From: Erik Andresen <erik@vontaene.de>
Date: Sun, 21 Mar 2021 07:47:20 +0000 (+0100)
Subject: asr_vosk: Allow to handle keyword and command in one sentence
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=refs%2Fheads%2Fmaster;p=ros_wild_thumper.git

asr_vosk: Allow to handle keyword and command in one sentence
---

diff --git a/scripts/asr_vosk.rb b/scripts/asr_vosk.rb
index b84a2f9..42ae515 100755
--- a/scripts/asr_vosk.rb
+++ b/scripts/asr_vosk.rb
@@ -24,7 +24,7 @@ class Speak
 
 		# Websocket handling
 		EM.run do
-			Signal.trap("INT")  { send_eof }
+			Signal.trap("INT") { send_eof }
 			@ws = WebSocket::EventMachine::Client.connect(:uri => 'ws://192.168.36.4:2700')
 
 			def send_eof
@@ -74,14 +74,16 @@ class Speak
 			# check for keywords first
 			text = msg["text"]
 			@logger.debug "text=" + msg["text"]
-			if KEYWORDS.include? text
-				keyword_detect(text)
-				return
+			KEYWORDS.each do |keyword|
+				if text.include? keyword
+					keyword_detected(keyword)
+					text = text.gsub(keyword, "").strip
+				end
 			end
 
 			# not a keyword, handle command if enabled
-			if @commands_enabled
-				final_result(msg["text"])
+			if @commands_enabled and text.length > 0
+				final_result(text)
 			end
 		end
 	end
@@ -102,7 +104,7 @@ class Speak
 		@publisher.publish(msg)
 	end
 
-	def keyword_detect(hyp)
+	def keyword_detected(hyp)
 		@logger.debug "Got keyword: " + hyp
 		enable_commands(true)
 	end