server.py 文件源码

def __init__(self, start_server=True):
        # Private properties
        rospack = rospkg.RosPack()
        self._package_path = rospack.get_path('needybot_speech')

        self._cache_dir = rospy.get_param(
            '/needybot/speech/cache_dir',
            os.path.join(os.path.realpath(self._package_path), 'cache')
        )
        self._cache_manifest = os.path.join(self._cache_dir, 'manifest.json')

        self._feedback = SpeechFeedback()
        self._kill_pub = rospy.Publisher(
            '/needybot/speech/kill', Empty, queue_size=10)
        self._result = SpeechResult()
        self._server = actionlib.SimpleActionServer(
            'needybot_speech',
            SpeechAction,
            execute_cb=self.execute_cb,
            auto_start=False)

        # Public properties
        self.effects = [
            'ladspa', 'tap_deesser', 'tap_deesser', '-30', '6200',
            'pitch', '200',
            'contrast', '75',
            'norm'
        ]
        self.voice = pyvona.create_voice(
            os.environ.get('IVONA_ACCESS_KEY'),
            os.environ.get('IVONA_SECRET_KEY'))
        self.voice.voice_name = rospy.get_param(
            '/needybot/speech/voice/name', 'Justin')
        self.voice.speech_rate = rospy.get_param(
            '/needybot/speech/voice/speech_rate', 'medium')
        self.voice.codec = rospy.get_param('/needybot/speech/voice/codec', 'ogg')
        self.sound_process = None

        self.cleaned_pub = rospy.Publisher(
            '/needybot/speech/cache/cleaned',
            Empty,
            queue_size=10,
            latch=True
        )

        self.warmed_pub = rospy.Publisher(
            '/needybot/speech/cache/warmed',
            Empty,
            queue_size=10,
            latch=True
        )

        if not os.path.exists(self._cache_manifest):
            self.create_cache_manifest()

        if start_server:
            self._server.start()