From 00c6403ee3673ae0b1e4b064f65c56f6ce5bc33a Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 20 Mar 2021 18:44:30 +0100
Subject: [PATCH] added asr with vosk

---
 msg/Sensor.msg                                |   1 +
 .../{pocketsphinx.rb => asr_pocketsphinx.rb}  |   2 +-
 scripts/asr_vosk.rb                           | 115 ++++++++++++++++++
 scripts/sensor_board.py                       |   4 +
 4 files changed, 121 insertions(+), 1 deletion(-)
 rename scripts/{pocketsphinx.rb => asr_pocketsphinx.rb} (98%)
 create mode 100755 scripts/asr_vosk.rb

diff --git a/msg/Sensor.msg b/msg/Sensor.msg
index 6f58c7a..23e4056 100644
--- a/msg/Sensor.msg
+++ b/msg/Sensor.msg
@@ -4,4 +4,5 @@ float32 temp # degree celsius
 uint8 humidity # percent
 float32 pressure # kph
 uint16 co
+float32 dew_point # degree celsius
 bool ventilate
diff --git a/scripts/pocketsphinx.rb b/scripts/asr_pocketsphinx.rb
similarity index 98%
rename from scripts/pocketsphinx.rb
rename to scripts/asr_pocketsphinx.rb
index d8e7bef..70cd538 100755
--- a/scripts/pocketsphinx.rb
+++ b/scripts/asr_pocketsphinx.rb
@@ -90,7 +90,7 @@ class Speak
 end
 
 if __FILE__ == $0
-	node = ROS::Node.new('pocketsphinx')
+	node = ROS::Node.new('asr_pocketsphinx')
 	app = Speak.new(node)
 	loop = GLib::MainLoop.new(nil, false)
 	begin
diff --git a/scripts/asr_vosk.rb b/scripts/asr_vosk.rb
new file mode 100755
index 0000000..bc73949
--- /dev/null
+++ b/scripts/asr_vosk.rb
@@ -0,0 +1,115 @@
+#!/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
diff --git a/scripts/sensor_board.py b/scripts/sensor_board.py
index c5e84c4..c8a0c0c 100755
--- a/scripts/sensor_board.py
+++ b/scripts/sensor_board.py
@@ -16,6 +16,8 @@ from wild_thumper.msg import Sensor
 # Board warming offset
 TEMP_ERROR = -3.0 # -5 # degree celsius
 PRESSURE_ERROR = -2.5
+A_dew_point = 17.271
+B_dew_point = 237.7
 
 """
 LDR:
@@ -93,6 +95,8 @@ class SensorBoard:
 				msg.pressure = pressure
 				msg.co = co
 				msg.ventilate = True if ventilate > 1.10 else False
+				tmp = ((A_dew_point * temp) / (B_dew_point + temp)) + log(humidity/100.0)
+				msg.dew_point = (B_dew_point * tmp) / (A_dew_point - tmp)
 
 				self.pub.publish(msg)
 
-- 
2.39.2