def broadcastButtonProgram(text, voice, ttsEngine):
# Have we broadcast a button program before?
if RoboComm.ROS_BUTTON_PROGRAM_BROADCASTER is None:
# No, let's create a ros publisher:
if SpeakeasyUtils.rosMasterRunning():
# Declare us to be a ROS node.
# Allow multiple GUIs to run simultaneously. Therefore
# the anonymous=True:
RoboComm.ROS_BUTTON_PROGRAM_BROADCASTER = rospy.Publisher('SpeakEasyButtonProgram', SpeakEasyButtonProgram);
nodeInfo = rospy.init_node('speakeasy_remote_gui', anonymous=True);
else:
raise NotImplementedError("ROS master must be running to broadcast button programs.")
msg = SpeakEasyButtonProgram()
msg.text = text
msg.voiceName = voice
msg.engineName = ttsEngine
RoboComm.ROS_BUTTON_PROGRAM_BROADCASTER.publish(msg)
def __init__(self):
'''
Initialize sound to play at the robot. Initializes
self.sound_file_names to a list of sound file names
for use with play-sound calls to the Robot via ROS.
@raise NotImplementedError: if ROS initialization failed.
@raise IOError: if SpeakEasy node is online, but service call to it failed.
'''
if not ROS_IMPORT_OK:
raise NotImplementedError("ROS is not installed on this machine.");
self.rosSpeakEasyNodeAvailable = False;
self.latestCapabilitiesReply = None;
self.nodeStatusLock = threading.Lock();
self.textToSpeechLock = threading.Lock();
self.musicLock = threading.Lock();
self.soundLock = threading.Lock();
# Place to remember threads that repeat voice/sound/music.
# These lists are used when stopping those threads:
self.speechThreads = [];
self.soundThreads = [];
self.musicThreads = [];
# init_node hangs indefinitely if roscore is not running.
# Therefore: check for that.
if not SpeakeasyUtils.rosMasterRunning():
raise NotImplementedError("The roscore process is not running.");
# We now know that ROS is installed, and that roscore is running.
# Publishers of requests for sound effects, music, and text-to-speech:
self.rosSoundRequestor = rospy.Publisher('speakeasy_sound_req', SpeakEasySound);
self.rosMusicRequestor = rospy.Publisher('speakeasy_music_req', SpeakEasyMusic);
self.rosTTSRequestor = rospy.Publisher('speakeasy_text_to_speech_req', SpeakEasyTextToSpeech);
# Declare us to be a ROS node.
# Allow multiple GUIs to run simultaneously. Therefore
# the anonymous=True:
nodeInfo = rospy.init_node('speakeasy_remote_gui', anonymous=True);
# Don't know why, but without a bit of delay after this init, the first
# published message will not be transmitted, no matter what the message type:
rospy.sleep(1.0);
# Wait for Ros SpeakEasy service for a limited time; there might be none:
waitTime = 4; # seconds
secsWaited = 0;
while not self.robotAvailable() and (secsWaited < waitTime):
rospy.loginfo("No SpeakEasy node available. Keep checking for %d more second(s)..." % (waitTime - secsWaited));
rospy.sleep(1);
secsWaited += 1;
if secsWaited >= waitTime:
rospy.logerr("Speech/sound/music capabilities service is offline.");
self.rosSpeakEasyNodeAvailable = False;
raise NotImplementedError("Speech capabilities service is offline.");
rospy.loginfo("Speech capabilities service online.");
