added asr with vosk

[ros_wild_thumper.git] / scripts / pocketsphinx.rb

diff --git a/scripts/pocketsphinx.rb b/scripts/pocketsphinx.rb
deleted file mode 100755 (executable)
index d8e7bef..0000000
--- a/scripts/pocketsphinx.rb
+++ /dev/null
@@ -1,107 +0,0 @@
-#!/usr/bin/ruby
-
-require 'gst'
-require 'pry'
-require 'logger'
-require 'ros'
-require 'std_msgs/String'
-
-class Speak
-       def initialize(node)
-               @logger = Logger.new(STDOUT)
-               @publisher = node.advertise('asr_result', Std_msgs::String)
-               @pipeline = Gst.parse_launch('alsasrc device="plughw:1,0" ! audio/x-raw,format=S16LE,channels=1,rate=16000 ! cutter leaky=true name=cutter'\
-                                            ' ! tee name=jsgf ! queue leaky=downstream ! valve name=valve_jsgf drop=true ! pocketsphinx name=asr_jsgf ! fakesink async=false jsgf.'\
-                                            ' ! pocketsphinx name=asr_kws ! fakesink async=false'\
-                                           )
-               # Ignore everything below the configured volume
-               cutter = @pipeline.get_by_name('cutter')
-               cutter.set_property('threshold-dB', -20)
-               cutter.set_property('pre-length', 100000000) # pocketsphinx needs about 0.1s before start
-               cutter.set_property('run-length', 1300000000)
-
-               asr_jsgf = @pipeline.get_by_name('asr_jsgf')
-               asr_jsgf.set_property('hmm', 'pocketsphinx/adapt/cmusphinx-en-us-5.2')
-               asr_jsgf.set_property('mllr', 'pocketsphinx/adapt/mllr_matrix')
-               asr_jsgf.set_property('jsgf', 'data/robot.jsgf')
-
-               asr_kws = @pipeline.get_by_name('asr_kws')
-               asr_kws.set_property('hmm', 'pocketsphinx/adapt/cmusphinx-en-us-5.2')
-               asr_kws.set_property('mllr', 'pocketsphinx/adapt/mllr_matrix')
-               asr_kws.set_property('kws', 'data/keywords.kws')
-
-               bus = @pipeline.bus()
-               bus.add_watch do |bus, message|
-                       case message.type
-                       when Gst::MessageType::EOS
-                               loop.quit
-                       when Gst::MessageType::ERROR
-                               p message.parse_error
-                               binding.pry # open console
-                               loop.quit
-                       when Gst::MessageType::ELEMENT
-                               if message.src.name == "asr_kws"
-                                       if message.structure.get_value(:final).value
-                                               keyword_detect(message.structure.get_value(:hypothesis).value, message.structure.get_value(:confidence).value)
-                                       end
-                               elsif message.src.name == "asr_jsgf"
-                                       if message.structure.get_value(:final).value
-                                               final_result(message.structure.get_value(:hypothesis).value, message.structure.get_value(:confidence).value)
-                                       end
-                               elsif message.src.name == "cutter"
-                                       if message.structure.get_value(:above).value
-                                               @logger.debug "Start recording.."
-                                       else
-                                               @logger.debug "Stop recording"
-                                       end
-                               end
-                       end
-                       true
-               end
-
-               @pipeline.play
-       end
-
-       # Enables/Disables the jsgf pipeline branch
-       def enable_jsgf(bEnable)
-               valve = @pipeline.get_by_name('valve_jsgf')
-               valve.set_property("drop", !bEnable)
-       end
-
-       # Result of jsgf pipeline branch
-       def final_result(hyp, confidence)
-               @logger.info "final: " + hyp + " " + confidence.to_s
-               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, confidence)
-               @logger.debug "Got keyword: " + hyp
-               enable_jsgf(true)
-       end
-
-       def stop
-               @pipeline.stop
-       end
-end
-
-if __FILE__ == $0
-       node = ROS::Node.new('pocketsphinx')
-       app = Speak.new(node)
-       loop = GLib::MainLoop.new(nil, false)
-       begin
-               Thread.new {
-                       loop.run
-               }
-               node.spin
-       rescue Interrupt
-       ensure
-               app.stop
-               node.shutdown
-               loop.quit
-       end
-end