whisper_base_node.hpp

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// MIT License
 
// Copyright (c) 2023  Miguel Ángel González Santamarta
 
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
 
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
 
#ifndef WHISPER_BASE_NODE_HPP
#define WHISPER_BASE_NODE_HPP
 
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
 
#include "whisper_msgs/msg/transcription.hpp"
#include "whisper_ros/whisper.hpp"
 
namespace whisper_ros {
 
using CallbackReturn =
    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
class WhisperBaseNode : public rclcpp_lifecycle::LifecycleNode {
 
public:
  WhisperBaseNode();
 
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_configure(const rclcpp_lifecycle::State &);
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_activate(const rclcpp_lifecycle::State &);
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_deactivate(const rclcpp_lifecycle::State &);
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_cleanup(const rclcpp_lifecycle::State &);
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
  on_shutdown(const rclcpp_lifecycle::State &);
 
  virtual void activate_ros_interfaces(){};
  virtual void deactivate_ros_interfaces(){};
 
protected:
  std::string language;
  std::shared_ptr<Whisper> whisper;
 
  whisper_msgs::msg::Transcription transcribe(const std::vector<float> &audio);
 
private:
  std::string model;
  std::string openvino_encode_device;
  int n_processors;
  struct whisper_context_params cparams = whisper_context_default_params();
  struct whisper_full_params wparams;
};
 
} // namespace whisper_ros
 
#endif