jetson/ros2_ws/src/saltybot_tts_service/config/tts_service_params.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    tts_service:
+      voice_model_path: "/models/piper/en_US-lessac-medium.onnx"
+      sample_rate: 22050
+      speed: 1.0              # Normal playback speed
+      pitch: 1.0              # Normal pitch
+      volume: 0.8             # 0–1.0 (safety: reduced from 1.0)
+      audio_device: "Jabra"   # ALSA device name or alias
+      queue_max_size: 16      # Max queued TTS requests
+      autoplay: true          # Auto-play TTS on startup

jetson/ros2_ws/src/saltybot_tts_service/launch/tts_service.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    """Launch the TTS service node."""
+    package_dir = get_package_share_directory("saltybot_tts_service")
+    config_path = os.path.join(package_dir, "config", "tts_service_params.yaml")
+
+    # Declare launch arguments
+    voice_model_arg = DeclareLaunchArgument(
+        "voice_model",
+        default_value="/models/piper/en_US-lessac-medium.onnx",
+        description="Path to Piper voice model (ONNX)",
+    )
+
+    audio_device_arg = DeclareLaunchArgument(
+        "audio_device",
+        default_value="Jabra",
+        description="ALSA audio device name or alias",
+    )
+
+    # TTS service node
+    tts_node = Node(
+        package="saltybot_tts_service",
+        executable="tts_service_node",
+        name="tts_service",
+        parameters=[
+            config_path,
+            {"voice_model_path": LaunchConfiguration("voice_model")},
+            {"audio_device": LaunchConfiguration("audio_device")},
+        ],
+        respawn=False,
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            voice_model_arg,
+            audio_device_arg,
+            tts_node,
+        ]
+    )

jetson/ros2_ws/src/saltybot_tts_service/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>saltybot_tts_service</name>
+  <version>0.1.0</version>
+  <description>Central TTS (text-to-speech) service using Piper with action server, queue management, and Jabra audio output.</description>
+  <maintainer email="seb@vayrette.com">seb</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>rclcpp_action</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

jetson/ros2_ws/src/saltybot_tts_service/saltybot_tts_service/tts_service_node.py

@@ -0,0 +1,287 @@
+"""
+tts_service_node.py — Central TTS service using Piper with queue management and Jabra output (Issue #421).
+
+Overview
+────────
+Provides a centralized text-to-speech service using Piper (offline ONNX speech synthesis).
+Manages a priority queue with interrupt capability, outputs to Jabra speaker via ALSA/PulseAudio,
+and publishes TTS state updates.
+
+Subscribes
+──────────
+  /saltybot/tts_request    std_msgs/String   — text to synthesize (priority 0, deferrable)
+
+Services (Future)
+─────────────────
+  /saltybot/tts_speak      (action server)   — request with priority/interrupt (WIP)
+
+Publishers
+──────────
+  /saltybot/tts_state      std_msgs/String   — current state ("idle", "synthesizing", "playing")
+
+Parameters
+──────────
+  voice_model_path         str    '/models/piper/en_US-lessac-medium.onnx'
+  sample_rate              int    22050
+  speed                    float  1.0       (1.0 = normal, <1 = slower, >1 = faster)
+  pitch                    float  1.0
+  volume                   float  1.0       (0–1.0)
+  audio_device             str    'Jabra'   (ALSA device hint or empty for default)
+  queue_max_size           int    16
+  autoplay                 bool   True
+"""
+
+from __future__ import annotations
+
+import queue
+import threading
+import time
+from typing import Optional
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile
+from std_msgs.msg import String
+
+
+class TtsQueueItem:
+    """Item in the TTS priority queue."""
+    def __init__(self, text: str, priority: int = 0, interrupt: bool = False):
+        self.text = text.strip()
+        self.priority = priority  # 0 = normal, >0 = high priority
+        self.interrupt = interrupt  # True = interrupt current playback
+        self.timestamp = time.time()
+
+    def __lt__(self, other):
+        """Sort by priority (desc), then by timestamp (asc)."""
+        if self.priority != other.priority:
+            return self.priority > other.priority
+        return self.timestamp < other.timestamp
+
+
+class TtsServiceNode(Node):
+    """Central TTS service node using Piper with priority queue and Jabra output."""
+
+    def __init__(self):
+        super().__init__("tts_service")
+
+        # Parameters
+        self.declare_parameter("voice_model_path", "/models/piper/en_US-lessac-medium.onnx")
+        self.declare_parameter("sample_rate", 22050)
+        self.declare_parameter("speed", 1.0)
+        self.declare_parameter("pitch", 1.0)
+        self.declare_parameter("volume", 1.0)
+        self.declare_parameter("audio_device", "Jabra")
+        self.declare_parameter("queue_max_size", 16)
+        self.declare_parameter("autoplay", True)
+
+        self._model_path = self.get_parameter("voice_model_path").value
+        self._sample_rate = self.get_parameter("sample_rate").value
+        self._speed = self.get_parameter("speed").value
+        self._pitch = self.get_parameter("pitch").value
+        self._volume = self.get_parameter("volume").value
+        self._audio_device = self.get_parameter("audio_device").value or "default"
+        self._queue_max = self.get_parameter("queue_max_size").value
+        self._autoplay = self.get_parameter("autoplay").value
+
+        # Voice model (loaded on startup)
+        self._voice = None
+        self._voice_lock = threading.Lock()
+        self._load_voice_model()
+
+        # Queue and playback state
+        self._tts_queue = queue.PriorityQueue(maxsize=self._queue_max)
+        self._state = "idle"  # "idle", "synthesizing", "playing"
+        self._state_lock = threading.Lock()
+        self._current_interrupt = False
+
+        # QoS for publishers/subscribers
+        qos = QoSProfile(depth=5)
+
+        # Subscriptions
+        self.create_subscription(
+            String,
+            "/saltybot/tts_request",
+            self._on_tts_request,
+            qos,
+        )
+
+        # Publishers
+        self._state_pub = self.create_publisher(String, "/saltybot/tts_state", qos)
+
+        # Worker threads
+        if self._autoplay and self._voice is not None:
+            self._worker_thread = threading.Thread(
+                target=self._playback_worker, daemon=True, name="tts-worker"
+            )
+            self._worker_thread.start()
+
+        self.get_logger().info(
+            f"TtsServiceNode ready  voice={self._model_path}  "
+            f"device={self._audio_device}  autoplay={self._autoplay}"
+        )
+
+    # ── Voice Model Loading ────────────────────────────────────────────────────
+
+    def _load_voice_model(self) -> None:
+        """Preload Piper voice model on startup."""
+        try:
+            from piper import PiperVoice
+
+            with self._voice_lock:
+                if self._voice is not None:
+                    return
+
+            self.get_logger().info(f"Loading Piper model: {self._model_path}")
+            voice = PiperVoice.load(self._model_path)
+
+            # Test synthesis
+            list(voice.synthesize_stream_raw("Hello."))
+
+            with self._voice_lock:
+                self._voice = voice
+
+            self.get_logger().info("✓ Piper model preloaded successfully")
+        except Exception as e:
+            self.get_logger().error(f"✗ Failed to load Piper model: {e}")
+            self._voice = None
+
+    # ── Subscriptions ──────────────────────────────────────────────────────────
+
+    def _on_tts_request(self, msg: String) -> None:
+        """Handle incoming TTS requests."""
+        text = msg.data.strip()
+        if not text:
+            return
+
+        try:
+            item = TtsQueueItem(text, priority=0, interrupt=False)
+            self._tts_queue.put_nowait(item)
+            self.get_logger().debug(f"Queued TTS: {text[:50]}...")
+        except queue.Full:
+            self.get_logger().warn("TTS queue full, dropping request")
+
+    # ── Playback Worker ────────────────────────────────────────────────────────
+
+    def _playback_worker(self) -> None:
+        """Worker thread for TTS synthesis and playback."""
+        while rclpy.ok():
+            try:
+                # Get next item from priority queue
+                item = self._tts_queue.get(timeout=1.0)
+
+                # Check for interrupt
+                with self._state_lock:
+                    if self._current_interrupt:
+                        self.get_logger().info("Interrupted playback")
+                        self._current_interrupt = False
+                        continue
+
+                self._synthesize_and_play(item)
+
+            except queue.Empty:
+                continue
+            except Exception as e:
+                self.get_logger().error(f"Playback worker error: {e}")
+
+    def _synthesize_and_play(self, item: TtsQueueItem) -> None:
+        """Synthesize text and play audio via ALSA/PulseAudio."""
+        with self._state_lock:
+            self._state = "synthesizing"
+        self._publish_state()
+
+        try:
+            with self._voice_lock:
+                voice = self._voice
+                if voice is None:
+                    self.get_logger().error("Voice model not loaded")
+                    return
+
+            # Synthesize audio
+            audio_chunks = list(
+                voice.synthesize_stream_raw(
+                    item.text,
+                    speaker=None,
+                )
+            )
+
+            # Combine audio chunks into single buffer
+            import numpy as np
+
+            audio_data = b"".join(audio_chunks)
+            audio_array = np.frombuffer(audio_data, dtype=np.int16)
+
+            # Apply volume scaling
+            audio_array = (audio_array * self._volume).astype(np.int16)
+
+            with self._state_lock:
+                self._state = "playing"
+            self._publish_state()
+
+            # Play audio via ALSA/PulseAudio
+            self._play_audio(audio_array)
+
+            self.get_logger().info(f"✓ Played: {item.text[:50]}...")
+
+        except Exception as e:
+            self.get_logger().error(f"Synthesis/playback error: {e}")
+        finally:
+            with self._state_lock:
+                self._state = "idle"
+            self._publish_state()
+
+    def _play_audio(self, audio_array) -> None:
+        """Play audio buffer via ALSA/PulseAudio to Jabra device."""
+        try:
+            import subprocess
+            import numpy as np
+
+            # Convert audio to WAV format and pipe to aplay
+            import io
+            import wave
+
+            wav_buffer = io.BytesIO()
+            with wave.open(wav_buffer, "wb") as wav:
+                wav.setnchannels(1)
+                wav.setsampwidth(2)
+                wav.setframerate(self._sample_rate)
+                wav.writeframes(audio_array.tobytes())
+
+            wav_data = wav_buffer.getvalue()
+
+            # Attempt to play via ALSA with Jabra device hint
+            cmd = ["aplay", "-D", self._audio_device, "-q"]
+            proc = subprocess.Popen(cmd, stdin=subprocess.PIPE, stderr=subprocess.PIPE)
+            proc.communicate(input=wav_data, timeout=30)
+
+        except FileNotFoundError:
+            self.get_logger().warn("aplay not found; audio playback unavailable")
+        except Exception as e:
+            self.get_logger().error(f"Audio playback error: {e}")
+
+    # ── State Publishing ───────────────────────────────────────────────────────
+
+    def _publish_state(self) -> None:
+        """Publish current TTS state."""
+        with self._state_lock:
+            state = self._state
+
+        msg = String()
+        msg.data = state
+        self._state_pub.publish(msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = TtsServiceNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.try_shutdown()
+
+
+if __name__ == "__main__":
+    main()

jetson/ros2_ws/src/saltybot_tts_service/setup.cfg

@@ -0,0 +1,5 @@
+[develop]
+script_dir=$base/lib/saltybot_tts_service
+
+[install]
+script_dir=$base/lib/saltybot_tts_service

jetson/ros2_ws/src/saltybot_tts_service/setup.py

@@ -0,0 +1,22 @@
+from setuptools import setup, find_packages
+
+setup(
+    name='saltybot_tts_service',
+    version='0.1.0',
+    packages=find_packages(),
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/saltybot_tts_service']),
+        ('share/saltybot_tts_service', ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    author='seb',
+    author_email='seb@vayrette.com',
+    description='Central TTS service with Piper, action server, and queue management',
+    license='Apache-2.0',
+    entry_points={
+        'console_scripts': [
+            'tts_service_node = saltybot_tts_service.tts_service_node:main',
+        ],
+    },
+)

jetson/ros2_ws/src/saltybot_tts_service/test/test_tts_service.py

@@ -0,0 +1,40 @@
+"""Unit tests for TTS service node."""
+
+import unittest
+from saltybot_tts_service.tts_service_node import TtsQueueItem
+
+
+class TestTtsQueueItem(unittest.TestCase):
+    """Test TtsQueueItem priority and sorting."""
+
+    def test_queue_item_creation(self):
+        """Test creating a TTS queue item."""
+        item = TtsQueueItem("Hello world", priority=0)
+        self.assertEqual(item.text, "Hello world")
+        self.assertEqual(item.priority, 0)
+        self.assertFalse(item.interrupt)
+
+    def test_queue_item_priority_sorting(self):
+        """Test that items sort by priority (descending) then timestamp (ascending)."""
+        import time
+
+        item1 = TtsQueueItem("Low priority", priority=0)
+        time.sleep(0.01)  # Ensure different timestamp
+        item2 = TtsQueueItem("High priority", priority=1)
+
+        # item2 should be < item1 in priority queue (higher priority = lower value)
+        self.assertTrue(item2 < item1)
+
+    def test_queue_item_strips_whitespace(self):
+        """Test that text is stripped of whitespace."""
+        item = TtsQueueItem("  Hello world  ")
+        self.assertEqual(item.text, "Hello world")
+
+    def test_queue_item_interrupt_flag(self):
+        """Test interrupt flag."""
+        item = TtsQueueItem("Interrupt me", interrupt=True)
+        self.assertTrue(item.interrupt)
+
+
+if __name__ == "__main__":
+    unittest.main()