tts_node.hpp

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// MIT License
//
// Copyright (c) 2024 Miguel Ángel González Santamarta
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
 
#ifndef AUDIO_COMMON__TTS_NODE
#define AUDIO_COMMON__TTS_NODE
 
#include <atomic>
#include <mutex>
#include <string>
#include <thread>
 
#include <chrono>
#include <mutex>
#include <sstream>
#include <string>
#include <thread>
#include <vector>
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
 
#include "audio_common/wave_file.hpp"
#include "audio_common_msgs/action/tts.hpp"
#include "audio_common_msgs/msg/audio_stamped.hpp"
 
namespace audio_common {
 
class TtsNode : public rclcpp::Node {
public:
  using TTS = audio_common_msgs::action::TTS;
  using GoalHandleTTS = rclcpp_action::ServerGoalHandle<TTS>;
 
  TtsNode();
 
private:
  int chunk_;
  std::string frame_id_;
  rclcpp::Publisher<audio_common_msgs::msg::AudioStamped>::SharedPtr
      player_pub_;
  rclcpp_action::Server<TTS>::SharedPtr action_server_;
  std::mutex goal_lock_;
  std::shared_ptr<GoalHandleTTS> goal_handle_;
 
  // Methods
  rclcpp_action::GoalResponse
  handle_goal(const rclcpp_action::GoalUUID &uuid,
              std::shared_ptr<const TTS::Goal> goal);
  rclcpp_action::CancelResponse
  handle_cancel(const std::shared_ptr<GoalHandleTTS> goal_handle);
  void handle_accepted(const std::shared_ptr<GoalHandleTTS> goal_handle);
  void execute_callback(const std::shared_ptr<GoalHandleTTS> goal_handle);
};
 
} // namespace audio_common
 
#endif