Changes between Version 34 and Version 35 of en/ProgrammingRobotsCourse/PepperApi

Timestamp:

Feb 16, 2022, 3:12:26 PM (2 years ago)

Author:

Ales Horak

Comment:

--

en/ProgrammingRobotsCourse/PepperApi

@@ -12 +12 @@
   * enter only one box `Python Script`
   * edit its contents via double click:
-    * to `__init__` add:
+    * to `onLoad` add:
       {{{#!python
 self.tts = ALProxy('ALTextToSpeech')
@@ -28 +28 @@
 
 === speech input via Python
-  * in `__init__` add:
+  * in `odLoad` add:
     {{{#!python
+        self.dialog = ALProxy('ALDialog')
+        self.dialog.setLanguage('Czech')
+        self.mem = ALProxy('ALMemory')
         try:
             self.speech = ALProxy("ALSpeechRecognition")
             self.speech.setLanguage('Czech')
+            self.logger.info('Running on real robot')
         except:
             self.logger.info('Running on virtual robot')
@@ -41 +45 @@
     def get_answer(self, reactions):
         if self.speech is None:
+            # random answer on virtual robot
             return (random.choice(reactions.keys()))
         else:
-            self.speech.setVocabulary(reactions.keys(), False)
+            try:
+                self.speech.setVocabulary(reactions.keys(), False)
+            except RuntimeError: # fix incorrectly reset dialog
+                self.logger.info('Reset language')
+                self.dialog.setLanguage('English')
+                self.onLoad()
+                self.speech.setVocabulary(reactions.keys(), False)
             self.speech.subscribe("Test_ASR")
             self.logger.info('Speech recognition engine started')
-            time.sleep(20)
+            while True:
+                word = self.mem.getData("WordRecognized")
+                if type(word) == list and word[0] != '':
+                    break
             self.speech.unsubscribe("Test_ASR")
+            return word[0]
 
     def onInput_onStart(self):
@@ -62 +77 @@
         self.onStopped()
 }}}
-  * in case of error `ALSpeechRecognition::setVocabulary                NuanceContext::addContext       A grammar named "modifiable_grammar" already exists` just rerun the app once more.
+  * in case of error `ALSpeechRecognition::setVocabulary                NuanceContext::addContext       A grammar named "modifiable_grammar" already exists` just rerun the app once more. But this should be already solved by the included "''fix incorrectly reset dialog''".
   * see [http://doc.aldebaran.com/2-5/naoqi/audio/alspeechrecognition.html ALSpeechRecognition] documentation