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############################################################################

# CoderBot, a didactical programmable robot.

# This program is free software; you can redistribute it and/or modify

# it under the terms of the GNU General Public License as published by

# the Free Software Foundation; either version 2 of the License, or

# (at your option) any later version.

# This program is distributed in the hope that it will be useful,

# but WITHOUT ANY WARRANTY; without even the implied warranty of

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

# GNU General Public License for more details.

# You should have received a copy of the GNU General Public License along

# with this program; if not, write to the Free Software Foundation, Inc.,

# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

############################################################################

import os

from array import array

import time

import logging

import wave

import audioop

import pyaudio

import alsaaudio

import queue

# [END import_libraries]

# Audio recording parameters

RATE = 44100

CHUNK = int(RATE / 10) # 100ms

FORMAT = pyaudio.paInt16

MODELDIR = "/home/pi/coderbot/psmodels/"

SOUNDDIR = "./sounds/"

SOUNDEXT = ".wav"

SOURCE_OUTPUT = 0

SOURCE_INPUT = 1

class Audio:

_instance = None

@classmethod

def get_instance(cls):

if cls._instance is None:

cls._instance = Audio()

return cls._instance

def __init__(self):

self.pa = pyaudio.PyAudio()

try:

self.stream_in = self.MicrophoneStream(FORMAT, RATE, CHUNK)

except Exception:

logging.info("Audio: input stream not available")

def exit(self):

pass

def say(self, what, locale='en'):

if what and "$" in what:

self.play(what[1:] + SOUNDEXT)

elif what and what:

os.system('espeak --stdout -v' + locale + ' -p 90 -a 200 -s 150 -g 10 "' + what + '" 2>>/dev/null | aplay -q')

def normalize(self, snd_data):

"Average the volume out"

MAXIMUM = 16384

times = float(MAXIMUM) / max(abs(i) for i in snd_data)

r = array('h', snd_data)

c = 0

for i in snd_data:

r[c] = int(i*times)

c += 1

return r

def record(self, elapse):

r = bytearray()

t = time.time()

with self.stream_in as stream:

audio_generator = stream.generator()

for content in audio_generator:

r.extend(content)

if time.time() - t >= elapse:

return r

def record_to_file(self, filename, elapse):

data = self.record(elapse)

#data = pack('<' + ('h'*len(data)), *data)

wf = wave.open(SOUNDDIR + filename, 'wb')

wf.setnchannels(1)

wf.setsampwidth(self.stream_in.get_sample_size(FORMAT))

wf.setframerate(RATE)

wf.writeframes(data)

wf.close()

def play(self, filename):

f = wave.open(SOUNDDIR + filename, 'rb')

format = None

# 8bit is unsigned in wav files

if f.getsampwidth() == 1:

format = alsaaudio.PCM_FORMAT_U8

# Otherwise we assume signed data, little endian

elif f.getsampwidth() == 2:

format = alsaaudio.PCM_FORMAT_S16_LE

elif f.getsampwidth() == 3:

format = alsaaudio.PCM_FORMAT_S24_3LE

elif f.getsampwidth() == 4:

format = alsaaudio.PCM_FORMAT_S32_LE

else:

raise ValueError('Unsupported format')

periodsize = f.getframerate() // 8

logging.info('%d channels, %d sampling rate, format %d, periodsize %d\n' % (f.getnchannels(),

f.getframerate(),

format,

periodsize))

device = alsaaudio.PCM(channels=f.getnchannels(), rate=f.getframerate(), format=format, periodsize=periodsize)

data = f.readframes(periodsize)

while data:

# Read data from stdin

device.write(data)

data = f.readframes(periodsize)

def hear(self, level, elapse=1.0):

t = time.time()

with self.stream_in as stream:

audio_generator = stream.generator()

for content in audio_generator:

snd_rms = audioop.rms(content, 2)

if snd_rms > level:

return True

if time.time() - t >= elapse:

return False

def get_volume(self):

volume = alsaaudio.Mixer('Headphone', cardindex=0).getvolume()

logging.info(volume) # list of per-channel values (floats)

return volume

def set_volume(self, volume_output, volume_input):

alsaaudio.Mixer('Headphone', cardindex=0).setvolume(volume_output)

alsaaudio.Mixer('Mic', cardindex=1).setvolume(volume_input)

class MicrophoneStream(object):

"""Opens a recording stream as a generator yielding the audio chunks."""

def __init__(self, fmt, rate, chunk):

self._audio_interface = None

self._format = fmt

self._rate = rate

self._chunk = chunk

# Create a thread-safe buffer of audio data

self._buff = None

self.closed = True

def __enter__(self):

self._audio_interface = pyaudio.PyAudio()

self._buff = queue.Queue()

self._audio_stream = self._audio_interface.open(

format=self._format,

# The API currently only supports 1-channel (mono) audio

# https://goo.gl/z757pE

channels=1, rate=self._rate,

input=True, frames_per_buffer=self._chunk,

input_device_index=1,

# Run the audio stream asynchronously to fill the buffer object.

# This is necessary so that the input device's buffer doesn't

# overflow while the calling thread makes network requests, etc.

stream_callback=self._fill_buffer,

)

self.closed = False

return self

def __exit__(self, atype, value, traceback):

self._audio_stream.stop_stream()

self._audio_stream.close()

self._audio_interface.terminate()

self.closed = True

self._buff.put(None)

def close(self):

pass

def _fill_buffer(self, in_data, frame_count, time_info, status_flags):

"""Continuously collect data from the audio stream, into the buffer."""

self._buff.put(in_data)

return None, pyaudio.paContinue

def get_sample_size(self, fmt):

return self._audio_interface.get_sample_size(fmt)

def generator(self):

while not self.closed:

# Use a blocking get() to ensure there's at least one chunk of

# data, and stop iteration if the chunk is None, indicating the

# end of the audio stream.

chunk = self._buff.get()

if chunk is None:

return

data = [chunk]

# Now consume whatever other data's still buffered.

while True:

try:

chunk = self._buff.get(block=False)

if chunk is None:

return

data.append(chunk)

except queue.Empty:

break

yield b''.join(data)

# [END audio_stream]