speech.cpp
Go to the documentation of this file.
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  * LOCAL includes
00020  */
00021 #include "speech.hpp"
00022 
00023 
00024 namespace naoqi
00025 {
00026 namespace subscriber
00027 {
00028 
00029 SpeechSubscriber::SpeechSubscriber( const std::string& name, const std::string& speech_topic, const qi::SessionPtr& session ):
00030   speech_topic_(speech_topic),
00031   BaseSubscriber( name, speech_topic, session ),
00032   p_tts_( session->service("ALTextToSpeech") )
00033 {}
00034 
00035 void SpeechSubscriber::reset( ros::NodeHandle& nh )
00036 {
00037   sub_speech_ = nh.subscribe( speech_topic_, 10, &SpeechSubscriber::speech_callback, this );
00038 
00039   is_initialized_ = true;
00040 }
00041 
00042 void SpeechSubscriber::speech_callback( const std_msgs::StringConstPtr& string_msg )
00043 {
00044   p_tts_.async<void>("say", string_msg->data);
00045 }
00046 
00047 } //publisher
00048 } // naoqi


naoqi_driver
Author(s): Karsten Knese
autogenerated on Sun Sep 17 2017 02:57:14