def stopSaying(self):
'''
Stop text-to-speech utterance. No effect if text-to-speech is currently inactive.
'''
ttsRequestMsg = SpeakEasyTextToSpeech();
ttsRequestMsg.command = TTSCommands.STOP;
with self.textToSpeechLock:
self.rosTTSRequestor.publish(ttsRequestMsg);
# Keep this following statement out of the lock! Thread unregistration will
# acquire the lock (thus leading to deadlock, if lock is owned here):
self.killSpeechRepeatThreads(self.speechThreads);
def say(self, text, voice=None, ttsEngine=None, numRepeats=0, repeatPeriod=0, blockTillDone=False):
'''
Given a piece of text, generate corresponding speech at the SpeakEasy node site.
@param text: Words to speak.
@type text: string
@param voice: Name of text-to-speech voice to use.
@type voice: string
@param ttsEngine: Name of text-to-speech engine to use.
@type ttsEngine: string
@param numRepeats: Number of times the utterance is to be repeated after the first time. Use -1 if forever.
@type numRepeats: int
@param repeatPeriod: Time period in fractional seconds to wait between repeated utterances.
@type repeatPeriod: float
@param blockTillDone: Request to return immediately, or block until the utterance if finished.
@type blockTillDone: bool
@raises TypeError: if one of the parameters is of incorrect type.
'''
if not SpeakeasyUtils.ensureType(numRepeats, int):
raise TypeError("Number of repeats must be an integer. Was " + str(numRepeats));
if not SpeakeasyUtils.ensureType(repeatPeriod, int) and not SpeakeasyUtils.ensureType(repeatPeriod, float):
raise TypeError("Repeat period must be an integer or a float. Was " + str(repeatPeriod));
ttsRequestMsg = SpeakEasyTextToSpeech();
ttsRequestMsg.command = TTSCommands.SAY;
ttsRequestMsg.text = text;
if voice is not None:
ttsRequestMsg.voiceName = voice;
else:
ttsRequestMsg.voiceName = '';
if ttsEngine is not None:
ttsRequestMsg.engineName = ttsEngine;
else:
ttsRequestMsg.engineName = '';
with self.textToSpeechLock:
self.rosTTSRequestor.publish(ttsRequestMsg);
# Keep this block out of the lock! Thread registration will
# acquire the lock (thus leading to deadlock, if lock is owned here):
if numRepeats > 0 or numRepeats == -1:
speechRepeatThread = RoboComm.SpeechReplayDemon(text, voice, ttsEngine, numRepeats, repeatPeriod, self);
self.registerSpeechRepeaterThread(speechRepeatThread);
speechRepeatThread.start();
if blockTillDone:
while self.getTextToSpeechBusy():
rospy.sleep(0.5);
