SpeechObserver observers now also all recognized text

source/RobotAPI/components/units/SpeechObserver.cpp

 /*
  * This file is part of ArmarX.
- * 
+ *
  * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
  * Karlsruhe Institute of Technology (KIT), all rights reserved.
  *
@@ -23,6 +23,8 @@
 
 #include "SpeechObserver.h"
 
+#include <ArmarXCore/util/json/JSONObject.h>
+
 using namespace armarx;
 
 SpeechObserver::SpeechObserver()
@@ -33,6 +35,9 @@ void SpeechObserver::onInitObserver()
 {
     usingTopic(getProperty<std::string>("TextToSpeechTopicName").getValue());
     usingTopic(getProperty<std::string>("TextToSpeechStateTopicName").getValue());
+    auto proxy = getObjectAdapter()->addWithUUID(new SpeechListenerImpl(this));
+    getIceManager()->subscribeTopic(proxy, "Speech_Commands");
+
 }
 
 void SpeechObserver::onConnectObserver()
@@ -42,12 +47,16 @@ void SpeechObserver::onConnectObserver()
     offerDataFieldWithDefault("TextToSpeech", "TextChangeCounter", Variant(reportTextCounter), "Counter for text updates");
 
     offerDataFieldWithDefault("TextToSpeech", "State", Variant(""), "Current TTS state");
-    offerDataFieldWithDefault("TextToSpeech", "StateChangeCounter", Variant(reportStateCounter), "Counter for text updates");
+    offerDataFieldWithDefault("TextToSpeech", "StateChangeCounter", Variant(reportStateCounter), "Counter for state updates");
+
+    offerChannel("SpeechToText", "SpeechToText channel");
+    offerDataFieldWithDefault("TextToSpeech", "RecognizedText", Variant(std::string()), "Text recognized by the SpeechRecogntion");
+
 }
 
 std::string SpeechObserver::SpeechStateToString(TextToSpeechStateType state)
 {
-    switch(state)
+    switch (state)
     {
         case eIdle:
             return "Idle";
@@ -70,7 +79,7 @@ void SpeechObserver::reportState(TextToSpeechStateType state, const Ice::Current
     updateChannel("TextToSpeech");
 }
 
-void SpeechObserver::reportText(const std::string& text, const Ice::Current&)
+void SpeechObserver::reportText(const std::string& text, const Ice::Current& c)
 {
     ScopedLock lock(dataMutex);
     reportTextCounter++;
@@ -84,3 +93,24 @@ void SpeechObserver::reportTextWithParams(const std::string& text, const Ice::St
     ScopedLock lock(dataMutex);
     ARMARX_WARNING << "reportTextWithParams is not implemented";
 }
+
+SpeechListenerImpl::SpeechListenerImpl(SpeechObserver* obs) :
+    obs(obs)
+{
+
+}
+
+
+void armarx::SpeechListenerImpl::reportText(const std::string& text, const Ice::Current&)
+{
+    ScopedLock lock(dataMutex);
+    JSONObject json;
+    json.fromString(text);
+    obs->setDataField("SpeechToText", "RecognizedText", Variant(json.getString("text")));
+}
+
+void armarx::SpeechListenerImpl::reportTextWithParams(const std::string&, const Ice::StringSeq&, const Ice::Current&)
+{
+    ScopedLock lock(dataMutex);
+    ARMARX_WARNING << deactivateSpam(100) << "reportTextWithParams is not implemented";
+}

source/RobotAPI/components/units/SpeechObserver.h

 /*
  * This file is part of ArmarX.
- * 
+ *
  * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
  * Karlsruhe Institute of Technology (KIT), all rights reserved.
  *
@@ -39,11 +39,25 @@ namespace armarx
             defineOptionalProperty<std::string>("TextToSpeechStateTopicName", "TextToSpeechState", "Name of the TextToSpeechStateTopic");
         }
     };
+    class SpeechObserver;
+    class SpeechListenerImpl : public TextListenerInterface
+    {
+    public:
+        SpeechListenerImpl(SpeechObserver* obs);
+    protected:
+        SpeechObserver* obs;
+        Mutex dataMutex;
+        // TextListenerInterface interface
+    public:
+        void reportText(const std::string&, const Ice::Current&) override;
+        void reportTextWithParams(const std::string&, const Ice::StringSeq&, const Ice::Current&) override;
+    };
 
     class SpeechObserver :
-            virtual public Observer,
-            virtual public SpeechObserverInterface
+        virtual public Observer,
+        virtual public SpeechObserverInterface
     {
+        friend class SpeechListenerImpl;
     public:
         SpeechObserver();