def init(configname=None):
global sdk
if configname is not None:
sdk = speak.Speak(configname)
else:
sdk = speak.Speak()
# 要初期化
sdk.init()
# コールバック先の設定
sdk.set_on_meta_out(on_meta_out)
sdk.set_on_text_out(on_text_out)
sdk.set_on_cache_failed(on_cache_failed)
sdk.set_on_gain_value(on_gain_value)
sdk.set_on_play_start(on_play_start)
sdk.set_on_play_end(on_play_end)
def onlineVerificationController():
##### Controller variables ######
#translate = {0:'up', 2:'down', 4:'left', 6:'right',8:'down'}
#speak = wincl.Dispatch("SAPI.SpVoice")
opposite = {2: 8, 4: 6, 6: 4, 8: 2, 0: 0}
otherkey = {2: [4, 6], 4: [2, 8], 6: [2, 8], 8: [4, 6], 0: [2, 4, 6, 8]}
pressedKey = None
keypress = False
previousPrediction = 0
prevPreviousPrediction = 0
gotfive = 0
gotopposite = 0
gotother = 0
#gotfive = 0
blinks = 0
lastTime = datetime.now()
takeoff = False
speak.Speak("Starting online verification controller")
with glb.predictionslock:
#del glb.predictions[:]
glb.predictionsQueue.queue.clear()
print("Online verification controller setup finished")
while True:
if blinks >= 3:
if not takeoff:
print("Takeoff")
speak.Speak("Takeoff")
takeoff = True
#drone.takeoff()
else:
print("Land")
takeoff = False
speak.Speak("Land")
#drone.land()
blinks = 0
blinks, opposite, otherkey, pressedKey, keypress, previousPrediction, prevPreviousPrediction, gotfive, gotother, gotopposite, lastTime\
= stateMachine(blinks, opposite, otherkey, pressedKey, keypress, previousPrediction, prevPreviousPrediction, gotfive, gotother, gotopposite, lastTime)
tme.sleep(0.05)
def __init__(self):
self.speaker = speak.Speak()
self.answer = None
self.question = None
self.recognizer = speak.Speech()
self.memory = None
with open("new_memory.csv", "r") as csv_memo:
reader = csv.reader(csv_memo)
self.memory = dict(reader)
self.memory = dict(map(str.strip, x) for x in self.memory.items())
class ApiConfig(AppConfig):
name = 'api'
busyLock = threading.Lock()
root = os.path.dirname(os.path.realpath(__file__)) + "/../.."
config = configparser.ConfigParser()
config.read(root + '/config.ini')
urlroot = 'http://' + config['GLOBAL']['IP'] + ':' + config['GLOBAL'][
'PORT']
gspeechsecret = config['DEFAULT']['KEY_ROOT'] + "/" + config['DEFAULT'][
'KEY_GSPEECH']
gytbsecret = config['DEFAULT']['KEY_ROOT'] + "/" + config['DEFAULT'][
'KEY_GYTB']
gytbFolder = config['DEFAULT']['GYTB_ROOT']
gshtsecret = config['DEFAULT']['KEY_ROOT'] + "/" + config['DEFAULT'][
'KEY_GSHEET']
speechDevice = int(config['DEFAULT']['SPEECH_DEVICE'])
playerDevice = int(config['DEFAULT']['PLAYER_DEVICE'])
sheetId = config['DEFAULT']['SHEET_ID']
modelone = root + "/resources/okzero.pmdl"
modeltwo = root + "/resources/tesla.pmdl"
spk = speak.Speak(device_index=speechDevice)
gytb = gyoutube.Gyoutube(gytbsecret)
gsht = gsheet.Gsheet(gshtsecret, defaultId=sheetId)
ply = player.Player(gytbFolder, gytb, deviceIndex=playerDevice)
act = action.Action(ply=ply, spk=spk, gsht=gsht)
gsp = gspeech.Gspeech(gspeechsecret, speak=spk, device=speechDevice)
sb = snowboy.Snowboy([modelone],
urlroot + "/api/_action",
ply,
device=speechDevice)
sb.start()
sb.launch()
self.canvas.set_2d_size(sbg.dimensions[0], sbg.dimensions[1],
sbg.dimensions[2], sbg.dimensions[3])
self.canvas.unif[48:54] = self.canvas.unif[
42:48] #need to pass shader dimensions for both textures
self.canvas.set_2d_size(sfg.dimensions[0], sfg.dimensions[1],
sfg.dimensions[2], sfg.dimensions[3])
self.canvas.draw()
####################### FUNCTIONS DEFINES END#######################################
try:
LOGGER.info('START MAIN')
sleeping = False
blinkCount = 0
BLINKMAX = 10
speak = speak.Speak()
# eyeRadius is the size, in pixels, at which the whole eye will be rendered.
if DISPLAY.width <= (DISPLAY.height * 2):
# For WorldEye, eye size is -almost- full screen height
eyeRadius = DISPLAY.height / 2.1
else:
eyeRadius = DISPLAY.height * 2 / 5
#initialize timers
blinkTimer = time.time()
sleepTimer = time.time()
nextBlink = randint(1, BLINKMAX)
eyeDraw = Eye(sleepTimer, blinkTimer)
# Load textures
neutral = tex_load(DISPLAY, "textures/eyes/neutral.png")
def stateMachine(blinks,
opposite,
otherkey,
pressedKey,
keypress,
previousPrediction,
prevPreviousPrediction,
gotfive,
gotother,
gotopposite,
lastTime,
drone=None):
#global speak
now = datetime.now()
if (now - lastTime) > timedelta(seconds=3):
'''
if blinks > 0:
blinks = blinks - 1
else:
blinks = 0
'''
blinks = 0
lastTime = now
try:
with glb.predictionslock:
prediction = glb.predictionsQueue.get(block=False, timeout=1)
print(prediction)
except:
prediction = None
if prediction != None:
#State transition from P0 to P1
if prediction == 0:
if previousPrediction == 0:
if prevPreviousPrediction != 0 and not keypress:
blinks += 1
print("Blinks: %d" % blinks)
speak.Speak(str(blinks) + "blinks")
lastTime = datetime.now()
#State transition from S0 to S1
if not keypress and prediction == previousPrediction:
#if prediction in [2,4,6,8]:
if prediction in [4, 6, 8]: #without backwards
keypress = True
pressedKey = prediction
if prediction == 8:
if drone != None:
drone.moveForward(0.1)
print("Move forwards")
speak.Speak("Forwards")
elif prediction == 2:
if drone != None:
drone.moveBackward()
print("Move backwards")
speak.Speak("Backwards")
elif prediction == 4:
print("Turn left")
speak.Speak("Left")
if drone != None:
drone.turnLeft(1)
tme.sleep(0.2)
drone.hover()
#print("Finished turning left")
elif prediction == 6:
print("Turn right")
speak.Speak("Right")
if drone != None:
drone.turnRight(1)
tme.sleep(0.2)
drone.hover()
#print("Finished turning right")
if keypress:
#State transition from S1 to S2
if prediction == opposite[pressedKey]:
if gotopposite == 0:
print("Hover")
#speak.Speak("Hover")
if drone != None:
drone.hover()
gotopposite += 1
elif prediction in otherkey[pressedKey]:
if gotother == 0:
print("Hover")
#speak.Speak("Hover")
if drone != None:
drone.hover()
elif gotother == 2:
#Do the other movement
pass
gotother += 1
#State transistion from S2 to S0
if prediction == 5:
if (gotopposite == 1 or gotother == 2):
gotother = 0
gotopposite = 0
keypress = False
speak.Speak("Finished")
print("Ready for new prediction, other/opposite exit")
elif pressedKey in [4, 6]:
if ((previousPrediction == 5)
and (prevPreviousPrediction == 5)):
#speak.Speak("Hover")
print("Hover")
if drone != None:
drone.hover()
gotother = 0
gotopposite = 0
keypress = False
speak.Speak("Finished")
print("Ready for new prediction, five exit")
prevPreviousPrediction = previousPrediction
previousPrediction = prediction
return blinks, opposite, otherkey, pressedKey, keypress,\
previousPrediction, prevPreviousPrediction, gotfive,\
gotother, gotopposite, lastTime
def printData(sample):
global intervalcounter, predictioncondition, counterlock, error
##For debugging
global start, oldStart
start = datetime.now()
#print(start-oldStart)
#oldStart = start
xt = tme.time()
if glb.fs == 125.0:
offset = 2
start = 1
else:
offset = 1
start = 0
if ((sample.id - offset) == glb.oldSampleID) or (glb.oldSampleID == 255
and sample.id == start):
for i in range(numCh):
glb.newSamples[i].append(sample.channel_data[i])
glb.newTimeData[i].append(xt)
glb.oldSampleID = sample.id
else:
print("Lost packet, flushing databuffer")
print("Old packet ID = %d" % glb.oldSampleID)
print("Incomming packet ID = %d" % sample.id)
speak.Speak("Lost packet")
glb.oldSampleID = sample.id
with glb.mutex:
for i in range(numCh):
del glb.newTimeData[i][:]
del glb.newSamples[i][:]
for j in range(3):
del glb.data[i][j][:]
#if predictioncondition == True:
#print("predictioncondition is true")
#with counterlock:
#print("got lock")
intervalcounter += 1
if intervalcounter >= predictioninterval:
#print("New predict:")
intervalcounter = 0
#predict.predictRealTime(**predictionParameters)
with glb.rtLock:
#print("Serial rt lock")
if not glb.rtQueue.full():
glb.rtQueue.put(start)
else:
popped = glb.rtQueue.get()
glb.rtQueue.put(start)
#predictionThread = threading.Thread(target=predict.predictRealTime,kwargs=(predictionParameters))
#predictionThread.setDaemon(True)
#predictionThread.start()
if len(glb.newSamples[0]) >= glb.window:
with glb.mutex:
#sprint("From datacatcher b.glb: ")
#print glb.b
for i in range(numCh):
if filterlib.filter(glb.newSamples, glb.newTimeData, i, glb.b,
glb.a):
glb.newTimeData[i][:] = []
glb.newSamples[i][:] = []
if error:
with glb.mutex:
while len(glb.data[0][0]) >= nSamples:
for i in range(numCh):
glb.data[i][rawdata].pop(0)
glb.data[i][filterdata].pop(0)
glb.data[i][timestamp].pop(0)