porcupine_node.cpp

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/*
 * Copyright 2021, Rein Appeldoorn
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
 
#include <picovoice_msgs/GetKeywordAction.h>
#include <ros/init.h>
 
#include "./porcupine_recognizer.h"
#include "./recognizer_node.h"
 
namespace picovoice_driver
{
using namespace picovoice_msgs;
class PorcupineNode : public RecognizerNode<PorcupineRecognizerData, PorcupineRecognizer, GetKeywordAction>
{
public:
  PorcupineNode(const PorcupineRecognizerData::Parameters& parameters, const std::string& keywords_directory)
    : RecognizerNode("porcupine", "get_keyword", parameters), keywords_directory_(keywords_directory)
  {
  }
 
private:
  void updateParameters(const GetKeywordGoal& goal, PorcupineRecognizerData::Parameters& parameters) override
  {
    if (goal.keywords.empty())
    {
      throw std::runtime_error("No keywords specified");
    }
 
    parameters.keywords_.clear();
    for (const auto& keyword : goal.keywords)
    {
      parameters.keywords_[keyword.name] = pathFromUrl(keyword.url, ".ppn", keywords_directory_);
    }
  }
 
  void updateResult(const PorcupineRecognizerData::Result& result, GetKeywordResult& action_result) override
  {
    action_result.is_understood = result.is_understood_;
    action_result.keyword_name = result.keyword_name_;
  }
 
  std::string keywords_directory_;
};
}  // namespace picovoice_driver
 
int main(int argc, char** argv)
{
  using namespace picovoice_driver;
 
  ros::init(argc, argv, "porcupine");
 
  ros::NodeHandle local_nh("~");
  auto model_url = local_nh.param("model_url", defaultResourceUrl() + "/models/porcupine_params.pv");
  auto keywords_directory_url = local_nh.param("keywords_directory_url", defaultResourceUrl() + "/keywords");
 
  try
  {
    PorcupineRecognizerData::Parameters parameters;
    parameters.model_path_ = pathFromUrl(model_url, ".pv");
 
    PorcupineNode node(parameters, pathFromUrl(keywords_directory_url));
    ros::spin();
  }
  catch (const std::exception& e)
  {
    ROS_FATAL("PorcupineNode exception: %s", e.what());
    return 1;
  }
  return 0;
}