def provideGuidance(self):
reachDestination = False
calculatePath = True
sayPathRoute = True
speaker = AudioFeedback()
while reachDestination == False:
if calculatePath == True:
path = myMap.SSSP(startNode, destNode)
calculatePath = False
if sayPathRoute:
routeSpeechInfo = ''
for i in range(len(path)): #print in reverse order
print path[len(path)-1-i], mapinfo['map'][path[len(path)-1-i]-1]['nodeName']
if i == 0:
firstNode = 'the path route starts from %s ' % mapinfo['map'][path[len(path)-1-i]-1]['nodeName']
routeSpeechInfo = routeSpeechInfo + firstNode
else:
nextNode = 'followed by %s ' % mapinfo['map'][path[len(path)-1-i]-1]['nodeName']
routeSpeechInfo = routeSpeechInfo + nextNode
routeSpeechInfo = routeSpeechInfo + '\n'
speaker.threadedFeedback(routeSpeechInfo)
sayPathRoute = False
reachCheckPoint = True
currentCheckPoint = path.pop()
pos_x = mapinfo['map'][currentCheckPoint-1]['x']
pos_y = mapinfo['map'][currentCheckPoint-1]['y']
print "pos_x = ", pos_x, " pos_y = ", pos_y
while path:
if reachCheckPoint:
reachCheckPoint = False
nextCheckPoint = path.pop()
if not path:
reachDestination = True
print nextCheckPoint, mapinfo['map'][nextCheckPoint-1]['nodeName']
try:
#start_time = time.time()
#timing_interval = 1
#count_time = 0
while not reachCheckPoint:
#time.sleep(start_time + count_time * timing_interval - time.time())
reachCheckPoint, pos_x, pos_y, detourCheckPoint = self.provideDirections(nextCheckPoint, currentCheckPoint, pos_x, pos_y, speaker)
if reachCheckPoint:
currentCheckPoint = nextCheckPoint
if detourCheckPoint:
print "detour!"
calculatePath = True
path[:] = []
sayPathRoute = True
break
#count_time = count_time + 1
except Exception:
print "INVALID DISTANCE!"
if ((not path) and (reachDestination == True)):
sayDestinationReached = 'destination reached!\n'
speaker.threadedFeedback(sayDestinationReached)
class SpeechRecognition(object):
# Create a decoder with certain model
def __init__(self):
MODELDIR = "cmusphinx-code/pocketsphinx/model"
config = Decoder.default_config()
config.set_string("-hmm", path.join(MODELDIR, "hmm/en_US/hub4wsj_sc_8kadapt"))
config.set_string("-lm", path.join(MODELDIR, "lm/en_US/numadaptation.dmp"))
config.set_string("-dict", path.join(MODELDIR, "lm/en_US/numadaptation.dic"))
self.decoder = Decoder(config)
self.speechCue = AudioFeedback()
def Decode(self, wavfile):
wavFile = file(wavfile, "rb")
wavFile.seek(44)
self.decoder.decode_raw(wavFile)
try:
result = self.decoder.hyp().hypstr
os.remove(wavfile)
return result
except AttributeError:
print ("No speech detected, please try again")
os.remove(wavfile)
def speechRecognise(self):
Chunk = 1024
Format = pyaudio.paInt16
Channels = 1
Rate = 16000
Duration = 3
cue = "Start"
for x in range(1):
fn = "o" + str(x) + ".wav"
p = pyaudio.PyAudio()
self.speechCue.threadedFeedback(cue)
stream = p.open(format=Format, channels=Channels, rate=Rate, input=True, frames_per_buffer=Chunk)
print ("* recording")
frames = []
for i in range(0, int(Rate / Chunk * Duration)):
data = stream.read(Chunk)
frames.append(data)
print ("* done recording")
stream.stop_stream()
stream.close()
p.terminate()
wf = wave.open(fn, "wb")
wf.setnchannels(Channels)
wf.setsampwidth(p.get_sample_size(Format))
wf.setframerate(Rate)
wf.writeframes(b"".join(frames))
wf.close()
wavfile = fn
Recognised = self.Decode(wavfile)
print Recognised
return Recognised
def __init__(self):
MODELDIR = "cmusphinx-code/pocketsphinx/model"
config = Decoder.default_config()
config.set_string('-hmm',
path.join(MODELDIR, 'hmm/en_US/hub4wsj_sc_8k_adapt'))
config.set_string('-lm', path.join(MODELDIR, 'lm/en_US/num_adapt.dmp'))
config.set_string('-dict', path.join(MODELDIR,
'lm/en_US/num_adapt.dic'))
self.decoder = Decoder(config)
self.speechCue = AudioFeedback()
def __init__(self):
MODELDIR = "cmusphinx-code/pocketsphinx/model"
config = Decoder.default_config()
config.set_string("-hmm", path.join(MODELDIR, "hmm/en_US/hub4wsj_sc_8kadapt"))
config.set_string("-lm", path.join(MODELDIR, "lm/en_US/numadaptation.dmp"))
config.set_string("-dict", path.join(MODELDIR, "lm/en_US/numadaptation.dic"))
self.decoder = Decoder(config)
self.speechCue = AudioFeedback()
def __init__(self):
MODELDIR = "cmusphinx-code/pocketsphinx/model"
config = Decoder.default_config()
config.set_string('-hmm', path.join(MODELDIR, 'hmm/en_US/hub4wsj_sc_8k_adapt'))
config.set_string('-lm', path.join(MODELDIR, 'lm/en_US/num_adapt.dmp'))
config.set_string('-dict', path.join(MODELDIR, 'lm/en_US/num_adapt.dic'))
self.decoder = Decoder(config)
self.speechCue = AudioFeedback()
class SpeechRecognition(object):
# Create a decoder with certain model
def __init__(self):
MODELDIR = "cmusphinx-code/pocketsphinx/model"
config = Decoder.default_config()
config.set_string('-hmm',
path.join(MODELDIR, 'hmm/en_US/hub4wsj_sc_8k_adapt'))
config.set_string('-lm', path.join(MODELDIR, 'lm/en_US/num_adapt.dmp'))
config.set_string('-dict', path.join(MODELDIR,
'lm/en_US/num_adapt.dic'))
self.decoder = Decoder(config)
self.speechCue = AudioFeedback()
def Decode(self, wavfile):
wavFile = file(wavfile, 'rb')
wavFile.seek(44)
self.decoder.decode_raw(wavFile)
try:
result = self.decoder.hyp().hypstr
os.remove(wavfile)
return result
except AttributeError:
print("No speech detected, please try again")
os.remove(wavfile)
def speechRecognise(self, recog_sample):
Chunk = 1024
Format = pyaudio.paInt16
Channels = 1
Rate = 16000
Duration = 4
cue = 'Start'
for x in range(1):
fn = "o" + str(x) + ".wav"
p = pyaudio.PyAudio()
self.speechCue.threadedFeedback(cue)
stream = p.open(format=Format,
channels=Channels,
rate=Rate,
input=True,
frames_per_buffer=Chunk)
print("* recording")
frames = []
for i in range(0, int(Rate / Chunk * Duration)):
data = stream.read(Chunk)
frames.append(data)
print("* done recording")
stream.stop_stream()
stream.close()
p.terminate()
wf = wave.open(fn, 'wb')
wf.setnchannels(Channels)
wf.setsampwidth(p.get_sample_size(Format))
wf.setframerate(Rate)
wf.writeframes(b''.join(frames))
wf.close()
wavfile = fn
Recognised = self.Decode(wavfile)
print Recognised
#return Recognised
print 'putting the input in queue'
recog_sample.put(Recognised)
print 'end of speech recogniser'
import os import time from espeak_cls import AudioFeedback output = AudioFeedback() string = "Hello Chew Yi Xiu " output.threadedFeedback(string) time.sleep(2) while True: string = "Yanqing likes someone" output.threadedFeedback(string) time.sleep(2) string = "Angela has tin tin" output.threadedFeedback(string) time.sleep(2) string = "It's bob the builder" output.threadedFeedback(string) time.sleep(2) string = "Can we fix it?" output.threadedFeedback(string) time.sleep(2)
def provideGuidance(self):
reachDestination = False
calculatePath = True
sayPathRoute = True
speaker = AudioFeedback()
while reachDestination == False:
if calculatePath == True:
path = myMap.SSSP(startNode, destNode)
calculatePath = False
if sayPathRoute:
routeSpeechInfo = ''
for i in range(len(path)): #print in reverse order
print path[len(path) - 1 -
i], mapinfo['map'][path[len(path) - 1 - i] -
1]['nodeName']
if i == 0:
firstNode = 'the path route starts from %s ' % mapinfo[
'map'][path[len(path) - 1 - i] - 1]['nodeName']
routeSpeechInfo = routeSpeechInfo + firstNode
else:
nextNode = 'followed by %s ' % mapinfo['map'][
path[len(path) - 1 - i] - 1]['nodeName']
routeSpeechInfo = routeSpeechInfo + nextNode
routeSpeechInfo = routeSpeechInfo + '\n'
speaker.threadedFeedback(routeSpeechInfo)
sayPathRoute = False
reachCheckPoint = True
currentCheckPoint = path.pop()
pos_x = mapinfo['map'][currentCheckPoint - 1]['x']
pos_y = mapinfo['map'][currentCheckPoint - 1]['y']
print "pos_x = ", pos_x, " pos_y = ", pos_y
while path:
if reachCheckPoint:
reachCheckPoint = False
nextCheckPoint = path.pop()
if not path:
reachDestination = True
print nextCheckPoint, mapinfo['map'][nextCheckPoint -
1]['nodeName']
try:
#start_time = time.time()
#timing_interval = 1
#count_time = 0
while not reachCheckPoint:
#time.sleep(start_time + count_time * timing_interval - time.time())
reachCheckPoint, pos_x, pos_y, detourCheckPoint = self.provideDirections(
nextCheckPoint, currentCheckPoint, pos_x, pos_y,
speaker)
if reachCheckPoint:
currentCheckPoint = nextCheckPoint
if detourCheckPoint:
print "detour!"
calculatePath = True
path[:] = []
sayPathRoute = True
break
#count_time = count_time + 1
except Exception:
print "INVALID DISTANCE!"
if ((not path) and (reachDestination == True)):
sayDestinationReached = 'destination reached!\n'
speaker.threadedFeedback(sayDestinationReached)
