Merge pull request #10 from HLP-R/update_param

change so that we can guarantee params are loaded at the start from o…

hlpr_speech_recognition/config/speech.yaml

@@ -0,0 +1,10 @@
+# Controls the speech node configuration. DO NOT CHANGE THE PARAMETER NAMES
+# The first commented value is the default per the node
+
+speech:
+    publish_topic:          'hlpr_speech_commands'          # default 'hlpr_speech_commands'
+    verbose:                true                            # default True
+    command_type:           'StampedString'                 # default StampedString (string vs. stampedstring)
+    rec_threshold:          300                             # default 300
+    service_topic:          'get_last_speech_cmd'           # default 'get_last_speech_cmd'
+

hlpr_speech_recognition/launch/speech_listener.launch

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+
+   <!-- Arguments that need to be passed into this launch file -->
+   <!-- This file is not intended to called on its own at any time -->
+   <arg name="yaml_list" />
+   <arg name="config_file" />
+
+   <!-- Load parameters for speech -->
+   <rosparam command="load" file="$(arg config_file)" />
+
+   <!-- Start the speech_listener node recording action server -->
+    <node name="speech_listener" pkg="hlpr_speech_recognition" type="speech_listener" respawn="false" output="screen" >
+         <rosparam param="yaml_list" subst_value="True"> [$(arg yaml_list)]</rosparam>
+    </node>
+
+</launch>

hlpr_speech_recognition/launch/speech_rec.launch

@@ -3,44 +3,36 @@
 
    <!-- Param for if we are launching mic vs. fake speech input -->
    <arg name="speech_gui" default="true" />
+   <arg name="speech_config_file" default="$(find hlpr_speech_recognition)/config/speech.yaml" />
 
    <!-- Params for real input with microphone -->
-   <arg name="verbose" default="true" />
-   <arg name="pub_topic" default="hlpr_speech_commands" />
-   <arg name="str_msg" default="false" />
-   <arg name="rec_threshold" default="300" />
    <arg name="dict_path" default="$(find hlpr_speech_recognition)/data/kps.dic" />
    <arg name="kps_path" default="$(find hlpr_speech_recognition)/data/kps.txt" />
 
    <!-- Params for the speech listener - used for real or fake speech -->
-   <arg name="yaml_list" default="$(find hlpr_speech_recognition)/data/kps.yaml" />
    <!-- Example of how to have multiple yaml files -->
    <!-- WARNING: currently if there are duplicate keys, the 2nd file will overwrite the first -->
    <!--arg name="yaml_list" default="$(find hlpr_speech_recognition)/data/kps.yaml, $(find hlpr_speech_recognition)/data/kps.yaml" /-->
+   <arg name="yaml_list" default="$(find hlpr_speech_recognition)/data/kps.yaml" />
 
-   <!-- Start the speech_listener node recording action server -->
-    <node name="speech_listener" pkg="hlpr_speech_recognition" type="speech_listener" respawn="false" output="screen" >
-         <param name="pub_topic" value="$(arg pub_topic)"/>
-         <param name="str_msg" value="$(arg str_msg)"/>
-         <rosparam param="yaml_list" subst_value="True"> [$(arg yaml_list)]</rosparam>
-    </node>
+   <!-- Load parameters for speech -->
+   <rosparam command="load" file="$(arg speech_config_file)" />
 
-    <node name="speech_gui" pkg="hlpr_speech_recognition" type="speech_gui" respawn="false" output="screen" if="$(arg speech_gui)">
-         <param name="pub_topic" value="$(arg pub_topic)"/>
-        `<rosparam param="yaml_list" subst_value="True"> [$(arg yaml_list)]</rosparam>
-    </node>
+    <!-- Start the speech_listener node recording action server -->
+    <include file="$(find hlpr_speech_recognition)/launch/speech_listener.launch">
+         <arg name="config_file" value="$(arg speech_config_file)"/>
+         <arg name="yaml_list" value="$(arg yaml_list)"/>
+    </include>
+
+    <!-- Start the GUI if speech_gui set to true -->
+    <node name="speech_gui" pkg="hlpr_speech_recognition" type="speech_gui" respawn="false" output="screen" if="$(arg speech_gui)"/>
 
     <!-- Start the hlpr_speech_recognizer 
      Note: just an example of how to launch with params 
            like the gui, but not tested with mic input! -->
     <node name="speech_recognizer" pkg="hlpr_speech_recognition" type="speech_recognizer" respawn="false" output="screen" unless="$(arg speech_gui)">
-         <param name="verbose" value="$(arg verbose)"/>
-         <param name="pub_topic" value="$(arg pub_topic)"/>
-         <param name="str_msg" value="$(arg str_msg)"/>
-         <param name="rec_threshold" value="$(arg rec_threshold)"/>
          <param name="dict_path" value="$(arg dict_path)" />
          <param name="kps_path" value="$(arg kps_path)" />
     </node>
-
 
 </launch>

hlpr_speech_recognition/src/hlpr_speech_recognition/speech_gui.py

@@ -47,6 +47,7 @@
 from std_msgs.msg import String
 from hlpr_speech_msgs.msg import StampedString
 from PyQt4 import QtGui, QtCore
+from .speech_listener import SpeechListener
 
 class SpeechGui(QtGui.QWidget):
 
@@ -68,21 +69,21 @@ def __init__(self):
       # Default values for speech listeners  
       rospack = rospkg.RosPack()
       default_pub_topic = 'hlpr_speech_commands'
-      default_yaml_files = [rospack.get_path('hlpr_speech_recognition')+'/data/kps.yaml']
 
       # Pull values from rosparam
-      self.recog_topic = rospy.get_param("~pub_topic", default_pub_topic)
-      self.yaml_files = rospy.get_param("~yaml_list", default_yaml_files)
-      self.str_msg = rospy.get_param("~str_msg", False)
-
-      self.commands = []
-      for kps_path in self.yaml_files:
-        for data in yaml.load_all(file(kps_path,'r')):
-            for key, value in data.iteritems():
-              if key == "speech":
-                for i in value:
-                  if i not in self.commands: # remove duplicates
-                    self.commands.append(i)
+      self.recog_topic = rospy.get_param(SpeechListener.COMMAND_TOPIC_PARAM, default_pub_topic)
+      self.str_msg = rospy.get_param(SpeechListener.COMMAND_TYPE, False)
+
+      # Wait for listener to be ready to know what commands to send
+      self.service_topic = rospy.get_param(SpeechListener.SERVICE_TOPIC_PARAM, None)
+      rospy.loginfo("Waiting for speech service for keywords")
+      rospy.wait_for_service(self.service_topic)
+      rospy.loginfo("Speech service loaded")
+
+      # Get commands from the listener
+      self.keywords = rospy.get_param(SpeechListener.KEYWORDS_PARAM, dict()).values()
+      self.commands = [val for sublist in self.keywords for val in sublist]
+      self.commands.sort()
 
       positions = [(i,j) for i in range(len(self.commands)) for j in range(3)]
 
@@ -114,8 +115,7 @@ def handleButton(self):
 
       # Publish everytime a command is selected from the combo box
       command = str(clicked_button.objectName())
-      print (command)
-      if self.str_msg:
+      if self.str_msg == 'String':
         self.pub.publish(command)
       else:
         keyphrase = StampedString()

hlpr_speech_recognition/src/hlpr_speech_recognition/speech_listener.py

@@ -53,10 +53,10 @@
 
 class SpeechListener:
 
-  COMMAND_TOPIC_PARAM = "speech_command_topic"
-  SERVICE_TOPIC_PARAM = "speech_service_topic"
-  KEYWORDS_PARAM = "speech_keywords"
-  COMMAND_TYPE = "speech_command_type"
+  COMMAND_TOPIC_PARAM = "/speech/publish_topic"
+  SERVICE_TOPIC_PARAM = "/speech/service_topic"
+  KEYWORDS_PARAM = "/speech/keywords"
+  COMMAND_TYPE = "/speech/command_type"
 
   def __init__(self, commandBuffSize=10, init_node=True):
 
@@ -71,20 +71,12 @@ def __init__(self, commandBuffSize=10, init_node=True):
     default_service_topic = 'get_last_speech_cmd'
 
     # Pull values from rosparam
-    self.recog_topic = rospy.get_param("~pub_topic", default_pub_topic)
+    self.recog_topic = rospy.get_param(SpeechListener.COMMAND_TOPIC_PARAM, default_pub_topic)
     self.yaml_files = rospy.get_param("~yaml_list", default_yaml_files)
-    self.service_topic = rospy.get_param("~speech_service_topic", default_service_topic)
-    self.str_msg = rospy.get_param("~str_msg", False) # True if message is only str, false includes header
-
-    self.msg_type = String
-    # Listen to the voice based on topic type
-    if self.str_msg:
-      rospy.Subscriber(self.recog_topic, String, self.callback)
-      rospy.set_param(SpeechListener.COMMAND_TYPE, "String")
-    else:
-      rospy.Subscriber(self.recog_topic, StampedString, self.callback)
-      rospy.set_param(SpeechListener.COMMAND_TYPE, "StampedString")
-      self.msg_type = StampedString
+    self.service_topic = rospy.get_param(SpeechListener.SERVICE_TOPIC_PARAM, default_service_topic)
+    self.msg_type = eval(rospy.get_param(SpeechListener.COMMAND_TYPE, 'StampedString')) # True if message is only str, false includes header
+
+    rospy.Subscriber(self.recog_topic, self.msg_type, self.callback)
 
     # Converts the yaml files into keywords to store into the dictionary
     self.keywords_to_commands = {}
@@ -94,10 +86,6 @@ def __init__(self, commandBuffSize=10, init_node=True):
 
     # Store this on the rosparam server now
     rospy.set_param(SpeechListener.KEYWORDS_PARAM, self.keywords_to_commands)
-    rospy.set_param(SpeechListener.COMMAND_TOPIC_PARAM, self.recog_topic)
-    rospy.set_param(SpeechListener.SERVICE_TOPIC_PARAM, self.service_topic)
-
-    #print self.keywords_to_commands
 
     self._commandBuffSize = commandBuffSize
     #self.commandsQueue = deque(maxlen=self._commandBuffSize)

hlpr_speech_recognition/src/hlpr_speech_recognition/speech_recognizer.py

@@ -45,6 +45,7 @@
 from sphinxbase.sphinxbase import *
 import pyaudio
 import rospkg
+from .speech_listener import SpeechListener
 
 # Global values specific to speech
 N_CHANNELS = 1
@@ -72,12 +73,12 @@ def __init__(self):
     modeldir = rospy.get_param("~model_dir", default_modeldir)
     dict_path = rospy.get_param("~dict_path", default_dict_path)
     kps_path = rospy.get_param("~kps_path", default_kps_path)
-    self.verbose = rospy.get_param("~verbose", True) # default prints out more info
-    self.str_msg = rospy.get_param("~str_msg", False) # True if message is only str, false includes header
-    self.cmd_pub_topic = rospy.get_param("~pub_topic", default_pub_topic)
+    self.verbose = rospy.get_param("/speech/verbose", True) # default prints out more info
+    self.str_msg = rospy.get_param(SpeechListener.COMMAND_TYPE, 'StampedString') # True if message is only str, false includes header
+    self.cmd_pub_topic = rospy.get_param(SpeechListener.COMMAND_TOPIC_PARAM, default_pub_topic)
 
     # Parameters for recognition
-    self.RECOGNITION_THRESHOLD = rospy.get_param("~rec_thresh", default_rec_thresh)
+    self.RECOGNITION_THRESHOLD = rospy.get_param("/speech/rec_thresh", default_rec_thresh)
 
     # Create a decoder with certain model
     self.config = Decoder.default_config()
@@ -99,7 +100,7 @@ def __init__(self):
       self.config.set_string('-logfn','/dev/null')
 
     # Setup the publisher 
-    if self.str_msg:
+    if self.str_msg == 'String':
       self.pub = rospy.Publisher(self.cmd_pub_topic, String, queue_size=1)
     else:
       self.pub = rospy.Publisher(self.cmd_pub_topic, StampedString, queue_size=1)
@@ -149,7 +150,7 @@ def begin_rec(self):
             # Get the time stamp for the message
             now = rospy.get_rostime()
 
-            if self.str_msg:
+            if self.str_msg == 'String':
               keyphrase = selectedSegment.word
             else:
               keyphrase = StampedString()