def exportToKML( self, strFilename = None ):
if( strFilename == None ):
strFilename = pathtools.getVolatilePath() + 'pos.kml';
strOut = """<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2">
<Folder>""";
for k, v in self.aListPos.iteritems():
pos = v[0];
rLon = pos[0];
rLat = pos[1];
rAlt = 0;
if( len( pos ) > 2 ):
rAlt = pos[2];
strDesc = "";
if( len( v ) > 1 ):
strDesc = "<description>%s</description>" % v[1];
strOut += """
<Placemark>
<name>%s</name>
%s
<Point>
<coordinates>%f,%f,%f</coordinates>
</Point>
</Placemark>""" % ( k, strDesc, rLon, rLat, rAlt );
strOut += "\n </Folder>\n</kml>";
file = open( strFilename, "wt" );
file.write( strOut );
file.close();
print( "INF: exportToKML: exported to '%s': %d position(s)" % (strFilename, len( self.aListPos ) ) );
def sayAndCache_internal( strTextToSay, bJustPrepare, bStoreToNonVolatilePath, bDirectPlay, nUseLang, bWaitEnd, bCalledFromSayAndCacheFromLight, strUseVoice ):
"generate a text in a file, then read it, next time it will be directly played from that file"
"bJustPrepare: render the text to a file, but don't play it now"
"bStoreToNonVolatilePath: copy the generated file to a non volatile path (/usr/generatedvoices)"
"nUseLang: if different of -1: speak with a specific languages (useful, when text are already generated: doesn't need to swap languages for nothing!"
"strUseVoice: if different of None or default: use specific voice"
"return the length of the text in seconds, or None if impossible"
print( "sayAndCache_internal( '%s', bJustPrepare: %s, bStoreToNonVolatilePath: %s, bDirectPlay: %s, nUseLang: %d, bWaitEnd: %s, bCalledFromSayAndCacheFromLight: %s, strUseVoice: '%s' )" % ( strTextToSay, str( bJustPrepare ), str( bStoreToNonVolatilePath ), str( bDirectPlay ), nUseLang, str( bWaitEnd ), str( bCalledFromSayAndCacheFromLight ), str( strUseVoice ) ) );
if( not config.bPrecomputeText ):
print( "sayAndCache: disabled by configuration: bPrecomputeText is false" );
if( bJustPrepare ):
return None; # do nothing
tts = naoqitools.myGetProxy( "ALTextToSpeech" );
tts.say( strTextToSay );
return None;
print( "sayAndCache: FORCING DIRECT_PLAY CAR SINON C'EST BUGGE DANS LA VERSION COURANTE!");
bDirectPlay = True;
if( strUseVoice == "default" ):
strUseVoice = None;
if( config.bRemoveDirectPlay ):
print( "WRN: DISABLING DIRECT_PLAY SETTINGS for testing/temporary purpose" );
bDirectPlay = False;
strTextToSay = assumeTextHasDefaultSettings( strTextToSay, nUseLang );
szFilename = sayAndCache_getFilename( strTextToSay, nUseLang, strUseVoice );
szPathVolatile = pathtools.getVolatilePath() + "generatedvoices" + pathtools.getDirectorySeparator();
try:
os.mkdir( szPathVolatile );
except BaseException, err:
pass
def sayAndCacheAndLight( strTextToSay, bJustPrepare = False, bStoreToNonVolatilePath = False, nEyesColor = 0, nUseLang = -1 ):
"say a cached text with light animation"
"nEyesColor: 0: white, 1: blue, 2: green; 3: red"
"nUseLang: if different of -1: speak with a specific languages (useful, when text are already generated: doesn't need to swap languages for nothing!"
"return the length of the text in seconds, or None if impossible"
print( "sayAndCacheAndLight( '%s', bJustPrepare: %s, bStoreToNonVolatilePath: %s, nEyesColor: %s, nUseLang: %s )" % ( strTextToSay, str( bJustPrepare ), str( bStoreToNonVolatilePath ), str( nEyesColor ), str( nUseLang ) ) );
if( not config.bPrecomputeText ):
print( "sayAndCacheAndLight: disabled by configuration: bPrecomputeText is false" );
if( bJustPrepare ):
return None; # do nothing
tts = naoqitools.myGetProxy( "ALTextToSpeech" );
tts.say( strTextToSay );
return None;
rLength = sayAndCache( strTextToSay, bJustPrepare = True, bStoreToNonVolatilePath = bStoreToNonVolatilePath, nUseLang = nUseLang, bCalledFromSayAndCacheFromLight = True ); # we store it to disk, only if we must do it
# this two lines are done too in sayAndCache...
strTextToSay = assumeTextHasDefaultSettings( strTextToSay, nUseLang );
szFilename = sayAndCache_getFilename( strTextToSay, nUseLang );
szPathVolatile = pathtools.getVolatilePath();
rSampleLenSec = 0.05;
# szPathFilenamePeak = szPathVolatile + szFilename + ("_%5.3f.egy" % rSampleLenSec);
szPathFilenamePeak = szFilename + ("_%5.3f.egy" % rSampleLenSec);
szPathFilenamePeakCache = pathtools.getCachePath() + "generatedvoices" + pathtools.getDirectorySeparator() + szPathFilenamePeak;
szPathFilenamePeak = szPathVolatile + szPathFilenamePeak;
anLedsColorSequency = [];
aBufFile = "";
bFileGenerated = False;
if( not filetools.isFileExists( szPathFilenamePeak ) ):
if( filetools.isFileExists( szPathFilenamePeakCache ) ):
copyFile( szPathFilenamePeakCache, szPathFilenamePeak );
if( not filetools.isFileExists( szPathFilenamePeak ) ):
# generate peak file
timeBegin = time.time();
print( "sayAndCacheAndLight: generating peak light - begin\n" );
szPathFilename = szPathVolatile + szFilename + ".raw";
anLedsColorSequency = [];
try:
une = naoqitools.myGetProxy( 'UsageNoiseExtractor' );
anLedsColorSequency = une.analyseSpeakSound( szPathFilename, int( rSampleLenSec * 1000 ), False );
except BaseException, err:
print( "ERR: sayAndCacheAndLight( '%s' ): err: %s" % ( strTextToSay, str( err ) ) );
print( "ERR: sayAndCacheAndLight => trying old cpp version" );
anLedsColorSequency = analyseSpeakSound( szPathFilename, rSampleLenSec * 1000 );
print( "sayAndCacheAndLight: analyseSpeakSound - end - time: %fs\n" % float( time.time() - timeBegin ) );
# print( "anLedsColorSequency: %d samples: %s\n" % ( len( anLedsColorSequency ), str( anLedsColorSequency ) ) );
print( "Writing file with %d peak samples (time: %d)\n" % ( len( anLedsColorSequency ), int( time.time() ) ) );
# struct.pack_into( "f"*len( anLedsColorSequency ), aBufFile, anLedsColorSequency[:] );
for peakValue in anLedsColorSequency:
aBufFile += struct.pack( "f", peakValue );
try:
file = open( szPathFilenamePeak, "wb" );
file.write( aBufFile );
except RuntimeError, err:
print( "ERR: sayAndCacheAndLight( '%s' ): err: %s" % ( strTextToSay, str( err ) ) );
def sayMumbled( strText ):
sayAndCache( strText, bJustPrepare = True );
strText = assumeTextHasDefaultSettings( strText );
szFilename = sayAndCache_getFilename( strText );
szPathFilename = pathtools.getVolatilePath() + "generatedvoices" + pathtools.getDirectorySeparator() + szFilename + ".raw";
szProcessed = szPathFilename + "_mumbled.raw";
if( not processSoundMumbled( szPathFilename, szProcessed ) ):
return False;
nFreq = 22050;
system.mySystemCall( "aplay -c1 -r%d -fS16_LE -q %s" % ( nFreq, szProcessed ) );
return True;
def sayMumbled(strText):
sayAndCache(strText, bJustPrepare=True)
strText = assumeTextHasDefaultSettings(strText)
szFilename = sayAndCache_getFilename(strText)
szPathFilename = pathtools.getVolatilePath() + szFilename + ".raw"
szProcessed = szPathFilename + "_mumbled.raw"
if (not processSoundMumbled(szPathFilename, szProcessed)):
return False
nFreq = 22050
mySystemCall("aplay -c1 -r%d -fS16_LE -q %s" % (nFreq, szProcessed))
return True
def executeAndGrabOutput( strCommand, bLimitToFirstLine = False ):
"execute a command in system shell and return grabbed output"
"WARNING: it's a 'not efficient' function!"
strTimeStamp = filetools.getFilenameFromTime();
strOutputFilename = pathtools.getVolatilePath() + "grab_output_" + strTimeStamp+ ".tmp"; # generate a different file each call for multithreading capabilities
mySystemCall( strCommand + " > " + strOutputFilename );
if( bLimitToFirstLine ):
strBufferRead = filetools.getFileFirstLine( strOutputFilename );
else:
strBufferRead = filetools.getFileContents( strOutputFilename );
try:
os.unlink( strOutputFilename );
except:
pass
debug.debug( "executeAndGrabOutput: '%s'" % strBufferRead );
return strBufferRead;
def executeAndGrabOutput( strCommand, bLimitToFirstLine = False ):
"execute a command in system shell and return grabbed output"
"WARNING: it's a 'not efficient' function!"
strTimeStamp = filetools.getFilenameFromTime();
strOutputFilename = pathtools.getVolatilePath() + "grab_output_" + strTimeStamp+ ".tmp"; # generate a different file each call for multithreading capabilities
mySystemCall( strCommand + " > " + strOutputFilename );
if( bLimitToFirstLine ):
strBufferRead = filetools.getFileFirstLine( strOutputFilename );
else:
strBufferRead = filetools.getFileContents( strOutputFilename );
try:
os.unlink( strOutputFilename );
except:
pass
debug.debug( "executeAndGrabOutput: '%s'" % strBufferRead );
return strBufferRead;
def sayAndCache_internal(strTextToSay, bJustPrepare, bStoreToNonVolatilePath,
bDirectPlay, nUseLang, bWaitEnd,
bCalledFromSayAndCacheFromLight, strUseVoice):
"generate a text in a file, then read it, next time it will be directly played from that file"
"bJustPrepare: render the text to a file, but don't play it now"
"bStoreToNonVolatilePath: copy the generated file to a non volatile path (/usr/generatedvoices)"
"nUseLang: if different of -1: speak with a specific languages (useful, when text are already generated: doesn't need to swap languages for nothing!"
"strUseVoice: if different of None or default: use specific voice"
"return the length of the text in seconds, or None if impossible"
print(
"sayAndCache_internal( '%s', bJustPrepare: %s, bStoreToNonVolatilePath: %s, bDirectPlay: %s, nUseLang: %d, bWaitEnd: %s, bCalledFromSayAndCacheFromLight: %s, strUseVoice: '%s' )"
% (strTextToSay, str(bJustPrepare), str(bStoreToNonVolatilePath),
str(bDirectPlay), nUseLang, str(bWaitEnd),
str(bCalledFromSayAndCacheFromLight), str(strUseVoice)))
if (not config.bPrecomputeText):
print(
"sayAndCache: disabled by configuration: bPrecomputeText is false")
if (bJustPrepare):
return None
# do nothing
tts = naoqitools.myGetProxy("ALTextToSpeech")
tts.say(strTextToSay)
return None
print(
"sayAndCache: FORCING DIRECT_PLAY CAR SINON C'EST BUGGE DANS LA VERSION COURANTE!"
)
bDirectPlay = True
if (strUseVoice == "default"):
strUseVoice = None
if (config.bRemoveDirectPlay):
print(
"WRN: DISABLING DIRECT_PLAY SETTINGS for testing/temporary purpose"
)
bDirectPlay = False
strTextToSay = assumeTextHasDefaultSettings(strTextToSay, nUseLang)
szFilename = sayAndCache_getFilename(strTextToSay, nUseLang, strUseVoice)
szPathVolatile = pathtools.getVolatilePath(
) + "generatedvoices" + pathtools.getDirectorySeparator()
try:
os.mkdir(szPathVolatile)
except BaseException, err:
pass
def sayAndCacheAndLight(strTextToSay,
bJustPrepare=False,
bStoreToNonVolatilePath=False,
nEyesColor=0,
nUseLang=-1):
"say a cached text with light animation"
"nEyesColor: 0: white, 1: blue, 2: green; 3: red"
"nUseLang: if different of -1: speak with a specific languages (useful, when text are already generated: doesn't need to swap languages for nothing!"
"return the length of the text in seconds, or None if impossible"
print(
"sayAndCacheAndLight( '%s', bJustPrepare: %s, bStoreToNonVolatilePath: %s, nEyesColor: %s, nUseLang: %s )"
% (strTextToSay, str(bJustPrepare), str(bStoreToNonVolatilePath),
str(nEyesColor), str(nUseLang)))
if (not config.bPrecomputeText):
print(
"sayAndCacheAndLight: disabled by configuration: bPrecomputeText is false"
)
if (bJustPrepare):
return None
# do nothing
tts = naoqitools.myGetProxy("ALTextToSpeech")
tts.say(strTextToSay)
return None
rLength = sayAndCache(strTextToSay,
bJustPrepare=True,
bStoreToNonVolatilePath=bStoreToNonVolatilePath,
nUseLang=nUseLang,
bCalledFromSayAndCacheFromLight=True)
# we store it to disk, only if we must do it
# this two lines are done too in sayAndCache...
strTextToSay = assumeTextHasDefaultSettings(strTextToSay, nUseLang)
szFilename = sayAndCache_getFilename(strTextToSay, nUseLang)
szPathVolatile = pathtools.getVolatilePath()
rSampleLenSec = 0.05
# szPathFilenamePeak = szPathVolatile + szFilename + ("_%5.3f.egy" % rSampleLenSec);
szPathFilenamePeak = szFilename + ("_%5.3f.egy" % rSampleLenSec)
szPathFilenamePeakCache = pathtools.getCachePath(
) + "generatedvoices" + pathtools.getDirectorySeparator(
) + szPathFilenamePeak
szPathFilenamePeak = szPathVolatile + szPathFilenamePeak
anLedsColorSequency = []
aBufFile = ""
bFileGenerated = False
if (not filetools.isFileExists(szPathFilenamePeak)):
if (filetools.isFileExists(szPathFilenamePeakCache)):
copyFile(szPathFilenamePeakCache, szPathFilenamePeak)
if (not filetools.isFileExists(szPathFilenamePeak)):
# generate peak file
timeBegin = time.time()
print("sayAndCacheAndLight: generating peak light - begin\n")
szPathFilename = szPathVolatile + szFilename + ".raw"
anLedsColorSequency = []
try:
une = naoqitools.myGetProxy('UsageNoiseExtractor')
anLedsColorSequency = une.analyseSpeakSound(
szPathFilename, int(rSampleLenSec * 1000), False)
except BaseException, err:
print("ERR: sayAndCacheAndLight( '%s' ): err: %s" %
(strTextToSay, str(err)))
print("ERR: sayAndCacheAndLight => trying old cpp version")
anLedsColorSequency = analyseSpeakSound(szPathFilename,
rSampleLenSec * 1000)
print("sayAndCacheAndLight: analyseSpeakSound - end - time: %fs\n" %
float(time.time() - timeBegin))
# print( "anLedsColorSequency: %d samples: %s\n" % ( len( anLedsColorSequency ), str( anLedsColorSequency ) ) );
print("Writing file with %d peak samples (time: %d)\n" %
(len(anLedsColorSequency), int(time.time())))
# struct.pack_into( "f"*len( anLedsColorSequency ), aBufFile, anLedsColorSequency[:] );
for peakValue in anLedsColorSequency:
aBufFile += struct.pack("f", peakValue)
try:
file = open(szPathFilenamePeak, "wb")
file.write(aBufFile)
except RuntimeError, err:
print("ERR: sayAndCacheAndLight( '%s' ): err: %s" %
(strTextToSay, str(err)))
def sayAndCache(strTextToSay,
bJustPrepare=False,
bStoreToNonVolatilePath=False,
bDirectPlay=False,
nUseLang=-1,
bWaitEnd=True,
bCalledFromSayAndCacheFromLight=False):
"generate a text in a file, then read it, next time it will be directly played from that file"
"bJustPrepare: render the text to a file, but don't play it now"
"bStoreToNonVolatilePath: copy the generated file to a non volatile path (/usr/generatedvoices)"
"nUseLang: if different of -1: speak with a specific languages (useful, when text are already generated: doesn't need to swap languages for nothing!"
"return the length of the text in seconds, or None if impossible"
print(
"sayAndCache( '%s', bJustPrepare: %s, bStoreToNonVolatilePath: %s, bDirectPlay: %s, nUseLang: %d, bWaitEnd: %s, bCalledFromSayAndCacheFromLight: %s )"
% (strTextToSay, str(bJustPrepare), str(bStoreToNonVolatilePath),
str(bDirectPlay), nUseLang, str(bWaitEnd),
str(bCalledFromSayAndCacheFromLight)))
if (not config.bPrecomputeText):
print(
"sayAndCache: disabled by configuration: bPrecomputeText is false")
if (bJustPrepare):
return None
# do nothing
tts = naoqitools.myGetProxy("ALTextToSpeech")
tts.say(strTextToSay)
return None
print(
"sayAndCache: FORCING DIRECT_PLAY CAR SINON C'EST BUGGE DANS LA VERSION COURANTE!"
)
bDirectPlay = True
if (config.bRemoveDirectPlay):
print(
"WRN: DISABLING DIRECT_PLAY SETTINGS for testing/temporary purpose"
)
bDirectPlay = False
strTextToSay = assumeTextHasDefaultSettings(strTextToSay, nUseLang)
szFilename = sayAndCache_getFilename(strTextToSay, nUseLang)
szPathVolatile = pathtools.getVolatilePath()
# if( not szFilename.isalnum() ): # the underscore is not an alphanumeric, but is valid there
# debug( "WRN: sayAndCache: some chars are not alphanumeric in filename '%s'" % szFilename );
szPathFilename = szPathVolatile + szFilename + ".raw"
bGenerate = not filetools.isFileExists(szPathFilename)
if (bGenerate):
szAlternatePathFilename = pathtools.getCachePath(
) + "generatedvoices" + pathtools.getDirectorySeparator(
) + szFilename + ".raw"
# look in a non volatile path
if (filetools.isFileExists(szAlternatePathFilename)):
debug("sayAndCache: get static precomputed text for '%s'" %
(strTextToSay))
copyFile(szAlternatePathFilename, szPathFilename)
bGenerate = not filetools.isFileExists(szPathFilename)
#update this variable
# if alternate
# if bGenerate
if (bGenerate):
# generate it!
debug("sayAndCache: generating '%s' to file '%s'" %
(strTextToSay, szPathFilename))
sayAndCache_InformProcess()
timeBegin = time.time()
tts = naoqitools.myGetProxy("ALTextToSpeech")
if (nUseLang != -1):
# change the language to the wanted one
setSpeakLanguage(nUseLang)
if (len(strTextToSay) > 150
and (not bJustPrepare or bCalledFromSayAndCacheFromLight)):
# if it's a long text, we had a blabla to tell the user we will wait (if it's a just prepare from inner, we don't use it)
sayAndCache_InformPrepare()
print("TTS TO FILE 1 - BEGIN")
tts.sayToFile(strTextToSay, szPathFilename)
print("TTS TO FILE 1 - END")
sayAndCache_InformProcess_end()
debug("sayAndCache: generating text to file - end (tts) - time: %fs" %
(time.time() - timeBegin))
timeBegin = time.time()
removeBlankFromFile(szPathFilename)
debug(
"sayAndCache: generating text to file - end (post-process1) - time: %fs"
% (time.time() - timeBegin))
timeBegin = time.time()
if (bStoreToNonVolatilePath):
try:
os.makedirs(pathtools.getCachePath() + "generatedvoices" +
pathtools.getDirectorySeparator())
except:
pass
szAlternatePathFilename = pathtools.getCachePath(
) + "generatedvoices" + pathtools.getDirectorySeparator(
) + szFilename + ".raw"
# a non volatile path
copyFile(szPathFilename, szAlternatePathFilename)
time.sleep(0.1)
# pour laisser la synthese souffler un peu (dans les scripts je mettais 300ms)
debug(
"sayAndCache: generating text to file - end (post-process2) - time: %fs"
% (time.time() - timeBegin))
statinfo = os.stat(szPathFilename)
rLength = statinfo.st_size / float(22050 * 1 * 2)
# sizefile => secondes
if (not bJustPrepare):
# debug( "speech::sayAndCache: launching sound now!" );
if (bWaitEnd):
analyseSound_pause(True)
if (bDirectPlay):
nLang = nUseLang
if (nLang == -1):
nLang = getSpeakLanguage()
nFreq = 22050
if (nLang == constants.LANG_CH or nLang == constants.LANG_KO):
nFreq = 17000
# parce que c'est beau, (ca fait a peu pres du speed a 72%) # todo: ca désynchronise les yeux qui se lisent trop vite ! argh !
mySystemCall("aplay -c1 -r%d -fS16_LE -q %s" %
(nFreq, szPathFilename),
bWaitEnd=bWaitEnd)
else:
leds = naoqitools.myGetProxy("ALLeds", True)
leds.post.fadeRGB("RightFootLeds", 0xFF0000, 0.7)
# right in red (skip)
audioProxy = naoqitools.myGetProxy("ALAudioPlayer", True)
# read it in background and check if someone press the right feet a long times => skip text playing
id = audioProxy.post.playFile(szPathFilename)
if (not bWaitEnd):
# attention: no unpause of analyse dans ce cas la!
return rLength
nbrFramesBumpersPushed = 0
nbrFramesBumpersPushedMinToSkip = 2
strTemplateKeyName = "Device/SubDeviceList/%sFoot/Bumper/%s/Sensor/Value"
stm = naoqitools.myGetProxy("ALMemory")
while (audioProxy.isRunning(id)):
time.sleep(0.1)
# time for user to release precedent push
listRightFeetBumpers = stm.getListData([
strTemplateKeyName % ("R", "Left"),
strTemplateKeyName % ("R", "Right")
])
if (listRightFeetBumpers[0] > 0.0
or listRightFeetBumpers[1] > 0.0):
nbrFramesBumpersPushed += 1
if (nbrFramesBumpersPushed >=
nbrFramesBumpersPushedMinToSkip):
print(
"sayAndCache: skipping current text reading because users press on right bumpers"
)
audioProxy.stop(id)
leds.post.fadeRGB("RightFootLeds", 0x000000, 0.2)
# turn off it
# while - end
#if( bDirectPlay ) - end
analyseSound_resume(True)
# if( not bJustPrepare ) - end
print("sayAndCache: End !!!")
return rLength
def sayAndCache( strTextToSay, bJustPrepare = False, bStoreToNonVolatilePath = False, bDirectPlay = False, nUseLang = -1, bWaitEnd = True, bCalledFromSayAndCacheFromLight = False ):
"generate a text in a file, then read it, next time it will be directly played from that file"
"bJustPrepare: render the text to a file, but don't play it now"
"bStoreToNonVolatilePath: copy the generated file to a non volatile path (/usr/generatedvoices)"
"nUseLang: if different of -1: speak with a specific languages (useful, when text are already generated: doesn't need to swap languages for nothing!"
"return the length of the text in seconds, or None if impossible"
print( "sayAndCache( '%s', bJustPrepare: %s, bStoreToNonVolatilePath: %s, bDirectPlay: %s, nUseLang: %d, bWaitEnd: %s, bCalledFromSayAndCacheFromLight: %s )" % ( strTextToSay, str( bJustPrepare ), str( bStoreToNonVolatilePath ), str( bDirectPlay ), nUseLang, str( bWaitEnd ), str( bCalledFromSayAndCacheFromLight ) ) );
if( not config.bPrecomputeText ):
print( "sayAndCache: disabled by configuration: bPrecomputeText is false" );
if( bJustPrepare ):
return None; # do nothing
tts = naoqitools.myGetProxy( "ALTextToSpeech" );
tts.say( strTextToSay );
return None;
print( "sayAndCache: FORCING DIRECT_PLAY CAR SINON C'EST BUGGE DANS LA VERSION COURANTE!");
bDirectPlay = True;
if( config.bRemoveDirectPlay ):
print( "WRN: DISABLING DIRECT_PLAY SETTINGS for testing/temporary purpose" );
bDirectPlay = False;
strTextToSay = assumeTextHasDefaultSettings( strTextToSay, nUseLang );
szFilename = sayAndCache_getFilename( strTextToSay, nUseLang );
szPathVolatile = pathtools.getVolatilePath();
# if( not szFilename.isalnum() ): # the underscore is not an alphanumeric, but is valid there
# debug( "WRN: sayAndCache: some chars are not alphanumeric in filename '%s'" % szFilename );
szPathFilename = szPathVolatile + szFilename + ".raw";
bGenerate = not filetools.isFileExists( szPathFilename );
if( bGenerate ):
szAlternatePathFilename = pathtools.getCachePath() + "generatedvoices" + pathtools.getDirectorySeparator() + szFilename + ".raw"; # look in a non volatile path
if( filetools.isFileExists( szAlternatePathFilename ) ):
debug( "sayAndCache: get static precomputed text for '%s'" % ( strTextToSay ) );
copyFile( szAlternatePathFilename, szPathFilename );
bGenerate = not filetools.isFileExists( szPathFilename ); #update this variable
# if alternate
# if bGenerate
if( bGenerate ):
# generate it!
debug( "sayAndCache: generating '%s' to file '%s'" % ( strTextToSay, szPathFilename ) );
sayAndCache_InformProcess();
timeBegin = time.time();
tts = naoqitools.myGetProxy( "ALTextToSpeech" );
if( nUseLang != -1 ):
# change the language to the wanted one
setSpeakLanguage( nUseLang );
if( len( strTextToSay ) > 150 and ( not bJustPrepare or bCalledFromSayAndCacheFromLight ) ):
# if it's a long text, we had a blabla to tell the user we will wait (if it's a just prepare from inner, we don't use it)
sayAndCache_InformPrepare();
print( "TTS TO FILE 1 - BEGIN" );
tts.sayToFile( strTextToSay, szPathFilename );
print( "TTS TO FILE 1 - END" );
sayAndCache_InformProcess_end();
debug( "sayAndCache: generating text to file - end (tts) - time: %fs" % ( time.time() - timeBegin ) );
timeBegin = time.time();
removeBlankFromFile( szPathFilename );
debug( "sayAndCache: generating text to file - end (post-process1) - time: %fs" % ( time.time() - timeBegin ) );
timeBegin = time.time();
if( bStoreToNonVolatilePath ):
try:
os.makedirs( pathtools.getCachePath() + "generatedvoices" + pathtools.getDirectorySeparator());
except:
pass
szAlternatePathFilename = pathtools.getCachePath() + "generatedvoices" + pathtools.getDirectorySeparator() + szFilename + ".raw"; # a non volatile path
copyFile( szPathFilename, szAlternatePathFilename );
time.sleep( 0.1 ); # pour laisser la synthese souffler un peu (dans les scripts je mettais 300ms)
debug( "sayAndCache: generating text to file - end (post-process2) - time: %fs" % ( time.time() - timeBegin ) );
statinfo = os.stat( szPathFilename );
rLength = statinfo.st_size / float(22050*1*2); # sizefile => secondes
if( not bJustPrepare ):
# debug( "speech::sayAndCache: launching sound now!" );
if( bWaitEnd ):
analyseSound_pause( True );
if( bDirectPlay ):
nLang = nUseLang;
if( nLang == -1 ):
nLang = getSpeakLanguage();
nFreq = 22050;
if( nLang == constants.LANG_CH or nLang == constants.LANG_KO ):
nFreq = 17000; # parce que c'est beau, (ca fait a peu pres du speed a 72%) # todo: ca désynchronise les yeux qui se lisent trop vite ! argh !
mySystemCall( "aplay -c1 -r%d -fS16_LE -q %s" % ( nFreq, szPathFilename ), bWaitEnd = bWaitEnd );
else:
leds = naoqitools.myGetProxy( "ALLeds", True );
leds.post.fadeRGB( "RightFootLeds", 0xFF0000, 0.7 ); # right in red (skip)
audioProxy = naoqitools.myGetProxy( "ALAudioPlayer", True );
# read it in background and check if someone press the right feet a long times => skip text playing
id = audioProxy.post.playFile(szPathFilename);
if( not bWaitEnd ):
# attention: no unpause of analyse dans ce cas la!
return rLength;
nbrFramesBumpersPushed = 0;
nbrFramesBumpersPushedMinToSkip = 2;
strTemplateKeyName = "Device/SubDeviceList/%sFoot/Bumper/%s/Sensor/Value";
stm = naoqitools.myGetProxy( "ALMemory" );
while( audioProxy.isRunning( id ) ):
time.sleep( 0.1 ); # time for user to release precedent push
listRightFeetBumpers = stm.getListData( [strTemplateKeyName % ( "R", "Left" ), strTemplateKeyName % ( "R", "Right" )] );
if( listRightFeetBumpers[0] > 0.0 or listRightFeetBumpers[1] > 0.0 ):
nbrFramesBumpersPushed += 1;
if( nbrFramesBumpersPushed >= nbrFramesBumpersPushedMinToSkip ):
print( "sayAndCache: skipping current text reading because users press on right bumpers" );
audioProxy.stop( id );
leds.post.fadeRGB( "RightFootLeds", 0x000000, 0.2 ); # turn off it
# while - end
#if( bDirectPlay ) - end
analyseSound_resume( True );
# if( not bJustPrepare ) - end
print( "sayAndCache: End !!!");
return rLength;
bRet = usage.post.getWebFile( strHost, strFolder + strPageName, strSaveAs, rTimeOutForAnswerInSec );
return "";
strPageContents = usage.getWebPage( strHost, strFolder + strPageName, rTimeOutForAnswerInSec );
if( strPageContents != "error" or ( rTimeOutForAnswerInSec > 0. and rTimeOutForAnswerInSec < 10.0 ) ): # if we put a short timeout, that's possible to have an empty response!
return strPageContents; # else, we will use the normal method
else:
print( "WRN: getHtmlPage: CPP method error: return empty, trying other method" );
except BaseException, err:
print( "WRN: getHtmlPage: CPP method error: %s" % str( err ) );
pass # use oldies version
print( "WRN: nettools.getHtmlPage: using old one using fork and shell!" );
# not very efficient: should store it in var/volatile (but less os independent)
debug.debug( "getHtmlPage( %s, bWaitAnswer = %d, rTimeOutForAnswerInSec = %d )" % ( strHtmlAdress, bWaitAnswer, rTimeOutForAnswerInSec ) );
strRandomFilename = pathtools.getVolatilePath() + "getHtmlPage_%s.html" % filetools.getFilenameFromTime();
# sous windows wget peut geler, donc on va l'appeller avec un timeout (qui ne fonctionne pas, c'est drole...)
# threadWGet = system.mySystemCall( "wget %s --output-document=%s --tries=16 --timeout=60 --cache=off -q" % ( strHtmlAdress, strRandomFilename ), False, True ); # commenter cette ligne pour avoir toujours le meme fichier
# en fait plein d'options n'existe pas sur Nao, donc on ne laisse que celle ci:
if( strSaveAs != None ):
strRandomFilename = strSaveAs;
threadWGet = system.mySystemCall( "wget \"%s\" --output-document=%s -q" % ( strHtmlAdress, strRandomFilename ), bWaitEnd = False, bStoppable = True ); # commenter cette ligne pour avoir toujours le meme fichier
if( not bWaitAnswer ):
debug.debug( "getHtmlPage( %s, %d ) - direct return" % ( strHtmlAdress, bWaitAnswer ) );
return "";
timeBegin = time.time();
timeElapsed = 0.0;
time.sleep( 1.0 ); # time for the process to be created !
