tibi_dabo_tts_client_alg_node.h

Go to the documentation of this file.

// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _tibi_dabo_tts_client_alg_node_h_
#define _tibi_dabo_tts_client_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "tibi_dabo_tts_client_alg.h"

// [publisher subscriber headers]

// [service client headers]

// [action server client headers]
#include <actionlib/client/simple_action_client.h>
#include <iri_common_drivers_msgs/ttsAction.h>

#include <std_msgs/String.h>

typedef actionlib::SimpleActionClient<iri_common_drivers_msgs::ttsAction> TtsClient;

typedef struct 
{
  TtsClient *client;
  bool succeeded;
  bool active;
  bool loaded;
  float percentage;
}TTtsClient;

class TibiDaboTtsClientAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboTtsClientAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher facial_expression_publisher_;

    // [subscriber attributes]

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    TTtsClient tts_;
    void ttsMakeActionRequest(const iri_common_drivers_msgs::ttsGoal & tts_goal);
    void ttsDone(const actionlib::SimpleClientGoalState& state, const iri_common_drivers_msgs::ttsResultConstPtr& result);
    void ttsActive(void);
    void ttsFeedback(const iri_common_drivers_msgs::ttsFeedbackConstPtr& feedback);

    bool empty_leds_sequence_;
    bool tts_connected_;
    
    std::string readInput();

  public:
    TibiDaboTtsClientAlgNode(void);

    ~TibiDaboTtsClientAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
    void cancelCurrentGoals(void);
    void speak(void);
};

#endif