def __init__(self, language_code='it-IT', last_contexts=None):
"""Initialize all params and load data"""
""" Constants and params """
self.CHUNK = 4096
self.FORMAT = pyaudio.paInt16
self.CHANNELS = 1
self.RATE = 44100 #was 16000
self.DEBUG = rospy.get_param('/dialogflow_client/debug', False)
#----------------------------------------------------------------------------------
#
# ROS Parametrers
#
#-----------------------------------------------------------------------------------
self.USE_AUDIO_SERVER = rospy.get_param(
'/dialogflow_client/use_audio_server', False)
# se il flag PLAY_GOOGLE_AUDIO è attivo creo l'output audio
self.stream_out = None
self.PLAY_GOOGLE_AUDIO = rospy.get_param(
'/dialogflow_client/play_google_audio', True)
self.PLAY_LOCAL_AUDIO = rospy.get_param(
'/dialogflow_client/play_local_audio', True)
#Snowboy parameters
self.model_path = rospy.get_param('/dialogflow_client/model_path', '')
self.interrupted = False
self.detector = None
self.use_snowboy = rospy.get_param('/dialogflow_client/use_snowboy',
False)
self.snowboy_sensitivity = rospy.get_param(
'/dialogflow_client/snowboy_sensitivity', 0.5)
# Dialogflow params
project_id = rospy.get_param('/dialogflow_client/project_id',
'robot-15de1')
# Setup audio output
self.ding_data = ding.readframes(ding.getnframes())
self.audio = pyaudio.PyAudio()
self._create_audio_output()
'''
self.stream_out = self.audio.open(
format=self.audio.get_format_from_width(ding.getsampwidth()),
channels=ding.getnchannels(), rate=ding.getframerate(),
input=False, output=True)
'''
# Register Ctrl-C sigint
signal.signal(signal.SIGINT, self._signal_handler)
"""
###############################################################################
###############################################################################
Dialogflow setup
###############################################################################
###############################################################################
"""
self.contaChiamateApi = 0
# Get hints/clues
rp = rospkg.RosPack()
file_dir = rp.get_path('dialogflow_ros') + '/config/context.yaml'
with open(file_dir, 'r') as f:
try:
self.phrase_hints = load(f)
except YAMLError:
rospy.logwarn(
"DF_CLIENT: Unable to open phrase hints yaml file!")
self.phrase_hints = []
self._language_code = language_code
self.last_contexts = last_contexts if last_contexts else []
audio_encoding = AudioEncoding.AUDIO_ENCODING_LINEAR_16
# Possibel models: video, phone_call, command_and_search, default
# https://cloud.google.com/dialogflow/docs/reference/rpc/google.cloud.dialogflow.v2#google.cloud.dialogflow.v2.InputAudioConfig
self._audio_config = InputAudioConfig(
audio_encoding=audio_encoding,
language_code=self._language_code,
sample_rate_hertz=self.RATE,
phrase_hints=self.phrase_hints, #parametro deprecato
model='command_and_search',
single_utterance=True)
self._output_audio_config = OutputAudioConfig(
audio_encoding=OutputAudioEncoding.OUTPUT_AUDIO_ENCODING_LINEAR_16)
#----------------------------------------------------------------------------------
# Create a DIALOGFLOW session
#----------------------------------------------------------------------------------
session_id = str(uuid4()) # Random
self._session_cli = dialogflow_v2beta1.SessionsClient()
self._session = self._session_cli.session_path(project_id, session_id)
rospy.logdebug("DF_CLIENT: Session Path: {}".format(self._session))
# dialogflow ros -----------------------------------------------------------------
results_topic = rospy.get_param('/dialogflow_client/results_topic',
'/dialogflow_client/results')
requests_topic = rospy.get_param('/dialogflow_client/requests_topic',
'/dialogflow_client/requests')
text_event_topic = requests_topic + '/string_event'
msg_req_topic = requests_topic + '/df_msg'
event_req_topic = requests_topic + '/df_event'
text_req_topic = requests_topic + '/string_msg'
self._results_pub = rospy.Publisher(results_topic,
DialogflowResult,
queue_size=10)
rospy.Subscriber(text_req_topic, String,
self._text_request_cb) # richiesta in formato testo
rospy.Subscriber(text_event_topic, String, self._text_event_cb)
rospy.Subscriber(msg_req_topic, DialogflowRequest,
self._msg_request_cb)
rospy.Subscriber(event_req_topic, DialogflowEvent,
self._event_request_cb)
#----------------------------------------------------------------------------------
# subscribe ai tutti i topics per i quali devo poter rispondere a voce
self.bat_charge = 0
rospy.Subscriber('/bat_charge', Float64, self.cbk_bat_charge)
self.bat_volt = 0
rospy.Subscriber('/bat_volt', Float64, self.cbk_bat_volt)
self.bat_ampere = 0
rospy.Subscriber('/bat_ampere', Float64, self.cbk_bat_ampere)
self.bat_watt = 0
rospy.Subscriber('/bat_watt', Float64, self.cbk_bat_watt)
self.bat_ischarging = False
rospy.Subscriber('/bat_ischarging', Bool, self.cbk_bat_ischarging)
#-------------------------------------------------------------------------
# advertise di tutti i comandi eseguibili a voce-------------------------
self.pub_chatter = rospy.Publisher('/chatter', String, queue_size=10)
self.pub_faretto = rospy.Publisher("/faretto", Bool, queue_size=1)
self.pub_laser = rospy.Publisher("/laser", Bool, queue_size=1)
self.pub_start_followme = rospy.Publisher("/start_followme",
Bool,
queue_size=1)
self.pub_cmd_vel = rospy.Publisher("/cmd_vel", Twist, queue_size=1)
self.pub_targetPose = rospy.Publisher("/target_pose",
Twist,
queue_size=1)
#-------------------------------------------------------------------------
# Esecutore comandi --------------------------
self.myCmdParser = DialogflowCommandExecutor()
#----------------------------------------------------------------------------------
#
# inizializzazione
#
#-----------------------------------------------------------------------------------
if self.PLAY_LOCAL_AUDIO:
self.msg_chatter = String()
if self.USE_AUDIO_SERVER:
print("USO AUDIOSERVER")
else:
print("USO IL MICROFONO")
if self.use_snowboy:
# Setup snowboy
self.speech(" uso snowboy")
self.detector = snowboydecoder.HotwordDetector(
self.model_path, sensitivity=self.snowboy_sensitivity)
print(
"\n\n***Using SNOWBOY model {} \n Sensitivity: {} \n***\n\n".
format(self.model_path, self.snowboy_sensitivity))
else:
print("\n\n***NON USO SNOWBOY ***")
self.speech("non uso snowboy")
def __init__(self, language_code='en-US', last_contexts=None):
"""Initialize all params and load data"""
""" Constants and params """
self.CHUNK = 4096
self.FORMAT = pyaudio.paInt16
self.CHANNELS = 1
self.RATE = 16000
self.USE_AUDIO_SERVER = rospy.get_param('/dialogflow_client/use_audio_server', False)
self.PLAY_AUDIO = rospy.get_param('/dialogflow_client/play_audio', True)
self.DEBUG = rospy.get_param('/dialogflow_client/debug', False)
# Register Ctrl-C sigint
signal.signal(signal.SIGINT, self._signal_handler)
""" Dialogflow setup """
# Get hints/clues
rp = rospkg.RosPack()
file_dir = rp.get_path('dialogflow_ros') + '/config/context.yaml'
with open(file_dir, 'r') as f:
try:
self.phrase_hints = load(f)
except YAMLError:
rospy.logwarn("DF_CLIENT: Unable to open phrase hints yaml file!")
self.phrase_hints = []
# Dialogflow params
project_id = rospy.get_param('/dialogflow_client/project_id', 'my-project-id')
session_id = str(uuid4()) # Random
self._language_code = language_code
self.last_contexts = last_contexts if last_contexts else []
# DF Audio Setup
audio_encoding = AudioEncoding.AUDIO_ENCODING_LINEAR_16
# Possibel models: video, phone_call, command_and_search, default
self._audio_config = InputAudioConfig(audio_encoding=audio_encoding,
language_code=self._language_code,
sample_rate_hertz=self.RATE,
phrase_hints=self.phrase_hints,
model='command_and_search')
self._output_audio_config = OutputAudioConfig(
audio_encoding=OutputAudioEncoding.OUTPUT_AUDIO_ENCODING_LINEAR_16
)
# Create a session
self._session_cli = dialogflow_v2beta1.SessionsClient()
self._session = self._session_cli.session_path(project_id, session_id)
rospy.logdebug("DF_CLIENT: Session Path: {}".format(self._session))
""" ROS Setup """
results_topic = rospy.get_param('/dialogflow_client/results_topic',
'/dialogflow_client/results')
requests_topic = rospy.get_param('/dialogflow_client/requests_topic',
'/dialogflow_client/requests')
text_req_topic = requests_topic + '/string_msg'
text_event_topic = requests_topic + '/string_event'
msg_req_topic = requests_topic + '/df_msg'
event_req_topic = requests_topic + '/df_event'
self._results_pub = rospy.Publisher(results_topic, DialogflowResult,
queue_size=10)
rospy.Subscriber(text_req_topic, String, self._text_request_cb)
rospy.Subscriber(text_event_topic, String, self._text_event_cb)
rospy.Subscriber(msg_req_topic, DialogflowRequest, self._msg_request_cb)
rospy.Subscriber(event_req_topic, DialogflowEvent, self._event_request_cb)
""" Audio setup """
# Mic stream input setup
self.audio = pyaudio.PyAudio()
self._server_name = rospy.get_param('/dialogflow_client/server_name',
'127.0.0.1')
self._port = rospy.get_param('/dialogflow_client/port', 4444)
if self.PLAY_AUDIO:
self._create_audio_output()
rospy.logdebug("DF_CLIENT: Last Contexts: {}".format(self.last_contexts))
rospy.loginfo("DF_CLIENT: Ready!")
def __init__(self, language_code='it-IT', last_contexts=None):
"""Initialize all params and load data"""
""" Constants and params """
self.CHUNK = 4096
self.FORMAT = pyaudio.paInt16
self.CHANNELS = 1
self.RATE = 44100 #was 16000
self.USE_AUDIO_SERVER = rospy.get_param(
'/dialogflow_client/use_audio_server', False)
if self.USE_AUDIO_SERVER:
print("USO AUDIOSERVER")
else:
print("USO IL MICROFONO")
self.PLAY_GOOGLE_AUDIO = rospy.get_param(
'/dialogflow_client/play_google_audio', True)
self.PLAY_LOCAL_AUDIO = rospy.get_param(
'/dialogflow_client/play_local_audio', True)
self.DEBUG = rospy.get_param('/dialogflow_client/debug', False)
# Register Ctrl-C sigint
signal.signal(signal.SIGINT, self._signal_handler)
""" Dialogflow setup """
# Get hints/clues
rp = rospkg.RosPack()
file_dir = rp.get_path('dialogflow_ros') + '/config/context.yaml'
with open(file_dir, 'r') as f:
try:
self.phrase_hints = load(f)
except YAMLError:
rospy.logwarn(
"DF_CLIENT: Unable to open phrase hints yaml file!")
self.phrase_hints = []
# Dialogflow params
project_id = rospy.get_param('/dialogflow_client/project_id',
'robot-15de1')
session_id = str(uuid4()) # Random
self._language_code = language_code
self.last_contexts = last_contexts if last_contexts else []
# DF Audio Setup
audio_encoding = AudioEncoding.AUDIO_ENCODING_LINEAR_16
# Possibel models: video, phone_call, command_and_search, default
self._audio_config = InputAudioConfig(
audio_encoding=audio_encoding,
language_code=self._language_code,
sample_rate_hertz=self.RATE,
phrase_hints=self.phrase_hints,
model='command_and_search')
self._output_audio_config = OutputAudioConfig(
audio_encoding=OutputAudioEncoding.OUTPUT_AUDIO_ENCODING_LINEAR_16)
#speechCfg =SynthesizeSpeechConfig() #https://cloud.google.com/dialogflow/docs/reference/rest/v2beta1/OutputAudioConfig#SynthesizeSpeechConfig
#speechCfg.speakingRate=1.5 # range [0.25, 4.0]. 1.0 is the normal native speed
#speechCfg.pitch= -10 # range [-20.0, 20.0].
#speechCfg.volumeGainDb # range [-96.0, 16.0].
#speechCfg.voice.ssmlGender = texttospeech.enums.SsmlVoiceGender.SSML_VOICE_GENDER_MALE
# self._output_audio_config = OutputAudioConfig(
# audio_encoding=OutputAudioEncoding.OUTPUT_AUDIO_ENCODING_LINEAR_16 #,
# synthesizeSpeechConfig=SynthesizeSpeechConfig.
# )
# Create a session
self._session_cli = dialogflow_v2beta1.SessionsClient()
self._session = self._session_cli.session_path(project_id, session_id)
rospy.logdebug("DF_CLIENT: Session Path: {}".format(self._session))
""" ROS Setup """
results_topic = rospy.get_param('/dialogflow_client/results_topic',
'/dialogflow_client/results')
requests_topic = rospy.get_param('/dialogflow_client/requests_topic',
'/dialogflow_client/requests')
text_req_topic = requests_topic + '/string_msg'
text_event_topic = requests_topic + '/string_event'
msg_req_topic = requests_topic + '/df_msg'
event_req_topic = requests_topic + '/df_event'
self._results_pub = rospy.Publisher(results_topic,
DialogflowResult,
queue_size=10)
rospy.Subscriber(text_req_topic, String, self._text_request_cb)
rospy.Subscriber(text_event_topic, String, self._text_event_cb)
rospy.Subscriber(msg_req_topic, DialogflowRequest,
self._msg_request_cb)
rospy.Subscriber(event_req_topic, DialogflowEvent,
self._event_request_cb)
""" Audio setup """
# Mic stream input setup
self.audio = pyaudio.PyAudio()
if self.USE_AUDIO_SERVER:
self._server_name = rospy.get_param(
'/dialogflow_client/server_name', '127.0.0.1')
self._port = rospy.get_param('/dialogflow_client/port', 4444)
#print("Audio Server at: ",self._server_name, ", on port ", self._port)
print("Audio Server at: {}, on port {}".format(
self._server_name, self._port))
if self.PLAY_GOOGLE_AUDIO:
self._create_audio_output()
print("Uso Google STT")
rospy.logdebug("DF_CLIENT: Last Contexts: {}".format(
self.last_contexts))
rospy.loginfo("DF_CLIENT: Ready!")
self.bat_charge = 0
rospy.Subscriber('/bat_charge', Float64, self.cbk_bat_charge)
# qui tutti i comandi eseguibili a voce
self.pub_chatter = rospy.Publisher('/chatter', String, queue_size=10)
self.pub_faretto = rospy.Publisher("/faretto", Bool, queue_size=1)
self.pub_laser = rospy.Publisher("/laser", Bool, queue_size=1)
self.pub_start_followme = rospy.Publisher("/start_followme",
Bool,
queue_size=1)
self.pub_cmd_vel = rospy.Publisher("/cmd_vel", Twist, queue_size=1)
self.pub_targetPose = rospy.Publisher("/target_pose",
Twist,
queue_size=1)