ears

Listen to humans when not doing something else Version:1.0. More...

Collaboration diagram for ears:

Classes
class	ears

Detailed Description

Listen to humans when not doing something else Version:1.0.

Author

Grégoire Pointeau greg..nosp@m.poin.nosp@m.teau@.nosp@m.gmai.nosp@m.l.com, Jordi-Ysard Puigbò jordi.nosp@m.ysar.nosp@m.d@gma.nosp@m.il.c.nosp@m.om, Tobias Fischer t.fis.nosp@m.cher.nosp@m.@impe.nosp@m.rial.nosp@m..ac.u.nosp@m.k

Copyright

Released under the terms of the GNU GPL v2.0

Description

Module that loads a default grammar for the speech recognizer in the background. This grammar can be safely interrupted by other modules that require parallel access to speech recognition functionalities. This module parses any order given by the human and triggers the corresponding behaviour in behaviorManager.

Parameters

• – name : name of the module
• – period : change the update rate of this module

Input Ports

• /ears/rpc [Bottle] [default carrier:tcp]: Response port. Supported commands:
  • help
  • ['quit']: Closes ears
  • ['listen'] ['on'/'off'/offShouldWait] : Turns default grammar from the speech recognizer on / off / off (safely, wait for another recognition)

Output Ports

• /ears/speech:o [Bottle] [default carrier:tcp]: Communication port to speech recognizer to interrupt the speech recognizer.
• /ears/behavior:o [Bottle] [default carrier:tcp]: Communication port to behaviorManager.

Services

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Class Documentation

ears

class ears

Definition at line 14 of file ears.h.

Inheritance diagram for ears:

Public Member Functions
bool	configure (yarp::os::ResourceFinder &rf)
bool	interruptModule ()
bool	close ()
double	getPeriod ()
bool	updateModule ()
bool	respond (const yarp::os::Bottle &cmd, yarp::os::Bottle &reply)
Protected Attributes
icubclient::ICubClient *	iCub
double	period
yarp::os::Port	rpc
	Response port. More...
yarp::os::Port	portToBehavior
	Port to behaviorManager. More...
yarp::os::Port	portToSpeechRecognizer
	Port to speechRecognizer. More...
yarp::os::Mutex	m
	Mutex indicating whether ears is listening to speechRecognizer. More...
bool	bShouldListen
	Whether ears should listen to speechRecognizer. More...
std::string	MainGrammar
	Name of grammar to be loaded. More...

Member Function Documentation

close()

bool ears::close

(

)

Definition at line 72 of file ears.cpp.

configure()

bool ears::configure

(

yarp::os::ResourceFinder &

rf

)

Definition at line 12 of file ears.cpp.

getPeriod()

double ears::getPeriod ( )

inline

Definition at line 32 of file ears.h.

interruptModule()

bool ears::interruptModule

(

)

Definition at line 45 of file ears.cpp.

respond()

bool ears::respond	(	const yarp::os::Bottle &	cmd,
		yarp::os::Bottle &	reply
	)

Definition at line 96 of file ears.cpp.

updateModule()

bool ears::updateModule

(

)

Definition at line 145 of file ears.cpp.

Member Data Documentation

bShouldListen

bool ears::bShouldListen

protected

Whether ears should listen to speechRecognizer.

Can be set via RPC port.

Definition at line 22 of file ears.h.

iCub

icubclient::ICubClient* ears::iCub

protected

Definition at line 16 of file ears.h.

m

yarp::os::Mutex ears::m

protected

Mutex indicating whether ears is listening to speechRecognizer.

Definition at line 21 of file ears.h.

MainGrammar

std::string ears::MainGrammar

protected

Name of grammar to be loaded.

Definition at line 23 of file ears.h.

period

double ears::period

protected

Definition at line 17 of file ears.h.

portToBehavior

yarp::os::Port ears::portToBehavior

protected

Port to behaviorManager.

Definition at line 19 of file ears.h.

portToSpeechRecognizer

yarp::os::Port ears::portToSpeechRecognizer

protected

Port to speechRecognizer.

Definition at line 20 of file ears.h.

rpc

yarp::os::Port ears::rpc

protected

Response port.

Definition at line 18 of file ears.h.