/speech", 1, &Voice::_onSpeech, this);
}
 
void Voice::_onSpeech(const hri_msgs::LiveSpeechConstPtr& msg)
{
  if (msg->incremental.size() > 0)
  {
    _incremental_speech = msg->incremental;
    for (auto cb : incremental_speech_callbacks)
    {
      cb(_incremental_speech);
    }
  }
 
  if (msg->final.size() > 0)
  {
    _speech = msg->final;
    for (auto cb : speech_callbacks)
    {
      cb(_speech);
    }
  }
}
 
boost::optional<geometry_msgs::TransformStamped> Voice::transform() const
{
  try
  {
    auto transform = _tf_buffer_ptr->lookupTransform(_reference_frame, frame(),
                                                     ros::Time(0), VOICE_TF_TIMEOUT);
 
    return transform;
  }
  catch (tf2::LookupException)
  {
    ROS_WARN_STREAM("failed to transform the voice frame "
                    << frame() << " to " << _reference_frame << ". Are the frames published?");
    return boost::optional<geometry_msgs::TransformStamped>();
  }
}