voice_node.py 文件源码

def recode(self):
  pa = PyAudio() 
  stream = pa.open(format=paInt16, channels=self.nchannel, rate=self.SAMPLING_RATE, input=True, frames_per_buffer=self.NUM_SAMPLES) 
  save_count = 0 
  save_buffer = [] 
  time_out = self.TIME_OUT
  NO_WORDS=self.NO_WORDS

  while True and NO_WORDS:
   time_out -= 1
   print 'time_out in', time_out # ??NUM_SAMPLES???
   string_audio_data = stream.read(self.NUM_SAMPLES) # ???????????
   audio_data = np.fromstring(string_audio_data, dtype=np.short) 

   # ??????????
   NO_WORDS -= 1
   if np.max(audio_data) > self.UPPER_LEVEL:
    NO_WORDS=self.NO_WORDS
   print 'self.NO_WORDS ', NO_WORDS
   print 'np.max(audio_data) ', np.max(audio_data)

   # ????LOWER_LEVEL??????
   large_sample_count = np.sum( audio_data > self.LOWER_LEVEL )

   # ??????COUNT_NUM??????SAVE_LENGTH??
   if large_sample_count > self.COUNT_NUM:
    save_count = self.SAVE_LENGTH 
   else: 
    save_count -= 1
   #print 'save_count',save_count

   # ??????????save_buffer?
   if save_count < 0:
    save_count = 0 
   elif save_count > 0 : 
    save_buffer.append( string_audio_data ) 
   else:
    pass

   # ?save_buffer??????WAV???WAV????????????
   if len(save_buffer) > 0 and NO_WORDS==0: 
    self.Voice_String = save_buffer
    save_buffer = [] 
    rospy.loginfo( "Recode a piece of voice successfully!")
    #return self.Voice_String

   elif len(save_buffer) > 0 and time_out==0: 
    self.Voice_String = save_buffer
    save_buffer = [] 
    rospy.loginfo( "Recode a piece of voice successfully!")
    #return self.Voice_String
   else: 
    pass
   #rospy.loginfo( '\n\n')