Looking for help to Redirect Dialogue output for a robot

General Discussion
1

Hi,
I am trying to redirect the mycroft dialogue to a robot I have. But I am a bit lost as to where to interface with the dialogue output to send it to my robots. Also I am curious what method for doing this would be the most efficient and easiest for other people to replicate. I tried searching the forums but didn’t come across anything. I just need the string and my robot will perform its own tts. Thought: make the robot its own tts in mycroft, a skill that captures all output dialogue and redirects it. I am testing this with a Cozmo robot.
Joseph

2

TTS has been moved to a plugin-style, so that may be your easiest option. Secondarily to that you’d have to read things off the message bus.

3

Also curious how the cozmo hacking is going, since I have one in my house.

4

Thanks,
Im just now looking into how the TTS plugin is working. I was hoping for a skill as it would be easier for the beginner to use. Still trying to figure out where to pick up on the message bus besides command line.

5

I just got a Cozmo for my kid. Its been pretty fun. I already had a Vector and have him running a custom program built off of Vectorator/ google AIY vision on a pi3/ and some other mods. I have him and Cozmo so they run together and chat, Mostly Cozmo asks Vector questions and Vector responds. They Google AIY vision is alright but the models are a little limited when it comes to common household objects, great at identifying animals though.

6

Hey there, if you want to access the speakable strings from the message bus you can either create a new TTS plugin as suggested, or you could set the Mycroft TTS module to dummy which will stop it from generating any spoken output:

mycroft-config set tts.module dummy

and listen on the message bus for the speak messages. A Skill doing this would look like:

from mycroft import MycroftSkill

class SpeechSkill(MycroftSkill):

    def initialize(self):
        self.bus.on('speak', self.handle_speech)

    def handle_speech(self, message):
        tts_string = message.data['utterance']
        self.log.info(tts_string)
        # Do something with this string...

def create_skill():
    return SpeechSkill()

You might also want to modify the play_wav_cmdline, play_mp3_cmdline, and play_ogg_cmdline settings in mycroft.conf in order to redirect other sounds to your robot.

1 Like
7

Thank you Gez!
That is exactly what I was looking for. I will give this a try on my day off and let you guys know how it goes. I’ll post the code and maybe a video when I get it working.
Joseph

1 Like
8

Here is what I am using right now. I am going to add some more features and clean it up but this is working great.

from mycroft import MycroftSkill, intent_file_handler
import cozmo
import time
import random
cSay = ‘hello’
class Cozmo(MycroftSkill):

#def __init__(self):
 #   MycroftSkill.__init__(self)

def initialize(self):
    self.bus.on('speak', self.handle_speech)

def handle_speech(self, message):
    global cSay
    tts_string = message.data['utterance']
    self.log.info(tts_string)
    print(f'tts string {tts_string}')
    cSay = str(tts_string)
    time.sleep(.1)
    #cozmo.robot.Robot.say_text(tts_string).wait_for_completed()
    #with cozmo.robot.Robot as robot:
    #    robot.say_text(cSay).wait_for_completed()
    cozmo.run_program(self.cozmo_program)
    cozmo.run_program(self.cozmo_animate)
    # Do something with this string...

def cozmo_program(self, robot: cozmo.robot.Robot):
    global cSay
    robot.say_text(cSay).wait_for_completed()


def cozmo_animate(self, robot: cozmo.robot.Robot):
    # grab a list of animation triggers
    all_animation_triggers = robot.anim_triggers

    # randomly shuffle the animations
    random.shuffle(all_animation_triggers)

    # select the first three animations from the shuffled list
    triggers = 1
    chosen_triggers = all_animation_triggers[:triggers]
    print('Playing {} random animations:'.format(triggers))

    # play the three random animations one after the other, waiting for each to complete
    for trigger in chosen_triggers:
        print('Playing {}'.format(trigger.name))
        robot.play_anim_trigger(trigger).wait_for_completed()


    # grab animation triggers that have 'WinGame' in their name
    chosen_triggers = [trigger for trigger in robot.anim_triggers if 'WinGame' in trigger.name]
1 Like