def main():
global mic, quit_event
bing = BingVoice(BING_KEY)
awake = False
pa = pyaudio.PyAudio()
mic = Microphone(pa)
player = Player(pa)
while not quit_event.is_set():
if not awake:
if mic.recognize(keyword='hey respeaker'):
awake = True
player.play(hi)
continue
else:
break
command = mic.recognize(max_phrase_ms=6000, max_wait_ms=6000)
if command:
print('recognized: ' + command)
if command.find('play music') > 0:
pass
awake = False
mic.close()
def main():
global mic, quit_event
bing = BingVoice(BING_KEY)
awake = False
pa = pyaudio.PyAudio()
mic = Microphone(pa)
player = Player(pa)
while not quit_event.is_set():
if not awake:
if mic.recognize(keyword='hey respeaker'):
awake = True
player.play(hi)
continue
else:
break
command = mic.recognize(max_phrase_ms=6000, max_wait_ms=6000)
if command:
print('recognized: ' + command)
if command.find('play music') > 0:
pass
awake = False
mic.close()
def main():
global mic, quit_event
bing = BingVoice(BING_KEY)
awake = False
pa = pyaudio.PyAudio()
mic = Microphone(pa)
player = Player(pa)
while not quit_event.is_set():
if not awake:
if mic.recognize(keyword='hey respeaker'):
awake = True
player.play(hi)
continue
else:
break
data = b''.join(mic.listen())
if data:
# recognize speech using Microsoft Bing Voice Recognition
try:
text = bing.recognize(data, language='en-US')
print('Bing:' + text.encode('utf-8'))
tts_data = bing.synthesize('you said ' + text)
player.play_raw(tts_data)
if text.find('start recording') >= 0:
mic.record('record.wav')
elif text.find('stop recording') >= 0:
mic.interrupt(stop_recording=True)
elif text.find('play recording audio') >= 0:
player.play('record.wav')
except UnknownValueError:
print(
"Microsoft Bing Voice Recognition could not understand audio"
)
except RequestError as e:
print(
"Could not request results from Microsoft Bing Voice Recognition service; {0}"
.format(e))
else:
print('no data')
awake = False
mic.close()
def main():
global mic, quit_event
bing = BingVoice(BING_KEY)
awake = False
pa = pyaudio.PyAudio()
mic = Microphone(pa)
player = Player(pa)
while not quit_event.is_set():
if not awake:
if mic.recognize(keyword='hey respeaker'):
awake = True
player.play(hi)
continue
else:
break
data = b''.join(mic.listen())
if data:
# recognize speech using Microsoft Bing Voice Recognition
try:
text = bing.recognize(data, language='en-US')
print('Bing:' + text.encode('utf-8'))
tts_data = bing.synthesize('you said ' + text)
player.play_raw(tts_data)
if text.find('start recording') >= 0:
mic.record('record.wav')
elif text.find('stop recording') >= 0:
mic.interrupt(stop_recording=True)
elif text.find('play recording audio') >= 0:
player.play('record.wav')
except UnknownValueError:
print("Microsoft Bing Voice Recognition could not understand audio")
except RequestError as e:
print("Could not request results from Microsoft Bing Voice Recognition service; {0}".format(e))
else:
print('no data')
awake = False
mic.close()
def main(quit_event=None, lan='zh'):
mic = Microphone(quit_event=quit_event, language=lan)
from broker import ControllerBroker
localBroker = ControllerBroker()
localBroker.client.loop_start()
alexa = Alexa(mic)
alexa.get_token()
os.system('aplay {}/hello.wav'.format(resources_path))
logging.debug('start')
while not quit_event.is_set():
keyword = mic.wakeup(keywords=['ALEXA', 'GREEBLE'])
logging.debug('Recognized %s' % keyword)
if keyword and ('HELLO' in keyword and 'ALEXA' in keyword):
logging.debug('wakeup Alexa')
os.system('aplay {}/alexayes.wav'.format(resources_path))
data = mic.listen()
try:
alexa.recognize(data)
except Exception as e:
logging.warn(e.message)
elif keyword and ('HELLO' in keyword and 'GREEBLE' in keyword):
logging.debug('wakeup Zhima')
os.system('aplay {}/alexayes.wav'.format(resources_path))
data = mic.listen()
keyword = mic.recognize(data)
#keyword = mic.detect()
logging.debug('Get commands %s' % keyword)
if keyword and localcommands(keyword, localBroker) == 0:
os.system('aplay {}/alexaok.wav'.format(resources_path))
else:
os.system('aplay {}/error.wav'.format(resources_path))
mic.close()
localBroker.client.loop_stop()
logging.debug('Mission completed')
if not awake:
if mic.recognize(keyword='hey respeaker'):
spi.write('wakeup\n')
awake = True
player.play(hi)
continue
data = b''.join(mic.listen())
if not data:
break
spi.write('wait\n')
# recognize speech using Microsoft Bing Voice Recognition
try:
text = bing.recognize(data, language='en-US')
spi.write('answer\n')
print('Bing:' + text.encode('utf-8'))
tts_data = bing.synthesize('you said ' + text)
player.play_raw(tts_data)
except UnknownValueError:
print("Microsoft Bing Voice Recognition could not understand audio")
except RequestError as e:
print("Could not request results from Microsoft Bing Voice Recognition service; {0}".format(e))
spi.write('sleep\n')
awake = False
mic.close()
spi.write('sleep\n')
spi.write('wakeup\n')
awake = True
player.play(hi)
continue
data = b''.join(mic.listen())
if not data:
break
spi.write('wait\n')
# recognize speech using Microsoft Bing Voice Recognition
try:
text = bing.recognize(data, language='en-US')
spi.write('answer\n')
print('Bing:' + text.encode('utf-8'))
tts_data = bing.synthesize('you said ' + text)
player.play_raw(tts_data)
except UnknownValueError:
print("Microsoft Bing Voice Recognition could not understand audio")
except RequestError as e:
print(
"Could not request results from Microsoft Bing Voice Recognition service; {0}"
.format(e))
spi.write('sleep\n')
awake = False
mic.close()
spi.write('sleep\n')
class Robot(State):
def __init__(self):
self.sig_hndlr = signal.signal(signal.SIGINT, self.exit_gracefully)
#set up GPIO
self.driveLeft = PWMOutputDevice(PWM_DRIVE_LEFT, True, 0, 1000)
self.driveRight = PWMOutputDevice(PWM_DRIVE_RIGHT, True, 0, 1000)
self.forwardLeft = DigitalOutputDevice(FORWARD_LEFT_PIN)
self.reverseLeft = DigitalOutputDevice(REVERSE_LEFT_PIN)
self.forwardRight = DigitalOutputDevice(FORWARD_RIGHT_PIN)
self.reverseRight = DigitalOutputDevice(REVERSE_RIGHT_PIN)
# Set up sensors
self.camera = Camera()
self.microphone = Microphone()
self.state = Idle()
def on_event(self, event):
self.state = self.state.on_event(event)
def allStop(self):
self.forwardLeft.value = False
self.reverseLeft.value = False
self.forwardRight.value = False
self.reverseRight.value = False
self.driveLeft.value = 0
self.driveRight.value = 0
def goForward(self):
self.forwardLeft.value = True
self.reverseLeft.value = False
self.forwardRight.value = True
self.reverseRight.value = False
self.driveLeft.value = 1.0
self.driveRight.value = 1.0
def goBackward(self):
self.forwardLeft.value = False
self.everseLeft.value = True
self.orwardRight.value = False
self.reverseRight.value = True
self.driveLeft.value = 1.0
self.driveRight.value = 1.0
def rotateRight(self):
self.forwardLeft.value = True
self.reverseLeft.value = False
self.forwardRight.value = False
self.reverseRight.value = True
self.driveLeft.value = 0.8
self.driveRight.value = 0.8
def rotateLeft(self):
self.forwardLeft.value = False
self.reverseLeft.value = True
self.forwardRight.value = True
self.reverseRight.value = False
self.driveLeft.value = 0.8
self.driveRight.value = 0.8
def bankRight(self):
self.forwardLeft.value = True
self.reverseLeft.value = False
self.forwardRight.value = True
self.reverseRight.value = False
self.driveLeft.value = 0.8
self.driveRight.value = 0.2
def bankLeft(self):
self.forwardLeft.value = True
self.reverseLeft.value = False
self.forwardRight.value = True
self.reverseRight.value = False
self.driveLeft.value = 0.2
self.driveRight.value = 0.8
def detectHuman(self):
hog = cv2.HOGDescriptor()
hog.setSVMDetector(cv2.HOGDescriptor_getDefaultPeopleDetector())
im = self.camera.read()
im = imutils.resize(im, width=min(400, im.shape[1]))
orig = im.copy()
#detect peope in the image
(rects, weights) = hog.detectMultiScale(im, winStride=(4, 4), padding=(8, 8), scale=1.05)
# draw the original bounding boxes
for (x, y, w, h) in rects:
cv2.rectangle(orig, (x, y), (x + w, y + h), (0, 0, 255), 2)
# apply non-maxima suppression to the bounding boxes using a fiarly large overlap
# threshold to try to maintain overlapping
rects = np.array([[x, y, x + w, y + h] for (x, y, w, h) in rects])
pick = non_max_suppression(rects, probs=None, overlapThresh=0.65)
# draw final bounding boxes
bounded_box = None
for (xA, yA, xB, yB) in pick:
# here we assume one person is in the frame
bounded_box = (xA, yA, xB, yB)
cv2.rectangle(im, (xA, yA), (xB, yB), (0, 255,0), 2)
# show images
#cv2.imshow("Before", orig)
cv2.imshow("After", im)
print bounded_box
return bounded_box
def followHuman(self):
# Variables to Change
binsize = 17
turningTime = 0.2
midrange_L = 7
midrange_R = 11
bounded_box = self.detectHuman()
if bounded_box == None:
return
mid_pt = (bounded_box[0] + bounded_box[2]) / 2
if (mid_pt > (400*midrange_L) / binsize and mid_pt < (400*midrange_R) / binsize):
self.goForward()
time.sleep(1.0)
self.allStop()
print "human in view"
elif (mid_pt < (400*midrange_L) / binsize):
print "left side"
self.rotateLeft()
time.sleep(turningTime)
self.allStop()
else:
print "right side"
self.rotateRight()
time.sleep(turningTime)
self.allStop()
def startupSensors(self):
self.camera.startStream()
self.microphone.startRecording()
time.sleep(1)
def quit(self):
self.camera.close()
self.microphone.close()
self.allStop()
def runStateMachine(self):
Thread(target=self.stateMachine, args=()).start()
def runRobot(self):
while True:
print "Recording"
if (self.microphone.startRecording()):
print "Done Recording"
self.on_event(self.microphone.read())
print self.state.__str__()
print self.state.__str__() == 'Idle'
if (self.state.__str__() == 'Idle'):
self.allStop()
elif (self.state.__str__() == 'FollowHumanIdle'):
#self.camera.startStream()
self.allStop()
elif (self.state.__str__() == 'FollowHuman'):
self.followHuman()
elif (self.state.__str__() == 'VoiceControlIdle'):
print "VCIdle"
self.allStop()
elif (self.state.__str__() == 'Forward'):
print "for"
self.goForward()
elif (self.state.__str__() == 'RotateLeft'):
print "RLeft"
self.rotateLeft()
elif (self.state.__str__() == 'RotateRight'):
self.rotateRight()
elif (self.state.__str__() == 'QuitApp'):
self.quit()
return
time.sleep(2.0)
def followSpeech(self):
while True:
if (self.microphone.startRecording()):
print "Done Recording"
print self.microphone.read()
self.state = self.microphone.read()
if (self.state.__str__() == "go"):
self.goForward()
elif(self.state.__str__() == "left"):
self.rotateLeft()
elif(self.state.__str__() == "right"):
self.rotateRight()
time.sleep(1.0)
self.allStop()
return
def stateMachine(self):
print "Starting recording"
prevState = None
self.microphone.startRecording()
time.sleep(1.0)
while True:
if prevState != self.microphone.read():
prevState = self.microphone.read()
self.on_event(self.microphone.read())
time.sleep(1.0)
if (self.state.__str__() == "Idle"):
continue
#self.allStop()
elif (self.state.__str__() == "FollowHumanIdle"):
self.camera.startStream()
self.allStop()
elif (self.state.__str__() == "FollowHuman"):
self.followHuman()
elif (self.state.__str__() == "VoiceControlIdle"):
self.allStop()
elif (self.state.__str__() == "RotateLeft"):
self.rotateLeft()
elif (self.state.__str__() == "RotateRight"):
self.rotateRight()
elif (self.state.__str__() == "QuitApp"):
self.quit()
return
def exit_gracefully(self, signal, frame):
print('Trying to exit gracefully...')
self.quit()
sys.exit(0)
