class send_params:
def __init__(self):
self.dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
if self.dev:
self.Mic_tuning = Tuning(self.dev)
self.vad_pub = rospy.Publisher("vad", Int16, queue_size=1)
self.doa_pub = rospy.Publisher("Doa", Float32, queue_size=1)
self.publishers()
def publishers(self):
while not rospy.is_shutdown():
doa = self.Mic_tuning.direction
speech = self.Mic_tuning.read('SPEECHDETECTED')
time.sleep(0.05)
self.vad_pub.publish(speech)
self.doa_pub.publish(doa)
from tuning import Tuning
import usb.core
import usb.util
import time
import sys
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
if dev:
Mic_tuning = Tuning(dev)
while True:
try:
#print "\rDIR:", Mic_tuning.direction, ", VAD:", Mic_tuning.is_voice(), "SPEECH:", Mic_tuning.read('SPEECHDETECTED'),
if Mic_tuning.read('SPEECHDETECTED'):
print 's',
elif Mic_tuning.is_voice():
print ".",
sys.stdout.flush()
time.sleep(0.1)
except KeyboardInterrupt:
break
class AudioMessage(object):
"""Class to publish audio to topic"""
def __init__(self):
# Initializing publisher with buffer size of 10 messages
self.pub_ = rospy.Publisher("sphinx_audio", String, queue_size=10)
self.dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
self.rec_buffers = 0
# initialize node
rospy.init_node("audio_control")
# Call custom function on node shutdown
rospy.on_shutdown(self.shutdown)
# All set. Publish to topic
self.transfer_audio_msg()
def transfer_audio_msg(self):
"""Function to publish input audio to topic"""
rospy.loginfo("audio input node will start after delay of 5 seconds")
sleep(5)
# Params
self._input = "~input"
_rate_bool = False
#creating the object for reading speech recognized value from respeaker
if self.dev:
self.Mic_tuning = Tuning(self.dev)
# Checking if audio file given or system microphone is needed
if rospy.has_param(self._input):
if rospy.get_param(self._input) != ":default":
_rate_bool = True
stream = open(rospy.get_param(self._input), 'rb')
rate = rospy.Rate(5) # 10hz
else:
# Initializing pyaudio for input from system microhpone
stream = pyaudio.PyAudio().open(format=pyaudio.paInt16,
channels=6,
rate=16000,
input=True,
frames_per_buffer=1024)
stream.start_stream()
else:
rospy.logerr(
"No input means provided. Please use the launch file instead")
while not rospy.is_shutdown():
data = stream.read(1024)
speech = self.Mic_tuning.read('SPEECHDETECTED')
if self.rec_buffers == 0:
a = np.fromstring(data, dtype=np.int16)[0::6]
self.rec_buffers = 1
elif speech == 1:
np.append(a, np.fromstring(data, dtype=np.int16)[0::6])
self.rec_buffers += 1
# else:
# a = np.fromstring(data, dtype=np.int16)[0::6]
# self.rec_buffers = 1
# buf = stream.read(1024)
buf = a.tostring()
if buf:
if self.rec_buffers > 1 and speech == 0:
print("publishing")
# Publish audio to topic
self.pub_.publish(buf)
self.rec_buffers = 0
if _rate_bool:
rate.sleep()
else:
rospy.loginfo("Buffer returned null")
break
@staticmethod
def shutdown():
"""This function is executed on node shutdown."""
# command executed after Ctrl+C is pressed
rospy.loginfo("Stop ASRControl")
rospy.sleep(1)
from tuning import Tuning
import usb.core
import usb.util
import time
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
#print dev
if dev:
Mic_tuning = Tuning(dev)
print Mic_tuning.is_voice()
Mic_tuning.set_vad_threshold(15.0)
while True:
try:
# print Mic_tuning.read('GAMMAVAD_SR')
print(Mic_tuning.read('SPEECHDETECTED'),Mic_tuning.is_voice())
# print Mic_tuning.is_voice()
time.sleep(0.05)
except KeyboardInterrupt:
break
client.subscribe("hermes/asr/textCaptured")
ros_listener()
#wait until microphone is correctly restarted from the other script
rospy.loginfo(
"Snips script is sleeping for 20 seconds to wait for respeaker_node to finish launching"
)
time.sleep(20)
if dev:
Mic_tuning = Tuning(dev)
while True:
try:
#rospy.loginfo"VOICEACTIVITY:", Mic_tuning.is_voice()),
speechdetected = Mic_tuning.read(
"VOICEACTIVITY") #SPEECHRECOGNIZED fires too often
#rospy.loginfospeechdetected),
if speechdetected:
if time.time(
) - last_speechdetected_timestamp > LAUNCH_INTERVAL and not pepper_is_speaking:
client.publish('hermes/asr/startListening',
'{"siteId": "default"}')
last_speechdetected_timestamp = time.time(
) #we don't want to trigger more than once per second or so
rospy.loginfo(
"\nPUBLISHED TO HERMES TO START LISTENING"
) #snips decides when to stop on its own, so no need to tell it to
last_seen_speechdetected_status = speechdetected
except KeyboardInterrupt: