Merge branch 'mimic3'

programs/CMakeLists.txt

@@ -1,2 +1,3 @@
 add_subdirectory(espeakServer)
 add_subdirectory(speechRecognition)
+add_subdirectory(speechSynthesis)

programs/speechRecognition/README.md

@@ -1,6 +1,6 @@
-# Speech recognition software
+# Speech recognition
 
-### How to launch
+## How to launch
 
 1. First, follow the steps described on [installation instructions](doc/speech-install.md)
 2. Be sure you have a microphone connected to your computer.
@@ -10,7 +10,7 @@ In that case, run `alsamixer` on the bash,  press `F6`, select your Sound Card (
 5. Try to say some orders of  `follow-me`  demo using the microphone and check if `speechRecognition` detects the words.
 6. The final result in lower case comes out through a yarp port. You can read from the output port writing `yarp read ... /speechRecognition:o`.
 
-### How to configure it
+## How to configure it
 
 Once `speechRecognition.py` has started, connect it to the yarp configuration dictionary port and change the language to use.
 For example, if you want to change to waiter Spanish orders, put:

programs/speechSynthesis/CMakeLists.txt

@@ -0,0 +1,9 @@
+option(ENABLE_speechSynthesis "Install speechSynthesis program" ON)
+
+if(ENABLE_speechSynthesis)
+
+    install(PROGRAMS speechSynthesis.py
+            TYPE BIN
+            RENAME speechSynthesis)
+
+endif()

programs/speechSynthesis/README.md

@@ -0,0 +1,33 @@
+# Speech synthesis
+
+## Installation
+
+Through pip:
+
+```bash
+pip3 install mycroft-mimic3-tts
+```
+
+Alternatively, install from sources: https://github.com/MycroftAI/mimic3
+
+## Download voice models
+
+All voice data is located in a separate repository: https://github.com/MycroftAI/mimic3-voices
+
+To manually issue the download of all Spanish voices, run:
+
+```bash
+mimic3-download 'es_ES/*'
+```
+
+In case the process gets stuck, download and unpack the files into `${HOME}/.local/share/mycroft/mimic3/voices`. However, you'll probably need to download the *generator.onnx* file separately (via GitHub) since it is handled by Git LFS.
+
+## Troubleshooting
+
+Try this:
+
+```bash
+mimic3 --voice es_ES/m-ailabs#tux "hola, me llamo teo y tengo 10 años"
+```
+
+To enable GPU acceleration, run `pip3 install onnxruntime-gpu` and issue the `mimic3` command with `--cuda`. The `speechSynthesis` app also accepts this parameter.

programs/speechSynthesis/speechSynthesis.py

@@ -0,0 +1,180 @@
+#!/usr/bin/env python3
+
+# adapted from https://github.com/MycroftAI/mimic3/blob/be72c18/mimic3_tts/__main__.py
+
+import argparse
+import queue
+import signal
+import shlex
+import shutil
+import subprocess
+import tempfile
+import threading
+import time
+
+import mimic3_tts
+import yarp
+import roboticslab_speech
+
+PLAY_PROGRAMS = ['paplay', 'play -q', 'aplay -q']
+
+class TextToSpeechResponder(roboticslab_speech.TextToSpeechIDL):
+    def __init__(self, engine):
+        super().__init__()
+        self.engine = engine
+        self.is_playing = False
+        self.p = None
+        self.result_queue = queue.Queue(maxsize=5)
+        self.result_thread = threading.Thread(target=self._process_result, daemon=True)
+        self.result_thread.start()
+
+    def setLanguage(self, language):
+        if language.startswith('#'):
+            # same voice, different speaker
+            self.engine.speaker = language[1:]
+        else:
+            # different voice
+            self.engine.voice = language
+
+        if self.engine.voice not in list(self.getSupportedLangs()):
+            print('Voice not available: %s' % self.engine.voice)
+            return False
+        else:
+            print('Loaded voice: %s (speaker: %s)' % (self.engine.voice, self.engine.speaker or 'default'))
+            return True
+
+    def setSpeed(self, speed):
+        self.engine.rate = float(speed) / 100
+        return True
+
+    def setPitch(self, pitch):
+        return super().setPitch(pitch)
+
+    def getSpeed(self):
+        return int(self.engine.rate * 100)
+
+    def getPitch(self):
+        return super().getPitch()
+
+    def getSupportedLangs(self):
+        all_voices = sorted(list(self.engine.get_voices()), key=lambda v: v.key)
+        local_voices = filter(lambda v: not v.location.startswith('http'), all_voices)
+        available_voices = [v.key for v in local_voices]
+        return yarp.SVector(available_voices)
+
+    def say(self, text):
+        self.engine.begin_utterance()
+        self.engine.speak_text(text)
+
+        for result in self.engine.end_utterance():
+            self.result_queue.put(result)
+
+        return True
+
+    def play(self):
+        return super().play()
+
+    def pause(self):
+        return super().pause()
+
+    def stop(self):
+        if self.p:
+            self.p.terminate()
+
+        return True
+
+    def checkSayDone(self):
+        return not self.is_playing
+
+    def _process_result(self):
+        while True:
+            result = self.result_queue.get()
+
+            if result is None:
+                break
+
+            wav_bytes = result.to_wav_bytes()
+
+            if not wav_bytes:
+                continue
+
+            with tempfile.NamedTemporaryFile(mode='wb+', suffix='.wav') as wav_file:
+                wav_file.write(wav_bytes)
+                wav_file.seek(0)
+
+                for play_program in reversed(PLAY_PROGRAMS):
+                    play_cmd = shlex.split(play_program)
+
+                    if not shutil.which(play_cmd[0]):
+                        continue
+
+                    play_cmd.append(wav_file.name)
+                    self.is_playing = True
+
+                    with subprocess.Popen(play_cmd) as self.p:
+                        try:
+                            self.p.wait()
+                        except: # e.g. on keyboard interrupt
+                            self.p.kill()
+
+                    self.is_playing = False
+                    break
+
+parser = argparse.ArgumentParser(prog='speechSynthesis', description='TTS service running a Mimic 3 engine')
+parser.add_argument('--voice', '-v', help='Name of voice (expected in <voices-dir>/<language>)', required=True)
+parser.add_argument('--speaker', '-s', help='Name or number of speaker (default: first speaker)')
+parser.add_argument('--noise-scale', type=float, help='Noise scale [0-1], default is 0.667')
+parser.add_argument('--length-scale', type=float, help='Length scale (1.0 is default speed, 0.5 is 2x faster)')
+parser.add_argument('--noise-w', type=float, help='Variation in cadence [0-1], default is 0.8')
+parser.add_argument('--cuda', action='store_true', help='Use Onnx CUDA execution provider (requires onnxruntime-gpu)')
+parser.add_argument('--port', '-p', default='/speechSynthesis', help='YARP port prefix')
+
+args =  parser.parse_args()
+
+tts = mimic3_tts.Mimic3TextToSpeechSystem(
+    mimic3_tts.Mimic3Settings(
+        length_scale=args.length_scale,
+        noise_scale=args.noise_scale,
+        noise_w=args.noise_w,
+        use_cuda=args.cuda,
+    )
+)
+
+tts.voice = args.voice
+tts.speaker = args.speaker
+
+print('Preloading voice: %s' % args.voice)
+tts.preload_voice(args.voice)
+
+yarp.Network.init()
+
+if not yarp.Network.checkNetwork():
+    print('YARP network not found')
+    raise SystemExit
+
+rpc = yarp.RpcServer()
+processor = TextToSpeechResponder(tts)
+
+if not rpc.open(args.port + '/rpc:s'):
+    print('Cannot open port %s' % rpc.getName())
+    raise SystemExit
+
+processor.yarp().attachAsServer(rpc)
+
+quitRequested = False
+
+def askToStop():
+    global quitRequested
+    quitRequested = True
+
+signal.signal(signal.SIGINT, lambda signal, frame: askToStop())
+signal.signal(signal.SIGTERM, lambda signal, frame: askToStop())
+
+while not quitRequested:
+    time.sleep(0.1)
+
+rpc.interrupt()
+rpc.close()
+
+processor.result_queue.put(None)
+processor.result_thread.join()