X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fpocketsphinx.rb;fp=scripts%2Fpocketsphinx.rb;h=0000000000000000000000000000000000000000;hp=d8e7bef5109edf17db13f5061d0276050c5bdad2;hb=00c6403ee3673ae0b1e4b064f65c56f6ce5bc33a;hpb=b0346ccd1f5566f3134ed47fd28f8330d7d2d76b

diff --git a/scripts/pocketsphinx.rb b/scripts/pocketsphinx.rb
deleted file mode 100755
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