voice.h

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// Copyright 2022 PAL Robotics S.L.
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#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