Added pocketsphinx script

diff --git a/data/keywords.kws b/data/keywords.kws
new file mode 100644 (file)
index 0000000..35c2c31
--- /dev/null
+++ b/data/keywords.kws
@@ -0,0 +1 @@
+wild thumper /1e-11/

diff --git a/data/robot.jsgf b/data/robot.jsgf
new file mode 100644 (file)
index 0000000..388d1f5
--- /dev/null
+++ b/data/robot.jsgf
@@ -0,0 +1,15 @@
+#JSGF V1.0;
+
+grammar robot;
+
+<bool> = (on | off);
+<number> = minus* (zero | one | two | three | four | five | six | seven | eight | nine | ten | eleven | twelve | thirteen | fourteen | fifteen | sixteen | seventeen | eighteen | nineteen | twenty | thirty | forty | fifty | sixty | seventy | eighty  | ninety | hundred | thousand | million);
+
+<misc_command> = (light | lights) [<bool>];
+<engine> = (stop | forward | backward | increase speed | decrease speed);
+<get> = get (temp | temperature | light | voltage | current | pressure | mute | mic | silence | speed | velocity | position | angle | compass | motion | secure | engine | odom | humidity);
+<go> = go (forward | backward) <number>+ (meter | meters | centimeter | centimeters);
+<turn> = turn (left | right | (to | by) <number>+ [(degree | degrees)]);
+<speed> = set+ speed <number>+ | set default speed;
+
+public <rules> = <misc_command> | <engine> | <get> | <go> | <turn> | <speed>;

diff --git a/scripts/pocketsphinx.rb b/scripts/pocketsphinx.rb
new file mode 100755 (executable)
index 0000000..c2a87fb
--- /dev/null
+++ b/scripts/pocketsphinx.rb
@@ -0,0 +1,105 @@
+#!/usr/bin/ruby -w
+
+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" and message.structure.get_value(:final).value
+                                       keyword_detect(message.structure.get_value(:hypothesis).value, message.structure.get_value(:confidence).value)
+                               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
+       def enable_jsgf(bEnable)
+               valve = @pipeline.get_by_name('valve_jsgf')
+               valve.set_property("drop", !bEnable)
+       end
+
+       # Result of jsgf pipeline
+       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('wild_thumper/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