added asr with vosk

[ros_wild_thumper.git] / scripts / asr_vosk.rb

diff --git a/scripts/asr_vosk.rb b/scripts/asr_vosk.rb
new file mode 100755 (executable)
index 0000000..bc73949
--- /dev/null
+++ b/scripts/asr_vosk.rb
@@ -0,0 +1,115 @@
+#!/usr/bin/ruby
+# export AUDIODEV=plughw:CARD=ArrayUAC10,0
+# 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 -
+
+require 'logger'
+require 'websocket-eventmachine-client'
+require 'json'
+require 'ros'
+require 'std_msgs/String'
+
+KEYWORDS = ["wild thumper"]
+CONFIG = {
+       "config": {
+               "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"],
+               "sample_rate": 16000.0
+       }
+}
+
+class Speak
+       def initialize(node)
+               @logger = Logger.new(STDOUT)
+               @jsgf_enabled = false
+               @publisher = node.advertise('asr_result', Std_msgs::String)
+
+               EM.run do
+                       Signal.trap("INT")  { send_eof }
+                       @ws = WebSocket::EventMachine::Client.connect(:uri => 'ws://192.168.36.4:2700')
+
+                       def send_eof
+                               @ws.send '{"eof" : 1}'
+                       end
+
+                       def run
+                               while true do
+                                       data = ARGF.read(16000)
+                                       if data
+                                               @ws.send data, :type => :binary
+                                       else
+                                               send_eof
+                                               break
+                                       end
+                               end
+                       end
+
+                       @ws.onopen do
+                               @logger.info "Running.."
+                               @ws.send CONFIG.to_json
+
+                               Thread.new {
+                                       run
+                               }
+                       end
+
+                       @ws.onmessage do |msg, type|
+                               d = JSON.parse(msg)
+                               handle_result(d)
+                       end
+
+                       @ws.onclose do |code, reason|
+                               puts "Disconnected with status code: #{code}"
+                               exit
+                       end
+               end
+       end
+
+       def handle_result(msg)
+               if msg.has_key? "result"
+                       msg["result"].each do |result|
+                               @logger.debug "word=" + result["word"]
+                       end
+
+                       text = msg["text"]
+                       @logger.debug "text=" + msg["text"]
+                       if KEYWORDS.include? text
+                               keyword_detect(text)
+                               return
+                       end
+                       if @jsgf_enabled
+                               final_result(msg["text"])
+                       end
+               end
+       end
+
+       # Enables/Disables the jsgf pipeline branch
+       def enable_jsgf(bEnable)
+               @jsgf_enabled = bEnable
+       end
+
+       # Result of jsgf pipeline branch
+       def final_result(hyp)
+               @logger.info "final: " + hyp
+               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)
+               @logger.debug "Got keyword: " + hyp
+               enable_jsgf(true)
+       end
+end
+
+if __FILE__ == $0
+       node = ROS::Node.new('asr_vosk')
+       app = Speak.new(node)
+       begin
+               node.spin
+       rescue Interrupt
+       ensure
+               node.shutdown
+       end
+end