SpeechRecognitionNode.java

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/*
 * Copyright 1999-2004 Carnegie Mellon University.
 * Portions Copyright 2004 Sun Microsystems, Inc.
 * Portions Copyright 2004 Mitsubishi Electric Research Laboratories.
 * All Rights Reserved.  Use is subject to license terms.
 * 
 * Extension and ROS interface written by Moritz Tenorth, tenorth@cs.tum.edu
 *
 * See the file "license.terms" for information on usage and
 * redistribution of this file, and for a DISCLAIMER OF ALL
 * WARRANTIES.
 *
 */

package edu.tum.cs.ias.knowrob.mod_dialog;

import edu.cmu.sphinx.jsapi.JSGFGrammar;
import edu.cmu.sphinx.recognizer.Recognizer;
import edu.cmu.sphinx.frontend.util.Microphone;
import edu.cmu.sphinx.result.Result;
import edu.cmu.sphinx.util.props.ConfigurationManager;
import edu.cmu.sphinx.util.props.PropertyException;

import java.io.IOException;
import java.net.URL;
import javax.speech.recognition.GrammarException;
import javax.speech.recognition.RuleGrammar;
import javax.speech.recognition.RuleParse;

import ros.NodeHandle;
import ros.Publisher;
import ros.Ros;
import ros.RosException;



public class SpeechRecognitionNode {
    private Recognizer recognizer;
    private JSGFGrammar jsgfGrammarManager;
    private Microphone microphone;

        // ROS stuff
        
        static Boolean rosInitialized = false;
        static Ros ros;
        static NodeHandle n;
        static Publisher<ros.pkg.std_msgs.msg.String> pub; 

    public SpeechRecognitionNode() throws 
            IOException, PropertyException, InstantiationException {

        URL url = SpeechRecognitionNode.class.getResource("jsgf.config.xml");
        ConfigurationManager cm = new ConfigurationManager(url);

        // retrive the recognizer, jsgfGrammar and the microphone from
        // the configuration file.

        recognizer = (Recognizer) cm.lookup("recognizer");
        jsgfGrammarManager = (JSGFGrammar) cm.lookup("jsgfGrammar");
        microphone = (Microphone) cm.lookup("microphone");
        
        
        // initialize ROS environment
                try {
                        initRos();
                        pub = n.advertise("/knowrob/speech_in", new ros.pkg.std_msgs.msg.String(), 100);
                        
                } catch (RosException e) {
                        e.printStackTrace();    
                }
        
    }

    
    public void execute() throws IOException, GrammarException  {
        System.out.println("JSGF Demo Version 1.0\n");

        System.out.print(" Loading recognizer ...");
        recognizer.allocate();
        System.out.println(" Ready");

        if (microphone.startRecording()) {
            loadAndRecognize("queries");
        } else {
            System.out.println("Can't start the microphone");
        }

        System.out.print("\nDone. Cleaning up ...");
        recognizer.deallocate();

        System.out.println(" Goodbye.\n");
        System.exit(0);
    }

    
        
        protected static void initRos() {

        ros = Ros.getInstance();

                if(!Ros.getInstance().isInitialized()) {
                ros.init("knowrob_sphinx");
                }
                n = ros.createNodeHandle();

        }
    
    private void loadAndRecognize(String grammarName) throws
            IOException, GrammarException  {
        jsgfGrammarManager.loadJSGF(grammarName);
        recognizeAndReport();
    }

    private void recognizeAndReport() throws GrammarException {
        boolean done = false;


        while (!done)  {
            Result result = recognizer.recognize();
            String bestResult = result.getBestFinalResultNoFiller();
            RuleGrammar ruleGrammar = jsgfGrammarManager.getRuleGrammar();
            RuleParse ruleParse = ruleGrammar.parse(bestResult, null);
            if (ruleParse != null) {
                System.out.println("\n  " + sphinxToKnowrob(bestResult) + "\n");

                // publish to ROS topic
                ros.pkg.std_msgs.msg.String m = new ros.pkg.std_msgs.msg.String();
                        m.data = sphinxToKnowrob(bestResult);
                        pub.publish(m);

                done = isExit(ruleParse);
            } 
        }
    }

    String sphinxToKnowrob(String q) {
        
        q=q.replaceAll(" one",   "1");
        q=q.replaceAll(" two",   "2");
        q=q.replaceAll(" three", "3");
        q=q.replaceAll(" four",  "4");
        q=q.replaceAll(" five",  "5");
        q=q.replaceAll(" six",   "6");
        q=q.replaceAll(" seven", "7");
        q=q.replaceAll(" eight", "8");
        q=q.replaceAll(" nine",  "9");
        q=q.replaceAll(" zero",  "0");
        
        return q + "?";
    }
    
    private boolean isExit(RuleParse ruleParse) {
        String[] tags = ruleParse.getTags();

        for (int i = 0; tags != null && i < tags.length; i++) {
            if (tags[i].trim().equals("exit")) {
                return true;
            }
        }
        return  false;
    }

    
    public static void main(String[] args) {
        try {
            SpeechRecognitionNode SpeechRecognitionNode = new SpeechRecognitionNode();
            SpeechRecognitionNode.execute();
        } catch (IOException ioe) {
            System.out.println("I/O Error " + ioe);
        } catch (PropertyException e) {
            System.out.println("Problem configuring recognizer" + e);
        } catch (InstantiationException  e) {
            System.out.println("Problem creating components " + e);
        } catch (GrammarException  e) {
            System.out.println("Problem with Grammar " + e);
        }
    }
}