def __init__(self):
MODELDIR = "cmusphinx-code/pocketsphinx/model"
config = Decoder.default_config()
config.set_string('-hmm',
path.join(MODELDIR, 'hmm/en_US/hub4wsj_sc_8k_adapt'))
config.set_string('-lm', path.join(MODELDIR, 'lm/en_US/num_adapt.dmp'))
config.set_string('-dict', path.join(MODELDIR,
'lm/en_US/num_adapt.dic'))
self.decoder = Decoder(config)
self.speechCue = AudioFeedback()
def provideGuidance(self):
reachDestination = False
calculatePath = True
sayPathRoute = True
speaker = AudioFeedback()
while reachDestination == False:
if calculatePath == True:
path = myMap.SSSP(startNode, destNode)
calculatePath = False
if sayPathRoute:
routeSpeechInfo = ''
for i in range(len(path)): #print in reverse order
print path[len(path) - 1 -
i], mapinfo['map'][path[len(path) - 1 - i] -
1]['nodeName']
if i == 0:
firstNode = 'the path route starts from %s ' % mapinfo[
'map'][path[len(path) - 1 - i] - 1]['nodeName']
routeSpeechInfo = routeSpeechInfo + firstNode
else:
nextNode = 'followed by %s ' % mapinfo['map'][
path[len(path) - 1 - i] - 1]['nodeName']
routeSpeechInfo = routeSpeechInfo + nextNode
routeSpeechInfo = routeSpeechInfo + '\n'
speaker.threadedFeedback(routeSpeechInfo)
sayPathRoute = False
reachCheckPoint = True
currentCheckPoint = path.pop()
pos_x = mapinfo['map'][currentCheckPoint - 1]['x']
pos_y = mapinfo['map'][currentCheckPoint - 1]['y']
print "pos_x = ", pos_x, " pos_y = ", pos_y
while path:
if reachCheckPoint:
reachCheckPoint = False
nextCheckPoint = path.pop()
if not path:
reachDestination = True
print nextCheckPoint, mapinfo['map'][nextCheckPoint -
1]['nodeName']
try:
#start_time = time.time()
#timing_interval = 1
#count_time = 0
while not reachCheckPoint:
#time.sleep(start_time + count_time * timing_interval - time.time())
reachCheckPoint, pos_x, pos_y, detourCheckPoint = self.provideDirections(
nextCheckPoint, currentCheckPoint, pos_x, pos_y,
speaker)
if reachCheckPoint:
currentCheckPoint = nextCheckPoint
if detourCheckPoint:
print "detour!"
calculatePath = True
path[:] = []
sayPathRoute = True
break
#count_time = count_time + 1
except Exception:
print "INVALID DISTANCE!"
if ((not path) and (reachDestination == True)):
sayDestinationReached = 'destination reached!\n'
speaker.threadedFeedback(sayDestinationReached)
