[voice_text] Support new ReadSpeaker API and load libraries dynamically

3rdparty/voice_text/CMakeLists.txt

@@ -1,11 +1,16 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5.1)
 project(voice_text)
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-write-strings")
+
 find_package(catkin REQUIRED COMPONENTS
   dynamic_reconfigure
   roscpp
   message_generation)
 
-find_package(Boost REQUIRED COMPONENTS filesystem)
+find_package(Boost REQUIRED COMPONENTS
+  filesystem)
 
 generate_dynamic_reconfigure_options(
   cfg/VoiceText.cfg
@@ -20,57 +25,19 @@ generate_messages()
 
 catkin_package(CATKIN_DEPENDS message_runtime)
 
-file(GLOB VT_ROOT /usr/vt/*/*)
-if(NOT VT_ROOT)
-  message(WARNING "VoiceText directory should be /usr/vt/*/* (e.g., /usr/vt/sayaka/M16) but is not found")
-  set(VT_ROOT /usr/vt/sayaka/M16)  # default value for following configure_file
-else()
-  if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "4")
-    set(VT_LIB_PATH_OLD ${VT_ROOT}/bin/x86_32/RAMIO/libvt_jpn.so)  # e.g., /usr/vt/sayaka/M16/bin/x86_32/RAMIO/libvt_jpn.so
-    set(VT_LIB_PATH_NEW ${VT_ROOT}/bin/LINUX32_GLIBC3/RAMIO/libvt_jpn.so)  # e.g., /usr/vt/risa/H16/bin/LINUX32_GLIBC3/RAMIO/libvt_jpn.so
-  elseif("${CMAKE_SIZEOF_VOID_P}" STREQUAL "8")
-    set(VT_LIB_PATH_OLD ${VT_ROOT}/bin/x86_64/RAMIO/libvt_jpn.so)  # e.g., /usr/vt/sayaka/M16/bin/x86_64/RAMIO/libvt_jpn.so
-    set(VT_LIB_PATH_NEW ${VT_ROOT}/bin/LINUX64_GLIBC3/RAMIO/libvt_jpn.so)  # e.g., /usr/vt/risa/H16/bin/LINUX64_GLIBC3/RAMIO/libvt_jpn.so
-  endif()
-  if(EXISTS ${VT_LIB_PATH_OLD})
-    set(VT_LIB_PATH ${VT_LIB_PATH_OLD})
-  else()
-    if(EXISTS ${VT_LIB_PATH_NEW})
-      set(VT_LIB_PATH ${VT_LIB_PATH_NEW})
-    endif()
-  endif()
-  if(VT_LIB_PATH)
-    message(WARNING "VoiceText library is found at ${VT_LIB_PATH}")
-  else()
-    message(WARNING "VoiceText library is not found at ${VT_LIB_PATH_OLD} or ${VT_LIB_PATH_NEW}")
-  endif()
-endif()
-configure_file(src/voice_text.cpp.in ${PROJECT_SOURCE_DIR}/src/voice_text.cpp)
-
-  include_directories(
-    ${Boost_INCLUDE_DIRS}
-    ${catkin_INCLUDE_DIRS}
-  )
-  add_executable(voice_text src/voice_text.cpp)
-  add_dependencies(voice_text ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
-  set_target_properties(voice_text PROPERTIES COMPILE_FLAGS -D_REENTRANT)
+include_directories(
+  include
+  ${Boost_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
 
-if(NOT VT_LIB_PATH)
-  message(WARNING "Building dummy library")
-  add_library(vt_dummy src/dummy/vt_dummy.cpp)
-  set_target_properties(vt_dummy PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR})
-  set_target_properties(vt_dummy PROPERTIES LIBRARY_OUTPUT_NAME vt_jpn)
-  set_target_properties(voice_text PROPERTIES COMPILE_FLAGS -DUSE_DUMMY_INCLUDE)
-  set(VT_LIB_PATH ${PROJECT_BINARY_DIR}/libvt_jpn.so)
-endif()
+add_executable(voice_text src/voice_text.cpp src/vt_handler.cpp)
+add_dependencies(voice_text ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
+set_target_properties(voice_text PROPERTIES COMPILE_FLAGS -D_REENTRANT)
 
-  target_link_libraries(voice_text
-    ${catkin_LIBRARIES}
-    ${VT_LIB_PATH} -lm -lpthread
-  )
-if(NOT EXISTS ${VT_LIB_PATH})
-  add_dependencies(voice_text vt_dummy)
-endif()
+target_link_libraries(voice_text
+    ${catkin_LIBRARIES} -lm -lpthread -ldl
+)
 
 install(TARGETS voice_text # do not install vt_dummy target, that should be installed from voice_text library
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

3rdparty/voice_text/README.md

@@ -5,9 +5,20 @@ ROS Interface for HOYA VoiceText Speech Synthesis Engine
 
 ## Installation
 
-1. Install VoiceText SDK
-2. Put license file
-3. Build this package
+### 1. Install VoiceText SDK
+#### If you have voicetext sdk install binary, please follow the official guide and install both engine and SDK
+#### If you don't have the sdk install binary but have ReadSpeaker API binary, please follow the guide below.
+1. Install VoiceText Engine by official guide
+2. Copy VoiceText API binaries to VoiceText binary directory
+  VoiceText API package includes binary libraries and header file. You have to copy those of them to specific directory by executing following commands.
+  ```bash
+  cd /path_to_api_package_directory # e.g. cd ~/Downloads/RS_VTAPI_SDK_Linux_4.3.0.2/20201113_VTAPI4.3.0.2_LINUX
+  cd bin/x64 # You have to cd x86 if your system is x86 architecture
+  # Assuming VoiceText engine's talker is hikari, type is D16. If it is different, please set appropriate directory.
+  sudo cp -a * /usr/vt/hikari/D16/bin # Don't forget to add -a not to break symbolic link. 
+  ```
+### 2. Put license file
+### 3. Build this package
 
 ```bash
 cd /path/to/catkin_workspace

3rdparty/voice_text/include/vt_handler.h

@@ -0,0 +1,105 @@
+/*
+ * vt_handler.h
+ * Author: Yoshiki Obinata <obinata@jsk.imi.i.u-tokyo.ac.jp>
+ */
+
+#ifndef VT_HANDLER_H_
+#define VT_HANDLER_H_
+
+#include <cstdlib>
+#include <dlfcn.h>
+#include <glob.h>
+#include <string>
+#include <boost/filesystem.hpp>
+
+// logging
+#include <ros/ros.h>
+
+#include "vt_jpn.h"
+#include "vtapi.h"
+
+#if __x86_64__ || __ppc64__
+#define ENV64
+#else
+#define ENV32
+#endif
+
+typedef enum VT_TYPE{
+NO_VT,
+VT_SDK,
+VT_API
+} VT_Types;
+
+namespace fs = boost::filesystem;
+
+class VTHandler{
+    public:
+        VTHandler(const std::string license_path, const std::string db_path);
+        ~VTHandler();
+        bool VTH_TextToFile(const int pitch, const int speed, const int volume, const int pause,
+                            const std::string text, const std::string wave_path);
+
+    private:
+        void* dl_handle;
+        VT_Types vt_type;
+
+        // define handle
+        bool LoadSym();
+
+        // Load symbols
+        // Related to VoiceText SDK
+        std::vector<char*> VTSDK_func_ = {
+        "VT_LOADTTS_JPN",
+        "VT_UNLOADTTS_JPN",
+        "VT_GetTTSInfo_JPN",
+        "VT_TextToFile_JPN"
+        };
+
+        // Related to ReadSpeaker API
+        std::vector<char*> VTAPI_func_ = {
+        "VTAPI_Init",
+        "VTAPI_CreateHandle",
+        "VTAPI_SetLicenseFolder",
+        "VTAPI_GetEngine",
+        "VTAPI_SetEngineHandle",
+        "VTAPI_SetAttr",
+        "VTAPI_SetOutputFile",
+        "VTAPI_TextToFile",
+        "VTAPI_GetLastErrorInfo",
+        "VTAPI_ReleaseHandle",
+        "VTAPI_UnloadEngine",
+        "VTAPI_Exit"
+        };
+
+        // symbol map
+        std::map<char*, void*> VTSDK_s_map_;
+        std::map<char*, void*> VTAPI_s_map_;
+
+        // Load Functions
+        // Related to VoiceText SDK
+        short (*VT_LOADTTS_JPN)(HWND, int, char*, char*);
+        void (*VT_UNLOADTTS_JPN)(int);
+        int (*VT_GetTTSInfo_JPN)(int, char*, void*, int);
+        short (*VT_TextToFile_JPN)(int, char*, char*, int, int, int, int, int, int, int);
+
+        // Related to ReadSpeaker API
+        int (*VTAPI_Init)(char*);
+        VTAPI_HANDLE (*VTAPI_CreateHandle)();
+        void (*VTAPI_SetLicenseFolder)(char*);
+        VTAPI_ENGINE_HANDLE (*VTAPI_GetEngine)(char*, char*);
+        int (*VTAPI_SetEngineHandle)(VTAPI_HANDLE, VTAPI_ENGINE_HANDLE);
+        int (*VTAPI_SetAttr)(VTAPI_HANDLE, int, int);
+        int (*VTAPI_SetOutputFile)(VTAPI_HANDLE, char*, int);
+        int (*VTAPI_TextToFile)(VTAPI_HANDLE, void*, int, int);
+        VTAPI_ERRS_INFO* (*VTAPI_GetLastErrorInfo)(VTAPI_HANDLE);
+        void (*VTAPI_ReleaseHandle)(VTAPI_HANDLE);
+        int (*VTAPI_UnloadEngine)(VTAPI_ENGINE_HANDLE);
+        void (*VTAPI_Exit)();
+
+        // ReadSpeaker API handler
+        VTAPI_HANDLE hVTAPI;
+        VTAPI_ENGINE_HANDLE hEngine;
+};
+
+
+#endif // VT_HANDLER_H_