Revision b1a51350 server/src/MiddlewareROS.cpp

View differences:

server/src/MiddlewareROS.cpp
48 48 
    actionlib::SimpleActionClient<actionspec> *ac = new actionlib::SimpleActionClient<actionspec>(scope, true);
49 49 

  		




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    if (!ac->waitForServer(ros::Duration(1))){


  		




  51
  
  
    
        char buf[256];


  		




  52
  
  
    
        snprintf(buf, 256, "ERROR: action service %s not ready", scope.c_str());


  		




  53
  
  
    
        throw runtime_error(buf);


  		




  
  51
  
    
        printf("> ERROR: action service %s not ready, wait timed out...\n", scope.c_str());


  		




  
  52
  
    
        return NULL;


  		




  54
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    }


  		




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    return ac;


  		




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}


  		




  ......




  102
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    //create tts client


  		




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    tts_ac = create_action_client<hlrc_server::ttsAction>(base_scope + "/tts_provider");


  		




  
  104
  
    
    if (tts_ac == NULL){


  		




  
  105
  
    
        printf("> tts action service not available, will not do any TTS !\n");


  		




  
  106
  
    
    }


  		




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  ......




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//call a tts system to convert a string to an utterance


  		




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boost::shared_ptr<Utterance> MiddlewareROS::tts_call(string text){


  		




  119
  
  
    
    //double tts_timeout = 1.0; //seconds. DO NOT CHANGE THIS!


  		




  120
  
  
    

  		




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    boost::shared_ptr<Utterance> utterance(new Utterance());


  		




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  123
  
    
    //double tts_timeout = 1.0; //seconds. DO NOT CHANGE THIS!


  		




  
  124
  
    
    if (tts_ac == NULL){


  		




  
  125
  
    
        printf("> tts action service not available. will not speak '%s'\n", text.c_str());


  		




  
  126
  
    
        return utterance;


  		




  
  127
  
    
    }


  		




  
  128
  
    

  		




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    hlrc_server::ttsGoal goal;


  		




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    goal.text = text;


  		












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