Merge branch 'master' of rcs:robocup-speechrec

pocketsphinxAdapter/CMakeLists.txt

@@ -19,6 +19,7 @@ find_package(Qt4 REQUIRED)
 find_package(RSB REQUIRED)
 find_package(RST REQUIRED)
 find_package(RSC REQUIRED)
+FIND_PACKAGE(LibXml2 REQUIRED)
 find_package(RSBXML)
 #MESSAGE (STATUS "Boost_INCLUDE_DIRS: " ${Boost_INCLUDE_DIRS} )
 #MESSAGE (STATUS "Boost_THREAD_LIBRARIES: " ${Boost_LDFLAGS} )

pocketsphinxAdapter/config/cocktailparty/cocktailparty.conf

@@ -17,7 +17,7 @@ autoload=yes;
 name=object;
 hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
 dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/object/object.jsgf;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/cocktailparty/object.jsgf;
 rsbscope=/speechrec/psa/object;
 bestpath=no;
 autoload=yes;

pocketsphinxAdapter/grammar/bironLeave/bironLeave.jsgf

 #JSGF V1.0;
 grammar BIRON_Leave;
-public <statement> = [biron] [please] leave [please] [biron];
+public <leave> = biron [please] leave;

pocketsphinxAdapter/grammar/cocktailparty/object.jsgf

+#JSGF V1.0;
+grammar ToBI_object;
+public <statement> = <objectPhrase>;
+
+<objectPhrase> = [<verb>] [<article>] <objects>;
+<objects> = milk | cocoa | cookies;
+
+<verb> = bring | carry | retrieve | fetch | get | give;
+<article> = the | an | some | a;

pocketsphinxAdapter/grammar/leave/leave.jsgf

 #JSGF V1.0;
 grammar ToBI_leave;
-public <statement> = [tobi] [please] leave [please] [tobi];
+public <leave> = tobi [please] leave;

pocketsphinxAdapter/grammar/person/person.jsgf

@@ -2,5 +2,4 @@
 grammar ToBI_person;
 public <statement> = <naming>;
 <naming> = [(my name is) | (i am)] <name>;
-<name> = James | John | Robert | William | David | Richard | Michael | Charles | Joseph | Thomas
-	| Mary | Patricia | Linda | Barbara | Elizabeth | Jennifer | Maria | Susan | Margaret | Dorothy;
+<name> = james | john | robert | william | david | richard | michael | charles | joseph | thomas | mary | patricia | linda | barbara | elizabeth | jennifer | maria | susan | margaret | dorothy;

pocketsphinxAdapter/grammar/restaurant/restaurant.jsgf

+#JSGF V1.0;
+grammar ToBI_restaurant;
+public <restaurant> = 

pocketsphinxAdapter/nbproject/private/Default.properties

-/home/mschoepf/git/robocup-speechrec/pocketsphinxAdapter/src/configFileParserTest.cpp=/home/mschoepf/git/robocup-speechrec/pocketsphinxAdapter/src#-DQT_CORE_LIB -DQT_DEBUG -DQT_GUI_LIB -DRST_EXPORT= -g3 -gdwarf-2 -I/home/mschoepf/git/robocup-speechrec/pocketsphinxAdapter -I/usr/include/qt4 -I/usr/include/qt4/QtGui -I/usr/include/qt4/QtCore -I/usr/include/sphinxbase -I/usr/include/pocketsphinx -I/usr/include/alsa -I/usr/include/boost-1_49 -I/usr/share/rsb0.9/../../include/rsb0.9 -I/usr/share/rsc0.9/../../include/rsc0.9 -I/usr/share/rsc0.9/../../include/rsc0.9/3rdparty/boost.uuid -I/usr/share/rst0.9/../../include/rst0.9/stable -o CMakeFiles/configFileParser.dir/configFileParserTest.cpp.o -c /home/mschoepf/git/robocup-speechrec/pocketsphinxAdapter/src/configFileParserTest.cpp
+/home/biron/git/robocup-speechrec/pocketsphinxAdapter/src/PocketSphinxWrapper.cpp=/home/biron/git/robocup-speechrec/pocketsphinxAdapter/build/src#-DRST_EXPORT= -DQT_NO_DEBUG -DQT_GUI_LIB -DQT_CORE_LIB -I/home/biron/git/robocup-speechrec/pocketsphinxAdapter/build -I/usr/include/qt4 -I/usr/include/qt4/QtGui -I/usr/include/qt4/QtCore -I/vol/robocup/2013/include -I/vol/robocup/2013/include/sphinxbase -I/vol/robocup/2013/include/pocketsphinx -I/usr/include/alsa -I/vol/robocup/2013/share/rsb0.9/../../include/rsb0.9 -I/vol/robocup/2013/share/rsc0.9/../../include/rsc0.9 -I/vol/robocup/2013/share/rsc0.9/../../include/rsc0.9/3rdparty/boost.uuid -I/vol/robocup/2013/share/rst0.9/../../include/rst0.9/stable -I/usr/include/libxml2 -o CMakeFiles/pocketsphinxAdapter.dir/PocketSphinxWrapper.cpp.o -c /home/biron/git/robocup-speechrec/pocketsphinxAdapter/src/PocketSphinxWrapper.cpp
+/vol/robocup/2013/lib/librsb.so.0.9=/home/biron/git/robocup-speechrec/pocketsphinxAdapter/build/src#CMakeFiles/pocketsphinxAdapter.dir/PocketsphinxAdapter.cpp.o CMakeFiles/pocketsphinxAdapter.dir/PocketSphinxWrapper.cpp.o CMakeFiles/pocketsphinxAdapter.dir/PocketSphinxWidget.cpp.o CMakeFiles/pocketsphinxAdapter.dir/SimpleDoubleThresholdSegmenter.cpp.o CMakeFiles/pocketsphinxAdapter.dir/SimpleTextAddField.cpp.o CMakeFiles/pocketsphinxAdapter.dir/AlsaMicGrabber.cpp.o CMakeFiles/pocketsphinxAdapter.dir/EqualizerColorWidget.cpp.o CMakeFiles/pocketsphinxAdapter.dir/JsgfParser.cpp.o CMakeFiles/pocketsphinxAdapter.dir/publishRsb.cpp.o CMakeFiles/pocketsphinxAdapter.dir/rsbRemoteReceiver.cpp.o CMakeFiles/pocketsphinxAdapter.dir/dataRingBuffer.cpp.o CMakeFiles/pocketsphinxAdapter.dir/configFileParser.cpp.o CMakeFiles/pocketsphinxAdapter.dir/moc_PocketsphinxAdapter.cxx.o CMakeFiles/pocketsphinxAdapter.dir/moc_PocketSphinxWidget.cxx.o CMakeFiles/pocketsphinxAdapter.dir/moc_SimpleDoubleThresholdSegmenter.cxx.o CMakeFiles/pocketsphinxAdapter.dir/moc_SimpleTextAddField.cxx.o CMakeFiles/pocketsphinxAdapter.dir/moc_PocketSphinxWrapper.cxx.o CMakeFiles/pocketsphinxAdapter.dir/moc_AlsaMicGrabber.cxx.o CMakeFiles/pocketsphinxAdapter.dir/moc_EqualizerColorWidget.cxx.o CMakeFiles/pocketsphinxAdapter.dir/moc_publishRsb.cxx.o CMakeFiles/pocketsphinxAdapter.dir/moc_rsbRemoteReceiver.cxx.o -o pocketsphinxAdapter -rdynamic -L/vol/robocup/2013/lib -lpocketsphinx -lsphinxbase -lsphinxad -lpulse -lpulse-simple -lpthread -lm -lblas -llapack -lsndfile -lasound -lQtGui -lQtCore /vol/robocup/2013/lib/librsb.so.0.9 /vol/robocup/2013/lib/librst.so.0.9 /vol/robocup/2013/lib/librsbxml.so.0.9 -lboost_thread-mt -lboost_system-mt /vol/robocup/2013/lib/librsb.so.0.9 /vol/robocup/2013/lib/libspread.so -lboost_date_time-mt /vol/robocup/2013/lib/librst.so.0.9 -lprotobuf /vol/robocup/2013/lib/librsc0.9.so.0.9 -lboost_thread-mt -lboost_filesystem-mt -lboost_signals-mt -lboost_regex-mt -lboost_program_options-mt -lpthread -lboost_system-mt -ldl -lxmltio -lxqilla -lxerces-c -lpthread -llog4cxx -Wl,-rpath,/vol/robocup/2013/lib::::::::::::::::::::::

pocketsphinxAdapter/src/CMakeLists.txt

@@ -83,11 +83,11 @@ add_executable(configFileParser ${configFileParser_SRCS})
 include_directories(${Boost_INCLUDE_DIRS})
 
 add_executable(listenToRsb ${listenToRsb_SRCS})
-include_directories(${RSB_INCLUDE_DIRS} ${RST_INCLUDE_DIRS})
-target_link_libraries( listenToRsb ${POCKETSPHINX_LDFLAGS} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${RSBXML_LIBRARIES} ${Boost_LIBRARIES})
+include_directories(${RSB_INCLUDE_DIRS} ${RST_INCLUDE_DIRS} ${LIBXML2_INCLUDE_DIR})
+target_link_libraries( listenToRsb ${POCKETSPHINX_LDFLAGS} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${RSBXML_LIBRARIES} ${Boost_LIBRARIES} ${LIBXML2_LIBRARIES})
 
 add_executable(sendSpeechRecEnable ${sendSpeechRecEnable_SRCS})
 include_directories(${RSB_INCLUDE_DIRS} ${RST_INCLUDE_DIRS})
 target_link_libraries( sendSpeechRecEnable ${POCKETSPHINX_LDFLAGS} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${RSBXML_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS pocketsphinxAdapter jsgfParser DESTINATION bin)
\ No newline at end of file
+install(TARGETS pocketsphinxAdapter jsgfParser listenToRsb DESTINATION bin)
\ No newline at end of file

pocketsphinxAdapter/src/PocketSphinxWidget.cpp

@@ -143,7 +143,7 @@ pocketSphinxWidget::loadPS()
         }
         connect (psw.get(), SIGNAL ( xmlResult (QString) ), myPublisher.get(), SLOT ( publishMessage (QString) ) );
         connect (psw.get(), SIGNAL ( uttResult (QString) ), this, SLOT ( gotUttResult(QString) ) );
-        connect (myRemoteReceiver.get(), SIGNAL (remoteDisable() ), psw.get(), SLOT ( disableListening() ) );
+        connect (myRemoteReceiver.get(), SIGNAL (remoteDisable() ), psw.get(), SLOT (disableListening() ) );
         connect (myRemoteReceiver.get(), SIGNAL (remoteEnable() ), psw.get(), SLOT (enableListening() ) );
         connect (this, SIGNAL (uttStart() ), psw.get(), SLOT (uttStart() ) );
         connect (this, SIGNAL (uttEnd() ), psw.get(), SLOT (uttEnd() ) );
@@ -153,7 +153,11 @@ pocketSphinxWidget::loadPS()
         rsbScope = rsbLineEdit->text();
         groupBoxLayout = boost::make_shared<QHBoxLayout>();
         finalGroupBox = boost::make_shared<QGroupBox>(nameLineEdit->text());
-        QString infoString ("PocketSphinx loaded successfully and is running");
+        QString infoString;
+        if (0 == rsbScope.compare(""))
+            infoString  = "PocketSphinx loaded successfully";
+        else
+            infoString = QString ("PocketSphinx loaded successfully publishing on scope: ").append(rsbScope);
         psInfoLabel = boost::make_shared<QLabel>(infoString);
         groupBoxLayout->addWidget(psInfoLabel.get());
         finalGroupBox->setLayout(groupBoxLayout.get());
@@ -244,4 +248,10 @@ void
 pocketSphinxWidget::acceptExternalInput(QString s)
 {
     psw->processExternalInput(s);
+}
+
+boost::shared_ptr<rsbRemoteReceiver>
+pocketSphinxWidget::getRemoteReceiver()
+{
+    return myRemoteReceiver;
 }
\ No newline at end of file

pocketsphinxAdapter/src/PocketSphinxWidget.h

@@ -45,6 +45,7 @@ public:
     virtual ~pocketSphinxWidget();
     bool isLoaded();
     QString getName();
+    boost::shared_ptr<rsbRemoteReceiver> getRemoteReceiver();
 private:
     int myId;
     boost::shared_ptr<QGridLayout> formLayout;

pocketsphinxAdapter/src/PocketSphinxWrapper.cpp

@@ -169,13 +169,18 @@ std::string
 PocketSphinxWrapper::ReplaceTerminalWithId (const std::string &xmlString, unsigned int &startid) {
     std::string result = xmlString;
     std::string terminal = ExtractTerminalFromGrammar(xmlString);
+    std::cout << "DEBUG xmlString  " << xmlString << std::endl;
+    std::cout << "DEBUG terminal = " << terminal << std::endl;
     std::string replaceMe = ">";
     replaceMe.append(terminal);
     replaceMe.append("<");
+    std::cout << "DEBUG replaceme = " << replaceMe << std::endl;
     size_t n = 1 + std::count(terminal.begin(), terminal.end(), ' ');
     std::stringstream s;
+    s << ">";
     for (size_t i=0; i < n; i++)
-        s << "><terminal refid=\"" << startid++ <<"\"/><";
+        s << "<terminal refid=\"" << startid++ <<"\"/>";
+    s << "<";
     boost::replace_first(result, replaceMe,s.str());
     return result;
 }

pocketsphinxAdapter/src/PocketSphinxWrapper.h

@@ -59,7 +59,7 @@ public:
 	void RecognizeFromMicrophone();
 	virtual ~PocketSphinxWrapper();
         QString MakeXml(std::string hypothese, int score, std::vector<std::string> grammartree);
-        void processExternalInput(QString input);
+        void processExternalInput(QString input);        
 public slots:
     void pushChunk (short* chunk, unsigned int size);
     void uttStart();

pocketsphinxAdapter/src/PocketsphinxAdapter.cpp

@@ -8,20 +8,23 @@
 
 
 
-pocketsphinxAdapterMainWindow::pocketsphinxAdapterMainWindow(QWidget* parent) : QMainWindow (parent)
+pocketsphinxAdapterMainWindow::pocketsphinxAdapterMainWindow(QWidget* parent) : QMainWindow (parent), connectedToRemote(false)
 {
 	maxDb = averageDb = 0.0;
         psInstanceCount = 0;
 	baseFrame = boost::make_shared<QFrame>(this);
-	baseFrame->setGeometry (0, 0, 1200, 1024);
+	baseFrame->setGeometry (0, 0, 1024, 800);
 	vBoxMainLayout = boost::make_shared<QVBoxLayout>(baseFrame.get());
         hBoxAlsaControlLayout = boost::make_shared<QHBoxLayout>();
         alsaDeviceLabel = boost::make_shared<QLabel> ("Alsa Device: ");
         alsaDeviceLineEdit = boost::make_shared<QLineEdit>(QString("plughw:0,0"));
         openAlsaDeviceCheckBox = boost::make_shared<QCheckBox>("Open Alsa Device");
+        publishStatusCheckBox = boost::make_shared<QCheckBox>("Publish to RSB");
+        publishStatusCheckBox->setChecked(true);
         hBoxAlsaControlLayout->addWidget(alsaDeviceLabel.get());
         hBoxAlsaControlLayout->addWidget(alsaDeviceLineEdit.get());
         hBoxAlsaControlLayout->addWidget(openAlsaDeviceCheckBox.get());
+        hBoxAlsaControlLayout->addWidget(publishStatusCheckBox.get());
         vBoxMainLayout->addLayout(hBoxAlsaControlLayout.get());
 	equalizerWidget = boost::make_shared<EqualizerColorWidget>();
 	vBoxMainLayout->addWidget(equalizerWidget.get());
@@ -47,19 +50,22 @@ pocketsphinxAdapterMainWindow::pocketsphinxAdapterMainWindow(QWidget* parent) :
         QObject::connect(&amg, SIGNAL ( updated_dB_and_clipped(float, bool) ), &w, SLOT ( update_eq_only(float, bool) ) );*/
 }
 
-pocketsphinxAdapterMainWindow::pocketsphinxAdapterMainWindow(boost::shared_ptr<PocketSphinxGlobalConfig> myConfig, QWidget* parent) : QMainWindow(parent) {
+pocketsphinxAdapterMainWindow::pocketsphinxAdapterMainWindow(boost::shared_ptr<PocketSphinxGlobalConfig> myConfig, QWidget* parent) : QMainWindow(parent), connectedToRemote(false) {
     maxDb = averageDb = 0.0;
     psInstanceCount = 0;
     baseFrame = boost::make_shared<QFrame>(this);
-    baseFrame->setGeometry(0, 0, 1200, 1024);
+    baseFrame->setGeometry(0, 0, 1024, 800);
     vBoxMainLayout = boost::make_shared<QVBoxLayout>(baseFrame.get());
     hBoxAlsaControlLayout = boost::make_shared<QHBoxLayout>();
     alsaDeviceLabel = boost::make_shared<QLabel> ("Alsa Device: ");
     alsaDeviceLineEdit = boost::make_shared<QLineEdit>(QString(myConfig->GetAlsaDevice().c_str()));
     openAlsaDeviceCheckBox = boost::make_shared<QCheckBox>("Open Alsa Device");
+    publishStatusCheckBox = boost::make_shared<QCheckBox> ("Publish to RSB");
+    publishStatusCheckBox->setChecked(true);
     hBoxAlsaControlLayout->addWidget(alsaDeviceLabel.get());
     hBoxAlsaControlLayout->addWidget(alsaDeviceLineEdit.get());
     hBoxAlsaControlLayout->addWidget(openAlsaDeviceCheckBox.get());
+    hBoxAlsaControlLayout->addWidget(publishStatusCheckBox.get());
     vBoxMainLayout->addLayout(hBoxAlsaControlLayout.get());
     equalizerWidget = boost::make_shared<EqualizerColorWidget>();
     vBoxMainLayout->addWidget(equalizerWidget.get());
@@ -81,6 +87,7 @@ pocketsphinxAdapterMainWindow::pocketsphinxAdapterMainWindow(boost::shared_ptr<P
     connect(quitButton.get(), SIGNAL(clicked()), this, SLOT(quit()));
     connect(openAlsaDeviceCheckBox.get(), SIGNAL(stateChanged(int)), this, SLOT(handleAlsa(int)));
     connect(addPWidget.get(), SIGNAL(clicked()), this, SLOT(addPocketSphinxWidget()));
+    connect(publishStatusCheckBox.get(), SIGNAL( stateChanged(int) ), this, SLOT (gotToggle(int) ) );
     std::vector < boost::shared_ptr<PocketSphinxInstanceConfig> > psConfigVector = myConfig->GetPocketSphinxInstanceVector();
     for (std::vector<boost::shared_ptr<PocketSphinxInstanceConfig> >::iterator it = psConfigVector.begin(); it != psConfigVector.end(); it++) {
         pWidget.push_back(boost::make_shared<pocketSphinxWidget>(psInstanceCount,*it));
@@ -89,7 +96,10 @@ pocketsphinxAdapterMainWindow::pocketsphinxAdapterMainWindow(boost::shared_ptr<P
         connect(pWidget.at(psInstanceCount).get(), SIGNAL(psLoaded(int)), this, SLOT(psAddToText(int)));
         psInstanceCount++;
         if ((*it)->IsAutoload())
+        {
           pWidget.back()->loadPS();
+          boost::this_thread::sleep(boost::posix_time::millisec(500));
+        }
     }    
     /*
     QObject::connect(&amg, SIGNAL ( updated_dB_and_clipped(float, bool) ), &w, SLOT ( update_eq_only(float, bool) ) );*/
@@ -118,6 +128,14 @@ pocketsphinxAdapterMainWindow::addPocketSphinxWidget()
 void
 pocketsphinxAdapterMainWindow::psAddToText(int id)
 {
+    if (!connectedToRemote)
+    {
+        boost::shared_ptr<rsbRemoteReceiver> localReceiver = pWidget.at(id)->getRemoteReceiver();
+        connect (localReceiver.get(), SIGNAL (remoteEnable() ),  SLOT (setPublishEnable() ) );
+        connect (localReceiver.get(), SIGNAL (remoteDisable() ), SLOT (setPublishDisable() ) );
+        connect (this, SIGNAL (overwriteEnable() ),localReceiver.get(), SLOT (overwriteEnable() ) );
+        connect (this, SIGNAL (overwriteDisable() ), localReceiver.get(), SLOT (overwriteDisable() ) );
+    }
     psResultsTab->insertTab(id,psResultsTextEdit.at(id).get(),pWidget.at(id)->getName());
     connect (pWidget.at(id).get(), SIGNAL (uttResult(QString) ), psResultsTextEdit.at(id).get(), SLOT (update_text (QString) ));
     connect (psResultsTextEdit.at(id).get(), SIGNAL (uttInput (QString) ), pWidget.at(id).get(), SLOT (acceptExternalInput (QString) ));
@@ -227,6 +245,31 @@ pocketsphinxAdapterMainWindow::quit()
       emit gotQuit();
 }
 
+void
+pocketsphinxAdapterMainWindow::gotToggle(int state)
+{
+    if (state == Qt::Checked)
+    {
+        emit overwriteEnable();        
+    }
+    else
+    {
+        emit overwriteDisable();
+    }
+}
+
+void
+pocketsphinxAdapterMainWindow::setPublishEnable()
+{    
+    publishStatusCheckBox->setChecked(true);
+}
+
+void
+pocketsphinxAdapterMainWindow::setPublishDisable()
+{
+    publishStatusCheckBox->setChecked(false);
+}
+
 int
 main(int argc, char** argv) {
     QApplication myapp(argc, argv);
@@ -240,7 +283,7 @@ main(int argc, char** argv) {
         myConfig = myConfigFileParser.getConfig(); //This essentially means: get defaults
     }    
     pocketsphinxAdapterMainWindow w(myConfig);
-    w.setGeometry(200, 100, 1200, 1024);
+    w.setGeometry(200, 100, 1024, 800);
     w.show();
     QObject::connect(&w, SIGNAL(gotQuit()), &myapp, SLOT(quit()));
     if (myConfig->IsOpenDeviceDirectly())

pocketsphinxAdapter/src/PocketsphinxAdapter.h

@@ -33,6 +33,7 @@ private:
 	float maxDb;
 	float averageDb;
 	float stAverageDb;
+        bool connectedToRemote;
         unsigned int psInstanceCount;
 	boost::shared_ptr<QFrame> baseFrame;
 	boost::shared_ptr<QVBoxLayout> vBoxMainLayout;
@@ -45,6 +46,7 @@ private:
         boost::shared_ptr<QLabel> alsaDeviceLabel;
         boost::shared_ptr<QLineEdit> alsaDeviceLineEdit;
         boost::shared_ptr<QCheckBox> openAlsaDeviceCheckBox;
+        boost::shared_ptr<QCheckBox> publishStatusCheckBox;
         boost::shared_ptr<QTabWidget> psResultsTab;
 	std::vector<boost::shared_ptr <simpleTextAddField> > psResultsTextEdit;
         boost::shared_ptr<QVBoxLayout> pWidgetLayout;
@@ -59,6 +61,8 @@ private:
 
 signals:
 	void gotQuit();
+        void overwriteEnable();
+        void overwriteDisable();
 
 public slots:
 	void update_eq_string (float val, int db_start, int db_utt, QString phase);
@@ -67,7 +71,9 @@ public slots:
         void handleAlsa (int state);
         void addPocketSphinxWidget();
         void psAddToText(int id);
-
+        void setPublishEnable();
+        void setPublishDisable();
+        void gotToggle(int state);
 public:
     pocketsphinxAdapterMainWindow(QWidget *parent = 0);
     pocketsphinxAdapterMainWindow(boost::shared_ptr<PocketSphinxGlobalConfig> myConfig,QWidget *parent = 0);

pocketsphinxAdapter/src/listenToRsb.cpp

@@ -15,14 +15,49 @@
 #include <rsbxml0.9/rsbxml/XOPConverter.h>
 #include <rsbxml0.9/rsbxml/XOP.h>
 
+extern "C" {
+#include <libxml/parser.h>
+#include <libxml/tree.h>
+#include <libxml/xpath.h>
+}
 
 using namespace std;
 
+xmlXPathObjectPtr
+getnodeset (xmlDocPtr doc, xmlChar *xpath){
+	
+	xmlXPathContextPtr context;
+	xmlXPathObjectPtr result;
+
+	context = xmlXPathNewContext(doc);
+	if (context == NULL) {
+		printf("Error in xmlXPathNewContext\n");
+		return NULL;
+	}
+	result = xmlXPathEvalExpression(xpath, context);
+	xmlXPathFreeContext(context);
+	if (result == NULL) {
+		printf("Error in xmlXPathEvalExpression\n");
+		return NULL;
+	}
+	if(xmlXPathNodeSetIsEmpty(result->nodesetval)){
+		xmlXPathFreeObject(result);
+                printf("No result\n");
+		return NULL;
+	}
+	return result;
+}
+
 /*
  * 
  */
 int main(int argc, char** argv) {
-    rsb::Scope scope(argc > 1 ? argv[1] : "/robocup/pocketsphinx/default");
+    
+    LIBXML_TEST_VERSION
+    
+    xmlDocPtr doc;
+    
+    rsb::Scope scope(argc > 1 ? argv[1] : "/speechrec/psa");
     boost::shared_ptr<rsb::converter::XOPConverter> myXopConverter = boost::make_shared<rsb::converter::XOPConverter>();    
     rsb::converter::converterRepository<std::string>()->registerConverter(myXopConverter);
     
@@ -34,9 +69,38 @@ int main(int argc, char** argv) {
     // Print events as they are received.
     while (true) {
         rsb::EventPtr event = reader->read();
-        std::cout << event << std::endl;
-    }
+        //std::cout << event << std::endl;
+        boost::shared_ptr<rsb::transport::XOP> myXOP = boost::static_pointer_cast<rsb::transport::XOP> (event->getData());
+        //std::cout << myXOP->getDocumentText() << std::endl;
+
+        const char* buffer = new char[myXOP->getDocumentText().size()];
+        doc = xmlReadMemory(myXOP->getDocumentText().data(), myXOP->getDocumentText().size(), "noname.xml", NULL, 0);
+        if (doc == NULL) {
+            std::cerr << "Failed to parse document: " << myXOP->getDocumentText() << std::endl;
+        }
+        else {
+            xmlChar *xpath = (xmlChar*) "//part";
+            xmlNodeSetPtr nodeset;
+            xmlXPathObjectPtr result;
+            int i;
+            xmlChar *keyword;            
+            result = getnodeset(doc, xpath);
+            if (result) {
+                nodeset = result->nodesetval;
+                for (i = 0; i < nodeset->nodeNr; i++) {
+                    keyword = xmlNodeListGetString(doc, nodeset->nodeTab[i]->xmlChildrenNode, 1);
+                    std::cout <<  keyword << " ";
+                    xmlFree(keyword);
+                }
+                std::cout << std::endl;
+                xmlXPathFreeObject(result);
+            }
+            xmlFreeDoc(doc);
+            
 
-    return 0;
+        }
+    }
+    xmlCleanupParser();
 }
 
+

pocketsphinxAdapter/src/publishRsb.cpp

@@ -8,6 +8,7 @@
 #include "publishRsb.h"
 
 boost::shared_ptr<rsb::converter::XOPConverter> publishRsb::myXopConverter;
+boost::mutex publishRsb::myMutex;
 
 publishRsb::publishRsb(const std::string &scope) : scope(scope) {
     if (myXopConverter.use_count() < 1){
@@ -23,6 +24,7 @@ void
 publishRsb::publishMessage(QString message)
 {
     std::string temp = message.toStdString();
+    boost::unique_lock<boost::mutex> lock (myMutex);
     boost::shared_ptr<rsb::transport::XOP> myData = boost::make_shared<rsb::transport::XOP>(temp);
     myInformer->publish(myData);
 }

pocketsphinxAdapter/src/publishRsb.h

@@ -11,6 +11,7 @@
 #include <QObject>
 #include <boost/shared_ptr.hpp>
 #include <boost/make_shared.hpp>
+#include <boost/thread/mutex.hpp>
 #include <rsb/Factory.h>
 #include <rsc/rscexports.h>
 #include <rsb/converter/Repository.h>
@@ -25,6 +26,7 @@ class publishRsb : public QObject{
     Q_OBJECT
     
 public:
+    static boost::mutex myMutex;
     publishRsb(const std::string &scope);
     virtual ~publishRsb();
 public slots:

pocketsphinxAdapter/src/rsbRemoteReceiver.cpp

@@ -59,6 +59,11 @@ rsbCallbackReceiver::getState() {
     return state;
 }
 
+void
+rsbCallbackReceiver::setState(int newstate) {
+    state = newstate;
+}
+
 
 rsbRemoteReceiver::rsbRemoteReceiver(const std::string &scope) : scope(scope) {    
     rsb::Factory & factory = rsb::getFactory();
@@ -100,3 +105,17 @@ rsbRemoteReceiver::runner(){
         }        
     }
 }
+
+void
+rsbRemoteReceiver::overwriteDisable()
+{
+    myReceiver->setState(0);
+    emit remoteDisable();
+}
+
+void
+rsbRemoteReceiver::overwriteEnable()
+{
+    myReceiver->setState(1);
+    emit remoteEnable();
+}
\ No newline at end of file