#include <openai_driver.hpp>

Inheritance diagram for fp_perception::OpenAISpeechDriver:

Collaboration diagram for fp_perception::OpenAISpeechDriver:

Public Member Functions
	OpenAISpeechDriver ()
	Construct a new OpenAI Speech Driver object.

	~OpenAISpeechDriver () override
	Destroy the OpenAI Speech Driver object.

void	initialize (const rclcpp::Node::SharedPtr &node) override
	Initialize the driver.

void	deinitialize () override
	Deinitialize the driver.

audio_data	synthesize (const text_data &new_text) override

void	test () override
	Test method for the driver.

Public Member Functions inherited from fp_perception::RestBase
	RestBase ()
	Constructor.

virtual	~RestBase ()
	Destructor.

virtual void	initialize_rest_base (const rclcpp::Node::SharedPtr &node, std::string plugin_name="RestBase", std::string api_key_name="")
	Initialize the REST base class.

virtual fp_perception::RESTResponse	call (const fp_perception::RESTRequest &req)
	Request data from the REST API.

virtual fp_perception::RESTResponse	call_audio (const fp_perception::RESTRequest &req)
	Request audio data from the REST API.

virtual fp_perception::RESTResponse	call_tts (const fp_perception::RESTRequest &req)

Public Member Functions inherited from fp_perception::DriverBase
virtual	~DriverBase ()=default

virtual std::string	getName () const
	Get the name of the driver.

void	check_directory (std::string folder_name)
	Check if the test directory exists, create it if not.

const std::filesystem::path	check_file (const std::string &file_name)

Protected Member Functions
std::string	resolve_voice (const text_data &new_text) const

std::string	resolve_instructions (const text_data &new_text) const

fp_perception::RESTResponse	synthesize_chunk (const std::string &chunk, const std::string &voice, const std::string &instructions)

std::vector< std::string >	split_text_into_chunks (const std::string &text) const

virtual nlohmann::json	toJson (const fp_perception::RESTRequest &request)
	Convert a prompt request to a JSON object.

virtual fp_perception::RESTResponse	fromJson (const nlohmann::json &object)
	Convert a JSON object to a fp_perception response.

void	produce_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &status)

Protected Member Functions inherited from fp_perception::RestBase
void	apply_timeouts (CURL *curl)

void	record_rest_result (bool success, long http_code, const std::string &error)

Protected Member Functions inherited from fp_perception::DriverBase
void	initialize_base (const rclcpp::Node::SharedPtr &node)
	Initializer base driver in place of constructor due to plugin semantics.

bool	diagnostics_enabled () const

void	enable_diagnostics (const std::string &hardware_id, const std::string &task_name, std::function< void(diagnostic_updater::DiagnosticStatusWrapper &)> task, std::chrono::milliseconds period=std::chrono::seconds(1))

void	disable_diagnostics ()

Static Protected Member Functions
static std::string	trim_copy (const std::string &text)

static size_t	count_words (const std::string &text)

static std::vector< std::string >	split_long_segment (const std::string &segment, size_t max_words)

Static Protected Member Functions inherited from fp_perception::RestBase
static std::string	build_http_error_message (long http_code, const std::string &response_data)

static size_t	write_callback (void contents, size_t size, size_t nmemb, std::string userp)

Protected Attributes
std::string	model_name_

std::string	test_text_

std::string	voice_

std::string	instructions_

std::string	test_file_path_ = "test_audio.wav"

bool	chunking_enabled_ = true

size_t	chunk_max_words_ = 200

size_t	chunk_parallel_requests_ = 3

fp_perception::RESTResponse	response_

audio_data	last_audio_

Protected Attributes inherited from fp_perception::RestBase
std::string	plugin_name_

std::string	uri_

std::string	method_

bool	ssl_verify_

std::string	auth_type_

std::string	api_key_

long	timeout_sec_ { 60 }

long	connect_timeout_sec_ { 10 }

std::atomic< uint64_t >	rest_request_count_ { 0 }

std::atomic< uint64_t >	rest_failure_count_ { 0 }

std::atomic< bool >	last_rest_success_ { true }

std::atomic< long >	last_rest_http_code_ { 0 }

std::mutex	rest_status_mutex_

std::string	last_rest_error_

Protected Attributes inherited from fp_perception::DriverBase
rclcpp::Node::SharedPtr	node_
	ROS node for the driver.

std::string	name_
	Name of the driver.

std::mutex	buffer_mutex_
	Mutex to protect access to the driver data.

std::condition_variable	buffer_cv_
	Condition variable to notify when new data is available.

std::atomic< bool >	is_running_ { false }
	Flag to indicate if the driver thread is running.

bool	diagnostics_enabled_ { false }
	Flag to enable standard ROS diagnostics publishing.

std::unique_ptr< diagnostic_updater::Updater >	diagnostics_updater_

rclcpp::TimerBase::SharedPtr	diagnostics_timer_

Constructor & Destructor Documentation

◆ OpenAISpeechDriver()

fp_perception::OpenAISpeechDriver::OpenAISpeechDriver ( )

inline

Construct a new OpenAI Speech Driver object.

◆ ~OpenAISpeechDriver()

fp_perception::OpenAISpeechDriver::~OpenAISpeechDriver ( )

inlineoverride

Destroy the OpenAI Speech Driver object.

Member Function Documentation

◆ count_words()

static size_t fp_perception::OpenAISpeechDriver::count_words ( const std::string & text )

inlinestaticprotected

◆ deinitialize()

void fp_perception::OpenAISpeechDriver::deinitialize ( )

inlineoverridevirtual

Deinitialize the driver.

Required by DriverBase. This driver holds no long-running resources beyond cached state and the ROS node pointer.

Implements fp_perception::DriverBase.

◆ fromJson()

virtual fp_perception::RESTResponse fp_perception::OpenAISpeechDriver::fromJson ( const nlohmann::json & object )

inlineprotectedvirtual

Convert a JSON object to a fp_perception response.

This method converts a JSON object received from the fp_perception plugin into a fp_perception response. It extracts the relevant fields from the JSON object and returns a fp_perception response object.

Parameters

object The JSON object to convert

Returns: A fp_perception response object containing the response data

Implements fp_perception::RestBase.

◆ initialize()

void fp_perception::OpenAISpeechDriver::initialize ( const rclcpp::Node::SharedPtr & node )

inlineoverridevirtual

Initialize the driver.

This function should be overridden in derived classes to provide specific initialization.

Parameters

node	Shared pointer to the ROS node

Reimplemented from fp_perception::DriverBase.

◆ produce_diagnostics()

void fp_perception::OpenAISpeechDriver::produce_diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & status )

inlineprotected

◆ resolve_instructions()

std::string fp_perception::OpenAISpeechDriver::resolve_instructions ( const text_data & new_text ) const

inlineprotected

◆ resolve_voice()

std::string fp_perception::OpenAISpeechDriver::resolve_voice ( const text_data & new_text ) const

inlineprotected

◆ split_long_segment()

static std::vector< std::string > fp_perception::OpenAISpeechDriver::split_long_segment	(	const std::string &	segment,
		size_t	max_words
	)

inlinestaticprotected

◆ split_text_into_chunks()

std::vector< std::string > fp_perception::OpenAISpeechDriver::split_text_into_chunks ( const std::string & text ) const

inlineprotected

◆ synthesize()

audio_data fp_perception::OpenAISpeechDriver::synthesize ( const text_data & new_text )

inlineoverridevirtual

Implements fp_perception::SpeechSynthesisDriver.

◆ synthesize_chunk()

fp_perception::RESTResponse fp_perception::OpenAISpeechDriver::synthesize_chunk	(	const std::string &	chunk,
		const std::string &	voice,
		const std::string &	instructions
	)

inlineprotected

◆ test()

void fp_perception::OpenAISpeechDriver::test ( )

inlineoverridevirtual

Test method for the driver.

This function can be overridden in derived classes to implement specific test logic.

Reimplemented from fp_perception::DriverBase.

◆ toJson()

virtual nlohmann::json fp_perception::OpenAISpeechDriver::toJson ( const fp_perception::RESTRequest & request )

inlineprotectedvirtual

Convert a prompt request to a JSON object.

This method converts the fp_perception request to a JSON object that can be sent to the fp_perception plugin. It includes the prompt text and options for the JSON object.

Parameters

prompt The fp_perception request to convert

Returns: A JSON object representing the prompt request

Implements fp_perception::RestBase.

◆ trim_copy()

static std::string fp_perception::OpenAISpeechDriver::trim_copy ( const std::string & text )

inlinestaticprotected

Member Data Documentation

◆ chunk_max_words_

size_t fp_perception::OpenAISpeechDriver::chunk_max_words_ = 200

protected

◆ chunk_parallel_requests_

size_t fp_perception::OpenAISpeechDriver::chunk_parallel_requests_ = 3

protected

◆ chunking_enabled_

bool fp_perception::OpenAISpeechDriver::chunking_enabled_ = true

protected

◆ instructions_

std::string fp_perception::OpenAISpeechDriver::instructions_

protected

◆ last_audio_

audio_data fp_perception::OpenAISpeechDriver::last_audio_

protected

◆ model_name_

std::string fp_perception::OpenAISpeechDriver::model_name_

protected

◆ response_

fp_perception::RESTResponse fp_perception::OpenAISpeechDriver::response_

protected

◆ test_file_path_

std::string fp_perception::OpenAISpeechDriver::test_file_path_ = "test_audio.wav"

protected

◆ test_text_

std::string fp_perception::OpenAISpeechDriver::test_text_

protected

◆ voice_

std::string fp_perception::OpenAISpeechDriver::voice_

protected

The documentation for this class was generated from the following file:

fp_perception_driver_speech/include/fp_perception_driver_speech/openai_driver.hpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ OpenAISpeechDriver()

◆ ~OpenAISpeechDriver()

Member Function Documentation

◆ count_words()

◆ deinitialize()

◆ fromJson()

◆ initialize()

◆ produce_diagnostics()

◆ resolve_instructions()

◆ resolve_voice()

◆ split_long_segment()

◆ split_text_into_chunks()

◆ synthesize()

◆ synthesize_chunk()

◆ test()

◆ toJson()

◆ trim_copy()

Member Data Documentation

◆ chunk_max_words_

◆ chunk_parallel_requests_

◆ chunking_enabled_

◆ instructions_

◆ last_audio_

◆ model_name_

◆ response_

◆ test_file_path_

◆ test_text_

◆ voice_