#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Author: furushchev <furushchev@jsk.imi.i.u-tokyo.ac.jp>
import angles
from contextlib import contextmanager
import usb.core
import usb.util
import pyaudio
import math
import numpy as np
import tf.transformations as T
import os
import rospy
import struct
import sys
import time
from audio_common_msgs.msg import AudioData
from geometry_msgs.msg import PoseStamped
from std_msgs.msg import Bool, Int32, ColorRGBA
from dynamic_reconfigure.server import Server
try:
from pixel_ring import usb_pixel_ring_v2
except IOError as e:
print e
raise RuntimeError("Check the device is connected and recognized")
try:
from respeaker_ros.cfg import RespeakerConfig
except Exception as e:
print e
raise RuntimeError("Need to run respeaker_gencfg.py first")
# suppress error messages from ALSA
# https://stackoverflow.com/questions/7088672/pyaudio-working-but-spits-out-error-messages-each-time
# https://stackoverflow.com/questions/36956083/how-can-the-terminal-output-of-executables-run-by-python-functions-be-silenced-i
@contextmanager
def ignore_stderr(enable=True):
if enable:
devnull = None
try:
devnull = os.open(os.devnull, os.O_WRONLY)
stderr = os.dup(2)
sys.stderr.flush()
os.dup2(devnull, 2)
try:
yield
finally:
os.dup2(stderr, 2)
os.close(stderr)
finally:
if devnull is not None:
os.close(devnull)
else:
yield
# Partly copied from https://github.com/respeaker/usb_4_mic_array
# parameter list
# name: (id, offset, type, max, min , r/w, info)
PARAMETERS = {
'AECFREEZEONOFF': (18, 7, 'int', 1, 0, 'rw', 'Adaptive Echo Canceler updates inhibit.', '0 = Adaptation enabled', '1 = Freeze adaptation, filter only'),
'AECNORM': (18, 19, 'float', 16, 0.25, 'rw', 'Limit on norm of AEC filter coefficients'),
'AECPATHCHANGE': (18, 25, 'int', 1, 0, 'ro', 'AEC Path Change Detection.', '0 = false (no path change detected)', '1 = true (path change detected)'),
'RT60': (18, 26, 'float', 0.9, 0.25, 'ro', 'Current RT60 estimate in seconds'),
'HPFONOFF': (18, 27, 'int', 3, 0, 'rw', 'High-pass Filter on microphone signals.', '0 = OFF', '1 = ON - 70 Hz cut-off', '2 = ON - 125 Hz cut-off', '3 = ON - 180 Hz cut-off'),
'RT60ONOFF': (18, 28, 'int', 1, 0, 'rw', 'RT60 Estimation for AES. 0 = OFF 1 = ON'),
'AECSILENCELEVEL': (18, 30, 'float', 1, 1e-09, 'rw', 'Threshold for signal detection in AEC [-inf .. 0] dBov (Default: -80dBov = 10log10(1x10-8))'),
'AECSILENCEMODE': (18, 31, 'int', 1, 0, 'ro', 'AEC far-end silence detection status. ', '0 = false (signal detected) ', '1 = true (silence detected)'),
'AGCONOFF': (19, 0, 'int', 1, 0, 'rw', 'Automatic Gain Control. ', '0 = OFF ', '1 = ON'),
'AGCMAXGAIN': (19, 1, 'float', 1000, 1, 'rw', 'Maximum AGC gain factor. ', '[0 .. 60] dB (default 30dB = 20log10(31.6))'),
'AGCDESIREDLEVEL': (19, 2, 'float', 0.99, 1e-08, 'rw', 'Target power level of the output signal. ', '[-inf .. 0] dBov (default: -23dBov = 10log10(0.005))'),
'AGCGAIN': (19, 3, 'float', 1000, 1, 'rw', 'Current AGC gain factor. ', '[0 .. 60] dB (default: 0.0dB = 20log10(1.0))'),
'AGCTIME': (19, 4, 'float', 1, 0.1, 'rw', 'Ramps-up / down time-constant in seconds.'),
'CNIONOFF': (19, 5, 'int', 1, 0, 'rw', 'Comfort Noise Insertion.', '0 = OFF', '1 = ON'),
'FREEZEONOFF': (19, 6, 'int', 1, 0, 'rw', 'Adaptive beamformer updates.', '0 = Adaptation enabled', '1 = Freeze adaptation, filter only'),
'STATNOISEONOFF': (19, 8, 'int', 1, 0, 'rw', 'Stationary noise suppression.', '0 = OFF', '1 = ON'),
'GAMMA_NS': (19, 9, 'float', 3, 0, 'rw', 'Over-subtraction factor of stationary noise. min .. max attenuation'),
'MIN_NS': (19, 10, 'float', 1, 0, 'rw', 'Gain-floor for stationary noise suppression.', '[-inf .. 0] dB (default: -16dB = 20log10(0.15))'),
'NONSTATNOISEONOFF': (19, 11, 'int', 1, 0, 'rw', 'Non-stationary noise suppression.', '0 = OFF', '1 = ON'),
'GAMMA_NN': (19, 12, 'float', 3, 0, 'rw', 'Over-subtraction factor of non- stationary noise. min .. max attenuation'),
'MIN_NN': (19, 13, 'float', 1, 0, 'rw', 'Gain-floor for non-stationary noise suppression.', '[-inf .. 0] dB (default: -10dB = 20log10(0.3))'),
'ECHOONOFF': (19, 14, 'int', 1, 0, 'rw', 'Echo suppression.', '0 = OFF', '1 = ON'),
'GAMMA_E': (19, 15, 'float', 3, 0, 'rw', 'Over-subtraction factor of echo (direct and early components). min .. max attenuation'),
'GAMMA_ETAIL': (19, 16, 'float', 3, 0, 'rw', 'Over-subtraction factor of echo (tail components). min .. max attenuation'),
'GAMMA_ENL': (19, 17, 'float', 5, 0, 'rw', 'Over-subtraction factor of non-linear echo. min .. max attenuation'),
'NLATTENONOFF': (19, 18, 'int', 1, 0, 'rw', 'Non-Linear echo attenuation.', '0 = OFF', '1 = ON'),
'NLAEC_MODE': (19, 20, 'int', 2, 0, 'rw', 'Non-Linear AEC training mode.', '0 = OFF', '1 = ON - phase 1', '2 = ON - phase 2'),
'SPEECHDETECTED': (19, 22, 'int', 1, 0, 'ro', 'Speech detection status.', '0 = false (no speech detected)', '1 = true (speech detected)'),
'FSBUPDATED': (19, 23, 'int', 1, 0, 'ro', 'FSB Update Decision.', '0 = false (FSB was not updated)', '1 = true (FSB was updated)'),
'FSBPATHCHANGE': (19, 24, 'int', 1, 0, 'ro', 'FSB Path Change Detection.', '0 = false (no path change detected)', '1 = true (path change detected)'),
'TRANSIENTONOFF': (19, 29, 'int', 1, 0, 'rw', 'Transient echo suppression.', '0 = OFF', '1 = ON'),
'VOICEACTIVITY': (19, 32, 'int', 1, 0, 'ro', 'VAD voice activity status.', '0 = false (no voice activity)', '1 = true (voice activity)'),
'STATNOISEONOFF_SR': (19, 33, 'int', 1, 0, 'rw', 'Stationary noise suppression for ASR.', '0 = OFF', '1 = ON'),
'NONSTATNOISEONOFF_SR': (19, 34, 'int', 1, 0, 'rw', 'Non-stationary noise suppression for ASR.', '0 = OFF', '1 = ON'),
'GAMMA_NS_SR': (19, 35, 'float', 3, 0, 'rw', 'Over-subtraction factor of stationary noise for ASR. ', '[0.0 .. 3.0] (default: 1.0)'),
'GAMMA_NN_SR': (19, 36, 'float', 3, 0, 'rw', 'Over-subtraction factor of non-stationary noise for ASR. ', '[0.0 .. 3.0] (default: 1.1)'),
'MIN_NS_SR': (19, 37, 'float', 1, 0, 'rw', 'Gain-floor for stationary noise suppression for ASR.', '[-inf .. 0] dB (default: -16dB = 20log10(0.15))'),
'MIN_NN_SR': (19, 38, 'float', 1, 0, 'rw', 'Gain-floor for non-stationary noise suppression for ASR.', '[-inf .. 0] dB (default: -10dB = 20log10(0.3))'),
'GAMMAVAD_SR': (19, 39, 'float', 1000, 0, 'rw', 'Set the threshold for voice activity detection.', '[-inf .. 60] dB (default: 3.5dB 20log10(1.5))'),
# 'KEYWORDDETECT': (20, 0, 'int', 1, 0, 'ro', 'Keyword detected. Current value so needs polling.'),
'DOAANGLE': (21, 0, 'int', 359, 0, 'ro', 'DOA angle. Current value. Orientation depends on build configuration.')
}
class RespeakerInterface(object):
VENDOR_ID = 0x2886
PRODUCT_ID = 0x0018
TIMEOUT = 100000
def __init__(self):
self.dev = usb.core.find(idVendor=self.VENDOR_ID,
idProduct=self.PRODUCT_ID)
if not self.dev:
raise RuntimeError("Failed to find Respeaker device")
rospy.loginfo("Initializing Respeaker device")
self.dev.reset()
self.pixel_ring = usb_pixel_ring_v2.PixelRing(self.dev)
self.set_led_think()
time.sleep(10) # it will take 10 seconds to re-recognize as audio device
self.set_led_trace()
rospy.loginfo("Respeaker device initialized (Version: %s)" % self.version)
def __del__(self):
try:
self.close()
except:
pass
finally:
self.dev = None
def write(self, name, value):
try:
data = PARAMETERS[name]
except KeyError:
return
if data[5] == 'ro':
raise ValueError('{} is read-only'.format(name))
id = data[0]
# 4 bytes offset, 4 bytes value, 4 bytes type
if data[2] == 'int':
payload = struct.pack(b'iii', data[1], int(value), 1)
else:
payload = struct.pack(b'ifi', data[1], float(value), 0)
self.dev.ctrl_transfer(
usb.util.CTRL_OUT | usb.util.CTRL_TYPE_VENDOR | usb.util.CTRL_RECIPIENT_DEVICE,
0, 0, id, payload, self.TIMEOUT)
def read(self, name):
try:
data = PARAMETERS[name]
except KeyError:
return
id = data[0]
cmd = 0x80 | data[1]
if data[2] == 'int':
cmd |= 0x40
length = 8
response = self.dev.ctrl_transfer(
usb.util.CTRL_IN | usb.util.CTRL_TYPE_VENDOR | usb.util.CTRL_RECIPIENT_DEVICE,
0, cmd, id, length, self.TIMEOUT)
response = struct.unpack(b'ii', response.tostring())
if data[2] == 'int':
result = response[0]
else:
result = response[0] * (2.**response[1])
return result
def set_led_think(self):
self.pixel_ring.set_brightness(10)
self.pixel_ring.think()
def set_led_trace(self):
self.pixel_ring.set_brightness(20)
self.pixel_ring.trace()
def set_led_color(self, r, g, b, a):
self.pixel_ring.set_brightness(int(20 * a))
self.pixel_ring.set_color(r=int(r*255), g=int(g*255), b=int(b*255))
def set_vad_threshold(self, db):
self.write('GAMMAVAD_SR', db)
def is_voice(self):
return self.read('VOICEACTIVITY')
@property
def direction(self):
return self.read('DOAANGLE')
@property
def version(self):
return self.dev.ctrl_transfer(
usb.util.CTRL_IN | usb.util.CTRL_TYPE_VENDOR | usb.util.CTRL_RECIPIENT_DEVICE,
0, 0x80, 0, 1, self.TIMEOUT)[0]
def close(self):
"""
close the interface
"""
usb.util.dispose_resources(self.dev)
class RespeakerAudio(object):
def __init__(self, on_audio, channels=None, suppress_error=True):
self.on_audio = on_audio
with ignore_stderr(enable=suppress_error):
self.pyaudio = pyaudio.PyAudio()
self.available_channels = None
self.channels = channels
self.device_index = None
self.rate = 16000
self.bitwidth = 2
self.bitdepth = 16
# find device
count = self.pyaudio.get_device_count()
rospy.logdebug("%d audio devices found" % count)
for i in range(count):
info = self.pyaudio.get_device_info_by_index(i)
name = info["name"].encode("utf-8")
chan = info["maxInputChannels"]
rospy.logdebug(" - %d: %s" % (i, name))
if name.lower().find("respeaker") >= 0:
self.available_channels = chan
self.device_index = i
rospy.loginfo("Found %d: %s (channels: %d)" % (i, name, chan))
break
if self.device_index is None:
rospy.logwarn("Failed to find respeaker device by name. Using default input")
info = self.pyaudio.get_default_input_device_info()
self.available_channels = info["maxInputChannels"]
self.device_index = info["index"]
if self.available_channels != 6:
rospy.logwarn("%d channel is found for respeaker" % self.available_channels)
rospy.logwarn("You may have to update firmware.")
if self.channels is None:
self.channels = range(self.available_channels)
else:
self.channels = filter(lambda c: 0 <= c < self.available_channels, self.channels)
if not self.channels:
raise RuntimeError('Invalid channels %s. (Available channels are %s)' % (
self.channels, self.available_channels))
rospy.loginfo('Using channels %s' % self.channels)
self.stream = self.pyaudio.open(
input=True, start=False,
format=pyaudio.paInt16,
channels=self.available_channels,
rate=self.rate,
frames_per_buffer=1024,
stream_callback=self.stream_callback,
input_device_index=self.device_index,
)
def __del__(self):
self.stop()
try:
self.stream.close()
except:
pass
finally:
self.stream = None
try:
self.pyaudio.terminate()
except:
pass
def stream_callback(self, in_data, frame_count, time_info, status):
# split channel
data = np.fromstring(in_data, dtype=np.int16)
chunk_per_channel = len(data) / self.available_channels
data = np.reshape(data, (chunk_per_channel, self.available_channels))
for chan in self.channels:
chan_data = data[:, chan]
# invoke callback
self.on_audio(chan_data.tostring(), chan)
return None, pyaudio.paContinue
def start(self):
if self.stream.is_stopped():
self.stream.start_stream()
def stop(self):
if self.stream.is_active():
self.stream.stop_stream()
class RespeakerNode(object):
def __init__(self):
rospy.on_shutdown(self.on_shutdown)
self.update_rate = rospy.get_param("~update_rate", 10.0)
self.sensor_frame_id = rospy.get_param("~sensor_frame_id", "respeaker_base")
self.doa_xy_offset = rospy.get_param("~doa_xy_offset", 0.0)
self.doa_yaw_offset = rospy.get_param("~doa_yaw_offset", 90.0)
self.speech_prefetch = rospy.get_param("~speech_prefetch", 0.5)
self.speech_continuation = rospy.get_param("~speech_continuation", 0.5)
self.speech_max_duration = rospy.get_param("~speech_max_duration", 7.0)
self.speech_min_duration = rospy.get_param("~speech_min_duration", 0.1)
self.main_channel = rospy.get_param('~main_channel', 0)
suppress_pyaudio_error = rospy.get_param("~suppress_pyaudio_error", True)
#
self.respeaker = RespeakerInterface()
self.respeaker_audio = RespeakerAudio(self.on_audio, suppress_error=suppress_pyaudio_error)
self.speech_audio_buffer = str()
self.is_speeching = False
self.speech_stopped = rospy.Time(0)
self.prev_is_voice = None
self.prev_doa = None
# advertise
self.pub_vad = rospy.Publisher("is_speeching", Bool, queue_size=1, latch=True)
self.pub_doa_raw = rospy.Publisher("sound_direction", Int32, queue_size=1, latch=True)
self.pub_doa = rospy.Publisher("sound_localization", PoseStamped, queue_size=1, latch=True)
self.pub_audio = rospy.Publisher("audio", AudioData, queue_size=10)
self.pub_speech_audio = rospy.Publisher("speech_audio", AudioData, queue_size=10)
self.pub_audios = {c:rospy.Publisher('audio/channel%d' % c, AudioData, queue_size=10) for c in self.respeaker_audio.channels}
# init config
self.config = None
self.dyn_srv = Server(RespeakerConfig, self.on_config)
# start
self.speech_prefetch_bytes = int(
self.speech_prefetch * self.respeaker_audio.rate * self.respeaker_audio.bitdepth / 8.0)
self.speech_prefetch_buffer = str()
self.respeaker_audio.start()
self.info_timer = rospy.Timer(rospy.Duration(1.0 / self.update_rate),
self.on_timer)
self.timer_led = None
self.sub_led = rospy.Subscriber("status_led", ColorRGBA, self.on_status_led)
def on_shutdown(self):
try:
self.respeaker.close()
except:
pass
finally:
self.respeaker = None
try:
self.respeaker_audio.stop()
except:
pass
finally:
self.respeaker_audio = None
def on_config(self, config, level):
if self.config is None:
# first get value from device and set them as ros parameters
for name in config.keys():
config[name] = self.respeaker.read(name)
else:
# if there is different values, write them to device
for name, value in config.items():
prev_val = self.config[name]
if prev_val != value:
self.respeaker.write(name, value)
self.config = config
return config
def on_status_led(self, msg):
self.respeaker.set_led_color(r=msg.r, g=msg.g, b=msg.b, a=msg.a)
if self.timer_led and self.timer_led.is_alive():
self.timer_led.shutdown()
self.timer_led = rospy.Timer(rospy.Duration(3.0),
lambda e: self.respeaker.set_led_trace(),
oneshot=True)
def on_audio(self, data, channel):
self.pub_audios[channel].publish(AudioData(data=data))
if channel == self.main_channel:
self.pub_audio.publish(AudioData(data=data))
if self.is_speeching:
if len(self.speech_audio_buffer) == 0:
self.speech_audio_buffer = self.speech_prefetch_buffer
self.speech_audio_buffer += data
else:
self.speech_prefetch_buffer += data
self.speech_prefetch_buffer = self.speech_prefetch_buffer[-self.speech_prefetch_bytes:]
def on_timer(self, event):
stamp = event.current_real or rospy.Time.now()
is_voice = self.respeaker.is_voice()
doa_rad = math.radians(self.respeaker.direction - 180.0)
doa_rad = angles.shortest_angular_distance(
doa_rad, math.radians(self.doa_yaw_offset))
doa = math.degrees(doa_rad)
# vad
if is_voice != self.prev_is_voice:
self.pub_vad.publish(Bool(data=is_voice))
self.prev_is_voice = is_voice
# doa
if doa != self.prev_doa:
self.pub_doa_raw.publish(Int32(data=doa))
self.prev_doa = doa
msg = PoseStamped()
msg.header.frame_id = self.sensor_frame_id
msg.header.stamp = stamp
ori = T.quaternion_from_euler(math.radians(doa), 0, 0)
msg.pose.position.x = self.doa_xy_offset * np.cos(doa_rad)
msg.pose.position.y = self.doa_xy_offset * np.sin(doa_rad)
msg.pose.orientation.w = ori[0]
msg.pose.orientation.x = ori[1]
msg.pose.orientation.y = ori[2]
msg.pose.orientation.z = ori[3]
self.pub_doa.publish(msg)
# speech audio
if is_voice:
self.speech_stopped = stamp
if stamp - self.speech_stopped < rospy.Duration(self.speech_continuation):
self.is_speeching = True
elif self.is_speeching:
buf = self.speech_audio_buffer
self.speech_audio_buffer = str()
self.is_speeching = False
duration = 8.0 * len(buf) * self.respeaker_audio.bitwidth
duration = duration / self.respeaker_audio.rate / self.respeaker_audio.bitdepth
rospy.loginfo("Speech detected for %.3f seconds" % duration)
if self.speech_min_duration <= duration < self.speech_max_duration:
self.pub_speech_audio.publish(AudioData(data=buf))
if __name__ == '__main__':
rospy.init_node("respeaker_node")
n = RespeakerNode()
rospy.spin()
