import interpreter.interpreter as interp
from subprocess import call
import sys
import IPC
from time import sleep
is_windows = True
if is_windows:
# Path for Windows
vlc_path = '"C:\Program Files (x86)\VideoLAN\VLC\VLC.exe"'
else:
# Path for Mac
vlc_path = "/Applications/VLC.app/Contents/MacOS/VLC"
vm = IPC.process(True, ".\lili-interpreter\LILIExecutor.py")
started = False # Changes once it gets start command from master controller
r = sr.Recognizer()
def runRecognizer():
# Comment out this with block to use standard input instead of speech recognition
with sr.Microphone() as source:
audio = r.adjust_for_ambient_noise(source, duration=1)
r.energy_threshold = 2146
sys.stderr.write("Speak now\n")
audio = r.listen(source)
sent = "" + r.recognize(audio)
# Uncomment this to use standard input instead of speech recognition
import IPC
import sys
import clr
import time
sys.path.append("C:\Users\vader\Documents\lssrobotwin32")
clr.AddReference('LiliVoiceCommand')
import SpeechRecognitionApp as sra
commands = ['Lily', 'rightWave', 'leftWave', 'follow', 'stop', 'turnAround', 'quit'] #gesture commands
recoged = ['Lily', 'Move right', 'Move left', 'Follow me', 'Stop', 'Turn around', 'Goodbye'] #recognized phrases
vm = IPC.process(True, 'VoiceMonitor.py')
started = False #changes once it gets start command from master controller
Lily = False #user must say Lily before giving a command
lilytime = time.time()
timeout = time.time()
re = sra.Program()
engine = re.buildRecognizer() #create Speech Recognition Engine
#for now, only used to receive start command
def onLineRead():
global started
message = vm.line.strip()
if message == "start":
re.runRecognizer(engine) #start listening
started = True #changes to exit first while loop
phrases["unrecognized"] = "I am sorry. I do not know you"
phrases["turnAround"] = "I am turning"
#set of initial delays
delay = {"right": 3}
delay["left"] = 3
delay["hello"] = 3
delay["query"] = 3
delay["bye"] = 2
delay["follow"] = 3
delay["stopFollow"] = 3.3
delay["lost"] = 2.5
delay["unrecognized"] = 4
delay["turnAround"] = 3
#set of initial names
names = ["Daniel", "Chris", "Cassie"]
#initial setup for interprocess communication
p = IPC.process(True, "phrasesToSay")
p.setOnReadLine(onLineRead)
IPC.InitSync()
#tell master controller that it is ready to speak
p.write('ready\n')
#main loop to run and communicate with master controller
while True:
p.tryReadLine()
IPC.Sync()
sys.path.append("C:\Users\chuah\Desktop\Jacob's\LSSRobotWin32")
clr.AddReference('LiliVoiceCommand')
import SpeechRecognitionApp as sra
commands = [
'Lily', 'rightWave', 'leftWave', 'follow', 'stop', 'turnAround', 'quit',
'storyMode'
] #gesture commands
recoged = [
'Lily', 'Move right', 'Move left', 'Follow me', 'Stop', 'Turn around',
'Goodbye', 'Story mode'
] #recognized phrases
vm = IPC.process(True, 'VoiceMonitor.py')
started = False #changes once it gets start command from master controller
Lily = False #user must say Lily before giving a command
lilytime = time.time()
timeout = time.time()
re = sra.Program()
engine = re.buildRecognizer() #create Speech Recognition Engine
#for now, only used to receive start command
def onLineRead():
global started
message = vm.line.strip()
if message == "start":
global readyTT
global lastMoveTime
print "Turn around received"
readyTT = False
if not r.isbumped():
km.write("sleep\n")
sp.write("turnAround\n")
r.rotate(np.pi/1.1) #rotate 180 degrees
r.setvel(0,0)
km.write("wake\n")
lastMoveTime = time.time()
# How to search for a gesture
#open communication to the kinect monitor
km = IPC.process(False, 'KinectMonitor.py')
#when input from the kinect monitor is received,
# add the input to the queue
km.setOnReadLine(KinectQueue)
# Lily's voice control
#open communication to phrasesToSay
sp = IPC.process(False, 'phrasesToSay.py')
#when input is received from phrasesToSay,
#check if the TTS program is ready to receive input
sp.setOnReadLine(checkReady)
# Open Speech Recognition Control
vm = IPC.process(False, 'VoiceMonitor.py')
vm.setOnReadLine(VocalQueue)
phrases["unrecognized"] = "I am sorry. I do not know you"
phrases["turnAround"] = "I am turning"
#set of initial delays
delay = {"right": 3}
delay["left"] = 3
delay["hello"] = 3
delay["query"] = 3
delay["bye"] = 2
delay["follow"] = 3
delay["stopFollow"] = 3.3
delay["lost"] = 2.5
delay["unrecognized"] = 4
delay["turnAround"] = 3
#set of initial names
names = ["Daniel", "Chris", "Cassie"]
#initial setup for interprocess communication
p = IPC.process(True, "phrasesToSay")
p.setOnReadLine(onLineRead)
IPC.InitSync()
#tell master controller that it is ready to speak
p.write('ready\n')
#main loop to run and communicate with master controller
while True:
p.tryReadLine()
IPC.Sync()
global readyTT
global lastMoveTime
print "Turn around received"
readyTT = False
if not r.isbumped():
km.write("sleep\n")
sp.write("turnAround\n")
r.rotate(np.pi/1.1) #rotate 180 degrees
r.setvel(0,0)
km.write("wake\n")
lastMoveTime = time.time()
'''
# How to search for a gesture
#open communication to the kinect monitor
km = IPC.process(False, 'KinectMonitor.py')
#when input from the kinect monitor is received,
# add the input to the queue
km.setOnReadLine(KinectQueue)
# Lily's voice control
#open communication to phrasesToSay
sp = IPC.process(False, 'phrasesToSay.py')
#when input is received from phrasesToSay,
#check if the TTS program is ready to receive input
sp.setOnReadLine(checkReady)
# Open Speech Recognition Control
vm = IPC.process(False, 'VoiceMonitor.py')
vm.setOnReadLine(VocalQueue)
