subSystem_recog.h

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/*
* Copyright (C) 2014 WYSIWYD Consortium, European Commission FP7 Project ICT-612139
* Authors: Gregoire Pointeau, Maxime Petit
* email:   gregoire.pointeau@inserm.fr, m.petit@imperial.ac.uk
* website: http://wysiwyd.upf.edu/
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* icub-client/license/gpl.txt
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/

#ifndef __ICUBCLIENT_SUBSYSTEM_RECOG_H__
#define __ICUBCLIENT_SUBSYSTEM_RECOG_H__

#define SUBSYSTEM_RECOG        "recog"

#include "icubclient/subsystems/subSystem.h"

#include <iostream>

namespace icubclient{
class SubSystem_Recog : public SubSystem
{
protected:
    virtual bool connect();
    yarp::os::RpcClient ears_port; 
public:
    SubSystem_Recog(const std::string &masterName);

    virtual void Close();

    void enableEars(bool on);

    void waitForEars();


    bool interruptSpeechRecognizer();

    yarp::os::Bottle recogFromGrammar(std::string &sInput);

    yarp::os::Bottle recogFromGrammarLoop(std::string sInput, int iLoop = 50, bool keepEarsEnabled = false, bool keepEarsDisabledAfterRecog = false);

};
}//Namespace
#endif