def __init__(self):
self.lc=lcm.LCM()
self.filename = os.path.dirname(os.path.abspath(__file__))+'/../data/quad_corpus.txt'
self.bag = bag_of_words(self.filename, 1)
self.pub = rospy.Publisher('/ar_marker_switch', String)
self.speechPub = rospy.Publisher('/text_to_speech', String)
self.subscription = self.lc.subscribe("CHOICE", self.lcmCallback)
rospy.Subscriber("/speech_results", Speech, self.rosCallback)
def lcmCallback(self, channel, data):
print data
print self.lastMsg
corpusFile = open(self.filename,'a')
for i in self.lastMsg.msg:
toAdd = i+" "+data.replace("\00", "")+"\n"
corpusFile.write(toAdd)
corpusFile.close()
self.bag = bag_of_words(self.filename, 1)
self.pub.publish(data.replace("\00", ""))
