/
sentence_tokenizer.py
executable file
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/
sentence_tokenizer.py
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#!/usr/bin/env python
import sys
import time
import readline
import warnings
import numpy as np
import yarp
from auditok import ADSFactory, AudioEnergyValidator, StreamTokenizer, player_for
import os
import threading
import snowboydecoder
import speech_recognition as sr
warnings.simplefilter("ignore")
np.set_printoptions(precision=2)
class sentence_tokenizer(yarp.RFModule):
def __init__(self):
yarp.RFModule.__init__(self)
self.interrupted = False
self.portsList = dict()
self.hotword_detector = None
self.hotword_model = None
self.token_out_port = None
self.audio_source = None
self.tok_validator = None
self.tokenizer = None
self.player = None
self.pause_tokenizer = False
self.echo_enabled = False
self.trigger_echo = False
self.echo_thread = None
self.hotword_enabled = True
# Hotword settings
self.hotword_sensitivity = 0.5
self.hotword_loop_time = 0.03
self.hotword_model = os.environ['HOTWORD_MODEL']
# Tokenizer Settings
# self.tok_record_duration = None means indefinite
self.tok_record_duration = None
self.tok_energy_threshold = 40 #60
self.tok_window = 0.01 # 0.01
self.tok_window_rate = 1. / self.tok_window
self.tok_min_len = 0.5 * self.tok_window_rate
self.tok_max_len = int(5 * self.tok_window_rate)
self.tok_max_silence_duration = 0.7 * self.tok_window_rate
self.tokenizer_mode = None
self.bdata = None
self.google_credentials = None
# Google ASR
self.use_google = True
self.asr = None
self.time_total = 0
self.num_recs = 0
self.phrases = ["Hello i cub",
"Goodbye i cub",
"i cub",
"Tony",
"Daniel"]
def configure(self, rf):
# Setting up rpc port
self.portsList["rpc"] = yarp.Port()
self.portsList["rpc"].open("/sentence_tokenizer/rpc:i")
self.attach(self.portsList["rpc"])
self.portsList["audio_out"] = yarp.BufferedPortBottle()
self.portsList["audio_out"].open("/sentence_tokenizer/audio:o")
# Setting up hotword detection
self.hotword_detector = snowboydecoder.HotwordDetector(self.hotword_model, sensitivity=self.hotword_sensitivity)
# Setting up audio tokenizer to split sentences
self.audio_source = ADSFactory.ads(record=True, max_time=self.tok_record_duration, block_dur=self.tok_window)
self.tok_validator = AudioEnergyValidator(sample_width=self.audio_source.get_sample_width(),
energy_threshold=self.tok_energy_threshold)
self.tokenizer_mode = StreamTokenizer.DROP_TRAILING_SILENCE
self.tokenizer = StreamTokenizer(validator=self.tok_validator,
min_length=self.tok_min_len,
max_length=self.tok_max_len,
max_continuous_silence=self.tok_max_silence_duration,
mode=self.tokenizer_mode)
if self.echo_enabled:
self.echo_thread = threading.Thread(target=self.replayAudio)
self.echo_thread.start()
if self.hotword_enabled:
print("Waiting for hotword to start interaction")
# self.hotword_detector.start(detected_callback=self.detected_callback,
# interrupt_check=self.interrupt_callback,
# sleep_time=self.hotword_loop_time)
print("Hotword detected. Starting tokenizer thread")
else:
print "Starting tokenizer thread"
self.asr = sr.Recognizer()
with open('google_credentials.json', 'r') as credentials:
self.google_credentials = credentials.read()
return True
def detected_callback(self):
print("Hotword 'Hello iCub' detected")
self.interrupted = True
def tok_callback(self, data, start, end, starting=False):
if data is None:
audio_bottle = self.portsList["audio_out"].prepare()
audio_bottle.clear()
audio_bottle.addString("speaking")
if starting:
print "Speaking start"
audio_bottle.addString("start")
else:
print "Speaking stop"
audio_bottle.addString("stop")
self.portsList["audio_out"].write()
else:
print("Acoustic activity at: {0}--{1}".format(start, end))
# print "Chunk segmented", time.time()
# print "Pause value is: ", self.pause_tokenizer
if not self.pause_tokenizer:
self.bdata = b''.join(data)
if self.use_google:
audio = sr.AudioData(self.bdata, self.audio_source.get_sampling_rate(),
self.audio_source.get_sample_width())
t3 = time.time()
try:
sentence = self.asr.recognize_google_cloud(audio_data=audio,
credentials_json=self.google_credentials,
language="en-UK",
preferred_phrases=self.phrases)
t4 = time.time()
dur = t4 - t3
self.time_total += dur
self.num_recs += 1
print sentence, " | Time taken=", dur, " | Mean Time=", self.time_total/self.num_recs
audio_bottle = self.portsList["audio_out"].prepare()
audio_bottle.clear()
audio_bottle.addString("spoken")
audio_bottle.addString(str(sentence))
self.portsList["audio_out"].write()
except sr.UnknownValueError:
print("Google Speech Recognition could not understand audio")
except sr.RequestError as e:
print("Could not request results from Google Speech Recognition service; {0}".format(e))
else:
audio_bottle = self.portsList["audio_out"].prepare()
audio_bottle.clear()
audio_bottle.addString("classify")
audio_bottle.addString(self.bdata)
audio_bottle.addInt(self.audio_source.get_sampling_rate())
self.portsList["audio_out"].write()
if self.echo_enabled:
self.trigger_echo = True
def tokenizerThread(self):
self.audio_source.open()
self.tokenizer.tokenize(self.audio_source, callback=self.tok_callback)
def replayAudio(self):
self.player = player_for(self.audio_source)
while True:
if self.trigger_echo:
self.player.play(self.bdata)
self.trigger_echo = False
time.sleep(2)
def close(self):
print('Exiting ...')
time.sleep(2)
self.hotword_detector.terminate()
self.audio_source.close()
if self.echo_enabled:
self.player.stop()
for j in self.portsList.keys():
self.close_port(self.portsList[j])
return True
@staticmethod
def close_port(j):
j.interrupt()
time.sleep(1)
j.close()
def respond(self, command, reply):
reply.clear()
action = command.get(0).asString()
if action == "heartbeat":
reply.addString('ack')
elif action == "pause":
self.pause_tokenizer = True
print "pausing tokenizer sending"
reply.addString('ack')
elif action == "resume":
self.pause_tokenizer = False
print "resuming tokenizer sending"
reply.addString('ack')
# -------------------------------------------------
elif action == "EXIT":
reply.addString('ack')
self.close()
# -------------------------------------------------
else:
reply.addString("nack")
reply.addString("Command not recognized")
return True
def interruptModule(self):
print "Interrupting"
self.close()
return True
def getPeriod(self):
return 0.1
def updateModule(self):
self.tokenizerThread()
print "starting again"
time.sleep(0.05)
return True
if __name__ == '__main__':
yarp.Network.init()
mod = sentence_tokenizer()
rf = yarp.ResourceFinder()
rf.setVerbose(True)
rf.configure(sys.argv)
mod.runModule(rf)