hlrc

#!/usr/bin/python

"""

This file is part of hlrc

Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

http://opensource.cit-ec.de/projects/hlrc

This file may be licensed under the terms of the

GNU General Public License Version 3 (the ``GPL''),

or (at your option) any later version.

Software distributed under the License is distributed

on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

express or implied. See the GPL for the specific language

governing rights and limitations.

You should have received a copy of the GPL along with this

program. If not, go to http://www.gnu.org/licenses/gpl.html

or write to the Free Software Foundation, Inc.,

51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

The development of this software was supported by the

Excellence Cluster EXC 277 Cognitive Interaction Technology.

The Excellence Cluster EXC 277 is a grant of the Deutsche

Forschungsgemeinschaft (DFG) in the context of the German

Excellence Initiative.

"""

import logging

import rospy

from hlrc_server.msg import *

import time

import sys

import actionlib

from io import BytesIO

import wave

import os

import pkgutil

from MaryTTSClient import *

from cStringIO import StringIO

class MaryTTSBridge(object):

    #_feedback = ttsActionFeedback()

    #_result   = ttsActionResult()

    def __init__(self, topic, voice="cmu-slt-hsmm", locale="en_GB", tts_host="127.0.0.1", tts_port=59125, loglevel=logging.WARNING):

        """initialise

        :param  loglevel: optional log level

        """

        self.loglevel = loglevel

        self.logger = logging.getLogger(__name__)

        # create nice and actually usable formatter and add it to the handler

        self.config_logger(loglevel)

        self.logger.info("starting MaryTTSBridge on topic '"+topic+"'")

        self.tts_client = MaryTTSClient(voice, locale, tts_host, tts_port, loglevel)

        rospy.init_node('MaryTTSBridge', anonymous=True)

        self._action_name = topic

        self._as = actionlib.SimpleActionServer(self._action_name, ttsAction, execute_cb = self.execute_cb, auto_start = False)

        self._as.start()

    def __del__(self):

        """destructor

        """

        self.logger.debug("destructor of MaryTTSBridge called")

    def config_logger(self, level):

        """initialise a nice logger formatting

        :param  level: log level

        """

        formatter = logging.Formatter('%(asctime)s %(name)-30s %(levelname)-8s > %(message)s')

        ch = logging.StreamHandler()

        #ch.setLevel(level)

        ch.setFormatter(formatter)

        self.logger.setLevel(level)

        self.logger.addHandler(ch)

    def create_soundchunk(self, audio_data):

        #extract wave from data

        fio = BytesIO(audio_data)

        wav = wave.open(fio)

        s = soundchunk()

        s.channels = wav.getnchannels()

        s.data = audio_data

        s.endianess = s.ENDIAN_LITTLE #guessed?!

        s.rate = wav.getframerate()

        s.samplecount = wav.getnframes()

        #sample format:

        sample_width = wav.getsampwidth()

        if (sample_width == 1):

            s.sample_type = s.SAMPLE_U8

        elif (sample_width == 2):

            s.sample_type = s.SAMPLE_U16

        elif (sample_width == 3):

            s.sample_type = s.SAMPLE_U24

        else:

            self.logger.error("ERROR: invalid sample width "+str(sample_width) + " detected")

            s = soundchunk()

        self.logger.info("created soundchunk with "+str(s.samplecount)+" samples")

        return s

    def create_phonemes(self, phoneme_str):

        last = 0.0

        plist = []

        sio = StringIO(phoneme_str)

        for line in sio:

            if (line[0] != '#'):

                phoneme_list = line.split(" ")

                if (line == '\n'):

                    #ignore empty lines

                    continue

                elif (len(phoneme_list) != 3):

                    print("> could not split line '%s' during phoneme seperation\n" % (line))

                else:

                    symbol = phoneme_list[2]

                        symbol = symbol.rstrip()

                       now = float(phoneme_list[0])

                    duration = (now - last)*1000

                    last = now

                    plist.append(phoneme(symbol, int(duration)))

        self.logger.info("created phonemelist with " + str(len(plist)) + " elements")

        return plist

    def create_utterance(self, text, audio_data, phoneme_list):

        u = utterance()

        u.text  = text

        u.audio    = self.create_soundchunk(audio_data)

        u.phonemes = self.create_phonemes(phoneme_list)

        self.logger.info("created utterance for 'phonemelist with '" + u.text + "'")

        return u

    def get_error_message(self):

        data_wav = pkgutil.get_data('mary_tts_bridge', 'data/connection_failed.wav')

        data_phonemes = pkgutil.get_data('mary_tts_bridge', 'data/connection_failed.phonemes')

        return (data_wav, data_phonemes)

    def execute_cb(self, goal):

        self.logger.info("incoming utterance '" + goal.text + "'")

        success = True

        result   = ttsResult()

        #incoming msg, ask mary tts for data:

        try:

            audio     = self.tts_client.generate_audio(goal.text)

            phonelist = self.tts_client.generate_phonemes(goal.text)

        except:

            self.logger.error("failed to create utterance error = '" + str(sys.exc_info()[1]) + "'")

            #try to open error message from file:

            success = True

            (audio, phonelist) = self.get_error_message()

        if success:

            #build soundchunk

            result.utterance = self.create_utterance(goal.text, audio, phonelist)

            self._as.set_succeeded(result)

        else:

            self._as.set_aborted(result)

    def run(self):

        #run the main loop

        rospy.spin()

#test code

def main():

    if (len(sys.argv) != 2):

        print("> usage: "+sys.argv[0]+" <topic>\n\n")

        sys.exit(1)

    bridge = MaryTTSBridge(topic=sys.argv[1], loglevel=logging.INFO)

    bridge.run()

if __name__ == "__main__":

    main()