X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fasr_pocketsphinx.rb;fp=scripts%2Fasr_pocketsphinx.rb;h=70cd53866d3edd141dfa49f0201aea23c5504156;hp=0000000000000000000000000000000000000000;hb=00c6403ee3673ae0b1e4b064f65c56f6ce5bc33a;hpb=b0346ccd1f5566f3134ed47fd28f8330d7d2d76b

diff --git a/scripts/asr_pocketsphinx.rb b/scripts/asr_pocketsphinx.rb
new file mode 100755
index 0000000..70cd538
--- /dev/null
+++ b/scripts/asr_pocketsphinx.rb
@@ -0,0 +1,107 @@
+#!/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('asr_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