def __init__(self):
# turn to default position
self.servo = Servo(dconfig.mouth_pin)
self.servo.start(0)
self.stop = False
self.stopped = True
print "Speech.init ended"
self.player = False
class speech():
def __init__(self):
# turn to default position
self.servo = Servo(dconfig.mouth_pin)
self.servo.start(0)
self.stop = False
self.stopped = True
print "Speech.init ended"
self.player = False
def say(self, sound_id):
self.thread = threading.Thread(target=self.__say_action,
args=(speech_markup.sound_files[sound_id],))
self.thread.daemon = True
self.thread.start()
print "Speech.say ended"
def say_auto(self, scenario, situation, sound_id):
self.thread = threading.Thread(target=self.__say_action,
args=("Scenarios/" + str(scenario) + "/"
+ str(situation)
+ "/" + str((sound_id + 1)) + ".wav",))
self.thread.daemon = True
self.thread.start()
print "Speech.say_auto ended"
def __say_action(self, sound_path):
self.stop = True
while self.stopped is False:
time.sleep(0.05)
time.sleep(0.05)
self.stop = False
self.stopped = False
f = open("sounds/" + sound_path + "_markup")
sounds = []
i = 0
for element in f.readline().split(" "):
sounds.insert(i, float(element))
i += 1
f.close()
self.player_play(sound_path, 100)
i = 0
for sound in sounds:
i += 1
if self.stop:
break
if sound <= 50:
self.servo.start(0)
elif sound >= dconfig.mouth_recognition_max:
self.servo.start(dconfig.mouth_open)
print "maximum"
else:
delta = sound/dconfig.mouth_recognition_max/\
float(dconfig.mouth_open - dconfig.mouth_closed)
self.servo.start(dconfig.mouth_closed + delta)
print dconfig.mouth_closed + delta
time.sleep(0.01)
print i
self.servo.start(0)
time.sleep(1)
self.stop = False
self.stopped = True
print "Speech() in speech.py came to the end"
def now_saying(self):
return not self.stopped
def player_play(self, sound_path, volume):
if self.player:
self.player.terminate()
self.player = subprocess.Popen(["mpg321", "-g "+str(volume), "sounds/"+sound_path])
class speech:
def __init__(self):
# turn to default position
self.servo = Servo(dconfig.mouth_pin)
self.servo.start(0)
self.stop = False
self.stopped = True
print "Speech.init ended"
self.player = False
def say(self, sound_id, v=1):
if v == 1:
self.thread = threading.Thread(
target=self.__say_action,
args=(speech_markup.sound_files[sound_id], speech_markup.sound_markup[sound_id]),
)
elif v == 2:
self.thread = threading.Thread(
target=self.__say_action,
args=(speech_markup.sound_files_2[sound_id], speech_markup.sound_markup_2[sound_id]),
)
self.thread.daemon = True
self.thread.start()
print "Speech.say ended"
def __phrase(self, sound_time_milisecons, angle):
sound_time = float(sound_time_milisecons) / 1000
start_time = time.time()
middle_time = start_time + (sound_time / 2)
end_time = start_time + sound_time
delta_t = middle_time - start_time
delta_p = angle - dconfig.mouth_closed
now = time.time()
while now < middle_time:
k = (now - start_time) / delta_t
self.servo.start(dconfig.mouth_closed + delta_p * k)
print dconfig.mouth_closed + delta_p * k
time.sleep(0.03)
now = time.time()
if self.stop:
break
while now < end_time:
k = 1 - (now - middle_time) / delta_t
self.servo.start(dconfig.mouth_closed + delta_p * k)
print dconfig.mouth_closed + delta_p * k
time.sleep(0.03)
now = time.time()
if self.stop:
break
self.servo.start(dconfig.mouth_closed)
def __say_action(self, sound_path, markup):
self.stop = True
while self.stopped is False:
time.sleep(0.05)
time.sleep(0.05)
self.stop = False
self.stopped = False
sounds = markup.split(" ")
self.player_play(sound_path, 100)
for sound in sounds:
if self.stop:
break
if sound.find("~") == -1:
if sound == "1":
self.__phrase(dconfig.mouth_sound_time, dconfig.mouth_half_open)
elif sound == "2":
self.__phrase(dconfig.mouth_sound_time, dconfig.mouth_open)
else:
self.servo.start(0)
time.sleep(float(sound) / 1000)
else:
sound_parts = sound.split("~")
mouth_state = int(sound_parts[0])
sound_time = float(sound_parts[1])
if mouth_state == 1:
self.__phrase(sound_time, dconfig.mouth_half_open)
elif mouth_state == 2:
self.__phrase(sound_time, dconfig.mouth_open)
else:
pass
self.servo.start(0)
time.sleep(1)
self.stop = False
self.stopped = True
print "Speech() in speech.py came to the end"
def now_saying(self):
return not self.stopped
def sound_length(self, sound_id):
length = 0.0
markup = speech_markup.sound_markup[sound_id]
sounds = markup.split(" ")
for sound in sounds:
if sound.find("~") == -1:
if (sound == "1") or (sound == "2"):
length += dconfig.mouth_sound_time
else:
length += int(sound)
else:
sound_parts = sound.split("~")
length += float(sound_parts[1])
print "length is", length
return length
def player_play(self, sound_path, volume):
if self.player:
self.player.terminate()
self.player = subprocess.Popen(["mpg321", "-g " + str(volume), "-q", "sounds/" + sound_path])
