Create eSpeakSynthesizer device

libraries/CMakeLists.txt

@@ -1,2 +1,3 @@
-add_subdirectory(SpeechIDL)
 add_subdirectory(Espeak)
+add_subdirectory(SpeechIDL)
+add_subdirectory(YarpPlugins)

libraries/YarpPlugins/CMakeLists.txt

@@ -0,0 +1,2 @@
+# Create devices.
+add_subdirectory(eSpeakSynthesizer)

libraries/YarpPlugins/eSpeakSynthesizer/CMakeLists.txt

@@ -0,0 +1,27 @@
+yarp_prepare_plugin(eSpeakSynthesizer
+                    CATEGORY device
+                    TYPE roboticslab::eSpeakSynthesizer
+                    INCLUDE eSpeakSynthesizer.hpp
+                    DEFAULT ON
+                    DEPENDS "YARP_VERSION VERSION_GREATER_EQUAL 3.9;Espeak_FOUND")
+
+if(NOT SKIP_eSpeakSynthesizer)
+
+    message("ESPEAK_LIBRARY: ${ESPEAK_LIBRARY}")
+
+    yarp_add_plugin(eSpeakSynthesizer eSpeakSynthesizer.hpp
+                                      DeviceDriverImpl.cpp
+                                      ISpeechSynthesizerImpl.cpp
+                                      LogComponent.hpp
+                                      LogComponent.cpp)
+
+    target_link_libraries(eSpeakSynthesizer YARP::YARP_os
+                                            YARP::YARP_dev
+                                            Espeak::Espeak)
+
+    yarp_install(TARGETS eSpeakSynthesizer
+                 LIBRARY DESTINATION ${ROBOTICSLAB-SPEECH_DYNAMIC_PLUGINS_INSTALL_DIR}
+                 ARCHIVE DESTINATION ${ROBOTICSLAB-SPEECH_STATIC_PLUGINS_INSTALL_DIR}
+                 YARP_INI DESTINATION ${ROBOTICSLAB-SPEECH_PLUGIN_MANIFESTS_INSTALL_DIR})
+
+endif()

libraries/YarpPlugins/eSpeakSynthesizer/DeviceDriverImpl.cpp

@@ -0,0 +1,44 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+#include "eSpeakSynthesizer.hpp"
+
+#include <yarp/os/LogStream.h>
+
+#include <espeak/speak_lib.h>
+
+#include "LogComponent.hpp"
+
+using namespace roboticslab;
+
+// ------------------- DeviceDriver Related ------------------------------------
+
+bool eSpeakSynthesizer::open(yarp::os::Searchable & config)
+{
+    espeak_AUDIO_OUTPUT output = AUDIO_OUTPUT_PLAYBACK;
+    int buflength = 500;
+    char * path = nullptr;
+    int options = 0;
+
+    if (espeak_Initialize(output, buflength, path, options) == EE_INTERNAL_ERROR)
+    {
+        yCError(ESS) << "espeak_Initialize() failed";
+        return false;
+    }
+
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool eSpeakSynthesizer::close()
+{
+    if (espeak_Terminate() != EE_OK)
+    {
+        yCError(ESS) << "espeak_Terminate() failed";
+        return false;
+    }
+
+    return true;
+}
+
+// -----------------------------------------------------------------------------

libraries/YarpPlugins/eSpeakSynthesizer/ISpeechSynthesizerImpl.cpp

@@ -0,0 +1,120 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+#include "eSpeakSynthesizer.hpp"
+
+#include <algorithm> // std::clamp
+
+#include <yarp/os/LogStream.h>
+
+#include <espeak/speak_lib.h>
+
+#include "LogComponent.hpp"
+
+using namespace roboticslab;
+
+namespace
+{
+    constexpr auto MIN_SPEED = 80;
+    constexpr auto MAX_SPEED = 450;
+
+    inline int userToLibSpeed(double userSpeed)
+    {
+        return static_cast<int>(MIN_SPEED + (MAX_SPEED - MIN_SPEED) * userSpeed);
+    }
+
+    inline double libToUserSpeed(int libSpeed)
+    {
+        return static_cast<double>(libSpeed - MIN_SPEED) / (MAX_SPEED - MIN_SPEED);
+    }
+
+    inline int userToLibPitch(double userPitch)
+    {
+        return static_cast<int>(userPitch * 100.0);
+    }
+
+    inline double libToUserPitch(int libPitch)
+    {
+        return static_cast<double>(libPitch) / 100.0;
+    }
+}
+
+// ------------------- ISpeechSynthesizer Related ------------------------------------
+
+bool eSpeakSynthesizer::setLanguage(const std::string & language)
+{
+    yCInfo(ESS) << "Setting language to:" << language;
+    espeak_VOICE voice_spec = {};
+    voice_spec.languages = language.c_str();
+    return espeak_SetVoiceByProperties(&voice_spec) == EE_OK;
+}
+
+// -----------------------------------------------------------------------------
+
+bool eSpeakSynthesizer::getLanguage(std::string & language)
+{
+    const auto * voice = espeak_GetCurrentVoice();
+    language = voice->languages;
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool eSpeakSynthesizer::setVoice(const std::string & voice_name)
+{
+    yCInfo(ESS) << "Setting voice to:" << voice_name;
+    return espeak_SetVoiceByName(voice_name.c_str()) == EE_OK;
+}
+
+// -----------------------------------------------------------------------------
+
+bool eSpeakSynthesizer::getVoice(std::string & voice_name)
+{
+    const auto * voice = espeak_GetCurrentVoice();
+    voice_name = voice->name;
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool eSpeakSynthesizer::setSpeed(const double speed)
+{
+    auto clamped = std::clamp(speed, 0.0, 1.0);
+    yCInfo(ESS) << "Setting speed to:" << clamped;
+    return espeak_SetParameter(espeakRATE, userToLibSpeed(clamped), 0) == EE_OK;
+}
+
+// -----------------------------------------------------------------------------
+
+bool eSpeakSynthesizer::getSpeed(double & speed)
+{
+    auto original = espeak_GetParameter(espeakRATE, 1);
+    speed = libToUserSpeed(original);
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool eSpeakSynthesizer::setPitch(const double pitch)
+{
+    auto clamped = std::clamp(pitch, 0.0, 1.0);
+    yCInfo(ESS) << "Setting pitch to:" << clamped;
+    return espeak_SetParameter(espeakPITCH, userToLibPitch(clamped), 0) == EE_OK;
+}
+
+// -----------------------------------------------------------------------------
+
+bool eSpeakSynthesizer::getPitch(double & pitch)
+{
+    auto original = espeak_GetParameter(espeakPITCH, 1);
+    pitch = libToUserPitch(original);
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool eSpeakSynthesizer::synthesize(const std::string & text, yarp::sig::Sound & sound)
+{
+    return false;
+}
+
+// -----------------------------------------------------------------------------

libraries/YarpPlugins/eSpeakSynthesizer/LogComponent.cpp

@@ -0,0 +1,3 @@
+#include "LogComponent.hpp"
+
+YARP_LOG_COMPONENT(ESS, "rl.eSpeakSynthesizer")

libraries/YarpPlugins/eSpeakSynthesizer/LogComponent.hpp

@@ -0,0 +1,8 @@
+#ifndef __ESPEAK_SYNTHESIZER_LOG_COMPONENT_HPP__
+#define __ESPEAK_SYNTHESIZER_LOG_COMPONENT_HPP__
+
+#include <yarp/os/LogComponent.h>
+
+YARP_DECLARE_LOG_COMPONENT(ESS)
+
+#endif // __ESPEAK_SYNTHESIZER_LOG_COMPONENT_HPP__

libraries/YarpPlugins/eSpeakSynthesizer/eSpeakSynthesizer.hpp

@@ -0,0 +1,47 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+#ifndef __ESPEAK_SYNTHESIZER_HPP__
+#define __ESPEAK_SYNTHESIZER_HPP__
+
+#include <yarp/dev/DeviceDriver.h>
+#include <yarp/dev/ISpeechSynthesizer.h>
+
+namespace roboticslab
+{
+
+/**
+ * @ingroup YarpPlugins
+ * @defgroup eSpeakSynthesizer
+ *
+ * @brief Contains roboticslab::eSpeakSynthesizer.
+ */
+
+/**
+ * @ingroup eSpeakSynthesizer
+ * @brief The eSpeakSynthesizer class implements ISpeechSynthesizer.
+ */
+class eSpeakSynthesizer : public yarp::dev::DeviceDriver,
+                          public yarp::dev::ISpeechSynthesizer
+{
+public:
+    // -- ISpeechSynthesizer declarations. Implementation in ISpeechSynthesizerImpl.cpp --
+    bool setLanguage(const std::string & language = "auto") override;
+    bool getLanguage(std::string & language) override;
+    bool setVoice(const std::string & voice_name = "auto") override;
+    bool getVoice(std::string & voice_name) override;
+    bool setSpeed(const double speed = 0) override;
+    bool getSpeed(double & speed) override;
+    bool setPitch(const double pitch) override;
+    bool getPitch(double & pitch) override;
+    bool synthesize(const std::string & text, yarp::sig::Sound & sound) override;
+
+    // -------- DeviceDriver declarations. Implementation in DeviceDriverImpl.cpp --------
+    bool open(yarp::os::Searchable & config) override;
+    bool close() override;
+
+private:
+};
+
+} // namespace roboticslab
+
+#endif // __ESPEAK_SYNTHESIZER_HPP__