50 lines
1.7 KiB
Python
50 lines
1.7 KiB
Python
import logging
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import zmq
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from robot_interface.endpoints.receiver_base import ReceiverBase
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from robot_interface.state import state
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class ActuationReceiver(ReceiverBase):
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def __init__(self, zmq_context, port=5557):
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"""
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The actuation receiver endpoint, responsible for handling speech and gesture requests.
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:param zmq_context: The ZeroMQ context to use.
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:type zmq_context: zmq.Context
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:param port: The port to use.
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:type port: int
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"""
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super(ActuationReceiver, self).__init__("actuation")
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self.create_socket(zmq_context, zmq.SUB, port)
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self.socket.setsockopt_string(zmq.SUBSCRIBE, u"") # Causes block if given in options
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self._tts_service = None
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def _handle_speech(self, message):
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text = message.get("data")
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if not text:
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logging.warn("Received message to speak, but it lacks data.")
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return
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if not isinstance(text, (str, unicode)):
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logging.warn("Received message to speak but it is not a string.")
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return
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logging.debug("Received message to speak: {}".format(text))
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if not state.qi_session: return
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# If state has a qi_session, we know that we can import qi
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import qi # Takes a while only the first time it's imported
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if not self._tts_service:
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self._tts_service = state.qi_session.service("ALTextToSpeech")
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# Returns instantly. Messages received while speaking will be queued.
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qi.async(self._tts_service.say, text)
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def handle_message(self, message):
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if message["endpoint"] == "actuate/speech":
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self._handle_speech(message)
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