class Wrapper():
def __init__(self, **kwargs):
signal.signal(signal.SIGINT, self.stop)
model_path = get_model_path()
kwargs = {
x: os.path.expandvars(kwargs[x])
if type(kwargs[x]) is str else kwargs[x]
for x in kwargs
}
nodename = kwargs.pop('nodename')
grammar_file = kwargs.pop('grammar_file', None)
grammar_rule = kwargs.pop('grammar_rule', None)
grammar_name = kwargs.pop('grammar_name', None)
kwargs.pop('esiaf_input_topic')
if kwargs.get('dic') is not None and kwargs.get('dict') is None:
kwargs['dict'] = kwargs.pop('dic')
if kwargs.get('hmm') is None:
kwargs['hmm'] = os.path.join(model_path, 'en-us')
if kwargs.get('lm') is None:
kwargs['lm'] = os.path.join(model_path, 'en-us.lm.bin')
if kwargs.get('dict') is None and kwargs.get('dic') is None:
kwargs['dict'] = os.path.join(model_path, 'cmudict-en-us.dict')
if kwargs.pop('verbose', False) is False:
if sys.platform.startswith('win'):
kwargs['logfn'] = 'nul'
else:
kwargs['logfn'] = '/dev/null'
config = Decoder.default_config()
print(kwargs)
for key, value in kwargs.items():
if isinstance(value, bool):
config.set_boolean('-{}'.format(key), value)
elif isinstance(value, int):
config.set_int('-{}'.format(key), value)
elif isinstance(value, float):
config.set_float('-{}'.format(key), value)
elif isinstance(value, str):
config.set_string('-{}'.format(key), value)
self.decoder = Decoder(config)
if grammar_file and grammar_rule and grammar_name:
jsgf = Jsgf(grammar_file)
rule = jsgf.get_rule(grammar_name + '.' + grammar_rule)
fsg = jsgf.build_fsg(rule, self.decoder.get_logmath(), 7.5)
self.decoder.set_fsg(grammar_name, fsg)
self.decoder.set_search(grammar_name)
self.start = None
self.finish = None
self.speech_publisher = rospy.Publisher(nodename + '/' + 'SpeechRec',
SpeechInfo,
queue_size=10)
def stop(self, *args, **kwargs):
raise StopIteration
def hypothesis(self):
hyp = self.decoder.hyp()
if hyp:
return hyp.hypstr
else:
return ''
def vad_finished_callback(self):
self.decoder.end_utt()
result = ''
if self.decoder.hyp():
result = self.hypothesis()
rospy.loginfo('understood: \'' + str(result) + '\'')
hypo = SpeechHypothesis()
hypo.recognizedSpeech = result
hypo.probability = 1.0
time = RecordingTimeStamps()
time.start = self.start
time.finish = self.finish
speechInfo = SpeechInfo()
speechInfo.hypotheses = [hypo]
speechInfo.duration = time
self.speech_publisher.publish(speechInfo)
self.start = None
self.finish = None
def add_audio_data(self, audio_data, recording_timestamps):
_recording_timestamps = RecordingTimeStamps()
msg_from_string(_recording_timestamps, recording_timestamps)
rospy.loginfo('got audio!')
if not self.start:
self.start = _recording_timestamps.start
self.decoder.start_utt()
self.finish = _recording_timestamps.finish
bytearray = audio_data.tobytes()
self.decoder.process_raw(bytearray, False, False)
class SphinxWrapper(object):
'''
For audio stream feeding is used `process_raw(...)` method. It also updates vad status: if voice found in signal.
Before signal is fed to decoder, it should be isntructed that new utterance is expected.
When Vad says that speech segment ended it should be called `stopListening(...)`, only then we could request hypothesis what was said. `calculateHypothesis(...)`
'''
#MODELDIR = "../models"
#MODELDIR = "/home/as/src/speech/sphinx/lt-pocketsphinx-tutorial/impl/models"
MODELDIR = "../../lt-pocketsphinx-tutorial/impl/models"
decoder = None
config = None
previousVadState = 0
currentVadState = 0
def __init__(self):
'''
Constructor
'''
def prepareDecoder(self, pGramma):
'''
Entry point where sphinx decoder is initialized or grammar updated
'''
if self.decoder is None:
self.config = self.createConfig(pGramma);
self.decoder = Decoder(self.config);
else:
self.updateGrammar(self.decoder, pGramma);
def createConfig(self,pGramma):
'''
Create configuration with acoustic model path, grammar and dictionary
'''
print ("[createConfig]+++")
config = Decoder.default_config()
config.set_string('-hmm', os.path.join(self.MODELDIR, 'hmm/lt.cd_cont_200/'))
config.set_string('-fsg', os.path.join("../resource/", pGramma+'.fsg'))
#config.set_string('-jsgf', os.path.join("../resource/", pGramma+'.gram'))
config.set_string('-dict', os.path.join("../resource/", 'service.dict'))
print ("[createConfig]---")
return config;
def updateGrammar(self,pGramma):
'''
Update decoder language model from fsg file
'''
print ("[updateGrammar]+++" + pGramma)
logmath = self.decoder.get_logmath();
fsg = sphinxbase.FsgModel(os.path.join("../resource/", pGramma+'.fsg'), logmath, 7.5)
self.decoder.set_fsg("default",fsg);
self.decoder.set_search("default");
print ("[updateGrammar]---")
def startListening(self):
"""
Instruct decoder that new utterace should be expected
"""
self.decoder.start_utt(None)
def stopListening(self):
"""
Instruct decoder that new utterace should is not expected any more
"""
self.decoder.end_utt()
def process_raw(self, data):
"""
Feed decoder with raw audio data. After data is updating refresh VAD state
"""
#print("process_raw...\n")
self.decoder.process_raw(data, False, False)
self.previousVadState = self.currentVadState
self.currentVadState = self.decoder.get_vad_state();
#print("process_raw", self.currentVadState and True, self.previousVadState and True)
def calculateHypothesis(self):
return self.decoder.hyp();
def calculateVadState(self):
return self.decoder.get_vad_state;
def isVoiceStarted(self):
'''
silence -> speech transition,
'''
return self.currentVadState and not self.previousVadState
def isVoiceEnded(self):
'''
speech -> silence transition,
'''
return not self.currentVadState and self.previousVadState
class SphinxWrapper(object):
'''
For audio stream feeding is used `process_raw(...)` method. It also updates vad status: if voice found in signal.
Before signal is fed to decoder, it should be isntructed that new utterance is expected.
When Vad says that speech segment ended it should be called `stopListening(...)`, only then we could request hypothesis what was said. `calculateHypothesis(...)`
'''
#MODELDIR = "../models"
#MODELDIR = "/home/as/src/speech/sphinx/lt-pocketsphinx-tutorial/impl/models"
MODELDIR = "../../lt-pocketsphinx-tutorial/impl/models"
decoder = None
config = None
previousVadState = 0
currentVadState = 0
def __init__(self):
'''
Constructor
'''
def prepareDecoder(self, pGramma):
'''
Entry point where sphinx decoder is initialized or grammar updated
'''
if self.decoder is None:
self.config = self.createConfig(pGramma)
self.decoder = Decoder(self.config)
else:
self.updateGrammar(self.decoder, pGramma)
def createConfig(self, pGramma):
'''
Create configuration with acoustic model path, grammar and dictionary
'''
print("[createConfig]+++")
config = Decoder.default_config()
config.set_string('-hmm',
os.path.join(self.MODELDIR, 'hmm/lt.cd_cont_200/'))
config.set_string('-fsg', os.path.join("../resource/",
pGramma + '.fsg'))
#config.set_string('-jsgf', os.path.join("../resource/", pGramma+'.gram'))
config.set_string('-dict', os.path.join("../resource/",
'service.dict'))
print("[createConfig]---")
return config
def updateGrammar(self, pGramma):
'''
Update decoder language model from fsg file
'''
print("[updateGrammar]+++" + pGramma)
logmath = self.decoder.get_logmath()
fsg = sphinxbase.FsgModel(
os.path.join("../resource/", pGramma + '.fsg'), logmath, 7.5)
self.decoder.set_fsg("default", fsg)
self.decoder.set_search("default")
print("[updateGrammar]---")
def startListening(self):
"""
Instruct decoder that new utterace should be expected
"""
self.decoder.start_utt(None)
def stopListening(self):
"""
Instruct decoder that new utterace should is not expected any more
"""
self.decoder.end_utt()
def process_raw(self, data):
"""
Feed decoder with raw audio data. After data is updating refresh VAD state
"""
#print("process_raw...\n")
self.decoder.process_raw(data, False, False)
self.previousVadState = self.currentVadState
self.currentVadState = self.decoder.get_vad_state()
#print("process_raw", self.currentVadState and True, self.previousVadState and True)
def calculateHypothesis(self):
return self.decoder.hyp()
def calculateVadState(self):
return self.decoder.get_vad_state
def isVoiceStarted(self):
'''
silence -> speech transition,
'''
return self.currentVadState and not self.previousVadState
def isVoiceEnded(self):
'''
speech -> silence transition,
'''
return not self.currentVadState and self.previousVadState