scripts/pocketsphinx.rb

   1 #!/usr/bin/ruby -w
   2
   3 require 'gst'
   4 require 'pry'
   5 require 'logger'
   6 require 'ros'
   7 require 'std_msgs/String'
   8
   9 class Speak
  10         def initialize(node)
  11                 @logger = Logger.new(STDOUT)
  12                 @publisher = node.advertise('asr_result', Std_msgs::String)
  13                 @pipeline = Gst.parse_launch('alsasrc device="plughw:1,0" ! audio/x-raw,format=S16LE,channels=1,rate=16000 ! cutter leaky=true name=cutter'\
  14                                              ' ! tee name=jsgf ! queue leaky=downstream ! valve name=valve_jsgf drop=true ! pocketsphinx name=asr_jsgf ! fakesink async=false jsgf.'\
  15                                              ' ! pocketsphinx name=asr_kws ! fakesink async=false'\
  16                                             )
  17                 # Ignore everything below the configured volume
  18                 cutter = @pipeline.get_by_name('cutter')
  19                 cutter.set_property('threshold-dB', -20)
  20                 cutter.set_property('pre-length', 100000000) # pocketsphinx needs about 0.1s before start
  21                 cutter.set_property('run-length', 1300000000)
  22
  23                 asr_jsgf = @pipeline.get_by_name('asr_jsgf')
  24                 asr_jsgf.set_property('hmm', 'pocketsphinx/adapt/cmusphinx-en-us-5.2')
  25                 asr_jsgf.set_property('mllr', 'pocketsphinx/adapt/mllr_matrix')
  26                 asr_jsgf.set_property('jsgf', 'data/robot.jsgf')
  27
  28                 asr_kws = @pipeline.get_by_name('asr_kws')
  29                 asr_kws.set_property('hmm', 'pocketsphinx/adapt/cmusphinx-en-us-5.2')
  30                 asr_kws.set_property('mllr', 'pocketsphinx/adapt/mllr_matrix')
  31                 asr_kws.set_property('kws', 'data/keywords.kws')
  32
  33                 bus = @pipeline.bus()
  34                 bus.add_watch do |bus, message|
  35                         case message.type
  36                         when Gst::MessageType::EOS
  37                                 loop.quit
  38                         when Gst::MessageType::ERROR
  39                                 p message.parse_error
  40                                 binding.pry # open console
  41                                 loop.quit
  42                         when Gst::MessageType::ELEMENT
  43                                 if message.src.name == "asr_kws" and message.structure.get_value(:final).value
  44                                         keyword_detect(message.structure.get_value(:hypothesis).value, message.structure.get_value(:confidence).value)
  45                                 elsif message.src.name == "asr_jsgf"
  46                                         if message.structure.get_value(:final).value
  47                                                 final_result(message.structure.get_value(:hypothesis).value, message.structure.get_value(:confidence).value)
  48                                         end
  49                                 elsif message.src.name == "cutter"
  50                                         if message.structure.get_value(:above).value
  51                                                 @logger.debug "Start recording.."
  52                                         else
  53                                                 @logger.debug "Stop recording"
  54                                         end
  55                                 end
  56                         end
  57                         true
  58                 end
  59
  60                 @pipeline.play
  61         end
  62
  63         # Enables/Disables the jsgf pipeline
  64         def enable_jsgf(bEnable)
  65                 valve = @pipeline.get_by_name('valve_jsgf')
  66                 valve.set_property("drop", !bEnable)
  67         end
  68
  69         # Result of jsgf pipeline
  70         def final_result(hyp, confidence)
  71                 @logger.info "final: " + hyp + " " + confidence.to_s
  72                 enable_jsgf(false)
  73
  74                 # Publish pocketsphinx result as ros message
  75                 msg = Std_msgs::String.new
  76                 msg.data = hyp
  77                 @publisher.publish(msg)
  78         end
  79
  80         def keyword_detect(hyp, confidence)
  81                 @logger.debug "Got keyword: " + hyp
  82                 enable_jsgf(true)
  83         end
  84
  85         def stop
  86                 @pipeline.stop
  87         end
  88 end
  89
  90 if __FILE__ == $0
  91         node = ROS::Node.new('wild_thumper/pocketsphinx')
  92         app = Speak.new(node)
  93         loop = GLib::MainLoop.new(nil, false)
  94         begin
  95                 Thread.new {
  96                         loop.run
  97                 }
  98                 node.spin
  99         rescue Interrupt
 100         ensure
 101                 app.stop
 102                 node.shutdown
 103                 loop.quit
 104         end
 105 end