Speech controller

.classpath

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+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.7"/>
+	<classpathentry kind="lib" path="/Users/Grzegorz/Desktop/sphinx4/sphinx4-core-5prealpha-20151205.160447-3-javadoc.jar"/>
+	<classpathentry kind="lib" path="/Users/Grzegorz/Desktop/sphinx4/sphinx4-core-5prealpha-20151205.160447-3-sources.jar"/>
+	<classpathentry kind="lib" path="/Users/Grzegorz/Desktop/sphinx4/sphinx4-core-5prealpha-20151205.160447-3.jar"/>
+	<classpathentry kind="lib" path="/Users/Grzegorz/Desktop/sphinx4/sphinx4-data-5prealpha-20151205.160456-3-javadoc.jar"/>
+	<classpathentry kind="lib" path="/Users/Grzegorz/Desktop/sphinx4/sphinx4-data-5prealpha-20151205.160456-3-sources.jar"/>
+	<classpathentry kind="lib" path="/Users/Grzegorz/Desktop/sphinx4/sphinx4-data-5prealpha-20151205.160456-3.jar"/>
+	<classpathentry kind="lib" path="/Users/Grzegorz/Desktop/java-json-2.jar"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>

.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>SpeechController</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>

.settings/org.eclipse.jdt.core.prefs

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+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.7
+org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
+org.eclipse.jdt.core.compiler.compliance=1.7
+org.eclipse.jdt.core.compiler.debug.lineNumber=generate
+org.eclipse.jdt.core.compiler.debug.localVariable=generate
+org.eclipse.jdt.core.compiler.debug.sourceFile=generate
+org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
+org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
+org.eclipse.jdt.core.compiler.source=1.7

grammar/grammar.gram

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+#JSGF V1.0;
+
+grammar grammar;
+
+public <forward> = [move] forward | up [please];
+public <backward> = [move] backward | back | down [please];
+public <right> = [move] right [please];
+public <left> = [move] left [please];
+public <wait> = [please] wait;
+

src/speechcontroller/Client.java

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+package speechcontroller;
+
+import org.json.JSONObject;
+
+import java.io.BufferedReader;
+import java.io.BufferedWriter;
+import java.io.OutputStreamWriter;
+import java.io.PrintWriter;
+import java.net.InetAddress;
+import java.net.Socket;
+
+public class Client implements Runnable {
+
+    JSONObject packet;
+    public static final String SERVER_IP = "192.168.0.2";
+    public static final int SERVER_PORT = 5678;
+
+    private String mServerMessage;
+
+    private boolean mRun = false;
+    private PrintWriter mBufferOut;
+    private BufferedReader mBufferIn;
+    Thread backgroundThread;
+
+    public void sendMessage(String message) {
+        if (mBufferOut != null && !mBufferOut.checkError()) {
+            mBufferOut.println(message);
+            mBufferOut.flush();
+        }
+    }
+
+    public void stopClient() {
+        mRun = false;
+
+        if (mBufferOut != null) {
+            mBufferOut.flush();
+            mBufferOut.close();
+        }
+
+        mBufferIn = null;
+        mBufferOut = null;
+        mServerMessage = null;
+    } 
+
+    public Client(JSONObject packet) {
+        this.packet = packet;
+    }
+
+    @Override
+    public void run() {
+
+        mRun = true;
+
+        try {
+
+            InetAddress serverAddr = InetAddress.getByName(SERVER_IP);
+
+            Socket socket = new Socket(serverAddr, SERVER_PORT);
+            try {
+
+                mBufferOut = new PrintWriter(new BufferedWriter(new OutputStreamWriter(socket.getOutputStream())), true);
+                sendMessage("!" + packet.toString().length() + "!" + packet.toString());
+
+                Thread.sleep(500);
+
+            } catch (Exception e) {
+
+                e.printStackTrace();
+
+            } finally {
+
+                socket.close();
+            }
+
+        } catch (Exception e) {
+
+           e.printStackTrace();
+
+        }
+    }
+}
+

src/speechcontroller/MainSpeechRecognition.java

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+package speechcontroller;
+
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+import org.json.JSONException;
+import org.json.JSONObject;
+
+import edu.cmu.sphinx.api.Configuration;
+import edu.cmu.sphinx.api.LiveSpeechRecognizer;
+
+public class MainSpeechRecognition {
+
+	static int left_motor;
+	static int right_motor;
+	static JSONObject packet = new JSONObject();
+
+	//Path to acoustic mode
+	private static final String ACOUSTIC_MODEL = 
+			"resource:/edu/cmu/sphinx/models/en-us/en-us";
+	//Path to dictionary
+	private static final String DICTIONARY_PATH = 
+			"resource:/edu/cmu/sphinx/models/en-us/cmudict-en-us.dict";
+	//Language model
+	private static String LANGUAGE_MODEL = 
+			"resource:/edu/cmu/sphinx/models/en-us/en-us.lm.bin";
+	private static String GRAMMAR_PATH = 
+			"grammar/";
+
+	//To check if utterance matches orders
+	private static boolean utteranceRegex(String direction, String utterance) {
+
+		Pattern pattern = Pattern.compile("(move\\s|turn\\s)*+"+direction+"(\\splease)*");
+
+		Matcher matcher = pattern.matcher((CharSequence) utterance);
+
+		return matcher.matches() ?  true : false;
+	}	
+
+	private static void connection(int left_motor, int right_motor, JSONObject packet) {
+		try {
+			packet.put("left_motor", left_motor);
+			packet.put("right_motor", right_motor);
+			Client client = new Client(packet);
+			client.run();
+			new Thread(client).start();
+		} catch (JSONException e) {
+			e.printStackTrace();
+		}
+	}
+
+
+	private static void recognizeOrders(LiveSpeechRecognizer recognizer, String utterance) {
+
+		//Catch utterance until 'stop' or 'break' is said
+		while(true) {
+
+			utterance = recognizer.getResult().getHypothesis();
+
+			if(utterance.startsWith("stop") || utterance.equals("break")) break;
+
+			else if(utteranceRegex("forward", utterance)) {
+
+				left_motor = 250;
+				right_motor = 250;
+
+				connection(left_motor, right_motor, packet);
+
+    		} else if(utteranceRegex("backward", utterance)) {
+    			left_motor = -250;
+    			right_motor = -250;
+
+    			connection(left_motor, right_motor, packet);
+
+    		} else if(utteranceRegex("left", utterance)) {
+
+    			left_motor = -250;
+    			right_motor = 250;    
+
+    			connection(left_motor, right_motor, packet);
+
+    		} else if(utteranceRegex("right", utterance)) {
+
+    			left_motor = 250;
+    			right_motor = -250;		
+
+    			connection(left_motor, right_motor, packet);
+
+    		} else if(utterance.startsWith("wait") || utterance.equals("please wait")) {
+    			left_motor = 0;
+    			right_motor = 0;  	
+
+    			connection(left_motor, right_motor, packet);
+    		}		
+		}
+	}
+
+    public static void main(String[] args) throws Exception {
+
+    	Configuration configuration = new Configuration();
+
+        configuration
+                .setAcousticModelPath(ACOUSTIC_MODEL);
+        configuration
+                .setDictionaryPath(DICTIONARY_PATH);
+        configuration
+                .setLanguageModelPath(LANGUAGE_MODEL);
+        configuration
+        		.setGrammarPath(GRAMMAR_PATH);
+
+        //To catch words only from grammar file
+        configuration.setUseGrammar(true);
+        configuration.setGrammarName("grammar");
+
+        LiveSpeechRecognizer recognizer = new LiveSpeechRecognizer(configuration);
+        recognizer.startRecognition(true);   
+
+        String utterance = recognizer.getResult().getHypothesis();
+
+        recognizeOrders(recognizer, utterance);    
+
+        recognizer.stopRecognition();
+    }
+
+}
+
+