[pr2eus/speak.l, test/speak-test.l] Add speak-en-jp to switch languag…

…e by speak_language rosparam and add test codes

pr2eus/speak.l

@@ -75,4 +75,31 @@
    :wait wait
    :timeout timeout))
 
+(defun speak
+  (speach-string-candidates
+   &rest args)
+  "Speak with language selection.
+   Speak language name:
+     Speak language name is switched by 'speak_language' rosparam.
+     If no such rosparam is specified, speak \"en\".
+     speak_language should be related with speak-xx functinos, such as speak-jp and speak-en. Otherwise, speak function invokes error.
+   Argument:
+     speach-string-candidates argument is list of cons of language name and speak-string.
+     For example, '( (\"en\" . \"Hello\") (\"jp\" . \"こんにちわ\") )
+     If adequate argument are not specified, english string are selected."
+  (let* ((lang (or (ros::get-param "speak_language") "en"))
+         (speak-string (cdr (assoc lang speach-string-candidates :test #'string=))))
+    ;; Check argument
+    (unless speak-string
+      (warn ";; No speach string are specified for ~A from argumenta!! Use en string!!~%" lang)
+      (setq lang "en")
+      (setq speak-string (cdr (assoc lang speach-string-candidates :test #'string=))))
+    ;; Check speak-xx function existence.
+    (let ((speak-func (eval (read-from-string (format nil "'speak-~A" lang)))))
+      (unless (fboundp speak-func)
+        (error ";; No such speak function (speak-~A) defined!!~%" lang))
+      ;;(warn ";; ~A~%" (list speak-func speak-string args))
+      (apply (eval (read-from-string (format nil "#'speak-~A" lang))) speak-string args)
+      )))
+
 (provide :speak) ;; end of speak.l

pr2eus/test/speak-test.l

@@ -21,6 +21,20 @@
 (deftest test-speak-google ()
   (assert (speak-google "bonjour" :timeout 10 :lang :fr)))
 
+(deftest test-speak-en-jp ()
+  (labels ((test-speak
+            ()
+            (and (speak '(("en" . "hello, world") ("jp" . "こんにちは")) :timeout 10)
+            ;;   (speak '(("en" . "hello, world") ("jp" . "こんにちは")) :wait t :debug t)
+                 (speak '(("en" . "hello, world") ("jp" . "こんにちは")) :timeout 10 :google t)
+                 (speak '(("en" . "hello, world")) :timeout 10)
+                 )))
+    (assert (progn (test-speak)))
+    (assert (progn (ros::set-param "speak_language" "jp") (test-speak)))
+    (assert (progn (ros::set-param "speak_language" "en") (test-speak)))
+    (assert (progn (ros::set-param "speak_language" "en") (test-speak)))
+    ))
+
 (run-all-tests)
 (exit)