112 lines
3.1 KiB
Python
Executable File
112 lines
3.1 KiB
Python
Executable File
#! /usr/bin/env python
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import os
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import rospy
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import actionlib
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from naoqi import ALProxy, ALModule, ALBroker
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from teleoperation.msg import RequestSpeechAction, RequestSpeechResult
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speech_broker = None
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almem = None
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def request_speech(goal):
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if not speech_detector.start_speech(goal.vocabulary):
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sas.set_succeeded(RequestSpeechResult(word=''))
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return
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while (not sas.is_preempt_requested() and
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not speech_detector.have_word() and
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not rospy.is_shutdown()):
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rospy.Rate(10).sleep()
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if speech_detector.have_word():
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recognized = speech_detector.get_recognized_and_erase()
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else:
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speech_detector.stop_speech()
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recognized = ''
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sas.set_succeeded(RequestSpeechResult(word=recognized))
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class SpeechDetectorModule(ALModule):
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def __init__(self, name):
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ALModule.__init__(self, name)
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self.recognized = None
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self.subid = 'teleoperation_speech'
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self.voc = []
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self.asr = ALProxy('ALSpeechRecognition')
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self.tts = ALProxy('ALTextToSpeech')
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self.asr.setLanguage('English')
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almem.subscribeToEvent("WordRecognized",
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"speech_detector",
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"on_word_recognized")
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self.asr.pause(True)
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self._busy = False
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def get_status(self):
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print(almem.getData('ALSpeechRecognition/Status'))
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def start_speech(self, voc, resume=False):
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if self._busy != resume:
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return False
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if not resume:
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self.voc = voc
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self.asr.setVocabulary(voc, False)
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self.asr.subscribe(self.subid)
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self.asr.pause(False)
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self._busy = True
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return True
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def have_word(self):
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return self.recognized is not None
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def get_recognized_and_erase(self):
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result = self.recognized
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self.recognized = None
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return result
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def stop_speech(self, pause=False):
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if not self._busy:
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return
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self.asr.pause(True)
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if not pause:
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self.asr.unsubscribe(self.subid)
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self._busy = False
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def on_word_recognized(self, *_args):
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word, conf = almem.getData('WordRecognized')
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print(word, conf)
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if conf > 0.4:
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self.stop_speech(pause=True)
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self.tts.say(word)
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self.recognized = word
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self.stop_speech()
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else:
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self.stop_speech(pause=True)
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self.tts.say('nope')
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self.start_speech(self.voc, resume=True)
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if __name__ == '__main__':
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rospy.init_node('speech_server')
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speech_broker = ALBroker('speech_broker', '0.0.0.0', 0,
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os.environ['NAO_IP'], 9559)
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almem = ALProxy('ALMemory')
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speech_detector = SpeechDetectorModule('speech_detector')
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sas = actionlib.SimpleActionServer('speech_server', RequestSpeechAction,
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execute_cb=request_speech,
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auto_start=False)
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sas.start()
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while not rospy.is_shutdown():
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rospy.Rate(1).sleep()
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while sas.is_active():
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pass
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speech_broker.shutdown()
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