void cTumkwsjSink::cbResultPass1Current(Recog *recog, void *dummy)
{
//int i, j, bgn;
//int len,
int num;
WORD_INFO *winfo;
WORD_ID *seq;
RecogProcess *r;
Sentence *s;
r=recog->process_list;
if (! r->live) return;
if (! r->have_interim) return;
winfo = r->lm->winfo;
seq = r->result.pass1.word;
num = r->result.pass1.word_num;
s = &(r->result.pass1);
if ((num>0)&&(!isAbort())) {
//juAlignPass1Keywords(r, r->am->mfcc->param);
//create smile message:
Kresult k;
fillKresult(&k, seq, num, winfo, s->confidence, r->result.num_frame, /*s->align*/ NULL);
if (resultRecp != NULL) {
cComponentMessage msg("asrKeywordOutput");
msg.custData = &k;
msg.userTime1 = turnStartSmileTimeCur;
msg.userTime2 = turnStartSmileTimeCur + ((double)(k.turnDuration))*period;
sendComponentMessage( resultRecp, &msg );
SMILE_IDBG(3,"sending 'asrKeywordOutput' message to '%s'",resultRecp);
}
//output content of k:
int kc = 0;
printf("----------current hypothesis:------------\n");
printf("numOfKw:%i\n",k.numOfKw);
printf("turnDuration:%i\n",k.turnDuration);
printf("keywords: ");
for (kc=0;kc<(k.numOfKw);kc++) {
printf("%s ",k.keyword[kc]);
}
printf("\n");
printf("kwConf: ");
for (kc=0;kc<(k.numOfKw);kc++) {
printf("%5.3f ",k.kwConf[kc]);
}
printf("\n");
printf("kwStartTimes: ");
for (kc=0;kc<(k.numOfKw);kc++) {
printf("%.3f ",k.kwStartTime[kc]);
}
printf("\n");
printf("-----------------------------------------\n");
printf("\n\n");
fflush(stdout);
}
}
void cLibsvmLiveSink::processResult(long long tick, long frameIdx, double time, float res, double *probEstim, int nClasses, double dur)
{
//ros::Rate loop_rate(10);
// int count = 0;
// while (ros::ok())
// {
//// %EndTag(ROS_OK)%
// /**
// * This is a message object. You stuff it with data, and then publish it.
// */
//// %Tag(FILL_MESSAGE)%
// std_msgs::String msg;
// std::stringstream ss;
// ss << "hello world " << count;
// msg.data = ss.str();
//// %EndTag(FILL_MESSAGE)%
//// %Tag(ROSCONSOLE)%
// ROS_INFO("%s", msg.data.c_str());
//// %EndTag(ROSCONSOLE)%
// /**
// * The publish() function is how you send messages. The parameter
// * is the message object. The type of this object must agree with the type
// * given as a template parameter to the advertise<>() call, as was done
// * in the constructor above.
// */
//// %Tag(PUBLISH)%
// chatter_pub.publish(msg);
//// %EndTag(PUBLISH)%
//// %Tag(SPINONCE)%
// ros::spinOnce();
//// %EndTag(SPINONCE)%
//// %Tag(RATE_SLEEP)%
// loop_rate.sleep();
//// %EndTag(RATE_SLEEP)%
// ++count;
// }
std_msgs::String emoMsg;
std_msgs::String affectMsg;
if (printResult) {
if ((nCls>0)&&(nClasses > 0)&&(classNames != NULL)) {
if (labels!=NULL) {
if ((int)res >= nClasses) res = (float)(nClasses-1);
if (res < 0.0) res = 0.0;
res = (float)labels[(int)res];
}
if ((int)res >= nCls) res = (float)nCls;
if (res < 0.0) res = 0.0;
SMILE_PRINT("\n LibSAVM '%s' result (@ time: %f) : ~~> %s <~~",getInstName(),time,classNames[(int)res]);
std::string instName = getInstName();
std::string emoName = "emodbEmotion";
std::string affectName = "abcAffect";
if (instName == emoName)
{
emoMsg.data = classNames[(int)res];
emo_pub.publish(emoMsg);
}
if (instName == affectName)
{
affectMsg.data = classNames[(int)res];
affect_pub.publish(affectMsg);
}
} else {
SMILE_PRINT("\n LibSBVM '%s' result (@ time: %f) : ~~> %.2f <~~",getInstName(),time,res);
}
if (probEstim != NULL) {
int i;
for (i=0; i<nClasses; i++) {
int idx = i;
if (labels!=NULL) idx = labels[i];
if ((nCls>0)&&(nClasses > 0)&&(classNames != NULL)) {
if (idx >= nCls) idx=nCls-1;
if (idx < 0) idx = 0;
SMILE_PRINT(" prob. class '%s': \t %f",classNames[idx],probEstim[i]);
} else {
SMILE_PRINT(" prob. class %i : \t %f",idx,probEstim[i]);
}
}
}
}
// send result as componentMessage
if (sendResult) {
cComponentMessage msg("classificationResult", resultMessageName);
if ((nCls>0)&&(nClasses > 0)&&(classNames != NULL)) {
if (labels!=NULL) {
if ((int)res >= nClasses) res = (float)(nClasses-1);
if (res < 0.0) res = 0.0;
res = (float)labels[(int)res];
}
if ((int)res >= nCls) res = (float)nCls;
if (res < 0.0) res = 0.0;
strncpy(msg.msgtext, classNames[(int)res], CMSG_textLen);
}
msg.floatData[0] = res;
msg.intData[0] = nClasses;
msg.custData = probEstim;
msg.userTime1 = time;
msg.userTime2 = time+dur;
// TO TEST .....
sendComponentMessage( resultRecp, &msg );
SMILE_IDBG(3,"sending 'classificationResult' message to '%s'",resultRecp);
}
}
void cTumkwsjSink::cbResultPass2(Recog *recog, void *dummy)
{
// int i, j;
// int len;
char ec[5] = {0x1b, '[', '1', 'm', 0};
WORD_INFO *winfo;
WORD_ID *seq;
int seqnum;
int n, num;
Sentence *s;
RecogProcess *r;
boolean multi;
// HMM_Logical *p;
// SentenceAlign *align;
if (recog->process_list->next != NULL) multi = TRUE;
else multi = FALSE;
if (isAbort()) return;
r=recog->process_list;
if (! r->live) return;
if (multi) printf("[#%d %s]\n", r->config->id, r->config->name);
if (r->result.status < 0) {
switch(r->result.status) {
case J_RESULT_STATUS_REJECT_POWER:
printf("<input rejected by power>\n");
break;
case J_RESULT_STATUS_TERMINATE:
printf("<input teminated by request>\n");
break;
case J_RESULT_STATUS_ONLY_SILENCE:
printf("<input rejected by decoder (silence input result)>\n");
break;
case J_RESULT_STATUS_REJECT_GMM:
printf("<input rejected by GMM>\n");
break;
case J_RESULT_STATUS_REJECT_SHORT:
printf("<input rejected by short input>\n");
break;
case J_RESULT_STATUS_FAIL:
printf("<search failed>\n");
break;
}
return;
}
winfo = r->lm->winfo;
// num = r->result.sentnum;
//assume just one sentence:
num = 1;
//consider just sentence with index n=0
n = 0;
s = &(r->result.sent[n]);
seq = s->word;
seqnum = s->word_num;
if (debug2_flag) {
printf("\n%s",ec); /* newline & bold on */
}
if (verbose_flag) {
printf("p2_phon:");
juPutHypoPhoneme(seq, seqnum, winfo);
}
if (debug2_flag) {
ec[2] = '0';
printf("%s\n",ec); /* bold off & newline */
}
if (verbose_flag) {
if (r->lmtype == LM_DFA) {
/* output which grammar the hypothesis belongs to on multiple grammar */
/* determine only by the last word */
if (multigram_get_all_num(r->lm) > 1) {
printf("grammar%d: %d\n", n+1, s->gram_id);
}
}
}
//create smile message:
Kresult k;
fillKresult(&k, seq, seqnum, winfo, s->confidence, r->result.num_frame, s->align);
return;
if (resultRecp != NULL) {
cComponentMessage msg("asrKeywordOutput");
msg.custData = &k;
msg.userTime1 = turnStartSmileTimeCur;
msg.userTime2 = turnStartSmileTimeCur + ((double)(k.turnDuration))*period;
sendComponentMessage( resultRecp, &msg );
SMILE_IDBG(3,"sending 'asrKeywordOutput' message to '%s'",resultRecp);
}
//output content of k:
int kc = 0;
printf("-------result package (pass 2):----------\n");
printf("numOfKw:%i\n",k.numOfKw);
printf("turnDuration:%i\n",k.turnDuration);
printf("keywords: ");
for (kc=0;kc<(k.numOfKw);kc++) {
printf("%s ",k.keyword[kc]);
}
printf("\n");
printf("kwConf: ");
for (kc=0;kc<(k.numOfKw);kc++) {
printf("%5.3f ",k.kwConf[kc]);
}
printf("\n");
printf("kwStartTimes: ");
for (kc=0;kc<(k.numOfKw);kc++) {
printf("%.3f ",k.kwStartTime[kc]);
}
printf("\n");
printf("-----------------------------------------\n");
printf("\n\n\n");
fflush(stdout);
}
void cTumkwsjSink::cbResultPass1(Recog *recog, void *dummy)
{
int i,j;
static char buf[MAX_HMMNAME_LEN];
WORD_INFO *winfo;
WORD_ID *seq;
int num;
RecogProcess *r;
Sentence *s;
boolean multi;
// int len;
boolean have_progout = TRUE;
if (isAbort()) return;
if (recog->process_list->next != NULL) multi = TRUE;
else multi = FALSE;
r=recog->process_list;
if (! r->live) return;
if (r->result.status < 0) return; /* search already failed */
if (have_progout && r->config->successive.enabled) return; /* short pause segmentation */
if (r->config->output.progout_flag) printf("\r");
winfo = r->lm->winfo;
seq = r->result.pass1.word;
num = r->result.pass1.word_num;
s = &(r->result.pass1);
/* words */
if (verbose_flag) { /* output further info */
/* phoneme sequence */
printf("p1_phon:");
for (i=0;i<num;i++) {
for (j=0;j<winfo->wlen[seq[i]];j++) {
center_name(winfo->wseq[seq[i]][j]->name, buf);
printf(" %s", buf);
}
if (i < num-1) printf(" |");
}
printf("\n");
if (debug2_flag) {
/* logical HMMs */
printf("pass1_best_HMMseq_logical:");
for (i=0;i<num;i++) {
for (j=0;j<winfo->wlen[seq[i]];j++) {
printf(" %s", winfo->wseq[seq[i]][j]->name);
}
if (i < num-1) printf(" |");
}
printf("\n");
}
}
juAlignPass1Keywords(r, r->am->mfcc->param);
//create smile message:
Kresult k;
fillKresult(&k, seq, num, winfo, s->confidence, r->result.num_frame, s->align);
if (resultRecp != NULL) {
cComponentMessage msg("asrKeywordOutput");
msg.custData = &k;
msg.userTime1 = turnStartSmileTimeCur;
msg.userTime2 = turnStartSmileTimeCur + ((double)(k.turnDuration))*period;
sendComponentMessage( resultRecp, &msg );
SMILE_IDBG(3,"sending 'asrKeywordOutput' message to '%s'",resultRecp);
}
//output content of k:
int kc = 0;
printf("-------result package (pass 1):----------\n");
printf("numOfKw:%i\n",k.numOfKw);
printf("turnDuration:%i\n",k.turnDuration);
printf("keywords: ");
for (kc=0;kc<(k.numOfKw);kc++) {
printf("%s ",k.keyword[kc]);
}
printf("\n");
printf("kwConf: ");
for (kc=0;kc<(k.numOfKw);kc++) {
printf("%5.3f ",k.kwConf[kc]);
}
printf("\n");
printf("kwStartTimes: ");
for (kc=0;kc<(k.numOfKw);kc++) {
printf("%.3f ",k.kwStartTime[kc]);
}
printf("\n");
printf("-----------------------------------------\n");
printf("\n\n");
fflush(stdout);
}
