Restart voice text if verification fails

knorth55 · Jan 5, 2022 · cabde28 · cabde28
1 parent 8bad4f6
commit cabde28
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/3rdparty/voice_text/launch/voice_text.launch b/3rdparty/voice_text/launch/voice_text.launch
@@ -9,7 +9,8 @@
 
   <arg name="sound_play_respawn" default="true" />
 
-  <node name="voice_text" pkg="voice_text" type="voice_text" output="screen"
+  <node name="voice_text" pkg="voice_text" type="voice_text"
+        output="screen" respawn="true" respawn_delay="10"
         machine="$(arg voice_text_machine)">
     <remap from="text_to_speech" to="voice_text/text_to_speech" />
     <rosparam>

diff --git a/3rdparty/voice_text/src/voice_text.cpp.in b/3rdparty/voice_text/src/voice_text.cpp.in
@@ -94,6 +94,13 @@ public:
       }
       return false;
     }
+    VT_GetTTSInfo_JPN(VT_VERIFY_CODE, NULL, &ret, sizeof(int));
+    if (ret != 0) {
+      ROS_FATAL_STREAM("Verification failed (VT_VERIFY_CODE " << ret << ")");
+      return false;
+    }
+
+    // Print voice text info
     char szTmp[PATH_MAX];
     char szTmp2[PATH_MAX];
     VT_GetTTSInfo_JPN(VT_BUILD_DATE, NULL, szTmp, PATH_MAX);