scripts/pocketsphinx.rb

   1 #!/usr/bin/ruby
   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"
  44                                         if message.structure.get_value(:final).value
  45                                                 keyword_detect(message.structure.get_value(:hypothesis).value, message.structure.get_value(:confidence).value)
  46                                         end
  47                                 elsif message.src.name == "asr_jsgf"
  48                                         if message.structure.get_value(:final).value
  49                                                 final_result(message.structure.get_value(:hypothesis).value, message.structure.get_value(:confidence).value)
  50                                         end
  51                                 elsif message.src.name == "cutter"
  52                                         if message.structure.get_value(:above).value
  53                                                 @logger.debug "Start recording.."
  54                                         else
  55                                                 @logger.debug "Stop recording"
  56                                         end
  57                                 end
  58                         end
  59                         true
  60                 end
  61
  62                 @pipeline.play
  63         end
  64
  65         # Enables/Disables the jsgf pipeline branch
  66         def enable_jsgf(bEnable)
  67                 valve = @pipeline.get_by_name('valve_jsgf')
  68                 valve.set_property("drop", !bEnable)
  69         end
  70
  71         # Result of jsgf pipeline branch
  72         def final_result(hyp, confidence)
  73                 @logger.info "final: " + hyp + " " + confidence.to_s
  74                 enable_jsgf(false)
  75
  76                 # Publish pocketsphinx result as ros message
  77                 msg = Std_msgs::String.new
  78                 msg.data = hyp
  79                 @publisher.publish(msg)
  80         end
  81
  82         def keyword_detect(hyp, confidence)
  83                 @logger.debug "Got keyword: " + hyp
  84                 enable_jsgf(true)
  85         end
  86
  87         def stop
  88                 @pipeline.stop
  89         end
  90 end
  91
  92 if __FILE__ == $0
  93         node = ROS::Node.new('pocketsphinx')
  94         app = Speak.new(node)
  95         loop = GLib::MainLoop.new(nil, false)
  96         begin
  97                 Thread.new {
  98                         loop.run
  99                 }
 100                 node.spin
 101         rescue Interrupt
 102         ensure
 103                 app.stop
 104                 node.shutdown
 105                 loop.quit
 106         end
 107 end