From cabde28fb1a1d445d7ad1adc34954802fef977f0 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 16 Dec 2021 13:47:04 +0900
Subject: [PATCH] Restart voice text if verification fails

---
 3rdparty/voice_text/launch/voice_text.launch | 3 ++-
 3rdparty/voice_text/src/voice_text.cpp.in    | 7 +++++++
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/3rdparty/voice_text/launch/voice_text.launch b/3rdparty/voice_text/launch/voice_text.launch
index 8e12b5ba4..95e7d781f 100644
--- a/3rdparty/voice_text/launch/voice_text.launch
+++ b/3rdparty/voice_text/launch/voice_text.launch
@@ -9,7 +9,8 @@
 
   <arg name="sound_play_respawn" default="true" />
 
-  <node name="voice_text" pkg="voice_text" type="voice_text" output="screen"
+  <node name="voice_text" pkg="voice_text" type="voice_text"
+        output="screen" respawn="true" respawn_delay="10"
         machine="$(arg voice_text_machine)">
     <remap from="text_to_speech" to="voice_text/text_to_speech" />
     <rosparam>
diff --git a/3rdparty/voice_text/src/voice_text.cpp.in b/3rdparty/voice_text/src/voice_text.cpp.in
index 1022e3d15..372bb5bfa 100644
--- a/3rdparty/voice_text/src/voice_text.cpp.in
+++ b/3rdparty/voice_text/src/voice_text.cpp.in
@@ -94,6 +94,13 @@ public:
       }
       return false;
     }
+    VT_GetTTSInfo_JPN(VT_VERIFY_CODE, NULL, &ret, sizeof(int));
+    if (ret != 0) {
+      ROS_FATAL_STREAM("Verification failed (VT_VERIFY_CODE " << ret << ")");
+      return false;
+    }
+
+    // Print voice text info
     char szTmp[PATH_MAX];
     char szTmp2[PATH_MAX];
     VT_GetTTSInfo_JPN(VT_BUILD_DATE, NULL, szTmp, PATH_MAX);