def test_dfa(self):
g = load_grammar(os.path.join(PKG, "data"), "udon")
gram = make_grammar_from_rules(g.rules)
voca = make_voca_from_categories(g.categories, g.vocabularies)
result = make_dfa(gram, voca)
self.assertIsNotNone(result)
self.assertEqual(len(result), 2)
def grammar_cb(self, msg):
if msg.name:
name = msg.name
else:
rospy.logwarn("Name of grammar is empty. Use 'unknown'")
name = 'unknown'
grammar = make_grammar_from_rules(msg.rules)
voca = make_voca_from_categories(msg.categories, msg.vocabularies)
result = make_dfa(grammar, voca)
if result is None:
rospy.logerr("Failed to make dfa from grammar message")
return
dfa, dic = result
ok = self.add_gram(name, dfa.split(os.linesep), dic.split(os.linesep))
if ok:
self.vocabularies[name] = list(set(e for v in msg.vocabularies for e in v.words))
else:
rospy.logerr("Failed to change vocabulary")
def speech_recognition_cb(self, req):
res = SpeechRecognitionResponse()
# change grammar
candidate_words = []
if req.grammar_name:
ok = self.activate_gram(req.grammar_name)
if not ok:
rospy.logerr("failed to activate grammar %s" % req.grammar_name)
return res
if req.grammar_name in self.vocabularies:
candidate_words = self.vocabularies[req.grammar_name]
elif req.grammar.rules:
g = req.grammar
if not g.name:
g.name = 'unknown'
grammar = make_grammar_from_rules(g.rules)
voca = make_voca_from_categories(g.categories, g.vocabularies)
result = make_dfa(grammar, voca)
if result is None:
rospy.logerr("Failed to make dfa from grammar message")
return res
dfa, dic = result
ok = self.change_gram(g.name, dfa.split(os.linesep), dic.split(os.linesep))
if not ok:
rospy.logerr("Failed to change grammar")
return res
self.vocabularies[g.name] = list(set(e for v in msg.vocabularies for e in v.words))
candidate_words = self.vocabularies[g.name]
elif req.vocabulary.words:
v = req.vocabulary
if not v.name:
v.name = 'unknown'
if len(v.phonemes) == 0 or not v.phonemes[0]:
v.phonemes = make_phonemes_from_words(v.words)
dic = [" %s\t%s" % (w, p) for w, p in zip(v.words, v.phonemes)]
ok = self.change_gram(v.name, None, dic)
if not ok:
rospy.logerr("Failed to change vocabulary")
return res
self.vocabularies[v.name] = list(set(v.words))
candidate_words = self.vocabularies[v.name]
else:
rospy.logerr("Invalid request: 'grammar_name', 'grammar' or 'vocabulary' must be filled")
return res
duration = req.duration
if duration <= 0.0:
duration = self.default_duration
threshold = req.threshold
if threshold <= 0.0 or threshold > 1.0:
threshold = self.default_threshold
if not req.quiet:
self.play_sound(self.start_signal, self.start_signal_action_timeout)
start_time = rospy.Time.now()
self.last_speech = SpeechRecognitionCandidates()
while (rospy.Time.now() - start_time).to_sec() < duration:
rospy.sleep(0.1)
speech = self.last_speech
if not self.last_speech.transcript:
continue
if candidate_words:
ok = speech.transcript[0] in candidate_words and speech.confidence[0] >= threshold
else:
ok = speech.confidence[0] >= threshold
if ok:
t0 = speech.transcript[0]
c0 = speech.confidence[0]
rospy.loginfo("Recognized %s (%f)..." % (t0, c0))
if not req.quiet:
self.play_sound(self.success_signal, 0.1)
res.result = speech
return res
# timeout
rospy.logerr("Timed out")
if not req.quiet:
self.play_sound(self.timeout_signal, 0.1)
return res
def test_grammar(self):
g = load_grammar(os.path.join(PKG, "data"), "udon")
gram = make_grammar_from_rules(g.rules)
self.assertIsNotNone(gram)