Removed legacy

4 files changed, 0 insertions, 369 deletions

diff --git a/noetic-llama/src/whisperwrapper/CMakeLists.txt b/noetic-llama/src/whisperwrapper/CMakeLists.txt
deleted file mode 100644
index 6d3f9a4..0000000
--- a/noetic-llama/src/whisperwrapper/CMakeLists.txt
+++ /dev/null
@@ -1,206 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(whisperwrapper)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES whisperwrapper
-#  CATKIN_DEPENDS roscpp rospy std_msgs
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/whisperwrapper.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/whisperwrapper_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-catkin_install_python(PROGRAMS
-  src/whisperwrapper.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_whisperwrapper.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/noetic-llama/src/whisperwrapper/package.xml b/noetic-llama/src/whisperwrapper/package.xml
deleted file mode 100644
index 52f3fd7..0000000
--- a/noetic-llama/src/whisperwrapper/package.xml
+++ /dev/null
@@ -1,68 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>whisperwrapper</name>
-  <version>0.0.0</version>
-  <description>The whisperwrapper package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="eden@todo.todo">eden</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/whisperwrapper</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-</package>
diff --git a/noetic-llama/src/whisperwrapper/src/list_microphones.py b/noetic-llama/src/whisperwrapper/src/list_microphones.py
deleted file mode 100644
index d5b49ff..0000000
--- a/noetic-llama/src/whisperwrapper/src/list_microphones.py
+++ /dev/null
@@ -1,4 +0,0 @@
-import speech_recognition as sr
-
-for index, name in enumerate(sr.Microphone.list_microphone_names()):
-    print("Microphone with name \"{1}\" found for `Microphone(device_index={0})`".format(index, name))
\ No newline at end of file
diff --git a/noetic-llama/src/whisperwrapper/src/whisperwrapper.py b/noetic-llama/src/whisperwrapper/src/whisperwrapper.py
deleted file mode 100644
index 4cd703b..0000000
--- a/noetic-llama/src/whisperwrapper/src/whisperwrapper.py
+++ /dev/null
@@ -1,91 +0,0 @@
-#!/usr/bin/env python3
-
-from ollamamessages.msg import WhisperTranscription, WhisperListening
-from ollamamessages.srv import OllamaCall, OllamaCallResponse
-
-import speech_recognition as sr
-import threading
-import tempfile
-import requests
-import rospy 
-import time
-import json
-import os
-
-whisper_api_url = rospy.get_param("/stt/whisper_api_url", "127.0.0.1:9000")
-pause = rospy.get_param("/stt/speech_recogn_pause_time", 0.8)
-energy = rospy.get_param("/stt/speech_recogn_energy", 400) 
-dynamic_energy = rospy.get_param("/stt/speech_recogn_dyn_energy_flag", False)
-microphone_device = rospy.get_param("/stt/microphone_device", 1)
-no_speech_thresh = rospy.get_param("/stt/speech_confidence_thresh", 0.1)
-
-class WhisperWrapper:
-
-    listening = False
-
-    def __init__(self) -> None:
-        self.transcription_pub = rospy.Publisher("/stt/transcription", WhisperTranscription, queue_size = 1)
-        self.listening_sub = rospy.Subscriber("/stt/listening", WhisperListening, self.listening_sub_cb)
-
-        self.record_audio(pause, energy, dynamic_energy, microphone_device)
-
-    def listening_sub_cb(self, set_listening):
-        rospy.loginfo("Set listening = %s" % str(set_listening.listening))
-        self.listening = set_listening.listening
-
-    def record_audio(self, pause, energy, dynamic_energy, microphone_device):
-        recogniser = sr.Recognizer()
-        recogniser.energy_threshold = energy
-        recogniser.pause_threshold = pause
-        recogniser.dynamic_energy_threshold = dynamic_energy
-
-        with sr.Microphone(sample_rate = 10000) as microphone:
-            rospy.loginfo("Listening...")
-            while True and not rospy.is_shutdown():
-                audio = recogniser.listen(microphone)
-
-                if not self.listening:
-                    rospy.loginfo("I heard something but I'm stopping here because we've been set to not listen")
-                    continue
-
-                with tempfile.NamedTemporaryFile(mode = "wb", suffix = ".wav", delete = False) as f:
-                    audio_path = f.name
-                    f.write(audio.get_wav_data())
-
-                rospy.loginfo("I heard something... Written to %s" % audio_path)
-                req = requests.post(
-                    "http://%s/asr?output=json" % whisper_api_url,
-                    files = {"audio_file": open(audio_path, "rb")}
-                )
-                os.remove(audio_path)
-                o = req.json()
-                rospy.loginfo("Transcribed '%s'" % o["text"])
-                if o["text"] != "":
-                    self.transcription_pub.publish(
-                        text = o["text"],
-                        language = o["language"],
-                        temperature = o["segments"][0]["temperature"],
-                        avg_logprob = o["segments"][0]["avg_logprob"],
-                        compression_ratio = o["segments"][0]["compression_ratio"],
-                        no_speech_prob = o["segments"][0]["no_speech_prob"]
-                    )
-
-                    if o["segments"][0]["no_speech_prob"] < no_speech_thresh:
-                        self.run_ollama(o["text"])
-                    else:
-                        rospy.loginfo("Skipped due to low confidence it's actually speech.")
-
-    def run_ollama(self, text):
-        service_call = rospy.ServiceProxy("/stt/ollamacall", OllamaCall)
-        response = service_call(input = text)
-        print(response)
-
-
-                    
-
-if __name__ == "__main__":
-    rospy.init_node("whisper_wrapper")
-    whisperwrapper = WhisperWrapper()
-    
-
-