From 167f7fe7e2cd4eb963ae8914759c703428368b6e Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Mon, 17 Dec 2018 17:23:13 +0100
Subject: [PATCH] speech debug output
---
source/RobotAPI/components/RobotHealth/RobotHealth.cpp | 2 ++
source/RobotAPI/components/RobotHealth/RobotHealth.h | 3 +++
2 files changed, 5 insertions(+)
diff --git a/source/RobotAPI/components/RobotHealth/RobotHealth.cpp b/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
index 0d6d8ce5d..0d001ba47 100644
--- a/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
+++ b/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
@@ -50,6 +50,7 @@ void RobotHealth::onConnectComponent()
emergencyStopTopicPrx = getTopic<EmergencyStopListenerPrx>(getProperty<std::string>("EmergencyStopTopicName").getValue());
//remoteGuiPrx = getProxy<RemoteGuiInterfacePrx>(getProperty<std::string>("RemoteGuiName").getValue());
aggregatedRobotHealthTopicPrx = getTopic<AggregatedRobotHealthInterfacePrx>(getProperty<std::string>("AggregatedRobotHealthTopicName").getValue());
+ textToSpeechTopic = getTopic<TextListenerInterfacePrx>(getProperty<std::string>("TextToSpeechTopicName").getValue());
/*if(robotUnitRequired)
{
@@ -86,6 +87,7 @@ void RobotHealth::monitorHealthTaskClb()
if (e.isRunning)
{
ARMARX_ERROR << deactivateSpam(0.1, e.name) << "Component " << e.name << " has died.";
+ textToSpeechTopic->reportText("Oh no! Component " + e.name + " is no longer running.");
hasNewErr = true;
e.isRunning = false;
}
diff --git a/source/RobotAPI/components/RobotHealth/RobotHealth.h b/source/RobotAPI/components/RobotHealth/RobotHealth.h
index cbf7381b5..989d6170b 100644
--- a/source/RobotAPI/components/RobotHealth/RobotHealth.h
+++ b/source/RobotAPI/components/RobotHealth/RobotHealth.h
@@ -30,6 +30,7 @@
#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
#include <atomic>
#include <ArmarXGui/interface/RemoteGuiInterface.h>
+#include <RobotAPI/interface/speech/SpeechInterface.h>
namespace armarx
{
@@ -46,6 +47,7 @@ namespace armarx
{
defineOptionalProperty<std::string>("EmergencyStopTopicName", "EmergencyStop", "The name of the topic over which changes of the emergencyStopState are sent.");
defineOptionalProperty<std::string>("RobotHealthTopicName", "RobotHealthTopic", "Name of the RobotHealth topic");
+ defineOptionalProperty<std::string>("TextToSpeechTopicName", "TextToSpeech", "Name of the TextToSpeech topic");
defineOptionalProperty<int>("MaximumCycleTimeWarnMS", 50, "Default value of the maximum cycle time for warnings");
defineOptionalProperty<int>("MaximumCycleTimeErrMS", 100, "Default value of the maximum cycle time for error");
defineOptionalProperty<std::string>("AggregatedRobotHealthTopicName", "AggregatedRobotHealthTopic", "Name of the AggregatedRobotHealthTopic");
@@ -145,6 +147,7 @@ namespace armarx
//bool robotUnitRequired;
RemoteGuiInterfacePrx remoteGuiPrx;
AggregatedRobotHealthInterfacePrx aggregatedRobotHealthTopicPrx;
+ TextListenerInterfacePrx textToSpeechTopic;
// RobotHealthInterface interface
public:
--
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