Merge remote-tracking branch 'origin/master' into Ice3.7

etc/doxygen/pages/GuiPlugins.dox

@@ -24,4 +24,6 @@ The following Gui Plugins are available:
 \subpage ArmarXGui-GuiPlugins-HomogeneousMatrixCalculator
 
 \subpage ArmarXGui-GuiPlugins-RobotUnitPlugin
+
+\subpage ArmarXGui-GuiPlugins-GuiHealthClient
 */

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.
  *
@@ -23,8 +23,6 @@
 
 #include "SpeechObserver.h"
 
-#include <ArmarXCore/util/json/JSONObject.h>
-
 using namespace armarx;
 
 SpeechObserver::SpeechObserver()
@@ -35,9 +33,6 @@ 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()
@@ -47,16 +42,12 @@ 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 state updates");
-
-    offerChannel("SpeechToText", "SpeechToText channel");
-    offerDataFieldWithDefault("TextToSpeech", "RecognizedText", Variant(std::string()), "Text recognized by the SpeechRecogntion");
-
+    offerDataFieldWithDefault("TextToSpeech", "StateChangeCounter", Variant(reportStateCounter), "Counter for text updates");
 }
 
 std::string SpeechObserver::SpeechStateToString(TextToSpeechStateType state)
 {
-    switch (state)
+    switch(state)
     {
         case eIdle:
             return "Idle";
@@ -79,7 +70,7 @@ void SpeechObserver::reportState(TextToSpeechStateType state, const Ice::Current
     updateChannel("TextToSpeech");
 }
 
-void SpeechObserver::reportText(const std::string& text, const Ice::Current& c)
+void SpeechObserver::reportText(const std::string& text, const Ice::Current&)
 {
     ScopedLock lock(dataMutex);
     reportTextCounter++;
@@ -93,24 +84,3 @@ 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.
  *
@@ -39,25 +39,11 @@ 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();