[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 +75,21 @@
    :wait wait
    :timeout timeout))
 
+(defun speak-en-jp
+  (en-str jp-str
+   &key google (wait *speak-wait*) (topic-name "robotsound") (timeout *speak-timeout*) (debug nil))
+  "Speak english or japanese.
+   Speak languages are switched by 'speak_language' rosparam.
+   If 'speak_language' is 'japanese' (neglect up/down cases), use speak-jp.
+   Otherwise, use speak-en."
+  (let ((lang (ros::get-param "speak_language")))
+    (cond
+     ((and (stringp lang) (string= "JAPANESE" (string-upcase lang)))
+      (if debug (warn ";; Use Japanese~%"))
+      (speak-jp jp-str :google google :wait wait :topic-name topic-name :timeout timeout))
+     (t
+      (if debug (warn ";; Use English~%"))
+      (speak-en en-str :google google :wait wait :topic-name topic-name :timeout timeout))
+     )))
+
 (provide :speak) ;; end of speak.l

pr2eus/test/speak-test.l

@@ -21,6 +21,17 @@
 (deftest test-speak-google ()
   (assert (speak-google "bonjour" :timeout 10 :lang :fr)))
 
+(deftest test-speak-en-jp ()
+  (labels ((test-speak
+            ()
+            (and (speak-en-jp "hello, world" "こんにちは" :timeout 10 :debug t)
+            ;;   (speak-en-jp "hello, world" "こんにちは" :wait t :debug t)
+                 (speak-en-jp "hello, world" "こんにちは" :timeout 10 :google t :debug t))))
+    (assert (progn (test-speak)))
+    (assert (progn (ros::set-param "speak_language" "Japanese") (test-speak)))
+    (assert (progn (ros::set-param "speak_language" "English") (test-speak)))
+    ))
+
 (run-all-tests)
 (exit)