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prepared for reo2016 rules, no turn and repitition question. Also str…
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…aight head for omnidir mic
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@reinzor
reinzor committed Mar 30, 2016
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8 changes: 3 additions & 5 deletions challenge_speech_recognition/README.md
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# Challenge Speech Recognition

ahardware
amiddle-restaurant
ahardware / shardware
amiddle / smiddle

## Speech recognition
rosrun challenge_speech_recognition speech_recognition.py [robot]
## Generate test sentences
rosrun challenge_speech_recognition generate_random_question.py
rosrun challenge_speech_recognition speech_recognition.py [robot]
4 changes: 2 additions & 2 deletions challenge_speech_recognition/src/direct_speech_recognition.py
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data = load_knowledge('challenge_speech_recognition')

class HearQuestion(smach.State):
def __init__(self, robot, time_out=rospy.Duration(10)):
def __init__(self, robot, time_out=rospy.Duration(15)):
smach.State.__init__(self, outcomes=["answered"])
self.robot = robot
self.time_out = time_out

def execute(self, userdata):
self.robot.head.look_at_standing_person()
self.robot.head.look_at_ground_in_front_of_robot(100)

res = self.robot.ears.recognize(spec=data.spec, choices=data.choices, time_out=self.time_out)

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16 changes: 8 additions & 8 deletions challenge_speech_recognition/src/indirect_speech_recognition.py
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data = load_knowledge('challenge_speech_recognition')

class HearQuestion(smach.State):
def __init__(self, robot, time_out=rospy.Duration(10)):
smach.State.__init__(self, outcomes=["answered","not_answered"])
def __init__(self, robot, time_out=rospy.Duration(15)):
smach.State.__init__(self, outcomes=["answered", "not_answered"])
self.robot = robot
self.time_out = time_out

def execute(self, userdata):
self.robot.head.look_at_standing_person()
self.robot.head.look_at_ground_in_front_of_robot(100)

res = self.robot.ears.recognize(spec=data.spec, choices=data.choices, time_out=self.time_out)

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"abort" : "Aborted"})

smach.StateMachine.add('SAY_1', states.Say(robot, "Please ask me question one"), transitions={ 'spoken' :'QUESTION_1'})
smach.StateMachine.add('QUESTION_1', HearQuestion(robot), transitions={ 'answered' :'SAY_2', 'not_answered': 'TURN_1'})
smach.StateMachine.add('QUESTION_1', HearQuestion(robot), transitions={ 'answered' :'SAY_2', 'not_answered': 'SAY_2'})
smach.StateMachine.add('TURN_1', Turn(robot), transitions={ 'turned' :'SAY_1A'})
smach.StateMachine.add('SAY_1A', states.Say(robot, "Please repeat your question"), transitions={ 'spoken' :'QUESTION_1A'})
smach.StateMachine.add('QUESTION_1A', HearQuestion(robot), transitions={ 'answered' :'SAY_2', 'not_answered': 'SAY_2'})

smach.StateMachine.add('SAY_2', states.Say(robot, "Please ask me question two"), transitions={ 'spoken' :'QUESTION_2'})
smach.StateMachine.add('QUESTION_2', HearQuestion(robot), transitions={ 'answered' :'SAY_3', 'not_answered': 'TURN_2'})
smach.StateMachine.add('QUESTION_2', HearQuestion(robot), transitions={ 'answered' :'SAY_3', 'not_answered': 'SAY_3'})
smach.StateMachine.add('TURN_2', Turn(robot), transitions={ 'turned' :'SAY_2A'})
smach.StateMachine.add('SAY_2A', states.Say(robot, "Please repeat your question"), transitions={ 'spoken' :'QUESTION_2A'})
smach.StateMachine.add('QUESTION_2A', HearQuestion(robot), transitions={ 'answered' :'SAY_3', 'not_answered': 'SAY_3'})

smach.StateMachine.add('SAY_3', states.Say(robot, "Please ask me question three"), transitions={ 'spoken' :'QUESTION_3'})
smach.StateMachine.add('QUESTION_3', HearQuestion(robot), transitions={ 'answered' :'SAY_4', 'not_answered': 'TURN_3'})
smach.StateMachine.add('QUESTION_3', HearQuestion(robot), transitions={ 'answered' :'SAY_4', 'not_answered': 'SAY_4'})
smach.StateMachine.add('TURN_3', Turn(robot), transitions={ 'turned' :'SAY_3A'})
smach.StateMachine.add('SAY_3A', states.Say(robot, "Please repeat your question"), transitions={ 'spoken' :'QUESTION_3A'})
smach.StateMachine.add('QUESTION_3A', HearQuestion(robot), transitions={ 'answered' :'SAY_4', 'not_answered': 'SAY_4'})

smach.StateMachine.add('SAY_4', states.Say(robot, "Please ask me question four"), transitions={ 'spoken' :'QUESTION_4'})
smach.StateMachine.add('QUESTION_4', HearQuestion(robot), transitions={ 'answered' :'SAY_5', 'not_answered': 'TURN_4'})
smach.StateMachine.add('QUESTION_4', HearQuestion(robot), transitions={ 'answered' :'SAY_5', 'not_answered': 'SAY_5'})
smach.StateMachine.add('TURN_4', Turn(robot), transitions={ 'turned' :'SAY_4A'})
smach.StateMachine.add('SAY_4A', states.Say(robot, "Please repeat your question"), transitions={ 'spoken' :'QUESTION_4A'})
smach.StateMachine.add('QUESTION_4A', HearQuestion(robot), transitions={ 'answered' :'SAY_5', 'not_answered': 'SAY_5'})

smach.StateMachine.add('SAY_5', states.Say(robot, "Please ask me question five"), transitions={ 'spoken' :'QUESTION_5'})
smach.StateMachine.add('QUESTION_5', HearQuestion(robot), transitions={ 'answered' :'AT_END', 'not_answered': 'TURN_5'})
smach.StateMachine.add('QUESTION_5', HearQuestion(robot), transitions={ 'answered' :'AT_END', 'not_answered': 'AT_END'})
smach.StateMachine.add('TURN_5', Turn(robot), transitions={ 'turned' :'SAY_5A'})
smach.StateMachine.add('SAY_5A', states.Say(robot, "Please repeat your question"), transitions={ 'spoken' :'QUESTION_5A'})
smach.StateMachine.add('QUESTION_5A', HearQuestion(robot), transitions={ 'answered' :'AT_END', 'not_answered': 'AT_END'})
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