.. _program_listing_file_include_hri_voice.hpp:

Program Listing for File voice.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_hri_voice.hpp>` (``include/hri/voice.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2023 PAL Robotics S.L. All rights reserved.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef HRI__VOICE_HPP_
   #define HRI__VOICE_HPP_
   
   #include <memory>
   #include <optional>
   #include <string>
   #include <vector>
   
   #include "hri_msgs/msg/live_speech.hpp"
   #include "std_msgs/msg/bool.hpp"
   #include "tf2_ros/buffer.h"
   
   #include "hri/feature_tracker.hpp"
   #include "hri/types.hpp"
   
   namespace hri
   {
   class Voice : public FeatureTracker, public std::enable_shared_from_this<Voice>
   // TODO(LJU): possibly subscribe also to the /audio and the /features sub-topics
   {
     friend class HRIListener;  // for invalidate()
   
   public:
     Voice(
       ID id,
       NodeInterfaces node_interfaces,
       rclcpp::CallbackGroup::SharedPtr callback_group,
       const tf2::BufferCore & tf_buffer,
       const std::string & reference_frame);
   
     virtual ~Voice();
   
     std::optional<bool> isSpeaking() const {return is_speaking_;}
   
     std::optional<std::string> speech() const {return speech_;}
   
     std::optional<std::string> incrementalSpeech() const {return incremental_speech_;}
   
     std::optional<std::string> locale() const {return locale_;}
   
     void onSpeaking(std::function<void(bool)> callback)
     {
       is_speaking_callbacks_.push_back(callback);
     }
   
     void onSpeech(std::function<void(const std::string &, const std::string &)> callback)
     {
       speech_callbacks_.push_back(callback);
     }
   
     void onSpeech(std::function<void(const std::string &)> callback)
     {
       speech_callbacks_.push_back(
         [callback](const std::string & text, const std::string &) {callback(text);});
     }
   
     void onIncrementalSpeech(std::function<void(const std::string &, const std::string &)> callback)
     {
       incremental_speech_callbacks_.push_back(callback);
     }
   
     void onIncrementalSpeech(std::function<void(const std::string &)> callback)
     {
       incremental_speech_callbacks_.push_back(
         [callback](const std::string & text, const std::string &) {callback(text);});
     }
   
   private:
     void onSpeech_(hri_msgs::msg::LiveSpeech::ConstSharedPtr msg);
     void onIsSpeaking(std_msgs::msg::Bool::ConstSharedPtr msg);
   
     void invalidate();
   
     std::optional<bool> is_speaking_;
     std::optional<std::string> speech_;
     std::optional<std::string> incremental_speech_;
     std::optional<std::string> locale_;
   
     std::vector<std::function<void(bool)>> is_speaking_callbacks_;
     std::vector<std::function<void(const std::string &, const std::string &)>> speech_callbacks_;
     std::vector<std::function<void(const std::string &, const std::string &)>>
     incremental_speech_callbacks_;
   
     rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr is_speaking_subscriber_;
     rclcpp::Subscription<hri_msgs::msg::LiveSpeech>::SharedPtr speech_subscriber_;
   };
   
   typedef std::shared_ptr<Voice> VoicePtr;
   typedef std::shared_ptr<const Voice> ConstVoicePtr;
   
   }  // namespace hri
   
   #endif  // HRI__VOICE_HPP_