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Upgrade to YARP-3.5.1 #42

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Dec 3, 2021
Merged

Upgrade to YARP-3.5.1 #42

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38 changes: 19 additions & 19 deletions iSpeak/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,9 +109,9 @@ class MouthHandler : public PeriodicThread
if (emotions.getOutputCount()>0)
{
Bottle cmd, reply;
cmd.addVocab(Vocab::encode("set"));
cmd.addVocab(Vocab::encode("mou"));
cmd.addVocab(Vocab::encode(state));
cmd.addVocab32("set");
cmd.addVocab32("mou");
cmd.addVocab32(state);
emotions.write(cmd,reply);
}
}
Expand Down Expand Up @@ -141,7 +141,7 @@ class MouthHandler : public PeriodicThread
if (r1.getOutputCount()>0)
{
Bottle cmd,rep;
cmd.addVocab(Vocab::encode("tstart"));
cmd.addVocab32("tstart");
r1.write(cmd,rep);
}

Expand Down Expand Up @@ -170,7 +170,7 @@ class MouthHandler : public PeriodicThread
r1.open("/"+name+"/r1:rpc");

state="sur";
setPeriod((double)rf.check("period",Value(200)).asInt()/1000.0);
setPeriod((double)rf.check("period",Value(200)).asInt32()/1000.0);
}

/************************************************************************/
Expand All @@ -185,7 +185,7 @@ class MouthHandler : public PeriodicThread
if (r1.getOutputCount()>0)
{
Bottle cmd,rep;
cmd.addVocab(Vocab::encode("tstart"));
cmd.addVocab32("tstart");
r1.write(cmd,rep);
}

Expand All @@ -208,7 +208,7 @@ class MouthHandler : public PeriodicThread
if (r1.getOutputCount()>0)
{
Bottle cmd,rep;
cmd.addVocab(Vocab::encode("tstop"));
cmd.addVocab32("tstop");
r1.write(cmd,rep);
}
}
Expand Down Expand Up @@ -335,17 +335,17 @@ class iSpeak : protected BufferedPort<Bottle>,
{
if (request.get(0).isString())
phrase=request.get(0).asString();
else if (request.get(0).isDouble() || request.get(0).isInt())
else if (request.get(0).isFloat64() || request.get(0).isInt32())
{
time=request.get(0).asDouble();
time=request.get(0).asFloat64();
onlyMouth=true;
}

if (request.size()>1)
{
if (request.get(1).isInt())
if (request.get(1).isInt32())
{
int newRate=request.get(1).asInt();
int newRate=request.get(1).asInt32();
if (newRate>0)
{
mouth.setPeriod((double)newRate/1000.0);
Expand All @@ -354,8 +354,8 @@ class iSpeak : protected BufferedPort<Bottle>,
}

if ((request.size()>2) && request.get(0).isString())
if (request.get(2).isDouble() || request.get(2).isInt())
duration=request.get(2).asDouble();
if (request.get(2).isFloat64() || request.get(2).isInt32())
duration=request.get(2).asFloat64();
}
}
}
Expand Down Expand Up @@ -474,19 +474,19 @@ class Launcher: public RFModule
/************************************************************************/
bool respond(const Bottle &command, Bottle &reply)
{
int cmd0=command.get(0).asVocab();
if (cmd0==Vocab::encode("stat"))
int cmd0=command.get(0).asVocab32();
if (cmd0==Vocab32::encode("stat"))
{
reply.addString(speaker.isSpeaking()?"speaking":"quiet");
return true;
}

if (command.size()>1)
{
int cmd1=command.get(1).asVocab();
if (cmd1==Vocab::encode("opt"))
int cmd1=command.get(1).asVocab32();
if (cmd1==Vocab32::encode("opt"))
{
if (cmd0==Vocab::encode("set"))
if (cmd0==Vocab32::encode("set"))
{
if (command.size()>2)
{
Expand All @@ -496,7 +496,7 @@ class Launcher: public RFModule
return true;
}
}
else if (cmd0==Vocab::encode("get"))
else if (cmd0==Vocab32::encode("get"))
{
reply.addString(speaker.get_package_options());
return true;
Expand Down
2 changes: 1 addition & 1 deletion speech-interpreters/start/input/src/start-speech.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -238,7 +238,7 @@ void STARTManager::onRead(yarp::os::Bottle &bot)
{
std::string::size_type sz; // alias of size_t
int i_dec = std::stoi (words,&sz);
finalTmp.addInt(i_dec);
finalTmp.addInt32(i_dec);
}
}
answer.erase(answer.find_first_of("["), answer.find_first_of("]"));
Expand Down
2 changes: 1 addition & 1 deletion speechInteraction/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ find_package(ICUBcontrib REQUIRED)
find_package(Protobuf REQUIRED)
find_package(gRPC CONFIG REQUIRED)
find_package(GOOGLEAPIS REQUIRED)
find_package(YARP 3.2.1 REQUIRED COMPONENTS OS sig dev math)
find_package(YARP 3.5.1 REQUIRED COMPONENTS OS sig dev math)

include_directories(${googleapis_INCLUDE_DIR})

Expand Down
4 changes: 2 additions & 2 deletions speechInteraction/modules/googleSpeech/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -332,7 +332,7 @@ class Processing : public yarp::os::TypedReaderCallback<yarp::sig::Sound>
{
std::lock_guard<std::mutex> lg(mtx);
yarp::os::Bottle cmd, rep;
//cmd.addVocab(yarp::os::Vocab::encode("start"));
//cmd.addVocab32("start");
cmd.addString("start");
if (audioCommand.write(cmd, rep))
{
Expand Down Expand Up @@ -405,7 +405,7 @@ class Module : public yarp::os::RFModule, public googleSpeech_IDL

std::string moduleName = rf.check("name", yarp::os::Value("googleSpeech"), "module name (string)").asString();
std::string language = rf.check("language_code", yarp::os::Value("en-US"), "language (string)").asString();
int sample_rate = rf.check("sample_rate_hertz", yarp::os::Value(16000), "sample rate (int)").asInt();
int sample_rate = rf.check("sample_rate_hertz", yarp::os::Value(16000), "sample rate (int)").asInt32();

if (rf.check("uniqueSound", "use a yarp::sig::Sound instead of a microphone"))
uniqueSound = true;
Expand Down
12 changes: 6 additions & 6 deletions speechInteraction/modules/googleSpeechProcess/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -382,11 +382,11 @@ class Processing : public yarp::os::BufferedPort<yarp::os::Bottle>
yarp::os::Bottle &sentiment_score = sentiment.addList();
sentiment_score.addString("Score");
std::pair<float,float> sentiment_result = read_sentiment( sentiment_sentences );
sentiment_score.addDouble(sentiment_result.second);
sentiment_score.addFloat64(sentiment_result.second);

yarp::os::Bottle &sentiment_magnitude = sentiment.addList();
sentiment_magnitude.addString("Magnitude");
sentiment_magnitude.addDouble(sentiment_result.first);
sentiment_magnitude.addFloat64(sentiment_result.first);

yInfo() << "wordList " << wordList.toString().c_str();

Expand Down Expand Up @@ -618,15 +618,15 @@ class Processing : public yarp::os::BufferedPort<yarp::os::Bottle>
sentiment_analysis.addString(sentence); //add the sentence
yarp::os::Bottle* sentiment = wordList.get(0).asList()->get(element-1).asList();
//yInfo() << "sentiment " << sentiment->toString();//Sentiment (Score 0.100000001490116119385) (Magnitude 0.100000001490116119385)
double score = sentiment->get(1).asList()->get(1).asDouble();
double magnitude = sentiment->get(2).asList()->get(1).asDouble();
double score = sentiment->get(1).asList()->get(1).asFloat64();
double magnitude = sentiment->get(2).asList()->get(1).asFloat64();
//printf("Values: %f %f\n", score, magnitude);
yarp::os::Bottle &each_score = sentiment_analysis.addList();
each_score.addString("Score"); //add the corresponding score
each_score.addDouble(score);
each_score.addFloat64(score);
yarp::os::Bottle &each_magnitude = sentiment_analysis.addList();
each_magnitude.addString("Magnitude"); //add the corresponding magnitude
each_magnitude.addDouble(magnitude);
each_magnitude.addFloat64(magnitude);



Expand Down
4 changes: 2 additions & 2 deletions speechInteraction/modules/googleSynthesis/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -316,8 +316,8 @@ class Module : public yarp::os::RFModule, public googleSynthesis_IDL
std::string language = rf.check("language", yarp::os::Value("en-US"), "language to use (string)").asString();
std::string voice = rf.check("voice", yarp::os::Value("en-US-Wavenet-D"), "voice to use (string)").asString();

double speed = rf.check("speed", yarp::os::Value(1.0), "speed to use (double)").asDouble();
double pitch = rf.check("pitch", yarp::os::Value(0.0), "pitch to use (double)").asDouble();
double speed = rf.check("speed", yarp::os::Value(1.0), "speed to use (double)").asFloat64();
double pitch = rf.check("pitch", yarp::os::Value(0.0), "pitch to use (double)").asFloat64();

if (rf.check("languageCodes", "Getting language codes"))
{
Expand Down
20 changes: 10 additions & 10 deletions speechRecognizer/src/SpeechRecognizerModule.cpp
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Expand Up @@ -53,7 +53,7 @@ std::vector<std::string> split(const std::string &s, char delim) {
bool SpeechRecognizerModule::configure(ResourceFinder &rf )
{
setName( rf.check("name",Value("speechRecognizer")).asString().c_str() );
m_timeout = rf.check("timeout",Value(10000)).asInt();
m_timeout = rf.check("timeout",Value(10000)).asInt32();
USE_LEGACY = !rf.check("noLegacy");
m_forwardSound = rf.check("forwardSound");
m_tmpFileFolder = rf.getHomeContextPath();
Expand Down Expand Up @@ -265,7 +265,7 @@ bool SpeechRecognizerModule::updateModule()
//Send over yarp
Bottle bOut;
bOut.addString(fullSentence);
bOut.addInt(confidence);
bOut.addInt32(confidence);
m_portContinuousRecognition.write(bOut);

//Treat the semantic
Expand Down Expand Up @@ -644,7 +644,7 @@ string SpeechRecognizerModule::getFromDictaction(int timeout, LPCWSTR options )
for(list< pair<string, double> >::iterator it = results.begin(); it != results.end(); it++)
{
botTmp.addString(it->first);
//botTmp.addDouble(it->second);
//botTmp.addFloat64(it->second);
}
}
yInfo() <<"Dictation is off...";
Expand All @@ -662,8 +662,8 @@ bool SpeechRecognizerModule::handleRecognitionCmd(const Bottle& cmd, Bottle& rep

if (firstVocab == "timeout")
{
m_timeout = cmd.get(1).asInt();
//reply.addInt(true);
m_timeout = cmd.get(1).asInt32();
//reply.addInt32(true);
return false;
}

Expand All @@ -684,7 +684,7 @@ bool SpeechRecognizerModule::handleRecognitionCmd(const Bottle& cmd, Bottle& rep
for(list< pair<string, double> >::iterator it = results.begin(); it != results.end(); it++)
{
reply.addString(it->first);
reply.addDouble(it->second);
reply.addFloat64(it->second);
}
else
reply.addString("-1");
Expand All @@ -694,7 +694,7 @@ bool SpeechRecognizerModule::handleRecognitionCmd(const Bottle& cmd, Bottle& rep
//Turn off dictation and go back to the file grammar
everythingIsFine &= SUCCEEDED(m_cpGrammarDictation->SetDictationState( SPRS_INACTIVE ));
everythingIsFine &=SUCCEEDED(m_cpGrammarFromFile->SetGrammarState(SPGS_ENABLED));
//reply.addInt(true);
//reply.addInt32(true);
return true;
}
// If we are not in dictation then we set and switch to the runtimeGrammar
Expand All @@ -716,7 +716,7 @@ bool SpeechRecognizerModule::handleRecognitionCmd(const Bottle& cmd, Bottle& rep

refreshFromVocabulories(m_cpGrammarRuntime);

//reply.addInt(everythingIsFine);
//reply.addInt32(everythingIsFine);
}

else if (firstVocab == "choices")
Expand Down Expand Up @@ -758,7 +758,7 @@ bool SpeechRecognizerModule::handleRecognitionCmd(const Bottle& cmd, Bottle& rep
for(list< pair<string, double> >::iterator it = results.begin(); it != results.end(); it++)
{
reply.addString(it->first);
reply.addDouble(it->second);
reply.addFloat64(it->second);
}
else
reply.addString("-1");
Expand Down Expand Up @@ -882,7 +882,7 @@ void SpeechRecognizerModule::say(string s, bool wait)
if(wait)
{
yarp::os::Bottle cmd,reply;
cmd.addVocab(VOCAB('s','t','a','t'));
cmd.addVocab32(VOCAB('s','t','a','t'));
std::string status = "speaking";
bool speechStarted = false;
while(wait&&(!speechStarted ||status=="speaking"))
Expand Down
4 changes: 2 additions & 2 deletions svox-speech/speech.cpp
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Expand Up @@ -82,8 +82,8 @@ bool Speech::open(yarp::os::Searchable &config)
return false;
}

setPitch(config.check("pitch",Value(90)).asInt());
setSpeed(config.check("speed",Value(105)).asInt());
setPitch(config.check("pitch",Value(90)).asInt32());
setSpeed(config.check("speed",Value(105)).asInt32());

lingwareRF.setDefaultContext(config.check("lingware-context",Value("speech")).asString());
lingwareRF.configure(0,NULL);
Expand Down