Commit d7c2c269 authored by Raphael Memmesheimer's avatar Raphael Memmesheimer

Imported upstream version '0.0.2' of 'upstream'

parent b212b4e6
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package android_speech_pkg
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.0.2 (2015-09-08)
------------------
* big bang
* Contributors: Raphael Memmesheimer
cmake_minimum_required(VERSION 2.8.3)
project(android_speech_pkg)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES android_speech_pkg
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
## Declare a cpp library
# add_library(android_speech_pkg
# src/${PROJECT_NAME}/android_speech_pkg.cpp
# )
## Declare a cpp executable
# add_executable(android_speech_pkg_node src/android_speech_pkg_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(android_speech_pkg_node android_speech_pkg_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(android_speech_pkg_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS android_speech_pkg android_speech_pkg_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_android_speech_pkg.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
<launch>
<!-- Bind to all addresses -->
<param name="~host" value="" />
<!-- Port -->
<param name="~port" value="8051" />
<node name="android_speech_recognition" pkg="android_speech_pkg" type="android_speech_recognition.py" output="screen" />
</launch>
<launch>
<param name="~host" value="192.168.1.101" />
<param name="~port" value="8051" />
<node name="android_speech_synthesis" pkg="android_speech_pkg" type="android_speech_synthesis.py" output="screen" />
</launch>
<?xml version="1.0"?>
<package>
<name>android_speech_pkg</name>
<version>0.0.2</version>
<description>The android_speech_pkg package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="raphael@uni-koblenz.de">Raphael Memmesheimer</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv2</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/android_speech_pkg</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->
<!-- Other tools can request additional information be placed here -->
</export>
</package>
#!/usr/bin/python2.7
# socket skeleton from http://www.binarytides.com/python-socket-server-code-example/
import socket
import sys
from thread import *
import rospy
from std_msgs.msg import String
recognized_speech_pub = rospy.Publisher('/recognized_speech', String, queue_size=10)
#Function for handling connections. This will be used to create threads
def clientthread(conn):
#infinite loop so that function do not terminate and thread do not end.
while True:
#Receiving from client
data = conn.recv(1024)
reply = 'OK...' + data
if not data:
break
print "Receiving recognition "+data
recognized_speech_pub.publish(String(data))
#came out of loop
conn.close()
rospy.init_node('android_speech_recognition_node')
rospy.loginfo("android speech recognition node initialized")
host = rospy.get_param("~host","") # Symbolic name meaning all available interfaces
port = int(rospy.get_param("~port","8050")) # Arbitrary non-privileged port
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
print 'Socket created'
#Bind socket to local host and port
try:
s.bind((host, port))
except socket.error as msg:
print 'Bind failed. Error Code : ' + str(msg[0]) + ' Message ' + msg[1]
sys.exit()
print 'Socket bind complete'
#Start listening on socket
s.listen(10)
print 'Socket now listening'
while 1:
conn, addr = s.accept()
print 'Connected with ' + addr[0] + ':' + str(addr[1])
start_new_thread(clientthread ,(conn,))
s.close()
#!/usr/bin/python2.7
import socket
import sys
import rospy
from std_msgs.msg import String
def speak_callback(data):
host = rospy.get_param("~host", "192.168.178.25")
port = int(rospy.get_param("~port", 8051))
s = None
for res in socket.getaddrinfo(host, port, socket.AF_UNSPEC, socket.SOCK_STREAM):
af, socktype, proto, canonname, sa = res
try:
s = socket.socket(af, socktype, proto)
except socket.error as msg:
s = None
continue
try:
s.connect(sa)
except socket.error as msg:
s.close()
s = None
continue
break
if s is None:
print 'could not open socket'
sys.exit(1)
s.sendall(str(data.data))
s.close()
#Subscriber
speak_sub = rospy.Subscriber('/speak', String, speak_callback)
if __name__ == '__main__':
rospy.init_node('android_speech_synthesis_node')
rospy.loginfo("android_speech_synthesis_node initialized")
rospy.spin()
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