void wait(Lock& lock)
{
BOOST_ASIO_ASSERT(lock.locked());
unique_lock_adapter u_lock(lock);
while (!signalled_)
cond_.wait(u_lock.unique_lock_);
}
bool wait_for_usec(Lock& lock, long usec)
{
BOOST_ASIO_ASSERT(lock.locked());
unique_lock_adapter u_lock(lock);
if (!signalled_)
cond_.wait_for(u_lock.unique_lock_, std::chrono::microseconds(usec));
return signalled_;
}
void wait(Lock& lock)
{
BOOST_ASIO_ASSERT(lock.locked());
unique_lock_adapter u_lock(lock);
while ((state_ & 1) == 0)
{
waiter w(state_);
cond_.wait(u_lock.unique_lock_);
}
}
void espeak_callback(const std_msgs::String::ConstPtr& line) {
// lock mutex before calling espeak functions
boost::mutex::scoped_lock u_lock(mtx);
/* Speak the string */
ROS_INFO("%s", line->data.c_str());
espeak_Synth(line->data.c_str(), line->data.length()+1, 0, POS_CHARACTER, 0,
espeakCHARS_AUTO | espeakPHONEMES | espeakENDPAUSE, NULL, NULL);
espeak_Synchronize();
//ROS_INFO("Speaking: \"%s\"", line->data.c_str());
}
bool wait_for_usec(Lock& lock, long usec)
{
BOOST_ASIO_ASSERT(lock.locked());
unique_lock_adapter u_lock(lock);
if ((state_ & 1) == 0)
{
waiter w(state_);
cond_.wait_for(u_lock.unique_lock_, std::chrono::microseconds(usec));
}
return (state_ & 1) != 0;
}
void dyn_cfg_callback(espeak_ros::EspeakConfig &cfg, uint32_t level) {
// lock mutex before calling espeak functions
boost::mutex::scoped_lock u_lock(mtx);
std::string voice, dialect;
voice = getVoiceName(cfg.voice);
dialect = getDialectName(cfg.dialect);
espeak_VOICE voice_select;
std::memset(&voice_select,0,sizeof(voice_select));
voice_select.name = voice.c_str();
voice_select.languages = dialect.c_str();
voice_select.age = cfg.age; // 0=not specified, or age in years
voice_select.gender = cfg.gender; // 0=none, 1=male, 2=female
if (espeak_SetVoiceByProperties(&voice_select) != EE_OK) {
ROS_ERROR("Could not set espeak voice properties. Aborting.");
return;
}
ROS_INFO("Using voice %s", voice.c_str());
ROS_INFO("Using dialect %s", dialect.c_str());
if (espeak_SetParameter(espeakRATE, cfg.rate, 0) != EE_OK) {
ROS_ERROR("Could not set espeak rate. Aborting.");
return;
}
if (espeak_SetParameter(espeakVOLUME, cfg.volume, 0) != EE_OK) {
ROS_ERROR("Could not set espeak volume. Aborting.");
return;
}
if (espeak_SetParameter(espeakPITCH, cfg.pitch, 0) != EE_OK) {
ROS_ERROR("Could not set espeak pitch. Aborting.");
return;
}
if (espeak_SetParameter(espeakRANGE, cfg.range, 0) != EE_OK) {
ROS_ERROR("Could not set espeak range. Aborting.");
return;
}
if (espeak_SetParameter(espeakPUNCTUATION,
espeak_PUNCT_TYPE(cfg.punctuation), 0) != EE_OK) {
ROS_ERROR("Could not set espeak punctuation. Aborting.");
return;
}
if (espeak_SetParameter(espeakCAPITALS, cfg.capitals, 0) != EE_OK) {
ROS_ERROR("Could not set espeak capitals. Aborting.");
return;
}
int wordgap = cfg.wordgap % 10;
if (espeak_SetParameter(espeakWORDGAP, wordgap, 0) != EE_OK) {
ROS_ERROR("Could not set espeak wordgap. Aborting.");
return;
}
}
threadpool::TaskType threadpool::getTask()
{
{ /// Wait For WakeUp
std::unique_lock<std::mutex> u_lock( m_mutex_wait );
m_cond.wait(u_lock , [&]()->bool { return !(m_running && m_task.empty()) ; });
}
std::lock_guard<std::mutex> lock( m_mutex );
TaskType task;
if ( !m_task.empty() )
{
task = m_task.front();
m_task.pop();
}
return task;
}
/**
* Check for duplicate Message ID
* @param op operation
* @return status
*/
static int wsman_is_duplicate_message_id(op_t * op)
{
WsXmlNodeH header = wsman_get_soap_header_element(op->in_doc, NULL, NULL);
int retVal = 0;
SoapH soap;
WsXmlNodeH msgIdNode;
soap = op->dispatch->soap;
msgIdNode = ws_xml_get_child(header, 0, XML_NS_ADDRESSING, WSA_MESSAGE_ID);
if (msgIdNode != NULL) {
lnode_t *node;
char *msgId;
msgId = ws_xml_get_node_text(msgIdNode);
if (msgId[0] == 0 ) {
generate_op_fault(op, WSA_INVALID_MESSAGE_INFORMATION_HEADER, 0 );
debug("MessageId missing");
return 1;
}
debug("Checking Message ID: %s", msgId);
u_lock(soap);
if (soap->processedMsgIdList == NULL) {
soap->processedMsgIdList = list_create(LISTCOUNT_T_MAX);
}
#ifndef IGNORE_DUPLICATE_ID
node = list_first(soap->processedMsgIdList);
while (node != NULL) {
if (!strcmp(msgId, (char *) node->list_data)) {
debug("Duplicate Message ID: %s", msgId);
retVal = 1;
generate_op_fault(op, WSA_INVALID_MESSAGE_INFORMATION_HEADER,
WSA_DETAIL_DUPLICATE_MESSAGE_ID);
break;
}
node = list_next(soap->processedMsgIdList, node);
}
#endif
if (!retVal) {
while (list_count(soap->processedMsgIdList) >= PROCESSED_MSG_ID_MAX_SIZE) {
node = list_del_first(soap->processedMsgIdList);
u_free(node->list_data);
u_free(node);
}
node = lnode_create(NULL);
if (node) {
node->list_data = u_str_clone(msgId);
if (node->list_data == NULL) {
u_free(node);
} else {
list_append(soap->processedMsgIdList, node);
}
}
}
u_unlock(soap);
} else if (!wsman_is_identify_request(op->in_doc)) {
generate_op_fault(op, WSA_MESSAGE_INFORMATION_HEADER_REQUIRED, 0);
debug("No MessageId Header found");
return 1;
}
return retVal;
}
