latest pushes

ros_web_api_bellande_speech_detection/src/bellande_speech_detection.py

@@ -16,53 +16,78 @@
 import json
 import os
 import requests
+from std_msgs.msg import String
 
-def main():
-    # Get the absolute path to the config file
-    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
-    
-    # Check if the config file exists
-    if not os.path.exists(config_file_path):
-        print("Config file not found:", config_file_path)
-        return
-
-    # Read configuration from config.json
-    with open(config_file_path, 'r') as config_file:
-        config = json.load(config_file)
-        url = config['url']
-        endpoint_path = config['endpoint_path']["detection"]
-    
-    # Get the parameters from the ROS parameter server
-    audio_data = rospy.get_param('audio_data', '')
-    sample_rate = rospy.get_param('sample_rate', 16000)
-    language = rospy.get_param('language', 'en-US')
-
-    # JSON payload
+def speech_detection(audio_data, sample_rate, language):
     payload = {
         "audio_data": audio_data,
         "sample_rate": sample_rate,
         "language": language
     }
-
-    # Headers
     headers = {
+        "Authorization": f"Bearer {api_access_key}",
         'accept': 'application/json',
         'Content-Type': 'application/json'
     }
+    response = requests.post(api_url, json=payload, headers=headers)
+    if response.status_code == 200:
+        result = response.json()
+        return result['detected_speech']
+    else:
+        print(f"Error: {response.status_code} - {response.text}")
+        return None
 
-    # Make POST request
-    try:
-        response = requests.post(
-            url + endpoint_path,
-            json=payload,
-            headers=headers
-        )
-        response.raise_for_status()  # Raise an error for unsuccessful responses
-        data = response.json()
-        print("Detected Speech:", data['detected_speech'])
+def audio_callback(msg):
+    sample_rate = rospy.get_param('sample_rate', 16000)
+    language = rospy.get_param('language', 'en-US')
     
-    except requests.exceptions.RequestException as e:
-        print("Error:", e)
+    detected_speech = speech_detection(msg.data, sample_rate, language)
+    if detected_speech is not None:
+        output_msg = String()
+        output_msg.data = detected_speech
+        pub.publish(output_msg)
+
+def main():
+    global api_url, api_access_key, pub
+    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
+    
+    if not os.path.exists(config_file_path):
+        print("Config file not found:", config_file_path)
+        return
+    
+    with open(config_file_path, 'r') as config_file:
+        config = json.load(config_file)
+        url = config['url']
+        endpoint_path = config['endpoint_path']["speech_detection"]
+        api_access_key = config["Bellande_Framework_Access_Key"]
+    
+    # Initialize ROS node
+    if ros_version == "1":
+        rospy.init_node('speech_detection_node', anonymous=True)
+        pub = rospy.Publisher('detected_speech', String, queue_size=10)
+        sub = rospy.Subscriber('audio_data', String, audio_callback)
+    elif ros_version == "2":
+        rclpy.init()
+        node = rclpy.create_node('speech_detection_node')
+        pub = node.create_publisher(String, 'detected_speech', 10)
+        sub = node.create_subscription(String, 'audio_data', audio_callback, 10)
+
+    api_url = f"{url}{endpoint_path}"
+
+    try:
+        print("Speech detection node is running. Ctrl+C to exit.")
+        if ros_version == "1":
+            rospy.spin()
+        elif ros_version == "2":
+            rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("Shutting down speech detection node.")
+    except Exception as e:
+        print(f"An error occurred: {str(e)}")
+    finally:
+        if ros_version == "2":
+            node.destroy_node()
+            rclpy.shutdown()
 
 if __name__ == '__main__':
     ros_version = os.getenv("ROS_VERSION")