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                 @jsgf_enabled = false
  23                 @publisher = node.advertise('asr_result', Std_msgs::String)
  24
  25                 EM.run do
  26                         Signal.trap("INT")  { send_eof }
  27                         @ws = WebSocket::EventMachine::Client.connect(:uri => 'ws://192.168.36.4:2700')
  28
  29                         def send_eof
  30                                 @ws.send '{"eof" : 1}'
  31                         end
  32
  33                         def run
  34                                 while true do
  35                                         data = ARGF.read(16000)
  36                                         if data
  37                                                 @ws.send data, :type => :binary
  38                                         else
  39                                                 send_eof
  40                                                 break
  41                                         end
  42                                 end
  43                         end
  44
  45                         @ws.onopen do
  46                                 @logger.info "Running.."
  47                                 @ws.send CONFIG.to_json
  48
  49                                 Thread.new {
  50                                         run
  51                                 }
  52                         end
  53
  54                         @ws.onmessage do |msg, type|
  55                                 d = JSON.parse(msg)
  56                                 handle_result(d)
  57                         end
  58
  59                         @ws.onclose do |code, reason|
  60                                 puts "Disconnected with status code: #{code}"
  61                                 exit
  62                         end
  63                 end
  64         end
  65
  66         def handle_result(msg)
  67                 if msg.has_key? "result"
  68                         msg["result"].each do |result|
  69                                 @logger.debug "word=" + result["word"]
  70                         end
  71
  72                         text = msg["text"]
  73                         @logger.debug "text=" + msg["text"]
  74                         if KEYWORDS.include? text
  75                                 keyword_detect(text)
  76                                 return
  77                         end
  78                         if @jsgf_enabled
  79                                 final_result(msg["text"])
  80                         end
  81                 end
  82         end
  83
  84         # Enables/Disables the jsgf pipeline branch
  85         def enable_jsgf(bEnable)
  86                 @jsgf_enabled = bEnable
  87         end
  88
  89         # Result of jsgf pipeline branch
  90         def final_result(hyp)
  91                 @logger.info "final: " + hyp
  92                 enable_jsgf(false)
  93
  94                 # Publish pocketsphinx result as ros message
  95                 msg = Std_msgs::String.new
  96                 msg.data = hyp
  97                 @publisher.publish(msg)
  98         end
  99
 100         def keyword_detect(hyp)
 101                 @logger.debug "Got keyword: " + hyp
 102                 enable_jsgf(true)
 103         end
 104 end
 105
 106 if __FILE__ == $0
 107         node = ROS::Node.new('asr_vosk')
 108         app = Speak.new(node)
 109         begin
 110                 node.spin
 111         rescue Interrupt
 112         ensure
 113                 node.shutdown
 114         end
 115 end