did some work

script/speech_server.py

@@ -0,0 +1,104 @@
+#! /usr/bin/env python
+import os
+
+import rospy
+import actionlib
+from naoqi import ALProxy, ALModule, ALBroker
+
+from teleoperation.msg import RequestSpeechAction, RequestSpeechResult
+
+
+speech_broker = None
+almem = None
+r = False
+
+
+def request_speech(goal):
+    if not speech_detector.start_speech(goal.vocabulary):
+        sas.set_succeeded(RequestSpeechResult(word=''))
+        return
+
+    while not sas.is_preempt_requested() and not speech_detector.have_word():
+        rospy.Rate(10).sleep()
+
+    if speech_detector.have_word():
+        recognized = speech_detector.get_recognized_and_erase()
+    else:
+        speech_detector.stop_speech()
+        recognized = ''
+
+    sas.set_succeeded(RequestSpeechResult(word=recognized))
+
+
+class SpeechDetectorModule(ALModule):
+
+    def __init__(self, name):
+        ALModule.__init__(self, name)
+        self.recognized = None
+        self.subid = 'teleoperation_speech'
+        self.voc = []
+        self.asr = ALProxy('ALSpeechRecognition')
+        self.tts = ALProxy('ALTextToSpeech')
+        self.asr.setLanguage('English')
+        self.running = False
+
+    def start_speech(self, voc):
+        if self.running:
+            return False
+        self.voc = voc
+        self.asr.setVocabulary(voc, False)
+        self.asr.subscribe(self.subid)
+        self.asr.pause(False)
+        self.running = True
+        return True
+
+    def have_word(self):
+        return self.recognized is not None
+
+    def get_recognized_and_erase(self):
+        result = self.recognized
+        self.recognized = None
+        return result
+
+    def stop_speech(self):
+        if not self.running:
+            return
+        self.asr.unsubscribe(self.subid)
+        self.asr.pause(True)
+        self.running = False
+
+    def on_word_recognized(self, *_args):
+        word, conf = almem.getData('WordRecognized')
+        if conf > 0.4:
+            self.stop_speech()
+            self.tts.say(word)
+            self.recognized = word
+        else:
+            self.stop_speech()
+            self.tts.say('I didn\'t understand. Please repeat')
+            self.start_speech(self.voc)
+
+
+
+if __name__ == '__main__':
+    rospy.init_node('speech_server')
+    speech_broker = ALBroker('speech_broker', '0.0.0.0', 0,
+                             os.environ['NAO_IP'], 9559)
+    speech_detector = SpeechDetectorModule('speech_detector')
+    almem = ALProxy('ALMemory')
+    almem.subscribeToEvent("WordRecognized",
+                           "speech_detector",
+                           "on_word_recognized")
+    speech_detector.asr.pause(True)
+    sas = actionlib.SimpleActionServer('speech_server', RequestSpeechAction,
+                                       execute_cb=request_speech,
+                                       auto_start=False)
+    sas.start()
+
+    while not rospy.is_shutdown():
+        rospy.Rate(4).sleep()
+
+    if speech_detector.running:
+        speech_detector.stop_speech()
+
+    speech_broker.shutdown()