started doing weird stuff for speech recognition

CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf
   aruco
   message_generation
+  actionlib_msgs
 )
 
 add_service_files(
@@ -19,9 +20,16 @@ add_service_files(
     InformController.srv
 )
 
-generate_messages(DEPENDENCIES std_msgs)
+add_action_files(
+    DIRECTORY action
+    FILES
+    RequestSpeech.action
+    )
+
+generate_messages(DEPENDENCIES actionlib_msgs std_msgs)
+
 catkin_package(
-    CATKIN_DEPENDS message_runtime
+    CATKIN_DEPENDS message_runtime actionlib_msgs
     INCLUDE_DIRS include
 )
 

action/RequestSpeech.action

@@ -0,0 +1,5 @@
+string[] vocabulary
+----
+string result
+----
+bool success

package.xml

@@ -48,6 +48,7 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>aruco</build_depend>
   <build_depend>message_generation</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
   <run_depend>cv_bridge</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>roscpp</run_depend>
@@ -56,6 +57,7 @@
   <run_depend>std_msgs</run_depend>
   <run_depend>aruco</run_depend>
   <run_depend>message_runtime</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

script/calibrator.py

@@ -0,0 +1,11 @@
+#! /usr/bin/env python
+import rospy
+
+from controller import inform_controller_factory
+
+
+_inform_controller = inform_controller_factory('calibrator')
+
+
+if __name__ == '__main__':
+    rospy.init_node('teleoperation/calibrator')

script/controller.py

@@ -73,6 +73,6 @@ def handle_request(r):
 
 
 if __name__ == '__main__':
-    rospy.init_node('controller', log_level=rospy.INFO)
+    rospy.init_node('teleoperation/controller', log_level=rospy.INFO)
     ic = rospy.Service('inform_controller', InformController, handle_request)
     rospy.spin()

script/speech.py

@@ -0,0 +1,81 @@
+#! /usr/bin/env python
+import os
+
+import rospy
+import actionlib
+from naoqi import ALProxy, ALModule, ALBroker
+
+
+speech_broker = None
+almem = None
+sas = actionlib.SimpleActionServer()
+
+
+def request_speech(goal):
+    recognized = ''
+    if not speech_detector.start_speech(goal):
+        sas.publish_feedback(False)
+        return
+    while not sas.is_preempt_requested() and not speech_detector.have_word():
+        rospy.Rate(10).sleep()
+    speech_detector.stop_speech(goal)
+    if speech_detector.have_word():
+        recognized = speech_detector.get_recognized_and_erase()
+    sas.publish_feedback(True)
+    sas.set_succeeded(recognized)
+
+
+class SpeechDetectorModule(ALModule):
+
+    def __init__(self, name):
+        ALModule.__init__(self, name)
+        self.recognized = None
+        self.subid = 'teleoperation_speech'
+        self.asr = ALProxy('ALSpeechRecognition')
+        self.asr.setLanguage('English')
+        self.stop_speech()
+
+    def start_speech(self, voc):
+        if self.running:
+            return False
+        # self.stop_speech()
+        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):
+        self.asr.pause(True)
+        self.asr.unsubscribe(self.subid)
+        self.running = False
+
+    def on_word_recognized(self, *_args):
+        rospy.loginfo(almem.getData('WordRecognized'))
+
+
+if __name__ == '__main__':
+    rospy.init_node('speech')
+    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.start_speech(['start', 'stop', 'pause'])
+
+    while not rospy.is_shutdown():
+        rospy.Rate(4).sleep()
+
+    speech_detector.stop_speech()
+    speech_broker.shutdown()

script/walker.py

@@ -37,7 +37,7 @@ def _speed(pos, interval):
 
 
 if __name__ == '__main__':
-    rospy.init_node('walker')
+    rospy.init_node('teleoperation/walker')
     rospy.wait_for_service('inform_controller')
     ll = tf.TransformListener()
     mp = ALProxy('ALMotion', os.environ['NAO_IP'], 9559)