def button_cb(self):
self.textFeedback.clear()
value = self.textSend.toPlainText()
goal = TtsGoal()
goal.rawtext.text = str(value)
goal.rawtext.lang_id = "EN"
goal.wait_before_speaking = float(self.interval_slider.value()) / 10
self.client.send_goal(goal, feedback_cb=self.feedbackCb)
self.client.wait_for_result()
result = self.client.get_result()
self.textResult.setPlainText(str(result))
def button_cb(self): self.textFeedback.clear() value = self.textSend.toPlainText() goal = TtsGoal() goal.rawtext.text = str(value) goal.rawtext.lang_id = "EN" goal.wait_before_speaking = float(self.interval_slider.value())/10 self.client.send_goal(goal, feedback_cb = self.feedbackCb) self.client.wait_for_result() result = self.client.get_result() self.textResult.setPlainText(str(result))
def __init__(self, blackboard, _):
super(AbstractSay, self).__init__(blackboard)
self.blackboard = blackboard
self.first_iteration = True
text = random.choice(self.text())
self.goal = TtsGoal()
self.goal.rawtext.text = text
self.goal.rawtext.lang_id = "en_GB"
def talk(self, speech_in):
# Create the TTS goal and send it
print('\033[1;36mTIAGO: ' + speech_in + '\033[0m')
tts_goal = TtsGoal()
tts_goal.rawtext.lang_id = 'en_GB'
tts_goal.rawtext.text = speech_in
self.speech_client.send_goal(tts_goal)
self.speech_client.wait_for_result()
def say(self, text):
rospy.loginfo("Creating goal with text: " + text)
goal = TtsGoal()
goal.rawtext.text = text
goal.rawtext.lang_id = 'en_GB'
rospy.loginfo("Sending goal!")
self.tts_ac.send_goal_and_wait(goal)
rospy.loginfo("We are done!")
def talk(self, speech_in):
# Create the TTS goal and send it
print('\033[1;36mTIAGO: ' + speech_in + '\033[0m')
speech_engine = pyttsx.init()
speech_engine.say(speech_in)
speech_engine.runAndWait()
tts_goal = TtsGoal()
tts_goal.rawtext.lang_id = 'en_GB'
tts_goal.rawtext.text = speech_in
self.tts_client.send_goal(tts_goal)
def tts_callback(self, msg):
# Connect to the text-to-speech action server
client = SimpleActionClient('/tts', TtsAction)
rospy.loginfo("SPEECH TTS NODE: Waiting for the server")
if client.wait_for_server(timeout = rospy.Duration(2)):
# Create a goal to say our sentence
goal = TtsGoal()
goal.rawtext.text = msg.data
goal.rawtext.lang_id = "en_GB"
# Send the goal and wait
client.send_goal_and_wait(goal)
def tts_with_state_callback(self, msg):
if self.states == {}:
self.read_states()
# Connect to the text-to-speech action server
client = SimpleActionClient('/tts', TtsAction)
rospy.loginfo("SPEECH TTS NODE: Waiting for the server")
if client.wait_for_server(timeout = rospy.Duration(2)):
# Create a goal to say our sentence
goal = TtsGoal()
goal.rawtext.text = self.states[msg.state]
goal.rawtext.lang_id = self.language
# Send the goal and wait
client.send_goal_and_wait(goal)
def process_word(req):
text = req.x
rospy.loginfo("I'll say: " + text)
# Connect to the text-to-speech action server
client = SimpleActionClient('/tts', TtsAction)
client.wait_for_server()
# Create a goal to say our sentence
goal = TtsGoal()
goal.rawtext.text = text
goal.rawtext.lang_id = "en_GB"
# Send the goal and wait
client.send_goal_and_wait(goal)
return 1
128: 'TTS_EVENT_FINISHED_PLAYING_SENTENCE'
}[event]
def feedbackCb(feedback):
print("event type: " + event(feedback.event_type))
print("timestamp: " + str(feedback.timestamp))
print("current word: " + feedback.text_said)
print("next word: " + feedback.next_word)
print("-")
if __name__ == '__main__':
rospy.init_node('tts_client')
client = actionlib.SimpleActionClient('tts_to_soundplay', TtsAction)
rospy.loginfo("Waiting for Server")
client.wait_for_server()
rospy.loginfo("Reached Server")
goal = TtsGoal()
while not rospy.is_shutdown():
text = raw_input("Enter sentence: ")
print("---")
goal.rawtext.text = text
goal.rawtext.lang_id = "NL"
client.send_goal(goal, feedback_cb=feedbackCb)
client.wait_for_result()
res = client.get_result()
print("text: " + res.text)
print("warning/error msgs: " + res.msg)
print("---")
def identifyStatus(self, table_index):
# TODO: move to individual action file
rospy.loginfo('Identifying the status of: %s' %
self.locations_order[int(table_index)])
# Step 1: Look down to see the table
# Wait for the play motion server to come up and send goal
self.play_motion_client.wait_for_server(rospy.Duration(15.0))
pose_goal = PlayMotionGoal()
pose_goal.motion_name = "look_down"
pose_goal.skip_planning = True
self.play_motion_client.send_goal(pose_goal)
rospy.loginfo('Looking down goal sent')
rospy.sleep(4)
# Step 2: Take a picture of the table surface
# Wait for recognition action server to come up and send goal
self.object_recognition_client.wait_for_server(rospy.Duration(15.0))
recognition_goal = count_objectsGoal()
recognition_goal.image_topic = "/xtion/rgb/image_raw"
recognition_goal.confidence = 0.3
recognition_goal.nms = 0.3
self.object_recognition_client.send_goal(recognition_goal)
rospy.loginfo('Recognition goal sent')
# Waits for the server to finish performing the action.
rospy.loginfo('Waiting for the detection result...')
self.object_recognition_client.wait_for_result()
# Prints out the result of executing the action
surfaceObjects_result = self.object_recognition_client.get_result()
print('{0} cups {1} bowls'.format(surfaceObjects_result.cup,
surfaceObjects_result.bowl))
# Step 3: Check the table surface for items
# Wait for the table status action server to come up and send goal
self.table_status_client.wait_for_server(rospy.Duration(15.0))
status_goal = TableStatusGoal()
status_goal.num_of_reads = 5
self.table_status_client.send_goal(status_goal)
rospy.loginfo('Check table status goal sent')
# Waits for the server to finish performing the action.
rospy.loginfo('Waiting for the status result...')
self.table_status_client.wait_for_result()
# Print the table status
status_result = self.table_status_client.get_result()
rospy.loginfo(
'PclCheck result of %s is %s' %
(self.locations_order[int(table_index)], status_result.status))
# Step 4: Get head and torso back to default
pose_goal.motion_name = "back_to_default"
self.play_motion_client.send_goal(pose_goal)
rospy.loginfo('Default head position goal sent')
rospy.sleep(4)
# Step 4: Decide on table status and publish it to the sound server
# Create a tts goal
tts_goal = TtsGoal()
tts_goal.rawtext.lang_id = 'en_GB'
foundConsumable = False
clean = False
if surfaceObjects_result.cup or surfaceObjects_result.bowl > 0:
foundConsumable = True
if status_result.status == "clean":
clean = True
if not foundConsumable and clean:
result = 'The status of the {0} is Clean'.format(
self.locations_order[int(table_index)])
else:
result = 'The status of the {0} is Dirty'.format(
self.locations_order[int(table_index)])
rospy.loginfo(result)
tts_goal.rawtext.text = result
self.speech_client.send_goal(tts_goal)
rospy.sleep(1)
self.running = False
def talk_to_me(words):
#creates the ts goal and sends it off to be spoken
ttg = TtsGoal()
ttg.rawtext.text = words.data
ttg.rawtext.lang_id = "en_GB"
client.send_goal_and_wait(ttg)
def talk(self, speech_in):
print('\033[1;36mTIAGO: ' + speech_in + '\033[0m')
tts_goal = TtsGoal()
tts_goal.rawtext.lang_id = 'en_GB'
tts_goal.rawtext.text = speech_in
self.speech_client.send_goal(tts_goal)
def run_pres(loc_name, level):
gsender = GestureSender()
ssender = SoundClient()
rospy.sleep(1)
if (loc_name == "secret"):
play_bonus(ssender, level)
return
#how will this whole process deal with no internet? Need to look into the return from Watson if there's no connection
#make_wavs will abort early if it can't make the files, thus find_pres_files will return None...or just get the old files!
make_wavs(loc_name, level)
files = find_pres_files(loc_name, level)
#need to fork here, based on whether all files are found
if len(
files
) == 0: #missing speech: new location with no speech written yet, perhaps
files = find_pres_files("default", level)
if len(files) == 4:
#do we start with a gesture? If the first entry of the gestures file has a time of 0.0, yes!
gestures = []
with open(files[3].name, 'r') as gfile:
gestures = ast.literal_eval(gfile.read())
if len(gestures) > 0:
doinggest = gestures[0][1] == 0.0
else:
doinggest = None
ssender.stopAll()
gests = len(gestures)
gestures.reverse()
if doinggest:
#print("Firing opening gesture")
curgest = gestures.pop()
gsender.send_motion_free(curgest[0])
gests -= 1
ssender.playWave(files[2].name)
#while presentation lists are not empty
if doinggest is not None:
while gests > 0:
curgest = gestures.pop()
rospy.sleep((curgest[1] / 1000) -
0.2) #need to account for the sleep in quitIt()
if gsender.running():
gsender.quitIt()
#gsender.send_motion_timeout(gestures.pop(), wavlist.pop()[1]/1000)
gsender.send_motion_free(curgest[0])
gests -= 1
elif len(files) == 3: #script and gesture timings
with open(files[1].name, 'r') as script:
speech_srv = actionlib.SimpleActionClient("/tts", TtsAction)
with open(files[3].name, 'r') as gfile:
gestures = ast.literal_eval(gfile.read())
wholetext = script.read()
splittext = re.split(r'[{}]', wholetext)
doinggest = 1
for i in range(1, -1, 2):
if (doinggest < len(gestures)):
mstime = int(gestures[i][1] * 1000)
else:
mstime = 0
gesttag = "<mark name=\"doTrick trickName=" + splittext[
i] + " checkSafety=0\"/><break time'\"" + str(
mstime) + "\">"
splittext[i] = gesttag
speechgoal = TtsGoal()
speechgoal.rawtext.lang_id = "en_US"
speechgoal.rawtext.text = reduce(lambda x, y: x + y, splittext)
speech_srv.wait_for_server()
speech_srv.send_goal(goal)
elif len(files) == 2:
with open(files[1].name, 'r') as script:
#translate gesture tags in {} into <mark name="doTrick trickName=gesture checkSafety=0"/><break time="???"/>
#<mark name="doTrick trickName=wave checkSafety=0"/> <break time="300ms"/> hello, my name is CHIP
speech_srv = actionlib.SimpleActionClient("/tts", TtsAction)
wholetext = script.read()
splittext = re.split(r'[{}]', wholetext)
doinggest = False
for i in range(1, -1, 2):
gesttag = "<mark name=\"doTrick trickName=" + splittext[
i] + " checkSafety=0\"/>"
splittext[i] = gesttag
speechgoal = TtsGoal()
speechgoal.rawtext.lang_id = "en_US"
speechgoal.rawtext.text = reduce(lambda x, y: x + y, splittext)
speech_srv.wait_for_server()
speech_srv.send_goal(goal)
elif len(files) == 0:
#nothing found!
rospy.loginfo("No speech found for that location/level combination.")
return
else:
#unknown combination; define some error maybe
#play_bonus(ssender, "cantdo")
return
#print("Gestures complete, is the sound still going? %s"%(str(_sound_running)))
while _sound_running:
rospy.sleep(0.2)
pass
TTS_AS = "/tts"
if __name__ == '__main__':
rospy.init_node('test_play_motion_from_tts_feedback_node')
ac = SimpleActionClient(TTS_AS, TtsAction)
rospy.loginfo("Trying to connect to: " + TTS_AS)
connecting_tries = 0
while not ac.wait_for_server(rospy.Duration(2.0)) and connecting_tries < 5:
rospy.logwarn("Retrying connecting to " + TTS_AS)
connecting_tries += 1
if connecting_tries >= 5:
rospy.logerr("Couldn't connect to " + TTS_AS)
exit(0)
tg = TtsGoal()
tg.rawtext.text = 'I say yes <mark name="doTrick trickName=yes"/> and move my head'
tg.rawtext.lang_id = "en_US"
rospy.loginfo("Sending goal: " + str(tg))
ac.send_goal_and_wait(tg)
rospy.loginfo("Goal sent!")
# text:
# section: ''
# key: ''
# lang_id: ''
# arguments: []
# rawtext:
# text: 'I say yes <mark name="doTrick trickName=yes"/> and move my head'
# lang_id: 'en_US'
# speakerName: ''
