class Audio:
RESPEAKER_RATE = 16000
RESPEAKER_CHANNELS = 1
RESPEAKER_WIDTH = 2
# import sounddevice as sd
# print sd.query_devices()
RESPEAKER_INDEX = 2 # refer to input device id
CHUNK = 1024
RECORD_SECONDS = 5
WAVE_OUTPUT_FILENAME = "sc.wav"
def __init__(self):
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
self.mic_tuning = Tuning(dev)
self.mic_tuning.set_vad_threshold(3.5)
self.recording = False
def readDOA(self):
return self.mic_tuning.direction
def readVAD(self):
return self.mic_tuning.is_voice()
@staticmethod
def getSampleSize():
p = pyaudio.PyAudio()
return p.get_sample_size(p.get_format_from_width(
Audio.RESPEAKER_WIDTH))
def record(self):
p = pyaudio.PyAudio()
try:
stream = p.open(rate=Audio.RESPEAKER_RATE,
format=p.get_format_from_width(
Audio.RESPEAKER_WIDTH),
channels=Audio.RESPEAKER_CHANNELS,
input=True)
except IOError:
return
frames = []
for i in range(
0,
int(Audio.RESPEAKER_RATE / Audio.CHUNK *
Audio.RECORD_SECONDS)):
data = stream.read(Audio.CHUNK)
frames.append(data)
stream.stop_stream()
stream.close()
wf = wave.open(Audio.WAVE_OUTPUT_FILENAME, 'wb')
wf.setnchannels(1)
wf.setsampwidth(
p.get_sample_size(p.get_format_from_width(Audio.RESPEAKER_WIDTH)))
wf.setframerate(Audio.RESPEAKER_RATE)
wf.writeframes(b''.join(frames))
wf.close()
def main():
# find microphone array device
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
# print("Device: {}".format(dev))
# if the device exists
if dev:
last_doa = 0
mic = Tuning(dev)
file_ts = datetime.today().strftime("%Y%m%d%H%M%S")
with open("log_" + file_ts + ".csv", "w") as csvfile:
csvwriter = csv.writer(csvfile)
csvwriter.writerow(["Timestamp", "VAD", "DOA"])
while True:
ts = time.time()
vad = mic.is_voice()
doa = mic.direction
# print to console
print("[{:.2f}] VAD: {} DOA: {}°".format(ts, vad, doa))
# write to csv
csvwriter.writerow([[ts, vad, doa]])
# wait
time.sleep(0.5)
# if the device does not exist
else:
print("ReSpeaker Mic Array v2.0 device not found")
return
def respeaker():
global dev
pub = rospy.Publisher('ReSpeaker', Int32, queue_size=1)
rospy.init_node('ReSpeaker_Pub', anonymous=True)
mic_tuning = Tuning(dev)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
try:
if mic_tuning.is_voice() == 1:
direction_str = (360-mic_tuning.direction)*1280/360
pub.publish(direction_str)
except KeyboardInterrupt:
break
rate.sleep()
from tuning import Tuning
import usb.core
import usb.util
import time
if __name__ == '__main__':
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
if dev:
Mic_tuning = Tuning(dev)
while True:
try:
if Mic_tuning.is_voice():
print("I detected voice activity at angle %d" % Mic_tuning.direction)
time.sleep(0.2)
except KeyboardInterrupt:
break
from tuning import Tuning
import usb.core
import usb.util
import time
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
#print dev
if dev:
Mic_tuning = Tuning(dev)
print Mic_tuning.is_voice()
while True:
try:
print Mic_tuning.is_voice()
time.sleep(1)
except KeyboardInterrupt:
break
from tuning import Tuning
import usb.core
import usb.util
import time
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
#print dev
if dev:
Mic_tuning = Tuning(dev)
print Mic_tuning.is_voice()
Mic_tuning.set_vad_threshold(15.0)
while True:
try:
# print Mic_tuning.read('GAMMAVAD_SR')
print(Mic_tuning.read('SPEECHDETECTED'),Mic_tuning.is_voice())
# print Mic_tuning.is_voice()
time.sleep(0.05)
except KeyboardInterrupt:
break
from tuning import Tuning
import usb.core
import usb.util
import time
if __name__ == '__main__':
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
if dev:
Mic_tuning = Tuning(dev)
while True:
try:
print("Voice activity %d" % Mic_tuning.is_voice())
time.sleep(0.2)
except KeyboardInterrupt:
break
head_pub = rospy.Publisher('/qt_robot/head_position/command',
Float64MultiArray,
queue_size=1)
# wait for publisher connections
wtime_begin = rospy.get_time()
while (head_pub.get_num_connections() == 0):
rospy.loginfo("waiting for publisher connections...")
if rospy.get_time() - wtime_begin > 10.0:
rospy.logerr("Timeout while waiting for publisher connection!")
sys.exit()
rospy.sleep(1)
# centering the head
href = Float64MultiArray(data=[0, 0])
head_pub.publish(href)
rospy.sleep(1)
microphone = Tuning(dev)
while not rospy.is_shutdown():
if not microphone.is_voice():
continue
mic = abs(microphone.direction - 180)
angle = mic - MICROPHONE_ANGLE_OFFSET
rospy.loginfo("mic: %d , head: %d" % (mic, angle))
href.data = [angle, 0]
head_pub.publish(href)
rospy.loginfo("shutdowned!")
from tuning import Tuning
import usb.core
import usb.util
import time
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
# print dev
if dev:
Mic_tuning = Tuning(dev)
print
Mic_tuning.is_voice()
while True:
try:
print(Mic_tuning.is_voice())
time.sleep(1)
except KeyboardInterrupt:
break
from tuning import Tuning
import usb.core
import usb.util
import time
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
#print dev
if dev:
Mic_tuning = Tuning(dev)
print Mic_tuning.is_voice()
while True:
try:
# print Mic_tuning.is_voice()
# time.sleep(1)
if Mic_tuning.is_voice() == 1:
print 1
except KeyboardInterrupt:
break
#!/usr/bin/env python
import usb.util
from tuning import Tuning
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
mic_tuning = Tuning(dev)
while True:
if mic_tuning.is_voice() == 1:
direction_str = (360 - mic_tuning.direction) * 1280 / 360
print(direction_str)
break
from tuning import Tuning
from pixel_ring import pixel_ring
import usb.core
import usb.util
import time
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
#print dev
if dev:
Mic_tuning = Tuning(dev)
# print Mic_tuning.is_voice(), Mic_tuning.direction
i = Mic_tuning.is_voice()
j = Mic_tuning.direction
while True:
Mic_tuning.set_vad_threshold(1.5)
# pixel_ring.set_brightness(0x00) #turn off LED to conserve power
try:
#if (Mic_tuning.is_voice == True): #Attempting to refine code to only show when Mic_tuning.is_voice is 1
print Mic_tuning.is_voice(
), Mic_tuning.direction #Displays values 0 for noise or 1 for
# human voice and Degrees
time.sleep(1)
except KeyboardInterrupt:
break
PORT = 10100
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
if dev is None:
print("Device not found.")
else:
Mic_tuning = Tuning(dev)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
print('Addr:{}'.format((HOST, PORT)))
print('Starting:{}'.format(datetime.now().isoformat()))
print('Press CTRL+C to end.')
while True:
try:
b = 'True' if Mic_tuning.is_voice() else 'False'
t = datetime.now().isoformat()
text = str.format('{},{},{}', Mic_tuning.direction, b, t)
sock.sendto(bytes(text, 'utf-8'), (HOST, PORT))
print(text)
time.sleep(0.05)
except KeyboardInterrupt:
print('Ctrl+C')
break
sock.close()
print('Done.')
