# asr_subscriber = RosSubscriber('asr',debug=True)
debug = DebugModule()
# hook modules up to each other
mic.subscribe(asr)
mic.subscribe(mic_publisher)
asr.subscribe(iasr)
iasr.subscribe(asr_publisher)
iasr.subscribe(debug)
# initialize modules
mic.run()
mic_publisher.run()
asr.run()
asr_publisher.run()
# asr_subscriber.run()
iasr.run()
debug.run()
input() # keep things running
# rosnode.stop()
mic.stop()
mic_publisher.stop()
asr.stop()
asr_publisher.stop()
# asr_subscriber.stop()
iasr.stop()
debug.stop()
def init_all(robot : cozmo.robot.Robot):
domain_dir = '/home/casey/git/retico/data/cozmo/dm/dialogue.xml'
aod_endpoint = ""
aod_key = ""
wac_dir = '/home/casey/git/retico/data/wac/subset'
mask_rcnn_labels = '/home/casey/git/retico/data/maskrcnn/label_map.pbtxt'
mask_rcnn_model = '/home/casey/git/retico/data/maskrcnn/frozen_inference_graph.pb'
opendial_variables = ['face_count', # CozmoStateModule
'num_objs', # ObjectDetector
'near_object', # CozmoRefer
'exploring', # CozmoRefer
'aligned', # CozmoRefer
'word_to_find', # WordsAsClassifiersModule
'best_object', # WordsAsClassifiersModule
'obj_confidence'] # WordsAsClassifiersModule
#
# INSTANTIATE MODULES
#
# mic = RespeakerMicrophoneModule('192.168.0.102:8000')
# asr = GoogleASRModule(rate=16000)
mic = MicrophoneModule(1000)
asr = GoogleASRModule()
iasr = IncrementalizeASRModule()
dm = OpenDialModule(domain_dir=domain_dir, variables=opendial_variables)
cozmo_refer = CozmoReferModule(robot)
cozmo_camera = CozmoCameraModule(robot)
# cozmo_camera = WebcamModule()
# cozmo_state = CozmoStateModule(robot)
# object_detector = AzureObjectDetectionModule(aod_key, aod_endpoint)
object_detector = MaskrRCNNObjectDetection(mask_rcnn_labels, mask_rcnn_model)
feature_extractor = KerasObjectFeatureExtractorModule()
wac = WordsAsClassifiersModule(wac_dir=wac_dir)
debug = DebugModule()
# psi related modules
# WriterSingleton should use the *source* ip address (i.e., this machine's)
# WriterSingleton(ip='192.168.0.101', port='12346') # create the zeromq writer
# psi = ZeroMQWriter(topic='retico')
# mic as input
mic.subscribe(asr)
asr.subscribe(iasr)
iasr.subscribe(wac)
wac.subscribe(dm)
dm.subscribe(cozmo_refer)
# robot state as input
# cozmo_state.subscribe(dm)
wac.subscribe(cozmo_refer)
object_detector.subscribe(dm)
object_detector.subscribe(cozmo_refer)
cozmo_refer.subscribe(dm)
# robot camera as input
cozmo_camera.subscribe(object_detector)
object_detector.subscribe(feature_extractor)
feature_extractor.subscribe(wac)
# feature_extractor.subscribe(debug)
# iasr.subscribe(psi)
# wac.subscribe(psi)
# dm.subscribe(psi)
# feature_extractor.subscribe(psi)
# object_detector.subscribe(psi)
#
# INITIALIZE MODULES
#
mic.run()
asr.run()
iasr.run()
dm.run()
cozmo_refer.run() # IF I MAKE THIS RUN EVERYTHING SLOWS DOWN
# cozmo_state.run()
cozmo_camera.run()
object_detector.run()
feature_extractor.run()
wac.run()
debug.run()
# psi.run()
input() # keep everything running
mic.stop()
asr.stop()
iasr.stop()
cozmo_refer.stop()
# cozmo_state.stop()
dm.stop()
cozmo_camera.stop()
object_detector.stop()
feature_extractor.stop()
wac.stop()
debug.stop()