speech.py

# -*- coding: utf-8 -*-
# Author : Sirres Raphael
# Date: 16.12.2014
# Description: Launch Server which serves a web page that performs the text recognition with the Web Speech API (Google Chrome).
#			   Recognized text is send to the server which on the other hand fowards the command to the NAO.
#				
# How to use:    0. (Install pip: easy_install pip)  Dont need this if pip is already installed  
#				 0. (Install bottle: pip install bottle)  
#				 1. Adapt the IP address in the main function. 
#				 2. Run the following command: python speech.py
# 			  	 3. Next, browse with Google Chrome (version > 25) to the following internet address: http://localhost:8080
# 			  	 4. Press the Play demo button and allow Google Chrome to use the Web Speech API
# 				 5. Say one of the following commands: "sit down", "stand up", "stop", "follow"
	

import os
from bottle import route, run, template, static_file, request, post

from posture import NaoPosture

import rospy
from std_msgs.msg import String


pos,nao_controller=None,None
root_folder = os.path.dirname(os.path.realpath(__file__))

STAND_UP = "stand up"
SIT_DOWN = "sit down"
FOLLOW = "follow"
STOP = "stop"


# Topic for un/subscribe the ar_marker form the NAO Controller Node
# Sidenote: The NAO Controller is in charge of tracking the marker
NAO_CONTROLLER_TOPIC="V_R"


def stand_up():
	print "Stand Up"
	pos.stand()

def sit_down():
	print "Sit down"
	pos.sit()

# We send the string "follow"/"stop" to the NAO_Controller node which (un)subscribe from/to the ar_pose node
def follow():
	print "follow"
	nao_controller.publish(FOLLOW)	

def stop():
	print "stop"
	nao_controller.publish(STOP)
	

mapping = {
	STAND_UP : stand_up,
	SIT_DOWN : sit_down,
	STOP : stop,
	FOLLOW : follow
}

# Relax the requirements of detecting a command.
# For instance, it is enough (in this case) to just hear "sit" or "stand" to perform the action
def normalize_string(keyword):
	keyword = keyword.strip()
	res = keyword
	if keyword in STAND_UP: res = STAND_UP
	if keyword in SIT_DOWN: res = SIT_DOWN
	if FOLLOW in keyword: res = FOLLOW
	if STOP in keyword: res = STOP
	return res

# This route receives the string recognized by the Web speech api
# and calls the corresponding function 
@post("/")
def speech():
	speech = request.forms.get("text")	
	norm_speech = normalize_string(speech)
	
	if norm_speech in mapping:
		mapping[norm_speech]()

# Serve static assets
@route("/")
@route('<filename>')
def server_static(filename="speech.html"):
    return static_file(filename, root=root_folder)


def main():
	#Adapt IP address
	global pos
	pos=NaoPosture("10.151.0.87")

	#Publisher sends the commands "stop" and "follow" in order to subscribe/unsubscribe from the ar_pose node
	#This way the robot should either ignore or follow the marker.
	global nao_controller
	nao_controller = rospy.Publisher(NAO_CONTROLLER_TOPIC, String, queue_size=10)
	rospy.init_node('Voice_Recognition_Node', anonymous=True)
	
	run(host='localhost', port=8080, reloader=False)

if __name__ == '__main__':
	main()