audio recording is not working well. The audio detected is too quite

cordial_dialogue/scripts/dialogue.py

@@ -72,6 +72,7 @@ def __init__(self):
 		# Declare subscribers and publishers
 	   	rospy.Subscriber('/cordial/microphone/audio', AudioData, self.handle_audio_data, queue_size=1)
 		self.text_publisher = rospy.Publisher('cordial/dialogue/script', String, queue_size=1)
+		self.dialogue_data_publisher = rospy.Publisher('cordial/dialogue/data', String, queue_size=1)
 
 
 	def handle_audio_data(self, data):
@@ -80,6 +81,9 @@ def handle_audio_data(self, data):
 	def handle_lex_response(self,lex_response):
 		if len(lex_response.text_response) > 0:
 			print("The lex response is: ", lex_response)
+			#Stored the user data:
+			#if lex_response.intent_name == "questionnairePhase":
+			print(lex_response.slots) 
 			#When lex failed in understanding the user
 			if lex_response.dialog_state == 'Failed':
 				self.interaction_message = 'failed_understanding'

cordial_logger/scripts/recorded_data.py

@@ -10,12 +10,16 @@
 from std_msgs.msg import String, Bool
 from sensor_msgs.msg import Image
 from audio_common_msgs.msg import AudioData
+from qt_robot_speaker.msg import PlayRequest
+from datetime import datetime
 import wave
 import pyaudio
+import base64
 
 CHANNEL = 1
 SAMPLERATE = 16000
 FORMAT_SIZE = pyaudio.paInt16
+CHUNK_SIZE = 1024
 
 class RecordingManager():
 
@@ -27,7 +31,9 @@ def __init__(self):
 		self.is_audio_recording = True
 		self.cv_bridge = CvBridge()
 		rospy.Subscriber("/cordial/chest_camera/video", Image, self.handle_recorded_video, queue_size=1)
-		rospy.Subscriber("/cordial/recording/audio/data", AudioData, self.handle_recorded_audio, queue_size=1)
+		#rospy.Subscriber("/cordial/recording/audio/data", PlayRequest, self.handle_recorded_audio, queue_size=1)
+		rospy.Subscriber("/audio", AudioData, self.handle_recorded_audio_common, queue_size=1)
+		#rospy.Subscriber("/cordial/dialogue/data", String, self.handle_user_prompt, queue_size=1)
 		rospy.Subscriber("/cordial/recording/audio", Bool, self.handle_trigger_recorded_audio, queue_size=1)
 		rospy.Subscriber("/cordial/recording/video", Bool, self.handle_trigger_recorded_video, queue_size=1)
 
@@ -40,43 +46,62 @@ def handle_trigger_recorded_video(self, data):
 			self.is_video_recording = False
 			self.video_data.release()
 			cv2.destroyAllWindows()
-
-
+			#self.text_file.close()
 
 	def handle_recorded_video(self, data):
 		if self.is_video_recording:
 			if self.first_video_frame:
 				print("First frame")
+				# Create the writer for the video
 				fps = data.header.stamp.secs
-				#fourcc = cv2.VideoWriter_fourcc('M', 'J', 'P', 'G')
 				fourcc = cv2.VideoWriter_fourcc(*'MJPG')
-				path = "/home/qtrobot/catkin_ws/src/cordial-public/cordial_logger/scripts/data/OutPut.avi"
-				self.video_data = cv2.VideoWriter(path, fourcc , fps, (data.width, data.height), True)
+				file_name = datetime.now().strftime('%Y-%m-%d_%H-%M-%S') 
+				path = "/home/qtrobot/catkin_ws/src/cordial-public/cordial_logger/scripts/data/video/"
+				self.video_data = cv2.VideoWriter(path + file_name + ".avi", fourcc , fps, (data.width, data.height), True)
 				frame = self.cv_bridge.imgmsg_to_cv2(data, "rgb8")
 				self.first_video_frame = False
+				# Create the txt file to store the data
+				text_file = open(path+file_name+'.txt','wb')
+				text_file.write("Start")
+				text_file.close()
+				self.text_file = open(path+file_name+'.txt','a')
 			else:
 				frame = self.cv_bridge.imgmsg_to_cv2(data, "rgb8")
 			try:
-				print("Writing")
 				self.recorded_video_frames.append(frame)
+				retval, buffer = cv2.imencode('.jpg', frame)
+				jpg_as_text = base64.b64encode(buffer)
+				#self.text_file.write('\n Frame:' + str(jpg_as_text))
 			except:
 				print("Not writing!!")
 
 
 	def handle_recorded_audio(self,data):
 		self.recorded_audio_frames.append(data.data)
+		self.sample_width = data.audio_frame
+
+
+	def handle_recorded_audio_common(self,data):
+		#print(data.data)
+		#P = 2
+		#S = data.data
+		#result = [x * P for x in S]
+		#print(result)
+		self.recorded_audio_frames.append(data.data)
+		#self.sample_width = data.audio_frame
 
 	def handle_trigger_recorded_audio(self, data):
 		if not data.data:
 			self.is_audio_recording = False
 			p = pyaudio.PyAudio()
-			recorded_ID = "test"
-			outdir = "/home/qtrobot/catkin_ws/src/cordial-public/cordial_logger/scripts/data"
-			wf = wave.open(outdir + "/"+ recorded_ID + ".wav", 'wb')
+			file_name = datetime.now().strftime('%Y-%m-%d_%H-%M-%S')
+			outdir = "/home/qtrobot/catkin_ws/src/cordial-public/cordial_logger/scripts/data/audio/"
+			wf = wave.open(outdir + "/"+ file_name + ".wav", 'wb')
 			wf.setnchannels(CHANNEL)
 			wf.setsampwidth(p.get_sample_size(FORMAT_SIZE))
 			wf.setframerate(SAMPLERATE)
-			wf.writeframes(b''.join(self.recorded_frames))
+			wf.setnframes(CHUNK_SIZE)
+			wf.writeframes(b''.join(self.recorded_audio_frames))
 			wf.close()
 
 

cordial_manager/launch/modules.launch

@@ -6,9 +6,11 @@
 	<!-- Launch the children -->
 		<include file="$(find cordial_face)/launch/face_client.launch"/>
 		<include file="$(find qt_robot_gestures)/launch/gestures.launch"/>
+		<include file="$(find qt_chest_camera)/launch/chest_camera.launch" />
 		<include file="$(find qt_tracker)/launch/head_track.launch" />
 		<include file="$(find qt_face_detector)/launch/face_detect.launch" />
 	<!-- Launch the controller parents -->
+		<include file="$(find cordial_logger)/launch/logger.launch" />
 		<include file="$(find cordial_dialogue)/launch/dialogue.launch" />
 		<include file="$(find cordial_behavior)/launch/behaviors.launch" />
 		<include file="$(find cordial_tts)/launch/tts.launch" />

cordial_manager/scripts/data/test.json

@@ -8,6 +8,13 @@
                 "action": "detecting",
                 "goal": "detecting_face"
             },
+            {
+                "name": "start_recording",
+                "description": "Starting the recording from the camera chest",
+                "running_option": "parallel",
+                "action": "long_sensing",
+                "goal": "recording"
+            },
             {
                 "name": "start_face_tracking",
                 "description": "Starting the face tracker",

cordial_sensor/scripts/sensor.py

@@ -108,8 +108,8 @@ def handle_listening_start(self, data):
 		self.microphone_publisher.publish(True)
 
 	def handle_recording_start(self, data):
-		#self.camera_record_publisher.publish(True)
-		#self.microphone_record_publisher.publish(True)
+		self.camera_record_publisher.publish(True)
+		self.microphone_record_publisher.publish(True)
 		return
 
 	def handle_listening_done(self,data):