scripts/asr_vosk.rb

   1 #!/usr/bin/ruby
   2 # export AUDIODEV=plughw:CARD=ArrayUAC10,0
   3 # rec -q -t alsa -c 1 -b 16 -r 16000 -t wav - silence -l 1 0.1 0.3% -1 2.0 0.3% | ./asr_vosk.rb -
   4
   5 require 'logger'
   6 require 'websocket-eventmachine-client'
   7 require 'json'
   8 require 'ros'
   9 require 'std_msgs/String'
  10
  11 KEYWORDS = ["wild thumper"]
  12 CONFIG = {
  13         "config": {
  14                 "phrase_list": ["angle", "backward", "by", "centimeter", "compass", "current", "decrease", "default", "degree", "down", "eight", "eighteen", "eighty", "eleven", "fifteen", "fifty", "five", "forty", "forward", "four", "fourteen", "get", "go", "hundred", "increase", "left", "light", "lights", "meter", "mic", "minus", "motion", "mute", "nine", "nineteen", "ninety", "off", "on", "one", "position", "pressure", "right", "secure", "set", "seven", "seventeen", "seventy", "silence", "six", "sixteen", "sixty", "speed", "stop", "temp", "temperature", "ten", "thirteen", "thirty", "three", "to", "turn", "twelve", "twenty", "two", "up", "velocity", "voltage", "volume", "wild thumper", "zero"],
  15                 "sample_rate": 16000.0
  16         }
  17 }
  18
  19 class Speak
  20         def initialize(node)
  21                 @logger = Logger.new(STDOUT)
  22                 @commands_enabled = false
  23                 @publisher = node.advertise('asr_result', Std_msgs::String)
  24
  25                 # Websocket handling
  26                 EM.run do
  27                         Signal.trap("INT") { send_eof }
  28                         @ws = WebSocket::EventMachine::Client.connect(:uri => 'ws://192.168.36.4:2700')
  29
  30                         def send_eof
  31                                 @ws.send '{"eof" : 1}'
  32                         end
  33
  34                         # Loop over all input data
  35                         def run
  36                                 while true do
  37                                         data = ARGF.read(16000)
  38                                         if data
  39                                                 @ws.send data, :type => :binary
  40                                         else
  41                                                 send_eof
  42                                                 break
  43                                         end
  44                                 end
  45                         end
  46
  47                         @ws.onopen do
  48                                 @logger.info "Running.."
  49                                 @ws.send CONFIG.to_json
  50
  51                                 Thread.new {
  52                                         run
  53                                 }
  54                         end
  55
  56                         @ws.onmessage do |msg, type|
  57                                 d = JSON.parse(msg)
  58                                 handle_result(d)
  59                         end
  60
  61                         @ws.onclose do |code, reason|
  62                                 puts "Disconnected with status code: #{code}"
  63                                 exit
  64                         end
  65                 end
  66         end
  67
  68         def handle_result(msg)
  69                 if msg.has_key? "result"
  70                         msg["result"].each do |result|
  71                                 @logger.debug "word=" + result["word"]
  72                         end
  73
  74                         # check for keywords first
  75                         text = msg["text"]
  76                         @logger.debug "text=" + msg["text"]
  77                         KEYWORDS.each do |keyword|
  78                                 if text.include? keyword
  79                                         keyword_detected(keyword)
  80                                         text = text.gsub(keyword, "").strip
  81                                 end
  82                         end
  83
  84                         # not a keyword, handle command if enabled
  85                         if @commands_enabled and text.length > 0
  86                                 final_result(text)
  87                         end
  88                 end
  89         end
  90
  91         # Enables/Disables the speech command
  92         def enable_commands(bEnable)
  93                 @commands_enabled = bEnable
  94         end
  95
  96         # Resulting speech command
  97         def final_result(hyp)
  98                 @logger.info "final: " + hyp
  99                 enable_commands(false)
 100
 101                 # Publish vosk result as ros message
 102                 msg = Std_msgs::String.new
 103                 msg.data = hyp
 104                 @publisher.publish(msg)
 105         end
 106
 107         def keyword_detected(hyp)
 108                 @logger.debug "Got keyword: " + hyp
 109                 enable_commands(true)
 110         end
 111 end
 112
 113 if __FILE__ == $0
 114         node = ROS::Node.new('asr_vosk')
 115         app = Speak.new(node)
 116         begin
 117                 node.spin
 118         rescue Interrupt
 119         ensure
 120                 node.shutdown
 121         end
 122 end