From fcd5dd64d2a7538ff45c41ad3c08c627a59598b9 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 8 Dec 2018 17:44:51 +0100
Subject: [PATCH] Added pocketsphinx script
---
data/keywords.kws | 1 +
data/robot.jsgf | 15 ++++++
scripts/pocketsphinx.rb | 105 ++++++++++++++++++++++++++++++++++++++++
3 files changed, 121 insertions(+)
create mode 100644 data/keywords.kws
create mode 100644 data/robot.jsgf
create mode 100755 scripts/pocketsphinx.rb
diff --git a/data/keywords.kws b/data/keywords.kws
new file mode 100644
index 0000000..35c2c31
--- /dev/null
+++ b/data/keywords.kws
@@ -0,0 +1 @@
+wild thumper /1e-11/
diff --git a/data/robot.jsgf b/data/robot.jsgf
new file mode 100644
index 0000000..388d1f5
--- /dev/null
+++ b/data/robot.jsgf
@@ -0,0 +1,15 @@
+#JSGF V1.0;
+
+grammar robot;
+
+<bool> = (on | off);
+<number> = minus* (zero | one | two | three | four | five | six | seven | eight | nine | ten | eleven | twelve | thirteen | fourteen | fifteen | sixteen | seventeen | eighteen | nineteen | twenty | thirty | forty | fifty | sixty | seventy | eighty | ninety | hundred | thousand | million);
+
+<misc_command> = (light | lights) [<bool>];
+<engine> = (stop | forward | backward | increase speed | decrease speed);
+<get> = get (temp | temperature | light | voltage | current | pressure | mute | mic | silence | speed | velocity | position | angle | compass | motion | secure | engine | odom | humidity);
+<go> = go (forward | backward) <number>+ (meter | meters | centimeter | centimeters);
+<turn> = turn (left | right | (to | by) <number>+ [(degree | degrees)]);
+<speed> = set+ speed <number>+ | set default speed;
+
+public <rules> = <misc_command> | <engine> | <get> | <go> | <turn> | <speed>;
diff --git a/scripts/pocketsphinx.rb b/scripts/pocketsphinx.rb
new file mode 100755
index 0000000..c2a87fb
--- /dev/null
+++ b/scripts/pocketsphinx.rb
@@ -0,0 +1,105 @@
+#!/usr/bin/ruby -w
+
+require 'gst'
+require 'pry'
+require 'logger'
+require 'ros'
+require 'std_msgs/String'
+
+class Speak
+ def initialize(node)
+ @logger = Logger.new(STDOUT)
+ @publisher = node.advertise('asr_result', Std_msgs::String)
+ @pipeline = Gst.parse_launch('alsasrc device="plughw:1,0" ! audio/x-raw,format=S16LE,channels=1,rate=16000 ! cutter leaky=true name=cutter'\
+ ' ! tee name=jsgf ! queue leaky=downstream ! valve name=valve_jsgf drop=true ! pocketsphinx name=asr_jsgf ! fakesink async=false jsgf.'\
+ ' ! pocketsphinx name=asr_kws ! fakesink async=false'\
+ )
+ # Ignore everything below the configured volume
+ cutter = @pipeline.get_by_name('cutter')
+ cutter.set_property('threshold-dB', -20)
+ cutter.set_property('pre-length', 100000000) # pocketsphinx needs about 0.1s before start
+ cutter.set_property('run-length', 1300000000)
+
+ asr_jsgf = @pipeline.get_by_name('asr_jsgf')
+ asr_jsgf.set_property('hmm', 'pocketsphinx/adapt/cmusphinx-en-us-5.2')
+ asr_jsgf.set_property('mllr', 'pocketsphinx/adapt/mllr_matrix')
+ asr_jsgf.set_property('jsgf', 'data/robot.jsgf')
+
+ asr_kws = @pipeline.get_by_name('asr_kws')
+ asr_kws.set_property('hmm', 'pocketsphinx/adapt/cmusphinx-en-us-5.2')
+ asr_kws.set_property('mllr', 'pocketsphinx/adapt/mllr_matrix')
+ asr_kws.set_property('kws', 'data/keywords.kws')
+
+ bus = @pipeline.bus()
+ bus.add_watch do |bus, message|
+ case message.type
+ when Gst::MessageType::EOS
+ loop.quit
+ when Gst::MessageType::ERROR
+ p message.parse_error
+ binding.pry # open console
+ loop.quit
+ when Gst::MessageType::ELEMENT
+ if message.src.name == "asr_kws" and message.structure.get_value(:final).value
+ keyword_detect(message.structure.get_value(:hypothesis).value, message.structure.get_value(:confidence).value)
+ elsif message.src.name == "asr_jsgf"
+ if message.structure.get_value(:final).value
+ final_result(message.structure.get_value(:hypothesis).value, message.structure.get_value(:confidence).value)
+ end
+ elsif message.src.name == "cutter"
+ if message.structure.get_value(:above).value
+ @logger.debug "Start recording.."
+ else
+ @logger.debug "Stop recording"
+ end
+ end
+ end
+ true
+ end
+
+ @pipeline.play
+ end
+
+ # Enables/Disables the jsgf pipeline
+ def enable_jsgf(bEnable)
+ valve = @pipeline.get_by_name('valve_jsgf')
+ valve.set_property("drop", !bEnable)
+ end
+
+ # Result of jsgf pipeline
+ def final_result(hyp, confidence)
+ @logger.info "final: " + hyp + " " + confidence.to_s
+ enable_jsgf(false)
+
+ # Publish pocketsphinx result as ros message
+ msg = Std_msgs::String.new
+ msg.data = hyp
+ @publisher.publish(msg)
+ end
+
+ def keyword_detect(hyp, confidence)
+ @logger.debug "Got keyword: " + hyp
+ enable_jsgf(true)
+ end
+
+ def stop
+ @pipeline.stop
+ end
+end
+
+if __FILE__ == $0
+ node = ROS::Node.new('wild_thumper/pocketsphinx')
+ app = Speak.new(node)
+ loop = GLib::MainLoop.new(nil, false)
+ begin
+ Thread.new {
+ loop.run
+ }
+ node.spin
+ rescue Interrupt
+ ensure
+ app.stop
+ node.shutdown
+ loop.quit
+ end
+end
--
2.39.5