/* * TalkingHead.c * * Author: Eric Lundquist * * Description: Open a serial port connection to the DecTalk Host computer port, set phoneme logging on. * Open a serial port connection to the Mini SSC II servo controller. Read phonetic strings from the * DecTalk and command the babbling head servos to move lips in sync with the speech. * * History: * January 10, 2003 - Initial creation...Lundquist * */ #include #include #include #include #include #include #include void *dectalkReader (void *); void *miniSSCWriter (void *); void *servoPositioner (void *); char getnextchar(); char nextchar(); void snooze(int); void mouth(int); /* Some Global constants */ #define DTHOSTDEVICE "/dev/ttyS4" /* Port that DecTalk Host Port is tied to */ #define HEADDEVICE "/dev/ttyS5" /* Port that the Mini SSC II is tied to */ #define BAUDRATE B9600 /* DecTalk and SSC both use 9600 8N1 */ #define _POSIX_SOURCE 1 /* POSIX Compliant Source */ #define RINGBUFFERSIZE 2048 /* Size of circular ring buffer */ #define SETUPSTRING "SETUP>" /* Expected response from DecTalk */ #define SYLABLETIME 50 /* ms per sylable at 180 words per minute */ #define COMMATIME 160 /* comma pause */ #define SENTENCETIME 640 /* Pause at end of sentence */ /* Some Global variables */ int inpfd; /* File Descriptor for input */ int outfd; /* File Descriptor for output */ char ringBuffer[RINGBUFFERSIZE]; /* Global circular ring buffer */ int ringStart = 0; /* Ring buffer start index (updated by output) */ int ringEnd = 0; /* Ring buffer end index (updated by input) */ /* Viseme Table */ /* Servo layout * 0 - jaw * 1 - top lip center left * 2 - top lip center right * 3 - top lip far right * 4 - lower lip far left * 5 - lower lip center left * 6 - lower lip center right * 7 - lower lip far right */ int visemes [13][8] = { { 85, 125, 175, 125, 184, 105, 185, 75}, /* 0 Mouth closed m, p, b ' ' */ { 125, 145, 155, 75, 184, 135, 125, 25}, /* 1 d, t, z, n, en, r, rr, s, sh */ { 86, 185, 115, 1, 254, 185, 75, 1}, /* 2 l, el */ { 95, 175, 125, 41, 224, 165, 115, 51}, /* 3 g, k, ax, hx, yx */ { 94, 145, 155, 2, 254, 145, 145, 2}, /* 4 ix, sh, jh, ch */ { 135, 165, 135, 61, 194, 105, 175, 51}, /* 5 ih, iy, ay */ { 105, 175, 125, 3, 214, 145, 115, 21}, /* 6 eh, ey, ah */ { 107, 225, 65, 81, 194, 175, 65, 91}, /* 7 ow */ { 137, 134, 145, 82, 184, 125, 145, 81}, /* 8 ae, ao, aa */ { 87, 194, 95, 1, 234, 155, 105, 31}, /* 9 w. uw */ { 115, 254, 45, 2, 184, 175, 65, 61}, /* 10 uh */ { 75, 154, 125, 31, 254, 174, 35, 1}, /* 11 v, f */ { 97, 194, 105, 71, 184, 154, 95, 61}}; /* 12 dh, th */ int desired[8] = {127, 127, 127, 127, 127, 127, 127, 127}; /* Destination servo pos */ int currpos[8] = {0, 0, 0, 0, 0, 0, 0, 0}; /* current servo position */ main() { char str[256]; struct termios portOptions; pthread_t readerId; pthread_t writerId; pthread_t servoId; int status; printf("TalkingHead v1.0\n"); /* Open DecTalk Host Port */ #ifdef DEBUG printf("Opening DecTalk Host Port\n"); #endif inpfd = open(DTHOSTDEVICE, O_RDWR | O_NOCTTY); if (inpfd < 0) { perror("Unable to open DecTalk Host Port"); } #ifdef DEBUG printf("DecTalk Host Port Opened\n"); #endif tcgetattr(inpfd, &portOptions); /* Get port option structure */ bzero(&portOptions, sizeof(portOptions)); portOptions.c_cflag = B9600 | CS8 | CLOCAL | CREAD; portOptions.c_iflag = IGNPAR | IXON | IXOFF | IXANY; portOptions.c_oflag = 0; portOptions.c_lflag = 0; portOptions.c_cc[VTIME] = 2; portOptions.c_cc[VMIN] = 1; portOptions.c_cc[VSTART] = 021; portOptions.c_cc[VSTOP] = 023; tcflush(inpfd, TCIFLUSH); /* clear anything pending */ tcsetattr(inpfd, TCSANOW, &portOptions); /* Set up the port */ #ifdef DEBUG printf("Set DecTalk Host Port Options\n"); #endif status = pthread_create(&readerId, NULL, dectalkReader, NULL); if (status != 0) { perror ("dectalkReader pthread_create failed"); exit(0); } /* Open Mini SSC Port */ #ifdef DEBUG printf("Opening Mini SSC Port\n"); #endif outfd = open(HEADDEVICE, O_RDWR | O_NOCTTY); if (outfd < 0) { perror("Unable to open Mini SSC Port"); } #ifdef DEBUG printf("Mini SSC Port Opened\n"); #endif tcflush(outfd, TCIFLUSH); /* clear anything pending */ tcsetattr(outfd, TCSANOW, &portOptions); /* Set up the port */ #ifdef DEBUG printf("Set Mini SSC Port Options\n"); #endif status = pthread_create(&writerId, NULL, miniSSCWriter, NULL); if (status != 0) { perror ("miniSSCWriter pthread_create failed"); exit(0); } /* Fire up the servo positioner thread */ status = pthread_create(&servoId, NULL, servoPositioner, NULL); if (status != 0) { perror ("servoPositioner pthread_create failed"); exit(0); } pthread_join(readerId, NULL); pthread_join(writerId, NULL); pthread_join(servoId, NULL); } void *dectalkReader(void *arg) { char inLine[256]; int inLength; int inOffset; int outLength; int i; #ifdef DEBUG printf("dectalkReader thread started\n"); #endif tcsendbreak(inpfd, 0); #ifdef DEBUG printf("sent a BREAK\n"); #endif inLength = 0; inOffset = 0; while (inOffset < strlen(SETUPSTRING)) { inLength = read(inpfd, &inLine[inOffset], 255); inOffset += inLength; } #ifdef DEBUG printf("Received from DecTalk: %s\n", inLine); #endif outLength = write(inpfd, "SET LOG PHONEME ON\r", 19); sleep(1); /* ZZzzzzz.... */ outLength = write(inpfd, "EXIT\r", 5); sleep(1); tcflush(inpfd, TCIFLUSH); /* clear anything pending */ #ifdef DEBUG printf("Listening for DecTalk Host Phonemes\n"); #endif /* Main input loop */ while (1) { inLength = read(inpfd, inLine, 255); #ifdef DEBUG printf("received %d characters\n", inLength); #endif for (i=0; i= RINGBUFFERSIZE) { ringEnd = 0; } } #ifdef DEBUG printf("start=%d end=%d\n", ringStart, ringEnd); #endif } } void *miniSSCWriter (void *arg) { int duration; unsigned char ch; #ifdef DEBUG printf("miniSSCWriter thread started\n"); #endif /* Main output processing loop */ while (1) { if (ringStart == ringEnd) { /* Nothing to do */ snooze(1); /* Sleep for a millisecond */ } else { /* There are characters in the buffer */ ch = getnextchar(); #ifdef DEBUG printf("Processing Character %c\n", ch); #endif if ((ch == '!') || (ch == '.') || (ch == '?')) { /* !, ., ? */ mouth(0); /* Close mouth */ snooze (SENTENCETIME); /* end of sentence delay */ } else if (ch == ',') { mouth(0); snooze (COMMATIME); /* comma pause */ } else if ((ch == ' ') || (ch == 'b') || (ch == 'p') || (ch == 'm') || /* ' ', b, p, m */ ((ch == 'e') && (nextchar() == 'm'))) { if (ch == 'e') { getnextchar(); } mouth(0); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if (((ch == 'd') && (nextchar() != 'h')) || /* d, t, z, s, sh, r, rr, n, en */ ((ch == 't') && (nextchar() != 'h')) || (ch == 's') || ((ch == 'z') && (nextchar() != 'h')) || ((ch == 'n') && (nextchar() != 'x')) || ((ch == 'e') && (nextchar() == 'n')) || (ch == 'r')) { if (((ch == 'r') && (nextchar() == 'r')) || ((ch == 's') && (nextchar() == 'h')) || (ch == 'e')) { /* pull the next r */ getnextchar(); } mouth(1); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if ((ch == 'l') || /* l, el */ ((ch == 'e') && (nextchar() == 'l'))) { if (ch == 'e') { getnextchar(); } mouth(2); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if ((ch == 'k') || (ch == 'g') || /* yx, g, k, hx, ax */ ((ch == 'y') && (nextchar() != 'u')) || ((ch == 'a') && (nextchar() == 'x')) || ((ch == 'h') && (nextchar() == 'x'))) { if (((ch == 'a') && (nextchar() == 'x')) || ((ch == 'h') && (nextchar() == 'x')) || ((ch == 'y') && (nextchar() == 'x'))) { getnextchar(); /* burn second char */ } mouth(3); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if (((ch == 'i') && (nextchar() == 'x')) || /* ix, sh, jh, ch */ ((ch == 's') && (nextchar() == 'h')) || ((ch == 'j') && (nextchar() == 'h')) || ((ch == 'c') && (nextchar() == 'h'))) { getnextchar(); /* burn second char */ mouth(4); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if (((ch == 'i') && (nextchar() == 'h')) || /* ih, iy, ay */ ((ch == 'i') && (nextchar() == 'y')) || ((ch == 'a') && (nextchar() == 'y'))) { getnextchar(); /* burn next char */ mouth(5); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if (((ch == 'e') && (nextchar() == 'h')) || /* eh, ey, ah */ ((ch == 'e') && (nextchar() == 'y')) || ((ch == 'a') && (nextchar() == 'h'))) { getnextchar(); /* burn second character */ mouth(6); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if ((ch == 'o') && (nextchar() == 'w')) { /* ow */ getnextchar(); mouth(7); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if (((ch == 'a') && (nextchar() == 'e')) || /* ae, ao, aa */ ((ch == 'a') && (nextchar() == 'o')) || ((ch == 'a') && (nextchar() == 'a'))) { getnextchar(); mouth(8); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if ((ch == 'w') || /* w, uw */ ((ch == 'u') && (nextchar() == 'w'))) { if (ch == 'u') { getnextchar(); } mouth(9); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if ((ch == 'u') && (nextchar() == 'h')) { /* uh */ getnextchar(); mouth(10); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if ((ch == 'v') || (ch == 'f')) { /* v, f */ mouth(11); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(duration); } else if (((ch == 'd') && (nextchar() == 'h')) || /* dh, th */ ((ch == 't') && (nextchar() == 'h'))) { getnextchar(); /* burn second char */ mouth(12); if (nextchar() == '<') { duration = getduration(); } else { duration = SYLABLETIME; } snooze(SYLABLETIME); } else { #ifdef DEBUG printf("skipping character %c\n", ch); #endif mouth(0); } } } } char getnextchar() { char ch; ch = ringBuffer[ringStart++]; if (ringStart >= RINGBUFFERSIZE) { ringStart = 0; } return ch; } int getduration() { char str[64]; char ch; int duration, pitch; int status; int i; i = 0; ch = getnextchar(); /* should be a '<' */ if (ch != '<') { printf("getduration expected < \n"); return 0; } while ((ch != '>') && (i<63)) { str[i++] = ch; ch = getnextchar(); } str[i++] = ch; str[i++] = 0; /* terminate local string */ if (i>20) { /* something is rotton here */ printf("getduration couldn't find > in %s\n", str); } status = sscanf(str, "<%d,%d>", &duration, &pitch); /* let scanf work its magic */ if (status < 1) { printf("getduration couldn't find duration in %s\n", str); } return duration; } char nextchar() { return ringBuffer[ringStart]; } void *servoPositioner (void *arg) { int i; unsigned char servoCmd[3]; struct timeval Timeout; #ifdef DEBUG printf("servoPositioner Thread started\n"); #endif while (1) { for (i=0; i<8; i++) { if (desired[i] != currpos[i]) { if (currpos[i] < desired[i]) { currpos[i]++; } else { currpos[i]--; } currpos[i] = (desired[i] + currpos[i]) / 2; servoCmd[0] = 0xff; servoCmd[1] = i; servoCmd[2] = currpos[i]; write(outfd, servoCmd, 3); } } Timeout.tv_usec = 20; Timeout.tv_sec = 0; select(0, 0, NULL, NULL, &Timeout); } } void mouth(int position) { int i; #ifdef DEBUG printf("mouth position %d\n", position); #endif for (i=0; i<8; i++) { desired[i] = visemes[position][i]; } } void snooze(int msec) { struct timeval Timeout; #ifdef DEBUG if (msec != 1) printf("snoozing %d msec\n", msec); #endif Timeout.tv_usec = msec * 1000; Timeout.tv_sec = 0; select(0, 0, NULL, NULL, &Timeout); }