diff --git a/source/armarx/speech/CMakeLists.txt b/source/armarx/speech/CMakeLists.txt
index cd0e3f850fad4f81057c8dafd4942b591d9f4981..cbcfad554211cc61d857836ce3e97a8fc24b4fa5 100644
--- a/source/armarx/speech/CMakeLists.txt
+++ b/source/armarx/speech/CMakeLists.txt
@@ -2,3 +2,6 @@
add_subdirectory(core)
add_subdirectory(skills)
add_subdirectory(components)
+
+add_subdirectory(gui)
+add_subdirectory(qt_plugins)
diff --git a/source/armarx/speech/gui/CMakeLists.txt b/source/armarx/speech/gui/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b652a4d275b8ab3f2fc6d4b51f32b01eac03041
--- /dev/null
+++ b/source/armarx/speech/gui/CMakeLists.txt
@@ -0,0 +1,56 @@
+# Comment in to add an ARON library.
+# armarx_add_aron_library(gui_aron
+# ARON_FILES
+# aron/MyAronType.xml
+# )
+
+armarx_add_library(gui
+ SOURCES
+ RecognizedTextWidget.cpp
+ TextInputWidget.cpp
+ TextListenerWidget.cpp
+ TextToSpeechInputWidget.cpp
+
+ memory/SpeechToTextInputWidget.cpp
+ memory/SpeechToTextDisplayWidget.cpp
+ memory/TextDisplayWidget.cpp
+ memory/TextToSpeechInputWidget.cpp
+ memory/TextToSpeechDisplayWidget.cpp
+ HEADERS
+ RecognizedTextWidget.h
+ TextInputWidget.h
+ TextListenerWidget.h
+ TextToSpeechInputWidget.h
+
+ memory/SpeechToTextInputWidget.h
+ memory/SpeechToTextDisplayWidget.h
+ memory/TextDisplayWidget.h
+ memory/TextToSpeechInputWidget.h
+ memory/TextToSpeechDisplayWidget.h
+ DEPENDENCIES_PUBLIC
+ # ArmarXCore
+ ArmarXCoreInterfaces
+ ArmarXCore
+
+ RobotAPIInterfaces
+ armem_gui
+
+ armarx_speech::core
+
+ Qt5::Core
+ Qt5::Widgets
+ # speech
+ # speech::gui_aron
+ # DEPENDENCIES_PRIVATE
+ # ...
+ # DEPENDENCIES_INTERFACE
+ # ...
+ # DEPENDENCIES_LEGACY_PUBLIC
+ # ...
+ # DEPENDENCIES_LEGACY_PRIVATE
+ # ...
+ # DEPENDENCIES_LEGACY_INTERFACE
+ # ...
+)
+
+set_target_properties(gui PROPERTIES AUTOMOC ON)
diff --git a/source/armarx/speech/gui/RecognizedTextWidget.cpp b/source/armarx/speech/gui/RecognizedTextWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..78952bdf57e619fc5988268cab2e1d285132a39d
--- /dev/null
+++ b/source/armarx/speech/gui/RecognizedTextWidget.cpp
@@ -0,0 +1,50 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "RecognizedTextWidget.h"
+
+#include <SimoxUtility/json.h>
+
+
+namespace armarx::speech::gui
+{
+
+ RecognizedTextWidget::RecognizedTextWidget(const std::string& topicName) :
+ TextListenerWidget(topicName)
+ {
+ }
+
+ RecognizedTextWidget::RecognizedTextWidget(QLineEdit* recognizedText,
+ const std::string& topicName) :
+ TextListenerWidget(recognizedText, topicName)
+ {
+ }
+
+ void
+ RecognizedTextWidget::reportText(const std::string& text)
+ {
+ const nlohmann::json j = nlohmann::json::parse(text);
+ emit textChanged(QString::fromStdString(j.at("text").get<std::string>()));
+ }
+
+
+} // namespace armarx::speech::gui
diff --git a/source/armarx/speech/gui/RecognizedTextWidget.h b/source/armarx/speech/gui/RecognizedTextWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..b96fc2ddc0847372c9e7bd55401e40e8d57dc6b5
--- /dev/null
+++ b/source/armarx/speech/gui/RecognizedTextWidget.h
@@ -0,0 +1,58 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <string>
+
+#include <armarx/speech/gui/TextListenerWidget.h>
+
+
+class QLineEdit;
+
+
+namespace armarx::speech::gui
+{
+ class RecognizedTextWidget : public TextListenerWidget
+ {
+ Q_OBJECT
+ using This = RecognizedTextWidget;
+
+ public:
+ RecognizedTextWidget(const std::string& topicName = "Speech_Commands");
+ RecognizedTextWidget(QLineEdit* recognizedText,
+ const std::string& topicName = "Speech_Commands");
+
+
+ public slots:
+
+ void reportText(const std::string& text) override;
+
+
+ signals:
+
+
+ private:
+ void init();
+ };
+
+} // namespace armarx::speech::gui
diff --git a/source/armarx/speech/gui/TextInputWidget.cpp b/source/armarx/speech/gui/TextInputWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..51e2626ae5e9ef6458cf5b3273b05851b6fbad12
--- /dev/null
+++ b/source/armarx/speech/gui/TextInputWidget.cpp
@@ -0,0 +1,125 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "TextInputWidget.h"
+
+#include <QComboBox>
+#include <QHBoxLayout>
+#include <QLineEdit>
+#include <QPushButton>
+#include <QSettings>
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+namespace armarx::speech::gui
+{
+
+ TextInputWidget::TextInputWidget(const QString& settingsApplication) :
+ settings("KIT", settingsApplication)
+ {
+ textInput = new QComboBox();
+ textInput->setSizePolicy(QSizePolicy::Policy::MinimumExpanding, QSizePolicy::Policy::Fixed);
+ textInput->setMouseTracking(true);
+ textInput->setAcceptDrops(true);
+ textInput->setFocusPolicy(Qt::FocusPolicy::StrongFocus);
+ textInput->setInsertPolicy(QComboBox::InsertPolicy::InsertAtTop);
+ textInput->setEditable(true);
+
+ sendButton = new QPushButton("Send");
+
+ setLayout(new QHBoxLayout());
+ layout()->addWidget(textInput);
+ layout()->addWidget(sendButton);
+
+ init();
+ }
+
+ TextInputWidget::~TextInputWidget() = default;
+
+
+ TextInputWidget::TextInputWidget(const QString& settingsApplication,
+ QComboBox* textInput,
+ QPushButton* sendButton) :
+ textInput(textInput), sendButton(sendButton), settings("KIT", settingsApplication)
+ {
+ init();
+ }
+
+
+ void
+ TextInputWidget::init()
+ {
+ connect(sendButton, &QPushButton::clicked, this, QOverload<>::of(&This::sendCurrentText));
+
+ const QLineEdit* lineEdit = textInput->lineEdit();
+ if (lineEdit != nullptr)
+ {
+ // This needs to be separate, since pressing enter automatically adds a new item to the model.
+ connect(
+ lineEdit, &QLineEdit::returnPressed, this, QOverload<>::of(&This::sendCurrentText));
+ }
+
+ history = settings.value("history", QStringList{}).toStringList();
+
+ textInput->addItem("");
+ for (const QString& entry : history)
+ {
+ textInput->insertItem(textInput->count(), entry);
+ }
+ }
+
+
+ void
+ TextInputWidget::sendCurrentText()
+ {
+ QString currentText = textInput->currentText();
+ if (currentText.isEmpty())
+ {
+ return;
+ }
+
+ int pos = textInput->findText(currentText, Qt::MatchExactly);
+ // Move item to first position, so that list is ordered by time
+ if (pos != -1)
+ {
+ textInput->removeItem(pos);
+ }
+ textInput->insertItem(0, currentText);
+ textInput->setCurrentIndex(0);
+ if (currentText.size() != 0)
+ {
+ history.push_front(currentText);
+ history.removeDuplicates();
+
+ while (history.size() >= 25)
+ {
+ history.removeLast();
+ }
+
+ settings.setValue("history", history);
+ }
+
+ sendText(currentText);
+ }
+
+} // namespace armarx::speech::gui
diff --git a/source/armarx/speech/gui/TextInputWidget.h b/source/armarx/speech/gui/TextInputWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..97c289beb7aba8154cb414e3c7533425c74865ee
--- /dev/null
+++ b/source/armarx/speech/gui/TextInputWidget.h
@@ -0,0 +1,90 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <QSettings>
+#include <QWidget>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <RobotAPI/libraries/armem_gui/lifecycle.h>
+
+
+class QComboBox;
+class QPushButton;
+
+
+namespace armarx
+{
+ class ManagedIceObject;
+ class SimpleConfigDialog;
+} // namespace armarx
+
+namespace armarx::speech::gui
+{
+ class TextInputWidget :
+ public QWidget,
+ public armarx::Logging,
+ public armarx::gui::LifecycleClient
+ {
+ Q_OBJECT
+ using This = TextInputWidget;
+
+ public:
+ TextInputWidget(const QString& settingsApplication);
+ TextInputWidget(const QString& settingsApplication,
+ QComboBox* textInput,
+ QPushButton* sendButton);
+ ~TextInputWidget();
+
+
+ signals:
+
+ void initialized();
+ void connected();
+ void disconnected();
+
+
+ private slots:
+
+ void sendCurrentText();
+
+ virtual void sendText(QString text) = 0;
+
+ signals:
+
+
+ private:
+ void init();
+
+ public:
+ QStringList history;
+
+
+ QComboBox* textInput;
+ QPushButton* sendButton;
+
+ QSettings settings;
+ };
+
+} // namespace armarx::speech::gui
diff --git a/source/armarx/speech/gui/TextListenerWidget.cpp b/source/armarx/speech/gui/TextListenerWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d814c8f44bd05db168a0703de5a1d252c8642cc3
--- /dev/null
+++ b/source/armarx/speech/gui/TextListenerWidget.cpp
@@ -0,0 +1,100 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "TextListenerWidget.h"
+
+#include <QHBoxLayout>
+#include <QLineEdit>
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+namespace armarx::speech::gui
+{
+
+ TextListenerWidget::TextListenerWidget(const std::string& topicName) : _topicName(topicName)
+ {
+ _text = new QLineEdit();
+
+ setLayout(new QHBoxLayout());
+ layout()->addWidget(_text);
+
+ init();
+ }
+
+ TextListenerWidget::TextListenerWidget(QLineEdit* recognizedText,
+ const std::string& topicName) :
+ _topicName(topicName), _text(recognizedText)
+ {
+ init();
+ }
+
+ QLineEdit*
+ TextListenerWidget::text() const
+ {
+ return _text;
+ }
+
+ std::string
+ TextListenerWidget::topicName() const
+ {
+ return _topicName;
+ }
+
+ void
+ TextListenerWidget::init()
+ {
+ connect(this, &This::textChanged, _text, &QLineEdit::setText);
+ }
+
+
+ void
+ TextListenerWidget::onInit(ManagedIceObject& component)
+ {
+ (void)component;
+ }
+
+ void
+ TextListenerWidget::onConnect(ManagedIceObject& component)
+ {
+ auto callback = [this](const speech::TextListener::Message& msg, speech::TextListener& /*unused*/)
+ { this->reportText(msg.text); };
+ _textTistener = speech::TextListener::addNew(component, _topicName, callback);
+ }
+
+ void
+ TextListenerWidget::onDisconnect(ManagedIceObject& component)
+ {
+ if (_textTistener)
+ {
+ speech::TextListener::remove(component, _textTistener);
+ _textTistener = nullptr;
+ }
+ }
+
+ void
+ TextListenerWidget::reportText(const std::string& text)
+ {
+ emit textChanged(QString::fromStdString(text));
+ }
+
+} // namespace armarx::speech::gui
diff --git a/source/armarx/speech/gui/TextListenerWidget.h b/source/armarx/speech/gui/TextListenerWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..904b0177c0ed56b987cc5c506d928c649e8214c3
--- /dev/null
+++ b/source/armarx/speech/gui/TextListenerWidget.h
@@ -0,0 +1,96 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <QSettings>
+#include <QWidget>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <RobotAPI/interface/speech/SpeechInterface.h>
+#include <RobotAPI/libraries/armem_gui/lifecycle.h>
+
+#include <armarx/speech/core/TextListener.h>
+
+
+class QLineEdit;
+
+
+namespace armarx
+{
+ class ManagedIceObject;
+}
+
+namespace armarx::speech::gui
+{
+ class TextListenerWidget :
+ public QWidget,
+ public armarx::Logging,
+ public armarx::gui::LifecycleClient
+ {
+ Q_OBJECT
+ using This = TextListenerWidget;
+
+ public:
+ TextListenerWidget(const std::string& topicName);
+ TextListenerWidget(QLineEdit* recognizedText, const std::string& topicName);
+
+
+ using LifecycleClient::onConnect;
+ using LifecycleClient::onDisconnect;
+ using LifecycleClient::onInit;
+ void onInit(ManagedIceObject& component) override;
+ void onConnect(ManagedIceObject& component) override;
+ void onDisconnect(ManagedIceObject& component) override;
+
+
+ QLineEdit* text() const;
+ std::string topicName() const;
+
+
+ public slots:
+
+ virtual void reportText(const std::string& text);
+
+
+ signals:
+
+ void initialized();
+ void connected();
+ void disconnected();
+
+ void textChanged(const QString& text);
+
+
+ private:
+ void init();
+
+
+ private:
+ std::string _topicName;
+ TextListenerPtr _textTistener;
+
+ QLineEdit* _text;
+ };
+
+} // namespace armarx::speech::gui
diff --git a/source/armarx/speech/gui/TextToSpeechInputWidget.cpp b/source/armarx/speech/gui/TextToSpeechInputWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..422043fe2a989b06679d2dcbecfb2d8fd1f7ce03
--- /dev/null
+++ b/source/armarx/speech/gui/TextToSpeechInputWidget.cpp
@@ -0,0 +1,75 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "TextToSpeechInputWidget.h"
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+namespace armarx::speech::gui
+{
+
+ TextToSpeechInputWidget::TextToSpeechInputWidget() : TextInputWidget("TextToSpeechInputWidget")
+ {
+ }
+
+
+ TextToSpeechInputWidget::TextToSpeechInputWidget(QComboBox* textInput,
+ QPushButton* sendButton) :
+ TextInputWidget("TextToSpeechInputWidget", textInput, sendButton)
+ {
+ }
+
+
+ void
+ TextToSpeechInputWidget::onInit(ManagedIceObject& component)
+ {
+ component.offeringTopic(ttsTopicName);
+ }
+
+
+ void
+ TextToSpeechInputWidget::onConnect(ManagedIceObject& component)
+ {
+ component.getTopic(ttsTopic, ttsTopicName);
+ }
+
+
+ void
+ TextToSpeechInputWidget::onDisconnect(ManagedIceObject& component)
+ {
+ (void)component;
+ ttsTopic = nullptr;
+ }
+
+
+ void
+ TextToSpeechInputWidget::sendText(QString text)
+ {
+ if (ttsTopic)
+ {
+ ARMARX_INFO << "Sending TTS text: '" << text.toStdString() << "'";
+ ttsTopic->reportText(text.toStdString());
+ }
+ }
+
+} // namespace armarx::speech::gui
diff --git a/source/armarx/speech/gui/TextToSpeechInputWidget.h b/source/armarx/speech/gui/TextToSpeechInputWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..a81603158f418aba2a398ac1435f78a22c50b6ee
--- /dev/null
+++ b/source/armarx/speech/gui/TextToSpeechInputWidget.h
@@ -0,0 +1,72 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+
+#include <RobotAPI/interface/speech/SpeechInterface.h>
+
+#include <armarx/speech/gui/TextInputWidget.h>
+
+
+namespace armarx::speech::gui
+{
+ class TextToSpeechInputWidget : public TextInputWidget
+ {
+ Q_OBJECT
+ using This = TextToSpeechInputWidget;
+
+ public:
+ TextToSpeechInputWidget();
+ TextToSpeechInputWidget(QComboBox* textInput, QPushButton* sendButton);
+
+
+ using LifecycleClient::onConnect;
+ using LifecycleClient::onDisconnect;
+ using LifecycleClient::onInit;
+ void onInit(ManagedIceObject& component) override;
+ void onConnect(ManagedIceObject& component) override;
+ void onDisconnect(ManagedIceObject& component) override;
+
+
+ signals:
+
+ void initialized();
+ void connected();
+ void disconnected();
+
+
+ private slots:
+
+ void sendText(QString text) override;
+
+
+ signals:
+
+
+ private:
+ public:
+ std::string ttsTopicName = "TextToSpeech";
+ TextListenerInterfacePrx ttsTopic;
+ };
+
+} // namespace armarx::speech::gui
diff --git a/source/armarx/speech/gui/memory/SpeechToTextDisplayWidget.cpp b/source/armarx/speech/gui/memory/SpeechToTextDisplayWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fbb3ff461a0c3b0c309747219feb8a9c29f9938b
--- /dev/null
+++ b/source/armarx/speech/gui/memory/SpeechToTextDisplayWidget.cpp
@@ -0,0 +1,62 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "SpeechToTextDisplayWidget.h"
+
+#include <RobotAPI/libraries/armem/core/MemoryID_operators.h>
+
+
+namespace armarx::armem::speech::gui
+{
+
+ void
+ SpeechToTextDisplayWidget::onConnect()
+ {
+ try
+ {
+ reader.connect(mns);
+ }
+ catch (const armem::error::ArMemError& e)
+ {
+ ARMARX_ERROR << "Failed to connect STT reader:\n" << e.what();
+ return;
+ }
+
+ mns.subscribe(reader.coreSegmentID,
+ [this](const std::vector<armem::MemoryID>& updatedSnapshotIDs)
+ {
+ ARMARX_VERBOSE << "Received " << updatedSnapshotIDs;
+ if (std::optional<std::string> text =
+ reader.getLatestText(updatedSnapshotIDs))
+ {
+ emit textReceived(QString::fromStdString(text.value()));
+ }
+ });
+
+ // Initial fetch
+ if (std::optional<std::string> text = reader.getLatestText())
+ {
+ emit textReceived(QString::fromStdString(text.value()));
+ }
+ }
+
+} // namespace armarx::armem::speech::gui
diff --git a/source/armarx/speech/gui/memory/SpeechToTextDisplayWidget.h b/source/armarx/speech/gui/memory/SpeechToTextDisplayWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..efabaecd91b6a8d20043de93100727f9d91e32ac
--- /dev/null
+++ b/source/armarx/speech/gui/memory/SpeechToTextDisplayWidget.h
@@ -0,0 +1,59 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+#include <armarx/speech/core/stt/Reader.h>
+#include <armarx/speech/gui/memory/TextDisplayWidget.h>
+
+
+namespace armarx::armem::speech::gui
+{
+
+ class SpeechToTextDisplayWidget : public TextDisplayWidget
+ {
+ Q_OBJECT
+
+ public:
+ using TextDisplayWidget::TextDisplayWidget;
+
+ using TextDisplayWidget::onConnect;
+ void onConnect() override;
+
+
+ private slots:
+
+
+ signals:
+
+
+ private:
+ void init();
+
+
+ public:
+ armarx::armem::speech::stt::Reader reader;
+ };
+
+} // namespace armarx::armem::speech::gui
diff --git a/source/armarx/speech/gui/memory/SpeechToTextInputWidget.cpp b/source/armarx/speech/gui/memory/SpeechToTextInputWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c51a228ae87e9d75fccb299fc5e251e2f0f773e8
--- /dev/null
+++ b/source/armarx/speech/gui/memory/SpeechToTextInputWidget.cpp
@@ -0,0 +1,91 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "SpeechToTextInputWidget.h"
+
+#include <QLayout>
+#include <QPushButton>
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+namespace armarx::armem::speech::gui
+{
+
+ SpeechToTextInputWidget::SpeechToTextInputWidget(armem::client::MemoryNameSystem& mns) :
+ TextInputWidget("SpeechToTextInputWidget"), mns(mns)
+ {
+ stopButton = new QPushButton("Stop");
+ init();
+ }
+
+
+ SpeechToTextInputWidget::SpeechToTextInputWidget(armem::client::MemoryNameSystem& mns,
+ QComboBox* textInput,
+ QPushButton* sendButton,
+ QPushButton* stopButton) :
+ TextInputWidget("SpeechToTextInputWidget", textInput, sendButton),
+ mns(mns),
+ stopButton(stopButton)
+ {
+ init();
+ }
+
+
+ void
+ SpeechToTextInputWidget::init()
+ {
+ layout()->addWidget(stopButton);
+
+ connect(stopButton, &QPushButton::clicked, this, &This::sendStop);
+ }
+
+
+ void
+ SpeechToTextInputWidget::onConnect()
+ {
+ try
+ {
+ sttWriter.connect(mns);
+ }
+ catch (const armem::error::ArMemError& e)
+ {
+ ARMARX_ERROR << e.what();
+ }
+ }
+
+
+ void
+ SpeechToTextInputWidget::sendText(QString text)
+ {
+ ARMARX_INFO << "Committing STT text '" << text.toStdString() << "'";
+ sttWriter.commit(text.toStdString());
+ }
+
+
+ void
+ SpeechToTextInputWidget::sendStop()
+ {
+ sendText("stop");
+ }
+
+} // namespace armarx::armem::speech::gui
diff --git a/source/armarx/speech/gui/memory/SpeechToTextInputWidget.h b/source/armarx/speech/gui/memory/SpeechToTextInputWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..dd4fb00edd45fb3b8730e586e820a90c5d04c6e1
--- /dev/null
+++ b/source/armarx/speech/gui/memory/SpeechToTextInputWidget.h
@@ -0,0 +1,74 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
+
+#include <armarx/speech/core/stt/Writer.h>
+#include <armarx/speech/gui/TextInputWidget.h>
+
+
+namespace armarx::armem::speech::gui
+{
+
+ class SpeechToTextInputWidget : public armarx::speech::gui::TextInputWidget
+ {
+ Q_OBJECT
+ using This = SpeechToTextInputWidget;
+
+ public:
+ SpeechToTextInputWidget(armem::client::MemoryNameSystem& mns);
+ SpeechToTextInputWidget(armem::client::MemoryNameSystem& mns,
+ QComboBox* textInput,
+ QPushButton* sendButton,
+ QPushButton* stopButton);
+
+
+ using TextInputWidget::onConnect;
+ using TextInputWidget::onDisconnect;
+ using TextInputWidget::onInit;
+ void onConnect() override;
+
+
+ private slots:
+
+ void sendText(QString text) override;
+ void sendStop();
+
+
+ signals:
+
+
+ private:
+ void init();
+
+
+ public:
+ armem::client::MemoryNameSystem& mns;
+ armem::speech::stt::Writer sttWriter{"SpeechToTextInputWidget"};
+
+ QPushButton* stopButton;
+ };
+
+} // namespace armarx::armem::speech::gui
diff --git a/source/armarx/speech/gui/memory/TextDisplayWidget.cpp b/source/armarx/speech/gui/memory/TextDisplayWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ce21597933b7516aefc84e0d886818d8075a8342
--- /dev/null
+++ b/source/armarx/speech/gui/memory/TextDisplayWidget.cpp
@@ -0,0 +1,63 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "TextDisplayWidget.h"
+
+#include <QHBoxLayout>
+#include <QLineEdit>
+
+
+namespace armarx::armem::speech::gui
+{
+
+ TextDisplayWidget::TextDisplayWidget(armem::client::MemoryNameSystem& mns) : mns(mns)
+ {
+ text = new QLineEdit();
+
+ setLayout(new QHBoxLayout());
+ layout()->addWidget(text);
+
+ init();
+ }
+
+
+ TextDisplayWidget::TextDisplayWidget(armem::client::MemoryNameSystem& mns, QLineEdit* text) :
+ mns(mns), text(text)
+ {
+ init();
+ }
+
+
+ void
+ TextDisplayWidget::setText(const QString& text)
+ {
+ this->text->setText(text);
+ }
+
+
+ void
+ TextDisplayWidget::init()
+ {
+ connect(this, &This::textReceived, this, &This::setText);
+ }
+
+} // namespace armarx::armem::speech::gui
diff --git a/source/armarx/speech/gui/memory/TextDisplayWidget.h b/source/armarx/speech/gui/memory/TextDisplayWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..c9d4e0b48d86a9105db5d167c60bf303c29176fe
--- /dev/null
+++ b/source/armarx/speech/gui/memory/TextDisplayWidget.h
@@ -0,0 +1,87 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <QSettings>
+#include <QWidget>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem_gui/lifecycle.h>
+
+
+class QLineEdit;
+
+
+namespace armarx::armem::speech::gui
+{
+ class TextDisplayWidget :
+ public QWidget,
+ public armarx::Logging,
+ public armarx::gui::LifecycleClient
+ {
+ Q_OBJECT
+ using This = TextDisplayWidget;
+
+ public:
+ TextDisplayWidget(armem::client::MemoryNameSystem& mns);
+ TextDisplayWidget(armem::client::MemoryNameSystem& mns, QLineEdit* text);
+
+
+ public slots:
+
+ void setText(const QString& text);
+
+
+ signals:
+
+ void initialized();
+ void connected();
+ void disconnected();
+
+
+ protected slots:
+
+ signals:
+
+ void textReceived(QString text);
+
+
+ private slots:
+
+
+ signals:
+
+
+ private:
+ void init();
+
+
+ public:
+ armem::client::MemoryNameSystem& mns;
+
+ QLineEdit* text;
+ };
+
+} // namespace armarx::armem::speech::gui
diff --git a/source/armarx/speech/gui/memory/TextToSpeechDisplayWidget.cpp b/source/armarx/speech/gui/memory/TextToSpeechDisplayWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..54af6392cd01ca239f461f1337fdcbebd9022ac4
--- /dev/null
+++ b/source/armarx/speech/gui/memory/TextToSpeechDisplayWidget.cpp
@@ -0,0 +1,62 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "TextToSpeechDisplayWidget.h"
+
+#include <RobotAPI/libraries/armem/core/MemoryID_operators.h>
+
+
+namespace armarx::armem::speech::gui
+{
+
+ void
+ TextToSpeechDisplayWidget::onConnect()
+ {
+ try
+ {
+ reader.connect(mns);
+ }
+ catch (const armem::error::ArMemError& e)
+ {
+ ARMARX_ERROR << "Failed to connect TTS reader:\n" << e.what();
+ return;
+ }
+
+ mns.subscribe(reader.coreSegmentID,
+ [this](const std::vector<armem::MemoryID>& updatedSnapshotIDs)
+ {
+ ARMARX_VERBOSE << "Received " << updatedSnapshotIDs;
+ if (std::optional<std::string> text =
+ reader.getLatestText(updatedSnapshotIDs))
+ {
+ emit textReceived(QString::fromStdString(text.value()));
+ }
+ });
+
+ // Initial fetch
+ if (std::optional<std::string> text = reader.getLatestText())
+ {
+ emit textReceived(QString::fromStdString(text.value()));
+ }
+ }
+
+} // namespace armarx::armem::speech::gui
diff --git a/source/armarx/speech/gui/memory/TextToSpeechDisplayWidget.h b/source/armarx/speech/gui/memory/TextToSpeechDisplayWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..28e75aa319c4d6aed0d0762506b8566e95d41bfe
--- /dev/null
+++ b/source/armarx/speech/gui/memory/TextToSpeechDisplayWidget.h
@@ -0,0 +1,53 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+#include <armarx/speech/core/tts/Reader.h>
+#include <armarx/speech/gui/memory/TextDisplayWidget.h>
+
+
+namespace armarx::armem::speech::gui
+{
+
+ class TextToSpeechDisplayWidget : public TextDisplayWidget
+ {
+ Q_OBJECT
+
+ public:
+ using TextDisplayWidget::TextDisplayWidget;
+
+ using TextDisplayWidget::onConnect;
+ void onConnect() override;
+
+
+ private:
+ void init();
+
+
+ public:
+ armem::speech::tts::Reader reader;
+ };
+
+} // namespace armarx::armem::speech::gui
diff --git a/source/armarx/speech/gui/memory/TextToSpeechInputWidget.cpp b/source/armarx/speech/gui/memory/TextToSpeechInputWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9be45b404247b7ca2d7a057e283fc88f6d473342
--- /dev/null
+++ b/source/armarx/speech/gui/memory/TextToSpeechInputWidget.cpp
@@ -0,0 +1,66 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "TextToSpeechInputWidget.h"
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+namespace armarx::armem::speech::gui
+{
+
+ TextToSpeechInputWidget::TextToSpeechInputWidget(armem::client::MemoryNameSystem& mns) :
+ TextInputWidget("TextToSpeechInputWidget"), mns(mns)
+ {
+ }
+
+
+ TextToSpeechInputWidget::TextToSpeechInputWidget(armem::client::MemoryNameSystem& mns,
+ QComboBox* textInput,
+ QPushButton* sendButton) :
+ TextInputWidget("TextToSpeechInputWidget", textInput, sendButton), mns(mns)
+ {
+ }
+
+
+ void
+ TextToSpeechInputWidget::onConnect()
+ {
+ try
+ {
+ ttsWriter.connect(mns);
+ }
+ catch (const armem::error::ArMemError& e)
+ {
+ ARMARX_ERROR << e.what();
+ }
+ }
+
+
+ void
+ TextToSpeechInputWidget::sendText(QString text)
+ {
+ ARMARX_INFO << "Committing TTS text '" << text.toStdString() << "'";
+ ttsWriter.commit(text.toStdString());
+ }
+
+} // namespace armarx::armem::speech::gui
diff --git a/source/armarx/speech/gui/memory/TextToSpeechInputWidget.h b/source/armarx/speech/gui/memory/TextToSpeechInputWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..ec031972579e286d14e6965a6ca7b542864a4795
--- /dev/null
+++ b/source/armarx/speech/gui/memory/TextToSpeechInputWidget.h
@@ -0,0 +1,67 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package SpeechX::ArmarXObjects::gui
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
+
+#include <armarx/speech/core/tts/Writer.h>
+#include <armarx/speech/gui/TextInputWidget.h>
+
+
+namespace armarx::armem::speech::gui
+{
+
+ class TextToSpeechInputWidget : public armarx::speech::gui::TextInputWidget
+ {
+ Q_OBJECT
+ using This = TextToSpeechInputWidget;
+
+ public:
+ TextToSpeechInputWidget(armem::client::MemoryNameSystem& mns);
+ TextToSpeechInputWidget(armem::client::MemoryNameSystem& mns,
+ QComboBox* textInput,
+ QPushButton* sendButton);
+
+
+ using TextInputWidget::onConnect;
+ using TextInputWidget::onDisconnect;
+ using TextInputWidget::onInit;
+ void onConnect() override;
+
+
+ private slots:
+
+ void sendText(QString text) override;
+
+
+ signals:
+
+
+ private:
+ public:
+ armem::client::MemoryNameSystem& mns;
+ armem::speech::tts::Writer ttsWriter{"TextToSpeechInputWidget"};
+ };
+
+} // namespace armarx::armem::speech::gui
diff --git a/source/armarx/speech/qt_plugins/CMakeLists.txt b/source/armarx/speech/qt_plugins/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f093ec5c20c1ccf2e0806efe3d4529cc15ebbc4
--- /dev/null
+++ b/source/armarx/speech/qt_plugins/CMakeLists.txt
@@ -0,0 +1,2 @@
+
+add_subdirectory(speech_memory_gui)
\ No newline at end of file
diff --git a/source/armarx/speech/qt_plugins/speech_memory_gui/CMakeLists.txt b/source/armarx/speech/qt_plugins/speech_memory_gui/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f3b2bddd11d3eed22d32879507d608ff4f3fe07
--- /dev/null
+++ b/source/armarx/speech/qt_plugins/speech_memory_gui/CMakeLists.txt
@@ -0,0 +1,23 @@
+armarx_add_qt_plugin(speech_memory_gui
+ WIDGET_CONTROLLER
+ armarx::speech::qt_plugins::speech_memory_gui::WidgetController
+
+ SOURCES
+ WidgetController.cpp
+
+ HEADERS
+ WidgetController.h
+
+ UI_FILES
+ Widget.ui
+
+ DEPENDENCIES
+ # ArmarXGui
+ SimpleConfigDialog # For the simple config dialog.
+
+ armem
+ armem_gui
+
+ armarx_speech::core
+ armarx_speech::gui
+)
diff --git a/source/armarx/speech/qt_plugins/speech_memory_gui/Widget.ui b/source/armarx/speech/qt_plugins/speech_memory_gui/Widget.ui
new file mode 100644
index 0000000000000000000000000000000000000000..da6096acb7cce80e37f3bd9e3874680f1993bac7
--- /dev/null
+++ b/source/armarx/speech/qt_plugins/speech_memory_gui/Widget.ui
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>armarx::speech::qt_plugins::speech_memory_gui::Widget</class>
+ <widget class="QWidget" name="speech_memory_gui">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>400</width>
+ <height>300</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>speech_memory_gui</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <layout class="QFormLayout" name="formLayout"/>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/armarx/speech/qt_plugins/speech_memory_gui/WidgetController.cpp b/source/armarx/speech/qt_plugins/speech_memory_gui/WidgetController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5fd5c4b85d81f84897c2fb054565fbec7087f5e7
--- /dev/null
+++ b/source/armarx/speech/qt_plugins/speech_memory_gui/WidgetController.cpp
@@ -0,0 +1,164 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package speech::qt_plugins::WidgetController
+ * \author Naumann ( uhxkb at student dot kit dot edu )
+ * \date 2023
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "WidgetController.h"
+
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+
+#include <RobotAPI/libraries/armem_gui/gui_utils.h>
+
+#include <armarx/speech/gui/RecognizedTextWidget.h>
+#include <armarx/speech/gui/TextListenerWidget.h>
+#include <armarx/speech/gui/TextToSpeechInputWidget.h>
+#include <armarx/speech/gui/memory/SpeechToTextDisplayWidget.h>
+#include <armarx/speech/gui/memory/SpeechToTextInputWidget.h>
+#include <armarx/speech/gui/memory/TextToSpeechDisplayWidget.h>
+#include <armarx/speech/gui/memory/TextToSpeechInputWidget.h>
+
+
+namespace armarx::speech::qt_plugins::speech_memory_gui
+{
+
+ QString
+ WidgetController::GetWidgetName()
+ {
+ return "Speech.SpeechMemoryGui";
+ }
+
+
+ WidgetController::WidgetController()
+ {
+ widget.setupUi(getWidget());
+
+ {
+ QFormLayout* dialogLayout = widget.formLayout;
+ speechToTextInput = new armem::speech::gui::SpeechToTextInputWidget(mns);
+ dialogLayout->addRow("Speech to Text Input", speechToTextInput);
+
+ speechToTextDisplay = new armem::speech::gui::SpeechToTextDisplayWidget(mns);
+ dialogLayout->addRow("Speech to Text Display", speechToTextDisplay);
+
+ textToSpeechInput = new armem::speech::gui::TextToSpeechInputWidget(mns);
+ dialogLayout->addRow("Text to Speech Input", textToSpeechInput);
+
+ textToSpeechDisplay = new armem::speech::gui::TextToSpeechDisplayWidget(mns);
+ dialogLayout->addRow("Text to Speech Output", textToSpeechDisplay);
+
+ generatedRobotAction = new gui::TextListenerWidget("RobotAction");
+ dialogLayout->addRow("Generated Robot Action", generatedRobotAction);
+
+
+ armarx::gui::connectLifecycle(&lifecycleServer, speechToTextInput);
+ armarx::gui::connectLifecycle(&lifecycleServer, speechToTextDisplay);
+ armarx::gui::connectLifecycle(&lifecycleServer, textToSpeechInput);
+ armarx::gui::connectLifecycle(&lifecycleServer, textToSpeechDisplay);
+ armarx::gui::connectLifecycle(&lifecycleServer, generatedRobotAction);
+ }
+ }
+
+
+ WidgetController::~WidgetController() = default;
+
+ constexpr auto configKeyMns = "SpeechMemoryGui.MemoryNameSystem";
+
+ void
+ WidgetController::loadSettings(QSettings* settings)
+ {
+ mnsName = settings->value(QString::fromStdString(configKeyMns), "MemoryNameSystem")
+ .toString()
+ .toStdString();
+ }
+
+ void
+ WidgetController::saveSettings(QSettings* settings)
+ {
+ settings->setValue(QString::fromStdString(configKeyMns), QString::fromStdString(mnsName));
+ }
+
+
+ QPointer<QDialog>
+ WidgetController::getConfigDialog(QWidget* parent)
+ {
+ if (configDialog == nullptr)
+ {
+ configDialog = new SimpleConfigDialog(parent);
+ configDialog->addProxyFinder<armarx::armem::mns::MemoryNameSystemInterfacePrx>(
+ {configKeyMns, "MemoryNameSystem", "MemoryNameSystem"});
+ }
+ return qobject_cast<QDialog*>(configDialog);
+ }
+
+
+ void
+ WidgetController::configured()
+ {
+ if (configDialog != nullptr)
+ {
+ mnsName = configDialog->getProxyName(configKeyMns);
+ if (mnsName.empty())
+ {
+ mnsName = "MemoryNameSystem";
+ }
+ }
+ }
+
+
+ void
+ WidgetController::onInitComponent()
+ {
+ if (!mnsName.empty())
+ {
+ usingProxy(mnsName);
+ }
+
+ emit lifecycleServer.initialized(this);
+ }
+
+
+ void
+ WidgetController::onConnectComponent()
+ {
+ if (!mnsName.empty())
+ {
+ armem::mns::MemoryNameSystemInterfacePrx mnsProxy;
+ getProxy(mnsProxy, mnsName);
+ mns = armem::client::MemoryNameSystem(mnsProxy, this);
+ }
+
+ emit lifecycleServer.connected(this);
+ }
+
+ void
+ WidgetController::onDisconnectComponent()
+ {
+
+ emit lifecycleServer.disconnected(this);
+ }
+
+ void
+ WidgetController::memoryUpdated(const armem::data::MemoryIDs& updatedSnapshotIDs,
+ const Ice::Current& /*iceCurrent*/)
+ {
+ mns.updated(updatedSnapshotIDs);
+ }
+
+} // namespace armarx::speech::qt_plugins::speech_memory_gui
diff --git a/source/armarx/speech/qt_plugins/speech_memory_gui/WidgetController.h b/source/armarx/speech/qt_plugins/speech_memory_gui/WidgetController.h
new file mode 100644
index 0000000000000000000000000000000000000000..c1567a0db0ec37aa3013e2e5d29f1e65dec9b39a
--- /dev/null
+++ b/source/armarx/speech/qt_plugins/speech_memory_gui/WidgetController.h
@@ -0,0 +1,141 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package speech::qt_plugins::WidgetController
+ * @author Naumann ( uhxkb at student dot kit dot edu )
+ * @date 2023
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem_gui/lifecycle.h>
+
+#include <armarx/speech/qt_plugins/speech_memory_gui/ui_Widget.h>
+
+namespace armarx::speech::gui
+{
+ class TextListenerWidget;
+} // namespace armarx::speech::gui
+
+namespace armarx::armem::speech::gui
+{
+ class SpeechToTextInputWidget;
+ class SpeechToTextDisplayWidget;
+ class TextToSpeechInputWidget;
+ class TextToSpeechDisplayWidget;
+} // namespace armarx::memory::speech::gui
+
+namespace armarx::speech::qt_plugins::speech_memory_gui
+{
+
+ /**
+ \page speech-GuiPlugins-speech_memory_gui speech_memory_gui
+ \brief The speech_memory_gui allows visualizing ...
+
+ \image html speech_memory_gui.png
+ The user can
+
+ API Documentation \ref WidgetController
+
+ \see speech_memory_guiGuiPlugin
+ */
+
+
+ /**
+ * \class speech_memory_guiGuiPlugin
+ * \ingroup ArmarXGuiPlugins
+ * \brief speech_memory_guiGuiPlugin brief description
+ *
+ * Detailed description
+ */
+
+ /**
+ * \class WidgetController
+ * \brief WidgetController brief one line description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT WidgetController :
+ public armarx::ArmarXComponentWidgetControllerTemplate<WidgetController>,
+ public armem::client::MemoryListenerInterface
+ {
+ Q_OBJECT
+
+ public:
+ /// Controller constructor.
+ explicit WidgetController();
+ /// Controller destructor.
+ ~WidgetController() override;
+
+ //// @see ArmarXWidgetController::loadSettings()
+ void loadSettings(QSettings* settings) override;
+ /// @see ArmarXWidgetController::saveSettings()
+ void saveSettings(QSettings* settings) override;
+
+ QPointer<QDialog> getConfigDialog(QWidget* parent) override;
+ void configured() override;
+
+ /**
+ * Returns the Widget name displayed in the ArmarXGui to create an
+ * instance of this class.
+ */
+ static QString GetWidgetName();
+
+ /// @see armarx::Component::onInitComponent()
+ void onInitComponent() override;
+
+ /// @see armarx::Component::onConnectComponent()
+ void onConnectComponent() override;
+
+ /// @see armarx::Component::onDisconnectComponent()
+ void onDisconnectComponent() override;
+
+ public:
+ void memoryUpdated(const armarx::armem::data::MemoryIDs& updatedSnapshotIDs,
+ const Ice::Current& /*iceCurrent*/) override;
+
+
+ public slots:
+ /* QT slot declarations */
+
+
+ signals:
+ /* QT signal declarations */
+
+
+ private:
+ /// Widget Form
+ Ui::Widget widget;
+ armarx::gui::LifecycleServer lifecycleServer;
+ QPointer<SimpleConfigDialog> configDialog;
+
+ std::string mnsName = "MemoryNameSystem";
+ armem::client::MemoryNameSystem mns;
+
+ armem::speech::gui::SpeechToTextInputWidget* speechToTextInput;
+ armem::speech::gui::SpeechToTextDisplayWidget* speechToTextDisplay;
+ armem::speech::gui::TextToSpeechInputWidget* textToSpeechInput;
+ armem::speech::gui::TextToSpeechDisplayWidget* textToSpeechDisplay;
+ gui::TextListenerWidget* generatedRobotAction;
+ };
+} // namespace armarx::speech::qt_plugins::speech_memory_gui