+#!/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