X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fasr_vosk.rb;h=42ae5153e41f1768e37e21fbb8a89eab9090464e;hp=bc7394937c57342208c3e7237089cbf5bbea0092;hb=2f194b3fe82009a77b79021f0c57e6ca55c1706f;hpb=00c6403ee3673ae0b1e4b064f65c56f6ce5bc33a

diff --git a/scripts/asr_vosk.rb b/scripts/asr_vosk.rb
index bc73949..42ae515 100755
--- a/scripts/asr_vosk.rb
+++ b/scripts/asr_vosk.rb
@@ -19,17 +19,19 @@ CONFIG = {
 class Speak
 	def initialize(node)
 		@logger = Logger.new(STDOUT)
-		@jsgf_enabled = false
+		@commands_enabled = false
 		@publisher = node.advertise('asr_result', Std_msgs::String)
 
+		# Websocket handling
 		EM.run do
-			Signal.trap("INT")  { send_eof }
+			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
 
+			# Loop over all input data
 			def run
 				while true do
 					data = ARGF.read(16000)
@@ -69,37 +71,42 @@ class Speak
 				@logger.debug "word=" + result["word"]
 			end
 
+			# check for keywords first
 			text = msg["text"]
 			@logger.debug "text=" + msg["text"]
-			if KEYWORDS.include? text
-				keyword_detect(text)
-				return
+			KEYWORDS.each do |keyword|
+				if text.include? keyword
+					keyword_detected(keyword)
+					text = text.gsub(keyword, "").strip
+				end
 			end
-			if @jsgf_enabled
-				final_result(msg["text"])
+
+			# not a keyword, handle command if enabled
+			if @commands_enabled and text.length > 0
+				final_result(text)
 			end
 		end
 	end
 
-	# Enables/Disables the jsgf pipeline branch
-	def enable_jsgf(bEnable)
-		@jsgf_enabled = bEnable
+	# Enables/Disables the speech command
+	def enable_commands(bEnable)
+		@commands_enabled = bEnable
 	end
 
-	# Result of jsgf pipeline branch
+	# Resulting speech command
 	def final_result(hyp)
 		@logger.info "final: " + hyp
-		enable_jsgf(false)
+		enable_commands(false)
 
-		# Publish pocketsphinx result as ros message
+		# Publish vosk result as ros message
 		msg = Std_msgs::String.new
 		msg.data = hyp
 		@publisher.publish(msg)
 	end
 
-	def keyword_detect(hyp)
+	def keyword_detected(hyp)
 		@logger.debug "Got keyword: " + hyp
-		enable_jsgf(true)
+		enable_commands(true)
 	end
 end