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import copy
import pyaudio
import wave
import threading
import RPi.GPIO as GPIO
from subprocess import Popen
from time import sleep
from sphinxbase import *
from pocketsphinx import *
from array import array
from struct import pack
from sys import byteorder
from array import array
from Queue import Queue, Full
THRESHOLD = 5000
CHUNK_SIZE = 1024
BUF_MAX_SIZE = CHUNK_SIZE * 10
SILENT_CHUNKS = 1 * 16000 / 1024
FORMAT = pyaudio.paInt16
FRAME_MAX_VALUE = 2 ** 15 - 1
NORMALIZE_MINUS_ONE_dB = 10 ** (-1.0 / 20)
RATE = 16000
CHANNELS = 1
TRIM_APPEND = RATE / 4
GPIO.setmode(GPIO.BOARD)
Motor1A = 16
Motor1B = 18
Motor2A = 23
Motor2B = 21
def initGPIO():
GPIO.setup(Motor1A,GPIO.OUT)
GPIO.setup(Motor1B,GPIO.OUT)
GPIO.setup(Motor2A,GPIO.OUT)
GPIO.setup(Motor2B,GPIO.OUT)
def initConfig():
config = Decoder.default_config()
config.set_string('-hmm', "tdt_sc_8kadapt")
config.set_string('-lm', "cmd.lm")
config.set_string('-dict', "cmd.dic")
config.set_string('-logfn', "/tmp/log.txt")
return config
def is_silent(data_chunk):
"""Returns 'True' if below the 'silent' threshold"""
return max(data_chunk) < THRESHOLD
def normalize(data_all):
"""Amplify the volume out to max -1dB"""
normalize_factor = (float(NORMALIZE_MINUS_ONE_dB * FRAME_MAX_VALUE)
/ max(abs(i) for i in data_all))
r = array('h')
for i in data_all:
r.append(int(i * normalize_factor))
return r
def trim(data_all):
_from = 0
_to = len(data_all) - 1
for i, b in enumerate(data_all):
if abs(b) > THRESHOLD:
_from = max(0, i - TRIM_APPEND)
break
for i, b in enumerate(reversed(data_all)):
if abs(b) > THRESHOLD:
_to = min(len(data_all) - 1, len(data_all) - 1 - i + TRIM_APPEND)
break
return copy.deepcopy(data_all[_from:(_to + 1)])
def recordContent(stopped):
"""Record a word or words from the microphone and
return the data as an array of signed shorts."""
p = pyaudio.PyAudio()
stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, input=True, output=True, frames_per_buffer=CHUNK_SIZE)
silent_chunks = 0
audio_started = False
data_all = array('h')
count=0
while not stopped.wait(timeout=0):
data_chunk = array('h', stream.read(CHUNK_SIZE))
if byteorder == 'big':
data_chunk.byteswap()
data_all.extend(data_chunk)
silent = is_silent(data_chunk)
if audio_started:
if silent:
silent_chunks += 1
if silent_chunks > SILENT_CHUNKS:
break
else:
silent_chunks = 0
elif not silent:
audio_started = True
sample_width = p.get_sample_size(FORMAT)
stream.stop_stream()
stream.close()
p.terminate()
data_all = trim(data_all)
data_all = normalize(data_all)
return sample_width, pack('<' + ('h' * len(data_all)), *data_all)
def driveMotor(cmd):
if cmd == '前進':
print '前進'
GPIO.output(Motor1A,GPIO.LOW)
GPIO.output(Motor1B,GPIO.HIGH)
GPIO.output(Motor2A,GPIO.HIGH)
GPIO.output(Motor2B,GPIO.LOW)
elif cmd == '後退':
print '後退'
GPIO.output(Motor1A,GPIO.HIGH)
GPIO.output(Motor1B,GPIO.LOW)
GPIO.output(Motor2A,GPIO.LOW)
GPIO.output(Motor2B,GPIO.HIGH)
elif cmd == '右轉':
print '右轉'
GPIO.output(Motor1A,GPIO.LOW)
GPIO.output(Motor1B,GPIO.HIGH)
GPIO.output(Motor2A,GPIO.LOW)
GPIO.output(Motor2B,GPIO.HIGH)
elif cmd == '左轉':
print '左轉'
GPIO.output(Motor1A,GPIO.HIGH)
GPIO.output(Motor1B,GPIO.LOW)
GPIO.output(Motor2A,GPIO.HIGH)
GPIO.output(Motor2B,GPIO.LOW)
elif cmd == '停止':
print '停止'
GPIO.output(Motor1A,GPIO.LOW)
GPIO.output(Motor1B,GPIO.LOW)
GPIO.output(Motor2A,GPIO.LOW)
GPIO.output(Motor2B,GPIO.LOW)
sleep(1)
def recognize(stopped, q, config):
while True:
if stopped.wait(timeout=0):
break
content = q.get()
if content is not None:
decoder = Decoder(config)
decoder.start_utt()
decoder.process_raw(content,False,True)
decoder.end_utt()
cmds = decoder.hyp().hypstr.split(' ')
for cmd in cmds:
driveMotor(cmd)
else:
print "WTF!!"
def listen(stopped, q):
stream = pyaudio.PyAudio().open(
format=pyaudio.paInt16,
channels=2,
rate=44100,
input=True,
frames_per_buffer=1024,
)
while True:
if stopped.wait(timeout=0):
break
try:
sample_width, data = recordContent(stopped)
q.put(data)
except Full:
pass
def main():
stopped = threading.Event()
q = Queue(maxsize=int(round(BUF_MAX_SIZE / CHUNK_SIZE)))
config = initConfig()
initGPIO()
listen_t = threading.Thread(target=listen, args=(stopped, q))
listen_t.start()
recognize_t = threading.Thread(target=recognize, args=(stopped, q, config))
recognize_t.start()
try:
while True:
listen_t.join(0.1)
recognize_t.join(0.1)
except KeyboardInterrupt:
stopped.set()
if __name__ == '__main__':
main()
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