bob_q3tts.tts_node
==================

.. py:module:: bob_q3tts.tts_node


Classes
-------

.. autoapisummary::

   bob_q3tts.tts_node.TTSnode


Functions
---------

.. autoapisummary::

   bob_q3tts.tts_node.main


Module Contents
---------------

.. py:class:: TTSnode

   Bases: :py:obj:`rclpy.node.Node`


   ROS node that provides an interface to Qwen3-TTS with streaming text aggregation.


   .. py:attribute:: text_buffer
      :value: ''



   .. py:attribute:: last_text_time


   .. py:attribute:: text_queue


   .. py:attribute:: audio_queue


   .. py:attribute:: lock


   .. py:attribute:: file_index


   .. py:attribute:: inferred_target_sr
      :value: None



   .. py:attribute:: sub


   .. py:attribute:: pub


   .. py:attribute:: audio_pub


   .. py:attribute:: model
      :value: None



   .. py:attribute:: sd
      :value: None



   .. py:attribute:: sf
      :value: None



   .. py:attribute:: torch
      :value: None



   .. py:attribute:: tts_thread


   .. py:attribute:: audio_thread


   .. py:attribute:: flush_timer


   .. py:method:: _get_sf()

      Lazy load soundfile library.



   .. py:method:: text_callback(msg)

      Aggregate incoming words/text into sentences based on delimiters.



   .. py:method:: flush_timer_callback()

      Flush the text buffer if the timeout has passed.



   .. py:method:: tts_loop()

      Process the text queue and generate audio.



   .. py:method:: audio_loop()

      Consume the audio queue for playback and storage.



   .. py:method:: play_audio(audio_data, sr)

      Play audio using native library or configured executable.



   .. py:method:: _do_native_play(audio_data, sr)

      Internal helper for sounddevice.play.



   .. py:method:: resample_audio(audio_data, orig_sr, target_sr)

      Resample audio data using librosa if available, else linear interpolation.



   .. py:method:: _play_with_executable(executable, audio_data, sr)

      Play audio using an external command.



.. py:function:: main(args=None)