def callback(self, text):
"""this function is to process the recognized text and send the processed information to Arduino which controls some devices"""
global text_last
global xm_speech_req
global xm_speech_res
global sentences
#if len(text) != 0 :
# if text[28] == '=':
# text = text[29:]
# elif text[29] == '=':
# text = text[30:]
if text != "you are right" and text != "no" and len(text) != 0:
text_last = text
if type(text) == str and len(text) != 0:
print("recognized : " + text)
if xm_speech_req.command == 1: #Answer a question
print('question: ' + text)
file_handle_c = open(
'/home/moonknight/catkin_ws/src/xm_speech/msc/bnf/c.txt',
mode='rb')
file_handle_d = open(
'/home/moonknight/catkin_ws/src/xm_speech/msc/bnf/d.txt',
mode='rb')
c_contents = file_handle_c.readlines()
d_contents = file_handle_d.readlines()
t = '\"' + text + '\"' + '\n'
if t in c_contents:
c_index = c_contents.index(t)
d = d_contents[c_index]
print('answer: ' + d)
xm_speech_res.num = 1
self.tts(d)
elif xm_speech_req.command == 2: #GPSR
if text != "you are right" and text != "no" and text != "you can stop here":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
self.tts("OK")
sen = text_last
for t in kitchen:
sen = sen.replace(t, "kitchen")
for t in livingroom:
sen = sen.replace(t, "livingroom")
for t in bedroom:
sen = sen.replace(t, "bedroom")
for t in hallway:
sen = sen.replace(t, "hallway")
if "bed" in sen and "bedroom" not in sen:
sen = sen.replace("bed", "bedroom")
if "tell the day of the month" in sen:
sentences = "tell the day of the month"
sen = sen.replace("tell the day of the month",
"sentence")
if "tell the day of the week" in sen:
sentences = "tell the day of the week"
sen = sen.replace("tell the day of the week",
"sentence")
if "tell the date" in sen:
sentences = "tell the date"
sen = sen.replace("tell the date", "sentence")
for i in double_words:
sen = sen.replace(i.replace("_", " "), i)
print(sen)
rd = RecursiveDescentParser(grammar)
t = rd.parse_one(sen.split())
print(t)
search(t)
text_last = ''
elif xm_speech_req.command == 3: #WhoIsWho
if text != "you are right" and text != "no":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
self.tts("OK")
print("text_last:" + text_last)
#name
for t in people:
if t in text_last:
xm_speech_res.name.append(t)
xm_speech_res.num += 1
#object
if text_last.find('ice tea') >= 0:
xm_speech_res.object.append('ice_tea')
xm_speech_res.num += 1
elif text_last.find('water') >= 0:
xm_speech_res.object.append('water')
xm_speech_res.num += 1
elif text_last.find('cracker') >= 0:
xm_speech_res.object.append('cracker')
xm_speech_res.num += 1
elif text_last.find('duck') >= 0:
xm_speech_res.object.append('duck')
xm_speech_res.num += 1
elif text_last.find('orange juice') >= 0:
xm_speech_res.object.append('orange_juice')
xm_speech_res.num += 1
elif text_last.find('porridge') >= 0:
xm_speech_res.object.append('porridge')
xm_speech_res.num += 1
elif text_last.find('milk') >= 0:
xm_speech_res.object.append('milk')
xm_speech_res.num += 1
elif text_last.find('milk tea') >= 0:
xm_speech_res.object.append('milk_tea')
xm_speech_res.num += 1
elif text_last.find('tissue') >= 0:
xm_speech_res.object.append('tissue')
xm_speech_res.num += 1
elif text_last.find('cola') >= 0:
xm_speech_res.object.append('cola')
xm_speech_res.num += 1
elif text_last.find('sprite') >= 0:
xm_speech_res.object.append('sprite')
xm_speech_res.num += 1
elif text_last.find('powder juice') >= 0:
xm_speech_res.object.append('powder_juice')
xm_speech_res.num += 1
elif text_last.find('green tea') >= 0:
xm_speech_res.object.append('green_tea')
xm_speech_res.num += 1
elif text_last.find('gum') >= 0:
xm_speech_res.object.append('gum')
xm_speech_res.num += 1
elif text_last.find('fanta') >= 0:
xm_speech_res.object.append('fanta')
xm_speech_res.num += 1
elif text_last.find('french fries') >= 0:
xm_speech_res.object.append('french_fries')
xm_speech_res.num += 1
elif text_last.find('yoghurt') >= 0:
xm_speech_res.object.append('yoghurt')
xm_speech_res.num += 1
elif text_last.find('noodle') >= 0:
xm_speech_res.object.append('noodle')
xm_speech_res.num += 1
elif text_last.find('crisp') >= 0:
xm_speech_res.object.append('crisp')
xm_speech_res.num += 1
elif text_last.find('herbal tea') >= 0:
xm_speech_res.object.append('herbal_tea')
xm_speech_res.num += 1
elif text_last.find('coconut') >= 0:
xm_speech_res.object.append('coconut')
xm_speech_res.num += 1
elif text_last.find('peartea') >= 0:
xm_speech_res.object.append('pear_tea')
xm_speech_res.num += 1
elif text_last.find('tea') >= 0:
xm_speech_res.object.append('tea')
xm_speech_res.num += 1
elif text_last.find('melon seeds') >= 0:
xm_speech_res.object.append('melon_seeds')
xm_speech_res.num += 1
elif text_last.find('redbull') >= 0:
xm_speech_res.object.append('redbull')
xm_speech_res.num += 1
elif text_last.find('toothpaste') >= 0:
xm_speech_res.object.append('toothpaste')
xm_speech_res.num += 1
elif text_last.find('grapejuice') >= 0:
xm_speech_res.object.append('grape_juice')
xm_speech_res.num += 1
elif text_last.find('soap') >= 0:
xm_speech_res.object.append('soap')
xm_speech_res.num += 1
elif text_last.find('shampoo') >= 0:
xm_speech_res.object.append('shampoo')
xm_speech_res.num += 1
text_last = ''
elif xm_speech_req.command == 4: #SPR
print('question: ' + text)
file_handle_a = open(
'/home/domistic/catkin_ws/src/xm_speech_for_linux/xm_speech/msc/bnf/a.txt',
mode='rb')
file_handle_b = open(
'/home/domistic/catkin_ws/src/xm_speech_for_linux/xm_speech/msc/bnf/b.txt',
mode='rb')
a_contents = file_handle_a.readlines()
b_contents = file_handle_b.readlines()
t = text + '?\n'
if t == a_contents[0]:
print('finally')
if t in a_contents:
a_index = a_contents.index(t)
b = b_contents[a_index]
xm_speech_res.answer = b
print('answer: ' + b)
xm_speech_res.num = 1
self.tts(b)
elif text == "number of people standing":
xm_speech_res.num = 2
time.sleep(1)
elif text == "number of people sitting":
xm_speech_res.num = 3
time.sleep(1)
elif text == "what is the number of the people who waving arms":
xm_speech_res.num = 4
time.sleep(1)
elif (xm_speech_req.command == 5): #help me carry
if text != "you are right" and text != "no":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
if text_last.find("stop") >= 0:
xm_speech_res.action.append('stop')
elif text_last.find("follow") >= 0:
xm_speech_res.action.append('follow')
elif text_last.find("take") >= 0:
xm_speech_res.action.append('take')
if text_last.find("kitchen") >= 0:
xm_speech_res.target.append('kitchen')
elif text_last.find("livingroom") >= 0:
xm_speech_res.target.append('livingroom')
elif text_last.find("bedroom") >= 0:
xm_speech_res.target.append('bedroom')
elif text_last.find("diningroom") >= 0:
xm_speech_res.target.append('diningroom')
xm_speech_res.num = 1
print("text_last:" + text_last)
text_last = ''
if text == "you can stop here":
xm_speech_res.action.append('stop')
elif (xm_speech_req.command == 6): #shopping
if text != "you are right" and text != "no":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
self.tts("OK")
print("text_last:" + text_last)
if text_last == "you can stop here":
xm_speech_res.action.append('stop')
xm_speech_res.num += 1
#follow
elif text_last.find('follow') >= 0:
xm_speech_res.action.append('follow')
xm_speech_res.num += 1
#object
elif text_last.find('ice tea') >= 0:
xm_speech_res.object.append('ice_tea')
xm_speech_res.num += 1
elif text_last.find('redbull') >= 0:
xm_speech_res.object.append('redbull')
xm_speech_res.num += 1
elif text_last.find('toothpaste') >= 0:
xm_speech_res.object.append('toothpaste')
xm_speech_res.num += 1
elif text_last.find(' Chips ') >= 0:
xm_speech_res.object.append(' Chips ')
xm_speech_res.num += 1
elif text_last.find('laoganma') >= 0:
xm_speech_res.object.append('laoganma')
xm_speech_res.num += 1
elif text_last.find('milk tea') >= 0:
xm_speech_res.object.append('milk_tea')
xm_speech_res.num += 1
elif text_last.find('water') >= 0:
xm_speech_res.object.append('water')
xm_speech_res.num += 1
elif text_last.find('cola') >= 0:
xm_speech_res.object.append('cola')
xm_speech_res.num += 1
elif text_last.find('porridge') >= 0:
xm_speech_res.object.append('porridge')
xm_speech_res.num += 1
elif text_last.find('sprite') >= 0:
xm_speech_res.object.append('sprite')
xm_speech_res.num += 1
elif text_last.find('shampoo') >= 0:
xm_speech_res.object.append('shampoo')
xm_speech_res.num += 1
elif text_last.find('water') >= 0:
xm_speech_res.object.append('water')
xm_speech_res.num += 1
elif text_last.find('cracker') >= 0:
xm_speech_res.object.append('cracker')
xm_speech_res.num += 1
elif text_last.find('duck') >= 0:
xm_speech_res.object.append('duck')
xm_speech_res.num += 1
elif text_last.find('orange juice') >= 0:
xm_speech_res.object.append('orange_juice')
xm_speech_res.num += 1
elif text_last.find('porridge') >= 0:
xm_speech_res.object.append('porridge')
xm_speech_res.num += 1
elif text_last.find('milk') >= 0:
xm_speech_res.object.append('milk')
xm_speech_res.num += 1
elif text_last.find('tissue') >= 0:
xm_speech_res.object.append('tissue')
xm_speech_res.num += 1
elif text_last.find('cola') >= 0:
xm_speech_res.object.append('cola')
xm_speech_res.num += 1
elif text_last.find('sprite') >= 0:
xm_speech_res.object.append('sprite')
xm_speech_res.num += 1
elif text_last.find('powder juice') >= 0:
xm_speech_res.object.append('powder_juice')
xm_speech_res.num += 1
elif text_last.find('green tea') >= 0:
xm_speech_res.object.append('green_tea')
xm_speech_res.num += 1
elif text_last.find('gum') >= 0:
xm_speech_res.object.append('gum')
xm_speech_res.num += 1
elif text_last.find('fanta') >= 0:
xm_speech_res.object.append('fanta')
xm_speech_res.num += 1
elif text_last.find('french fries') >= 0:
xm_speech_res.object.append('french_fries')
xm_speech_res.num += 1
elif text_last.find('yoghurt') >= 0:
xm_speech_res.object.append('yoghurt')
xm_speech_res.num += 1
elif text_last.find('noodle') >= 0:
xm_speech_res.object.append('noodle')
xm_speech_res.num += 1
elif text_last.find('crisp') >= 0:
xm_speech_res.object.append('crisp')
xm_speech_res.num += 1
elif text_last.find('herbal tea') >= 0:
xm_speech_res.object.append('herbal_tea')
xm_speech_res.num += 1
elif text_last.find('coconut') >= 0:
xm_speech_res.object.append('coconut')
xm_speech_res.num += 1
elif text_last.find('pear tea') >= 0:
xm_speech_res.object.append('pear_tea')
xm_speech_res.num += 1
elif text_last.find('tea') >= 0:
xm_speech_res.object.append('tea')
xm_speech_res.num += 1
elif text_last.find('melon seeds') >= 0:
xm_speech_res.object.append('melon_seeds')
xm_speech_res.num += 1
elif text_last.find('grape juice') >= 0:
xm_speech_res.object.append('grape_juice')
xm_speech_res.num += 1
elif text_last.find('soap') >= 0:
xm_speech_res.object.append('soap')
xm_speech_res.num += 1
#方向
if text_last.find('right') >= 0:
xm_speech_res.target.append('right')
xm_speech_res.num += 1
if text_last.find('left') >= 0:
xm_speech_res.target.append('left')
xm_speech_res.num += 1
if text_last.find('front') >= 0:
xm_speech_res.target.append('front')
xm_speech_res.num += 1
text_last = ''
def callback(self, text):
"""this function is to process the recognized text and send the processed information to Arduino which controls some devices"""
global text_last
global xm_speech_req
global xm_speech_res
global sentences
#if len(text) != 0 :
# if text[28] == '=':
# text = text[29:]
# elif text[29] == '=':
# text = text[30:]
if text != "you are right" and text != "no" and len(text) != 0:
text_last = text
if type(text) == str and len(text) != 0:
print("recognized : " + text)
if xm_speech_req.command == 1: #Answer a question
if text == "you are right":
print('question: ' + text_last)
file_handle_c = open(
'/home/domistic/catkin_ws/src/xm_speech_for_linux/xm_speech/msc/bnf/c.txt',
mode='rb')
file_handle_d = open(
'/home/domistic/catkin_ws/src/xm_speech_for_linux/xm_speech/msc/bnf/d.txt',
mode='rb')
c_contents = file_handle_c.readlines()
d_contents = file_handle_d.readlines()
t = '\"' + text_last + '\"' + '\n'
if t in c_contents:
c_index = c_contents.index(t)
d = d_contents[c_index]
print('answer: ' + d)
xm_speech_res.num = 1
self.tts(d)
elif xm_speech_req.command == 2: #GPSR
if text != "you are right" and text != "no" and text != "you can stop here":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
self.tts("OK")
sen = text_last
if "tell the day of the month" in sen:
sentences = "tell the day of the month"
sen = sen.replace("tell the day of the month",
"sentence")
if "tell the day of the week" in sen:
sentences = "tell the day of the week"
sen = sen.replace("tell the day of the week",
"sentence")
if "tell the date" in sen:
sentences = "tell the date"
sen = sen.replace("tell the date", "sentence")
for i in double_words:
sen = sen.replace(i.replace("_", " "), i)
#print(sen)
rd = RecursiveDescentParser(grammar)
t = rd.parse_one(sen.split())
#print(t)
search(t)
text_last = ''
elif xm_speech_req.command == 3: #WhoIsWho
if text != "you are right" and text != "no":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
print("k")
self.tts("OK")
print("text_last:" + text_last)
#name
for t in people:
if t in text_last:
xm_speech_res.name.append(t)
xm_speech_res.num += 1
for i in objectno:
if i in text_last:
xm_speech_res.object.append(i)
xm_speech_res.num += 1
text_last = ''
elif xm_speech_req.command == 4: #SPR
#print('question: ' + text)
file_handle_a = open(
'/home/domistic/catkin_ws/src/xm_speech_for_linux/xm_speech/msc/bnf/a.txt',
mode='rb')
file_handle_b = open(
'/home/domistic/catkin_ws/src/xm_speech_for_linux/xm_speech/msc/bnf/b.txt',
mode='rb')
a_contents = file_handle_a.readlines()
b_contents = file_handle_b.readlines()
t = text + '?\n'
if t == a_contents[0]:
print('finally')
if t in a_contents:
a_index = a_contents.index(t)
b = b_contents[a_index]
xm_speech_res.answer = b
print('answer: ' + b)
xm_speech_res.num = 1
self.tts(b)
elif text == "number of people standing":
xm_speech_res.num = 2
time.sleep(1)
elif text == "number of people sitting":
xm_speech_res.num = 3
time.sleep(1)
elif text == "what is the number of the people who waving arms":
xm_speech_res.num = 4
time.sleep(1)
elif (xm_speech_req.command == 5): #help me carry
if text != "you are right" and text != "no":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
if text_last.find("stop") >= 0:
xm_speech_res.action.append('stop')
elif text_last.find("follow") >= 0:
xm_speech_res.action.append('follow')
elif text_last.find("take") >= 0:
xm_speech_res.action.append('take')
if text_last.find("kitchen") >= 0:
xm_speech_res.target.append('kitchen')
elif text_last.find("livingroom") >= 0:
xm_speech_res.target.append('livingroom')
elif text_last.find("bedroom") >= 0:
xm_speech_res.target.append('bedroom')
elif text_last.find("diningroom") >= 0:
xm_speech_res.target.append('diningroom')
xm_speech_res.num = 1
print("text_last:" + text_last)
text_last = ''
if text == "you can stop here":
xm_speech_res.action.append('stop')
elif (xm_speech_req.command == 6): #shopping
if text != "you are right" and text != "no":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
self.tts("OK")
print("text_last:" + text_last)
if text_last == "you can stop here":
xm_speech_res.action.append('stop')
xm_speech_res.num += 1
#follow
elif text_last.find('follow') >= 0:
xm_speech_res.action.append('follow')
xm_speech_res.num += 1
else:
for i in objectno:
if i in text_last:
xm_speech_res.object.append(i)
xm_speech_res.num += 1
#方向
if text_last.find('right') >= 0:
xm_speech_res.target.append('right')
xm_speech_res.num += 1
if text_last.find('left') >= 0:
xm_speech_res.target.append('left')
xm_speech_res.num += 1
if text_last.find('front') >= 0:
xm_speech_res.target.append('front')
xm_speech_res.num += 1
text_last = ''
def callback(recognizer, audio):
# received audio data, now we'll recognize it using xunfei Speech Recognition
global xm_speech_req
global xm_speech_res
global text_last
audio_wav_data = audio.get_wav_data()
with open("microphone-results.wav", "wb") as f:
f.write(audio.get_wav_data())
# print("audio_len : " + str(len(audio_wav_data))) # audio data length
# print("Got it! Now to recognize it...")
print("detecting...")
if len(audio_wav_data) > 50000 and len(audio_wav_data) < 300000:
print("pcm_len : " + str(len(audio_wav_data))) # audio data length
rospy.wait_for_service('xm_speech')
try:
xm_speech = rospy.ServiceProxy('xm_speech', xm_Speech)
resp1 = xm_speech(audio_wav_data)
text = resp1.sr_text
if text != "yes" and text != "no" and len(text) != 0:
text_last = text
if type(text) == str and len(text) != 0:
print("recognized : " + text)
if xm_speech_req.command == 0:
if text == "what is the captital of china":
subprocess.call([
"espeak", "-v", "f3+en_us", "-s", "130", "bei jing"
])
xm_speech_res.num = 1
elif text == "how many hours in a day":
subprocess.call(
["espeak", "-v", "f3+en_us", "-s", "130", "24"])
xm_speech_res.num = 1
elif text == "how many season are there in one year":
subprocess.call(
["espeak", "-v", "f3+en_us", "-s", "130", "4"])
xm_speech_res.num = 1
elif text == "how many seconds in one minute":
subprocess.call(
["espeak", "-v", "f3+en_us", "-s", "130", "60"])
xm_speech_res.num = 1
elif text == "what is the world biggest island":
subprocess.call([
"espeak", "-v", "f3+en_us", "-s", "130",
"green land"
])
xm_speech_res.num = 1
elif text == "what is the biggest province of china":
subprocess.call([
"espeak", "-v", "f3+en_us", "-s", "130",
"xin jiang"
])
xm_speech_res.num = 1
elif text == "how large is the area of china":
subprocess.call([
"espeak", "-v", "f3+en_us", "-s", "130",
"nine million and six hundred thousand saquare kilometers"
])
xm_speech_res.num = 1
elif text == "who was the first president of the usa":
subprocess.call([
"espeak", "-v", "f3+en_us", "-s", "130",
"george washington"
])
xm_speech_res.num = 1
elif text == "what is china's national animal":
subprocess.call(
["espeak", "-v", "f3+en_us", "-s", "130", "panda"])
xm_speech_res.num = 1
elif xm_speech_req.command == 1: #GPSR
if text != "yes" and text != "no":
if len(text_last) != 0:
subprocess.call([
"espeak", "-v", "f3+en_us", "-s", "130",
text_last
])
subprocess.call([
"espeak", "-v", "f3+en_us", "-s", "130",
"yes or no"
])
if text == "yes":
if len(text_last) != 0:
sen = text_last
rd = RecursiveDescentParser(grammar)
t = rd.parse_one(sen.split())
search(t)
elif xm_speech_req.command == 2: #HelpMeCarry
if text != "yes" and text != "no":
if len(text_last) != 0:
subprocess.call([
"espeak", "-v", "f3+en_us", "-s", "130",
text_last
])
subprocess.call([
"espeak", "-v", "f3+en_us", "-s", "130",
"yes or no"
])
if text == "yes":
if len(text_last) != 0:
subprocess.call([
"espeak", "-v", "f3+en_us", "-s", "130", "OK"
])
print("text_last:" + text_last)
if text_last == "follow me":
xm_speech_res.action.append('follow')
xm_speech_res.num += 1
elif text_last == "remember location":
xm_speech_res.action.append('remember')
xm_speech_res.num += 1
elif text_last == "take it":
xm_speech_res.action.append('grasp')
xm_speech_res.num += 1
elif text_last == "carry to the kitchen":
xm_speech_res.target.append('kitchen')
xm_speech_res.num += 1
elif text_last == "carry to the bedroom":
xm_speech_res.target.append('bedroom')
xm_speech_res.num += 1
elif text_last == "take to the dining room":
xm_speech_res.target.append('diningroom')
xm_speech_res.num += 1
elif text_last == "carry to the living room":
xm_speech_res.target.append('livingroom')
xm_speech_res.num += 1
else:
pass
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def callback(self, text):
"""this function is to process the recognized text and send the processed information to Arduino which controls some devices"""
global text_last
global xm_speech_req
global xm_speech_res
#if len(text) != 0 :
# if text[28] == '=':
# text = text[29:]
# elif text[29] == '=':
# text = text[30:]
if text != "you are right" and text != "no" and len(text) != 0:
text_last = text
print(text)
t = type(text)
print(t)
if type(text) == str and len(text) != 0:
print("recognized : " + text)
if xm_speech_req.command == 1: #Answer a question
if text == "what is the capital of china":
print("Beijing")
self.tts("Beijing")
xm_speech_res.num = 1
elif text == "how many hours in a day":
print("twenty four")
self.tts("twenty four")
xm_speech_res.num = 1
elif text == "how many season are there in one year":
print("four")
self.tts("four")
xm_speech_res.num = 1
elif text == "how many seconds in one minute":
print("sixty")
self.tts("sixty")
xm_speech_res.num = 1
elif text == "what is the world biggest island":
print("green land")
self.tts("green land")
xm_speech_res.num = 1
elif text == "what is the biggest province of china":
print("xin jiang")
self.tts("xin jiang")
xm_speech_res.num = 1
elif text == "how large is the area of china":
print(
"nine million and six hundred thousand saquare kilometers"
)
self.tts(
"nine million and six hundred thousand saquare kilometers"
)
xm_speech_res.num = 1
elif text == "who was the first president of the usa":
print("george washington")
self.tts("george washington")
xm_speech_res.num = 1
elif text == "what is china's national animal":
print("panda")
self.tts("panda")
xm_speech_res.num = 1
elif text == "how many children did queen victoria have":
print("nine children")
self.tts("nine children")
xm_speech_res.num = 1
elif text == "what was the former name of new york":
print("new amsterdam")
self.tts("new amsterdam")
xm_speech_res.num = 1
elif xm_speech_req.command == 2: #GPSR
if text != "you are right" and text != "no" and text != "stop here now":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
self.tts("OK")
sen = text_last
rd = RecursiveDescentParser(grammar)
t = rd.parse_one(sen.split())
search(t)
elif text == "stop here now":
xm_speech_res.action.append('stop')
xm_speech_res.num = 1
self.tts("OK")
elif xm_speech_req.command == 3: #WhoIsWho
if text != "you are right" and text != "no":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
self.tts("OK")
print("text_last:" + text_last)
#name
if text_last.find('Tom') >= 0:
xm_speech_res.name.append('Tom')
xm_speech_res.num += 1
elif text_last.find('Micheal') >= 0:
xm_speech_res.name.append('Micheal')
xm_speech_res.num += 1
elif text_last.find('Jack') >= 0:
xm_speech_res.name.append('Jack')
xm_speech_res.num += 1
elif text_last.find('Kevin') >= 0:
xm_speech_res.name.append('Kevin')
xm_speech_res.num += 1
elif text_last.find('Rose') >= 0:
xm_speech_res.name.append('Rose')
xm_speech_res.num += 1
elif text_last.find('John') >= 0:
xm_speech_res.name.append('John')
xm_speech_res.num += 1
elif text_last.find('Mary') >= 0:
xm_speech_res.name.append('Mary')
xm_speech_res.num += 1
elif text_last.find('Fisher') >= 0:
xm_speech_res.name.append('Fisher')
xm_speech_res.num += 1
elif text_last.find('Adam') >= 0:
xm_speech_res.name.append('Adam')
xm_speech_res.num += 1
elif text_last.find('Daniel') >= 0:
xm_speech_res.name.append('Daniel')
xm_speech_res.num += 1
#object
if text_last.find('ice tea') >= 0:
xm_speech_res.object.append('ice tea')
xm_speech_res.num += 1
elif text_last.find('safeguard') >= 0:
xm_speech_res.object.append('safeguard')
xm_speech_res.num += 1
elif text_last.find('napkin') >= 0:
xm_speech_res.object.append('napkin')
xm_speech_res.num += 1
elif text_last.find('chips') >= 0:
xm_speech_res.object.append('chips')
xm_speech_res.num += 1
elif text_last.find('laoganma') >= 0:
xm_speech_res.object.append('laoganma')
xm_speech_res.num += 1
elif text_last.find('porridge') >= 0:
xm_speech_res.object.append('porridge')
xm_speech_res.num += 1
elif text_last.find('milk') >= 0:
xm_speech_res.object.append('milk')
xm_speech_res.num += 1
elif text_last.find('water') >= 0:
xm_speech_res.object.append('water')
xm_speech_res.num += 1
elif text_last.find('cola') >= 0:
xm_speech_res.object.append('cola')
xm_speech_res.num += 1
elif text_last.find('sprite') >= 0:
xm_speech_res.object.append('sprite')
xm_speech_res.num += 1
elif xm_speech_req.command == 4: #SPR
print(text)
#ArenaQ
if text == "How many bookshelf are in the living room":
xm_speech_res.num = 1
self.tts("three")
elif text == "In which room is the fridge":
xm_speech_res.num = 1
self.tts("kitchen")
elif text == "How many doors has the Arena":
xm_speech_res.num = 1
self.tts("2")
elif text == "In which room is the dining table":
xm_speech_res.num = 1
tself.tts("diningroom")
elif text == "Where is located the bed":
xm_speech_res.num = 1
self.tts("bedroom")
elif text == "How many fireplace are in the bedroom":
xm_speech_res.num = 1
self.tts("zero")
elif text == "In which room is the sofa":
xm_speech_res.num = 1
self.tts("livingroom")
elif text == "Where is located the fridge":
xm_speech_res.num = 1
self.tts("kitchen")
elif text == "Where is located the cupboard":
xm_speech_res.num = 1
self.tts("diningroom")
elif text == "In which room is the bookshelf":
xm_speech_res.num = 1
self.tts("bedroom")
#ObjectQ
elif text == "how many hours in a day":
xm_speech_res.num = 1
self.tts("twenty four")
elif text == "how many season are there in one year":
xm_speech_res.num = 1
self.tts("four")
elif text == "how many seconds in one minute":
xm_speech_res.num = 1
self.tts("sixty")
elif text == "what is the world biggest island":
xm_speech_res.num = 1
self.tts("green land")
elif text == "what is the biggest province of china":
xm_speech_res.num = 1
self.tts("shin junk")
elif text == "how large is the area of china":
xm_speech_res.num = 1
self.tts(
"Nine million and six hundred thousand saquare kilometers"
)
elif text == "Who was the first president of the USA":
xm_speech_res.num = 1
self.tts("George Washington")
elif text == "What is China's national animal":
xm_speech_res.num = 1
self.tts("panda")
elif text == "How many children did Queen Victoria have":
xm_speech_res.num = 1
self.tts("Nine children")
elif text == "What was the former name of New York":
xm_speech_res.num = 1
self.tts("New Amsterdam")
#PredefinedQ
elif text == "How many people live in the Japan":
xm_speech_res.num = 1
self.tts("A little over 80 million")
elif text == "what is the capital of the united states":
xm_speech_res.num = 1
self.tts("Washington DC")
elif text == "what day is today":
xm_speech_res.num = 1
self.tts("Saturday")
elif text == "What city is the capital of the Japan":
xm_speech_res.num = 1
self.tts("Tokyo")
elif text == "Where does the term computer bug come from":
xm_speech_res.num = 1
self.tts("From a moth trapped in a relay")
elif text == "When was invented the B programming language":
xm_speech_res.num = 1
self.tts("B was developed circa 1969 at Bell Labs")
elif text == "Who invented the C programming language":
xm_speech_res.num = 1
self.tts("Ken Thompson and Dennis Ritchie")
elif text == "What is the highest point in Japan":
xm_speech_res.num = 1
self.tts("The highest point in Japan is Mount Fuji")
elif text == "What are the colours of the Japanese flag":
xm_speech_res.num = 1
self.tts(
"Japanese flag is a red circle centred over white")
elif text == "Who invented the first compiler":
xm_speech_res.num = 1
self.tts("Grace Brewster Murray Hopper invented it")
#CrowdOperatorQ
'''elif text == "number of male people sitting":
xm_speech_res.num = 2
time.sleep(1)
elif text == "number of female people sitting":
xm_speech_res.num = 3
time.sleep(1)
elif text == "number of male people standing":
xm_speech_res.num = 4
time.sleep(1)
elif text == "number of female people standing":
xm_speech_res.num = 5
time.sleep(1)
elif text == "number of people standing":
xm_speech_res.num = 6
time.sleep(1)
elif text == "number of people sitting":
xm_speech_res.num = 7
time.sleep(1)
'''
if text == 'number of male people':
xm_speech_res.num = 2
time.sleep(1)
if text == 'number of female people':
xm_speech_res.num = 3
time.sleep(1)
if text == 'number of people':
xm_speech_res.num = 4
time.sleep(1)
elif (xm_speech_req.command == 5): #help me carry
if text != "you are right" and text != "no":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
if text_last.find("stop") >= 0:
xm_speech_res.action.append('stop')
elif text_last.find("follow") >= 0:
xm_speech_res.action.append('follow')
elif text_last.find("take") >= 0:
xm_speech_res.action.append('take')
if text_last.find("kitchen") >= 0:
xm_speech_res.target.append('kitchen')
elif text_last.find("livingroom") >= 0:
xm_speech_res.target.append('livingroom')
elif text_last.find("bedroom") >= 0:
xm_speech_res.target.append('bedroom')
elif text_last.find("diningroom") >= 0:
xm_speech_res.target.append('diningroom')
if text_last.find("bag") >= 0:
xm_speech_res.object.append('bag')
self.tts("OK")
xm_speech_res.num = 1
print("text_last:" + text_last)
elif (xm_speech_req.command == 6): #shopping
if text != "you are right" and text != "no":
if len(text_last) != 0:
self.tts(text_last)
self.tts("am i right")
if text == "you are right":
if len(text_last) != 0:
self.tts("OK")
print("text_last:" + text_last)
num = 0
#follow
if text_last.find('follow') >= 0:
xm_speech_res.action.append('follow')
num += 1
#object
if text_last.find('ice tea') >= 0:
xm_speech_res.object.append('ice tea')
num += 1
if text_last.find('safeguard') >= 0:
xm_speech_res.object.append('safeguard')
num += 1
if text_last.find('napkin') >= 0:
xm_speech_res.object.append('napkin')
num += 1
if text_last.find('chips') >= 0:
xm_speech_res.object.append('chips')
num += 1
if text_last.find('laoganma') >= 0:
xm_speech_res.object.append('laoganma')
num += 1
if text_last.find('milk') >= 0:
xm_speech_res.object.append('milk')
num += 1
if text_last.find('water') >= 0:
xm_speech_res.object.append('water')
num += 1
if text_last.find('cola') >= 0:
xm_speech_res.object.append('cola')
num += 1
if text_last.find('porridge') >= 0:
xm_speech_res.object.append('porridge')
num += 1
if text_last.find('sprite') >= 0:
xm_speech_res.object.append('sprite')
num += 1
#方向
if text_last.find('right') >= 0:
xm_speech_res.target.append('right')
num += 1
if text_last.find('left') >= 0:
xm_speech_res.target.append('left')
num += 1
xm_speech_res.num = num
def callback(self, text):
"""this function is to process the recognized text and send the processed information to Arduino which controls some devices"""
global text_last
global xm_speech_req
global xm_speech_res
flag = 0
if len(text) != 0 :
if text[28] == '=':
text = text[29:]
elif text[29] == '=':
text = text[30:]
if text != "you are right" and text != "no" and len(text) != 0:
text_last = text
if type(text) == str and len(text) != 0:
print("recognized : " + text)
if xm_speech_req.command == 1:#Answer a question
if text == "what is the capital of china":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('Beijing')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","bei jing"])
xm_speech_res.num = 1
elif text == "how many hours in a day":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('twenty four')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","24"])
xm_speech_res.num = 1
elif text == "how many season are there in one year":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('four')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","4"])
xm_speech_res.num = 1
elif text == "how many seconds in one minute":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('sixty')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","60"])
xm_speech_res.num = 1
elif text == "what is the world biggest island":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('green land')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","green land"])
xm_speech_res.num = 1
elif text == "what is the biggest province of china":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('xin jiang')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","xin jiang"])
xm_speech_res.num = 1
elif text == "how large is the area of china":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('nine million and six hundred thousand saquare kilometers')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","nine million and six hundred thousand saquare kilometers"])
xm_speech_res.num = 1
elif text == "who was the first president of the usa":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('george washington')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","george washington"])
xm_speech_res.num = 1
elif text == "what is china's national animal":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('panda')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","panda"])
xm_speech_res.num = 1
elif text == "how many children did queen victoria have":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('nine children')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","nine children"])
xm_speech_res.num = 1
elif text == "what was the former name of new york":
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('new amsterdam')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","new amsterdam"])
xm_speech_res.num = 1
elif xm_speech_req.command == 2:#GPSR
if text != "you are right" and text != "no":
if len(text_last) != 0:
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call(text_last)
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130",text_last])
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('am i right?')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","am i right?"])
if text == "you are right":
if len(text_last) != 0:
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('OK')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","OK"])
sen = text_last
rd = RecursiveDescentParser(grammar)
t = rd.parse_one(sen.split())
search(t)
elif xm_speech_req.command == 3:#WhoIsWho
if text != "you are right" and text != "no":
if len(text_last) != 0:
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call(text_last)
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130",text_last])
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('am i right?')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","am i right?"])
if text == "you are right":
if len(text_last) != 0:
tts_test = rospy.ServiceProxy('tts',xm_Speech_tts)
tts_res = tts_test.call('OK')
if tts_res.flag == 1:
subprocess.call(["play","tts_sample.wav"])
else:
subprocess.call(["espeak","-v","f3+en_us","-s","130","OK"])
print("text_last:"+text_last)
#name
if text_last.find('Tom') >= 0:
xm_speech_res.name.append('Tom')
xm_speech_res.num += 1
elif text_last.find('Paul') >= 0:
xm_speech_res.name.append('Paul')
xm_speech_res.num += 1
elif text_last.find('Green') >= 0:
xm_speech_res.name.append('Green')
xm_speech_res.num += 1
elif text_last.find('Kevin') >= 0:
xm_speech_res.name.append('Kevin')
xm_speech_res.num += 1
elif text_last.find('Tracy') >= 0:
xm_speech_res.name.append('Tracy')
xm_speech_res.num += 1
elif text_last.find('John') >= 0:
xm_speech_res.name.append('John')
xm_speech_res.num += 1
elif text_last.find('Angel') >= 0:
xm_speech_res.name.append('Angel')
xm_speech_res.num += 1
elif text_last.find('Jamie') >= 0:
xm_speech_res.name.append('Jamie')
xm_speech_res.num += 1
elif text_last.find('Fisher') >= 0:
xm_speech_res.name.append('Fisher')
xm_speech_res.num += 1
elif text_last.find('Shirley') >= 0:
xm_speech_res.name.append('Shirley')
xm_speech_res.num += 1
elif text_last.find('Robin') >= 0:
xm_speech_res.name.append('Robin')
xm_speech_res.num += 1
elif text_last.find('Daniel') >= 0:
xm_speech_res.name.append('Daniel')
xm_speech_res.num += 1
#object
if text_last.find('paper') >= 0:
xm_speech_res.object.append('paper')
xm_speech_res.num += 1
elif text_last.find('noodles') >= 0:
xm_speech_res.object.append('noodles')
xm_speech_res.num += 1
elif text_last.find('pie') >= 0:
xm_speech_res.object.append('pie')
xm_speech_res.num += 1
elif text_last.find('tea') >= 0:
xm_speech_res.object.append('tea')
xm_speech_res.num += 1
elif text_last.find('biscuit') >= 0:
xm_speech_res.object.append('biscuit')
xm_speech_res.num += 1
elif text_last.find('chip') >= 0:
xm_speech_res.object.append('chip')
xm_speech_res.num += 1
elif text_last.find('soap') >= 0:
xm_speech_res.object.append('soap')
xm_speech_res.num += 1
elif text_last.find('shampoo') >= 0:
xm_speech_res.object.append('shampoo')
xm_speech_res.num += 1
elif text_last.find('milk tea') >= 0:
xm_speech_res.object.append('milk tea')
xm_speech_res.num += 1
elif text_last.find('water') >= 0:
xm_speech_res.object.append('water')
xm_speech_res.num += 1
elif text_last.find('toothpaste') >= 0:
xm_speech_res.object.append('toothpaste')
xm_speech_res.num += 1
elif text_last.find('coffee') >= 0:
xm_speech_res.object.append('coffee')
xm_speech_res.num += 1
elif text_last.find('cola') >= 0:
xm_speech_res.object.append('cola')
xm_speech_res.num += 1
elif text_last.find('red bull') >= 0:
xm_speech_res.object.append('red bull')
xm_speech_res.num += 1
