From 2a47d198e0c8b3ede0f6f6094ef53f4df7f90da1 Mon Sep 17 00:00:00 2001
From: BennyR <reinerbe@hs-weingarten.de>
Date: Fri, 9 May 2014 11:01:54 +0200
Subject: [PATCH] Added startup sentence option.

---
 cerevoice_tts/launch/tts.launch          |  1 +
 cerevoice_tts/src/cerevoice_tts_node.cpp | 36 ++++++++++++++++++++++++
 2 files changed, 37 insertions(+)

diff --git a/cerevoice_tts/launch/tts.launch b/cerevoice_tts/launch/tts.launch
index 027282c..3f55b5e 100644
--- a/cerevoice_tts/launch/tts.launch
+++ b/cerevoice_tts/launch/tts.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+  <param name="cerevoice_tts_node/startup_sentence" type="string" value="Text zu Sprache bereit." />
   <rosparam param="voices" ns="cerevoice_tts_node" subst_value="true">
   - path: $(env HOME)/cerevoice_sdk/voices/cerevoice_alex_3.0.6_22k.voice
     license: $(env HOME)/cerevoice_sdk/voices/license.lic
diff --git a/cerevoice_tts/src/cerevoice_tts_node.cpp b/cerevoice_tts/src/cerevoice_tts_node.cpp
index 49698af..994a51c 100644
--- a/cerevoice_tts/src/cerevoice_tts_node.cpp
+++ b/cerevoice_tts/src/cerevoice_tts_node.cpp
@@ -36,7 +36,10 @@
 
 #include "ros/ros.h"
 
+#include <actionlib/client/simple_action_client.h>
+
 #include "cerevoice_tts/CerevoiceTts.h"
+#include "cerevoice_tts_msgs/TtsAction.h"
 
 int main(int argc, char **argv)
 {
@@ -48,6 +51,39 @@ int main(int argc, char **argv)
   if(!initialized)
     return EXIT_FAILURE;
 
+  ros::spinOnce();
+
+  ros::NodeHandle private_node_handle("~");
+  std::string startup_sentence;
+  private_node_handle.param("startup_sentence", startup_sentence, std::string(""));
+
+  if(!startup_sentence.empty())
+  {
+    ROS_INFO("Will now say the startup sentence '%s'", startup_sentence.c_str());
+    ROS_INFO("Will wait for server");
+
+    // Output this startup sentence
+    actionlib::SimpleActionClient<cerevoice_tts_msgs::TtsAction> action_client("TTS", true);
+    while(!action_client.isServerConnected())
+    {
+      ros::spinOnce();  // this looped spinning is required because we call an action from within the same node
+    }
+
+    ROS_INFO("Server ready");
+
+    cerevoice_tts_msgs::TtsGoal goal;
+    goal.text = startup_sentence;
+
+    action_client.sendGoal(goal);
+    while(!action_client.waitForResult(ros::Duration(0.0001)))
+    {
+      ros::spinOnce();
+    }
+
+    if(action_client.getState() != actionlib::SimpleClientGoalState::SUCCEEDED)
+      ROS_ERROR("Synthesizing the startup sentence failed!");
+  }
+
   ros::spin();
 
   return EXIT_SUCCESS;