[WIP] Add speak function to switch language by speak_language rosparam and add test codes.

[iory]

This PR is related to #263

[pazeshun]

Travis failed:

�[0m�[32mstart testing [test-speak-en]




                                                                                
�[0m�[31m[ERROR] [1548818094.170974197]: unknown ros::param::get, key=speak_language�[0m



                                                                                
Call Stack (max depth: 20):



                                                                                
  0: at (intern (read-from-string (format nil "'speak-~A" lang)))



                                                                                
  1: at (functionp (intern (read-from-string (format nil "'speak-~A" lang))))




                                                                                
  2: at (if (functionp (intern (read-from-string (format nil "'speak-~A" lang)))) (progn (intern (read-from-string (format nil "#'speak-~A" lang)))))



                                                                                
  3: at (when (functionp (intern (read-from-string (format nil "'speak-~A" lang)))) (intern (read-from-string (format nil "#'speak-~A" lang))))



                                                                                
  4: at (let* ((lang (or (ros::get-param "speak_language") "en")) (speak-string (cdr (assoc lang speach-string-candidates :test #'string=))) (speak-func (when (functionp (intern (read-from-string (format nil "'speak-~A" lang)))) (intern (read-from-string (format nil "#'speak-~A" lang)))))) (unless speak-string (warn ";; No speach string are specified for ~A from argumenta!! Use english and speak-google!!~%" lang) (setq speak-string (cdr (assoc "en" speach-string-candidates :test #'string=))) (setq speak-func #'speak-google)) (unless speak-func (warn ";; No such speak function (speak-~A) defined!! Using google engine~%" lang) (setq speak-func #'speak-google)) (warn ";; ~A~%" (list (cadr speak-func) speak-string args)) (apply speak-func speak-string args))



                                                                                
  5: at (speak text :topic-name topic-name :wait wait)



                                                                                
  6: at (speak-en "hello, world")



                                                                                
  7: at (let* (failure (ret (speak-en "hello, world"))) (if (not ret) (send *unit-test* :increment-failure '(speak-en "hello, world") (format nil "") (escape-xml-string (subseq (send *error-output* :buffer) 0 (or (position 0 (send *error-output* :buffer)) (length (send *error-output* :buffer))))))))



                                                                                
  8: at (funcall func)



                                                                                
  9: at (funcall func)



                                                                                
  10: at (let ((func (symbol-function func-sym)) tm) (send *unit-test* :init-result func-sym) (format t "TEST-NAME: ~A~%" func-sym) (format t "  now testing...~%") (send *unit-test* :increment-test func-sym) (setq tm (now)) (funcall func) (send *unit-test* :set-time-to-current-result (send (now) :elapsed tm)))



                                                                                
  11: at (run-test u)



                                                                                
  12: at (while #:dolist1552 (setq u (pop #:dolist1552)) (run-test u))



                                                                                
  13: at (let ((u nil) (#:dolist1552 (send *unit-test* :functions))) nil (while #:dolist1552 (setq u (pop #:dolist1552)) (run-test u)) nil)



                                                                                
  14: at (dolist (u (send *unit-test* :functions)) (run-test u))



                                                                                
  15: at (run-all-tests)



                                                                                
�[1;31m/opt/ros/indigo/share/euslisp/jskeus/eus/Linux64/bin/irteusgl unittest-error: string expected in (intern (read-from-string (format nil "'speak-~A" lang))), exitting...�[0m



                                                                                
�[31m[ERROR] test (intern (read-from-string (format nil 'speak-~A lang))) failed ... (string expected 29).�[0m