voice.h

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// Copyright 2022 PAL Robotics S.L.
//
// 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 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.
//
// 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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// POSSIBILITY OF SUCH DAMAGE.
 
 
#ifndef HRI_VOICE_H
#define HRI_VOICE_H
 
#include <geometry_msgs/TransformStamped.h>
#include <hri_msgs/LiveSpeech.h>
 
#include <memory>
#include <boost/optional.hpp>
 
#include "base.h"
 
#include "tf2_ros/transform_listener.h"
 
namespace hri
{
// the tf prefix follows REP-155
const static std::string VOICE_TF_PREFIX("voice_");
const static ros::Duration VOICE_TF_TIMEOUT(0.01);
 
class Voice : public FeatureTracker
{
public:
  Voice(ID id, ros::NodeHandle& nh, tf2_ros::Buffer* tf_buffer_ptr,
        const std::string& reference_frame);
 
  virtual ~Voice();
 
  std::string frame() const
  {
    return VOICE_TF_PREFIX + id_;
  }
 
  boost::optional<geometry_msgs::TransformStamped> transform() const;
 
  bool is_speaking() const
  {
    return _is_speaking;
  }
 
  std::string speech() const
  {
    return _speech;
  }
 
  std::string incremental_speech() const
  {
    return _incremental_speech;
  }
 
  void onSpeaking(std::function<void(bool)> callback)
  {
    is_speaking_callbacks.push_back(callback);
  }
 
  void onSpeech(std::function<void(const std::string&)> callback)
  {
    speech_callbacks.push_back(callback);
  }
 
  void onIncrementalSpeech(std::function<void(const std::string&)> callback)
  {
    incremental_speech_callbacks.push_back(callback);
  }
 
  void init() override;
 
private:
  std::string _reference_frame;
  tf2_ros::Buffer* _tf_buffer_ptr;
 
  bool _is_speaking;
  std::string _speech;
  std::string _incremental_speech;
 
  std::vector<std::function<void(bool)>> is_speaking_callbacks;
  std::vector<std::function<void(const std::string&)>> speech_callbacks;
  std::vector<std::function<void(const std::string&)>> incremental_speech_callbacks;
 
  void _onSpeech(const hri_msgs::LiveSpeechConstPtr&);
 
  ros::Subscriber is_speaking_subscriber_;
  ros::Subscriber speech_subscriber_;
};
 
typedef std::shared_ptr<Voice> VoicePtr;
typedef std::shared_ptr<const Voice> VoiceConstPtr;
typedef std::weak_ptr<Voice> VoiceWeakPtr;
typedef std::weak_ptr<const Voice> VoiceWeakConstPtr;
 
}  // namespace hri
#endif