main.cpp

00001 /*
00002  * Documentation:
00003  * http://www.zagrosrobotics.com/files/easyvr-user-manual-30.pdf
00004  */
00005 
00006 #include "easyvr.h"
00007 
00008 #define BUF_SIZE 32
00009 #define NUM_NOTES 8
00010 
00011 EasyVR easyVR( p28, p27 );
00012 Serial term( USBTX, USBRX );
00013 PwmOut speaker( p21 );
00014 InterruptIn hold_button( p8 );
00015 
00016 // C major scale starting at C4
00017 char *note_table[] = { "C4", "D4", "E4", "F4", "G4", "A4", "B4", "C5" };
00018 float freq_table[] = { 261.63, 293.66, 329.63, 349.23, 392.0, 440.0, 493.88, 523.25 };
00019 
00020 char note_buffer[BUF_SIZE];
00021 short note_buffer_pos = 0;
00022 bool do_read = false;
00023 
00024 void print_error( int error )
00025 {
00026     switch( error )
00027     {
00028         case ERR_DATACOL_TOO_NOISY:
00029             term.printf( "Too noisy, try again\r\n" );
00030             break;
00031         case ERR_DATACOL_TOO_SOFT:
00032             term.printf( "Spoke too softly, try again\r\n" );
00033             break;
00034         case ERR_DATACOL_TOO_LOUD:
00035             term.printf( "Spoke too loudly, try again\r\n" );
00036             break;
00037         case ERR_DATACOL_TOO_SOON:
00038             term.printf( "Spoke too soon, try again\r\n" );
00039             break;
00040         case ERR_DATACOL_TOO_CHOPPY:
00041             term.printf( "Too complex, try again\r\n" );
00042             break;
00043         case ERR_RECOG_FAIL:
00044             term.printf( "Recognition failed, try again\r\n" );
00045             break;
00046         case ERR_RECOG_LOW_CONF:
00047             term.printf( "Recognition result status: doubtful, try again\r\n" );
00048             break;
00049         case ERR_RECOG_MID_CONF:
00050             term.printf( "Recognition result status: maybe, try again\r\n" );
00051             break;
00052         case ERR_RECOG_BAD_TEMPLATE:
00053             term.printf( "Invalid command stored in memory\r\n" );
00054             break;
00055         case ERR_RECOG_DURATION:
00056             term.printf( "Bad duration patterns\r\n" );
00057             break;
00058         case ERR_SYNTH_BAD_VERSION:
00059             term.printf( "Bad release number in speech file\r\n" );
00060             break;
00061         case ERR_SYNTH_BAD_MSG:
00062             term.printf( "Bad data in speech file\r\n" );
00063             break;
00064         case ERR_NOT_A_WORD:
00065             term.printf( "Spoken word is not in vocabulary\r\n" );
00066             break;
00067         default:
00068             break;
00069     }
00070 }
00071 
00072 void add_command( int index )
00073 {    
00074     char command_num = i2a( index );
00075     char note        = note_table[index][0];
00076     char scale       = (char)( note_table[index][1] + 17 );
00077     
00078     char err;
00079     
00080     easyVR.send( CMD_GROUP_SD );
00081     easyVR.send( i2a( 1 ) );
00082     easyVR.send( command_num );
00083     
00084     if( ( err = easyVR.receive() ) != STS_SUCCESS )
00085         term.printf( "(in add_command( %s ) line %d) Error %c\r\n", note_table[index], __LINE__, err );
00086     
00087     easyVR.send( CMD_NAME_SD );
00088     easyVR.send( i2a( 1 ) );
00089     easyVR.send( command_num );
00090     easyVR.send( i2a( 3 ) );
00091     easyVR.send( note );
00092     easyVR.send( '^' );
00093     easyVR.send( scale );
00094     
00095     if( ( err = easyVR.receive() ) != STS_SUCCESS )
00096         term.printf( "(in add_command( %s ) line %d) Error %c\r\n", note_table[index], __LINE__, err );
00097 }
00098 
00099 char train_command( int index )
00100 {
00101     char command_num = i2a( index );
00102     char note        = note_table[index][0];
00103     char scale       = (char)( note_table[index][1] + 17 );
00104     
00105     term.printf( "Please say: %s\r\n", note_table[index] );
00106 
00107     easyVR.send( CMD_TRAIN_SD );
00108     easyVR.send( i2a( 1 ) );
00109     easyVR.send( command_num );
00110     
00111     char recv, err, retval;
00112     
00113     switch( ( recv = easyVR.receive() ) )
00114     {
00115         case STS_SUCCESS:
00116             term.printf( "Successfully trained command %c^%c\r\n", note, scale );
00117             retval = recv;
00118             break;
00119         case STS_RESULT:
00120             easyVR.send( ARG_ACK );
00121             err = a2i( easyVR.receive() );
00122             term.printf( "Successfully trained command %c^%c, but similar to SD command %d\r\n", note, scale, err );
00123             retval = STS_SUCCESS;
00124             break;
00125         case STS_SIMILAR:
00126             easyVR.send( ARG_ACK );
00127             err = a2i( easyVR.receive() );
00128             term.printf( "Successfully trained command %c^%c, but similar to SI command %d\r\n", note, scale, err );
00129             retval = STS_SUCCESS;
00130             break;
00131         case STS_TIMEOUT:
00132             term.printf( "Timed out trying to train %c^%c!\r\n", note, scale );
00133             retval = recv;
00134             break;
00135         case STS_ERROR:      
00136             easyVR.send( ARG_ACK );
00137             err = a2i( easyVR.receive() ) * 16;
00138             easyVR.send( ARG_ACK );
00139             err += a2i( easyVR.receive() );
00140             print_error( err );
00141             retval = err;
00142             break;
00143         default:
00144             term.printf( "(in train_command( %s ) line %d) Error %c\r\n", note_table[index], __LINE__, recv );
00145             retval = recv;
00146             break;
00147     }
00148     
00149     return retval;
00150 }
00151 
00152 void enable_read()
00153 {
00154     do_read = true;
00155 }
00156 
00157 void play_buffer()
00158 {
00159     do_read = false;
00160     easyVR.send( CMD_BREAK );
00161     
00162     for( int i = 0; i < note_buffer_pos; i++ )
00163     {
00164         speaker.period( 1.0 / freq_table[note_buffer[i]] );
00165         speaker = 0.25;
00166         wait( 0.5 );
00167     }
00168     
00169     speaker = 0;
00170     note_buffer_pos = 0;
00171 }
00172 
00173 int main( void )
00174 {
00175     term.baud( 19200 );
00176     
00177     easyVR.wakeup();
00178     easyVR.setup( 0, 3 );
00179     
00180     char err;
00181     
00182     easyVR.baud( 9600 );
00183     easyVR.send( CMD_BAUDRATE );
00184     easyVR.send( i2a( 12 ) );
00185     
00186     if( ( err = easyVR.receive() ) != STS_SUCCESS )
00187         term.printf( "(in main() line %d) Error: %c\r\n", __LINE__, err );
00188     
00189     easyVR.send( CMD_LEVEL );
00190     easyVR.send( i2a( 1 ) );
00191     
00192     if( ( err = easyVR.receive() ) != STS_SUCCESS )
00193         term.printf( "(in main() line %d) Error: %c\r\n", __LINE__, err );
00194     
00195     /*
00196     int result;
00197     
00198     for( int i = 0; i < NUM_NOTES; i++ )
00199     {
00200         add_command( i );
00201         
00202         do
00203         {
00204             result = train_command( i );
00205             wait( 0.5 );
00206         } while( result != STS_SUCCESS );
00207     }
00208     */
00209     
00210     hold_button.rise( enable_read );
00211     hold_button.fall( play_buffer );
00212     
00213     char note, recv;
00214     
00215     while( 1 )
00216     {
00217         while( do_read )
00218         {
00219             term.printf( "Ready!\r\n" );
00220             
00221             easyVR.send( CMD_RECOG_SI );
00222             easyVR.send( i2a( 3 ) );
00223             
00224             switch( ( recv = easyVR.receive() ) )
00225             {
00226                 case STS_SIMILAR:
00227                     easyVR.send( ARG_ACK );
00228                     note = a2i( easyVR.receive() );
00229                     
00230                     if( note < NUM_NOTES )
00231                     {
00232                         term.printf( "Heard: %s\r\n", note_table[note] );
00233                         
00234                         if( note_buffer_pos < BUF_SIZE )
00235                         {
00236                             note_buffer[note_buffer_pos] = note;
00237                             note_buffer_pos++;
00238                         }
00239                         else
00240                             term.printf( "Buffer full\r\n" );
00241                     }
00242                     else
00243                         term.printf( "Heard SI command %d\r\n", note );
00244                     
00245                     break;
00246                 /*
00247                 case STS_SIMILAR:
00248                     easyVR.send( ARG_ACK );
00249                     err = a2i( easyVR.receive() );
00250                     term.printf( "Heard similar to SI command %d\r\n", err );
00251                     break;
00252                 */
00253                 case STS_TIMEOUT:
00254                     term.printf( "Timed out\r\n" );
00255                     break;
00256                 case STS_ERROR:
00257                     easyVR.send( ARG_ACK );
00258                     err = a2i( easyVR.receive() ) * 16;
00259                     easyVR.send( ARG_ACK );
00260                     err += a2i( easyVR.receive() );
00261                     print_error( err );
00262                     break;
00263                 default:
00264                     if( recv != STS_INTERR )
00265                         term.printf( "(in main() line %d) Error %c\r\n", __LINE__, recv );
00266                     
00267                     break;
00268             }
00269         }
00270     }
00271 }