From b6dc3412265b98b6d5ee586a45ad413af264589d Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Mon, 17 Dec 2018 17:30:15 +0100
Subject: [PATCH] speech output is configurable
---
source/RobotAPI/components/RobotHealth/RobotHealth.cpp | 6 +++++-
source/RobotAPI/components/RobotHealth/RobotHealth.h | 2 ++
2 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/RobotHealth/RobotHealth.cpp b/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
index 0d001ba47..6f10dc4ab 100644
--- a/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
+++ b/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
@@ -32,6 +32,7 @@ void RobotHealth::onInitComponent()
defaultMaximumCycleTimeWarn = getProperty<int>("MaximumCycleTimeWarnMS").getValue();
defaultMaximumCycleTimeErr = getProperty<int>("MaximumCycleTimeErrMS").getValue();
usingTopic(getProperty<std::string>("RobotHealthTopicName").getValue());
+ reportErrorsWithSpeech = getProperty<bool>("ReportErrorsWithSpeech").getValue();
//robotUnitRequired = getProperty<bool>("RobotUnitRequired").getValue();
/*if(robotUnitRequired)
@@ -87,7 +88,10 @@ 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.");
+ if (reportErrorsWithSpeech)
+ {
+ 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 989d6170b..65c086a35 100644
--- a/source/RobotAPI/components/RobotHealth/RobotHealth.h
+++ b/source/RobotAPI/components/RobotHealth/RobotHealth.h
@@ -47,6 +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<bool>("ReportErrorsWithSpeech", true, "");
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");
@@ -148,6 +149,7 @@ namespace armarx
RemoteGuiInterfacePrx remoteGuiPrx;
AggregatedRobotHealthInterfacePrx aggregatedRobotHealthTopicPrx;
TextListenerInterfacePrx textToSpeechTopic;
+ bool reportErrorsWithSpeech;
// RobotHealthInterface interface
public:
--
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