add sample code of dialogflow

dialogflow_task_executive/CMakeLists.txt

@@ -1,9 +1,31 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(dialogflow_task_executive)
 
+if($ENV{ROS_DISTRO} STREQUAL "indigo")
+  message(WARNING "following requirements.txt syntax is not support on 14.04")
+  message(WARNING "google-api-core[grpc]==1.31.5  # via google-cloud-language")
+  find_package(catkin)
+  catkin_package()
+  return()
+endif()
+execute_process(COMMAND bash -c "gcc -dumpmachine" OUTPUT_VARIABLE gcc_dump_machine OUTPUT_STRIP_TRAILING_WHITESPACE)
+message("-- gcc dumpmachine returns ${gcc_dump_machine}")
+if(NOT gcc_dump_machine MATCHES "x86_64-.*")
+  message(WARNING "pip -i requirements.txt work only with i686 ???")
+  message(WARNING "`pip install grpcio` fails with
+  third_party/boringssl-with-bazel/src/crypto/hrss/asm/poly_rq_mul.S: Assembler messages:
+  third_party/boringssl-with-bazel/src/crypto/hrss/asm/poly_rq_mul.S:306: Error: bad register name `%rbp'
+  third_party/boringssl-with-bazel/src/crypto/hrss/asm/poly_rq_mul.S:308: Error: bad register expression
+  third_party/boringssl-with-bazel/src/crypto/hrss/asm/poly_rq_mul.S:309: Error: bad register name `%rsp'")
+  find_package(catkin)
+  catkin_package()
+  return()
+endif()
+
 find_package(catkin REQUIRED COMPONENTS
     message_generation
     std_msgs
+    catkin_virtualenv
 )
 
 add_message_files(
@@ -20,10 +42,12 @@ catkin_package(
   CATKIN_DEPENDS message_runtime
 )
 
+catkin_generate_virtualenv(INPUT_REQUIREMENTS requirements.in)
 
-install(DIRECTORY node_scripts 
+file(GLOB NODE_SCRIPTS_FILES node_scripts/*.py)
+catkin_install_python(
+  PROGRAMS ${NODE_SCRIPTS_FILES}
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  USE_SOURCE_PERMISSIONS
 )
 
 install(DIRECTORY launch

dialogflow_task_executive/README.md

@@ -123,6 +123,19 @@ script
 end script
 ```
 
+## Sample programs for JSK users
+
+1. Open [Dialogflow](https://dialogflow.cloud.google.com/?authuser=1#/editAgent/eternal-byte-236613/) and setup Intents and Entities.
+
+2. Download google credentials file. You can download from [Google Drive](https://drive.google.com/file/d/1VxniytpH9J12ii9jphtBylydY1_k5nXf/view?usp=sharing) link.
+
+
+3. Start sample code
+
+```
+roslaunch dialogflow_task_executive demo.launch google_cloud_credentials_json:=${HOME}/Downloads/eternal-byte-236613-4bc6962824d1.json
+```
+
 ## Author
 
 Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>

dialogflow_task_executive/launch/dialogflow_task_executive.launch

@@ -1,7 +1,17 @@
 <launch>
   <arg name="run_app_manager" default="false" />
-  <arg name="credential" default="$(env GOOGLE_APPLICATION_CREDENTIALS)"/>
-  <arg name="project_id" default="$(env DIALOGFLOW_PROJECT_ID)"/>
+  <arg name="applist" default="" />
+  <arg name="credential" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS)"/>
+  <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID)"/>
+  <arg name="enable_hotword" default="true" />
+
+  <!-- options for dialogflow_client -->
+  <arg name="use_audio" default="false" />
+  <arg name="use_tts" default="true" />
+  <arg name="language" default="ja-JP" />
+  <arg name="soundplay_action_name" default="robotsound_jp" />
+  <arg name="volume" default="1.0" />
+
 
   <node name="speech_to_text_mux" pkg="topic_tools" type="mux"
         args="/speech_to_text /speech_to_text_google /speech_to_text_julius" >
@@ -12,10 +22,14 @@
         pkg="dialogflow_task_executive" type="dialogflow_client.py"
         output="screen">
     <rosparam subst_value="true">
-      use_audio: false
-      language: ja-JP
-      use_tts: true
+      use_audio: $(arg use_audio)
+      use_tts: $(arg use_tts)
+      language: $(arg language)
+      soundplay_action_name: $(arg soundplay_action_name)
+      volume: $(arg volume)
       project_id: $(arg project_id)
+      google_cloud_credentials_json: $(arg credential)
+      enable_hotword: $(arg enable_hotword)
     </rosparam>
   </node>
 

dialogflow_task_executive/node_scripts/dialogflow_client.py

@@ -9,6 +9,7 @@
 import rospy
 import threading
 import uuid
+import os
 
 from audio_common_msgs.msg import AudioData
 from sound_play.msg import SoundRequest
@@ -71,8 +72,13 @@ def __init__(self):
         # sample rate of audio data
         self.audio_sample_rate = rospy.get_param("~audio_sample_rate", 16000)
 
+        # if GOOLGE_APPLICATION_CREDENTIALS is not set, use google_cloud_credentials_json param
+        if not "GOOGLE_APPLICATION_CREDENTIALS" in os.environ:
+            os.environ["GOOGLE_APPLICATION_CREDENTIALS"] = rospy.get_param("~google_cloud_credentials_json")
+
         # use TTS feature
         self.use_tts = rospy.get_param("~use_tts", True)
+        self.volume = rospy.get_param('~volume', 1.0)
 
         # timeout for voice input activation by hotword
         self.timeout = rospy.get_param("~timeout", 10.0)
@@ -88,8 +94,10 @@ def __init__(self):
         self.last_spoken = rospy.Time(0)
 
         if self.use_tts:
+            soundplay_action_name = rospy.get_param(
+                '~soundplay_action_name', 'robotsound_jp')
             self.sound_action = actionlib.SimpleActionClient(
-                "robotsound_jp", SoundRequestAction)
+                soundplay_action_name, SoundRequestAction)
             if not self.sound_action.wait_for_server(rospy.Duration(5.0)):
                 self.sound_action = None
             else:
@@ -115,6 +123,8 @@ def __init__(self):
             self.sub_speech = rospy.Subscriber(
                 "speech_to_text", SpeechRecognitionCandidates,
                 self.input_cb)
+            self.sub_text = rospy.Subscriber(
+                "text", String, self.input_cb)
 
         self.df_thread = threading.Thread(target=self.df_run)
         self.df_thread.daemon = True
@@ -137,7 +147,12 @@ def input_cb(self, msg):
             self.state.set(State.LISTENING)
         elif not self.use_audio:
             # catch hotword from string
-            self.hotword_cb(String(data=msg.transcript[0]))
+            if isinstance(msg, SpeechRecognitionCandidates):
+                self.hotword_cb(String(data=msg.transcript[0]))
+            elif isinstance(msg, String):
+                self.hotword_cb(data)
+            else:
+                rospy.logerr("Unsupported data class {}".format(msg))
 
         if self.state == State.LISTENING:
             self.queue.put(msg)
@@ -164,11 +179,16 @@ def print_result(self, result):
     def publish_result(self, result):
         msg = DialogResponse()
         msg.header.stamp = rospy.Time.now()
-        if result.action is not 'input.unknown':
+        if result.action != 'input.unknown':
             rospy.logwarn("Unknown action")
-        msg.query = result.query_text.encode("utf-8")
         msg.action = result.action
-        msg.response = result.fulfillment_text.encode("utf-8")
+
+        if self.language == 'ja-JP':
+            msg.query = result.query_text.encode("utf-8")
+            msg.response = result.fulfillment_text.encode("utf-8")
+        else:
+            msg.query = result.query_text
+            msg.response = result.fulfillment_text
         msg.fulfilled = result.all_required_params_present
         msg.parameters = MessageToJson(result.parameters)
         msg.speech_score = result.speech_recognition_confidence
@@ -181,9 +201,17 @@ def speak_result(self, result):
         msg = SoundRequest(
             command=SoundRequest.PLAY_ONCE,
             sound=SoundRequest.SAY,
-            volume=1.0,
+            volume=self.volume,
             arg=result.fulfillment_text.encode('utf-8'),
             arg2=self.language)
+
+        # for japanese or utf-8 languages
+        if self.language == 'ja-JP':
+            msg.arg = result.fulfillment_text.encode('utf-8')
+            msg.arg2 = self.language
+        else:
+            msg.arg = result.fulfillment_text
+
         self.sound_action.send_goal_and_wait(
             SoundRequestGoal(sound_request=msg),
             rospy.Duration(10.0))
@@ -207,6 +235,9 @@ def df_run(self):
                 elif isinstance(msg, SpeechRecognitionCandidates):
                     result = self.detect_intent_text(
                         msg.transcript[0], session)
+                elif isinstance(msg, String):
+                    result = self.detect_intent_text(
+                        msg.data, session)
                 else:
                     raise RuntimeError("Invalid data")
                 self.print_result(result)

dialogflow_task_executive/package.xml

@@ -13,13 +13,15 @@
   <url type="bugtracker">https://github.com/jsk-ros-pkg/jsk_3rdparty/issues</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>catkin_virtualenv</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>std_msgs</build_depend>
   <run_depend>app_manager</run_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>python-dialogflow-pip</run_depend>
-  
+
   <export>
+    <pip_requirements>requirements.txt</pip_requirements>
   </export>
 
 </package>

dialogflow_task_executive/requirements.in

@@ -0,0 +1,2 @@
+dialogflow==1.1.1
+

dialogflow_task_executive/samples/client.l

@@ -0,0 +1,70 @@
+#!/usr/bin/env roseus
+
+(ros::roseus-add-msgs "dialogflow_task_executive")
+(ros::roseus "dialogflow_example")
+
+(defun json-to-list (str)
+  (let (ret sstr)
+    ;; skip first {
+    (setq str (string-trim (format nil "{}~% ") str))
+    ;; get first elemnet
+    (while str
+      (if (position #\, str)
+          (setq sstr (subseq str 0 (position #\, str))
+                str (subseq str (1+ (position #\, str))))
+        (setq sstr str str nil))
+      (push (cons (string-trim (format nil "\"~% ") (subseq sstr 0 (position #\: sstr)))
+                  (string-trim (format nil "\"~% ") (subseq sstr (+ (position #\: sstr) 2)))) ret)
+      )
+    ret))
+(defclass dialogflow-client
+  :super propertied-object
+  :slots (response-msg string-msg response-sub publish-tm))
+
+(defmethod dialogflow-client
+  (:init
+   ()
+   (setq response-sub (ros::subscribe "/dialog_response" dialogflow_task_executive::DialogResponse #'send self :dialog-cb))
+   (setq response-msg (instance dialogflow_task_executive::DialogResponse :init))
+   (setq string-msg (instance std_msgs::String :init))
+   (ros::advertise "/text" std_msgs::string 1)
+   ;; wait for text publisher
+   (ros::rate 1)
+   (while (< (ros::get-num-subscribers "/text") 1)
+     (ros::sleep))
+   self)
+  (:dialog-cb
+   (msg)
+   (setq response-msg msg))
+  (:wait-for-response
+   ()
+   (while (< (send (ros::time- (send response-msg :header :stamp) publish-tm) :to-sec) 0)
+     (ros::ros-info "wait for response ... ")
+     (ros::spin-once)
+     (ros::sleep))
+   response-msg)
+  (:publish-dialog
+   (text)
+   (let (ret)
+     (setq publish-tm (ros::time-now))
+     (send string-msg :data text)
+     (ros::publish "/text" string-msg)
+     (setq ret (send self :wait-for-response))
+     (send ret :parameters (json-to-list (send ret :parameters)))
+     (ros::ros-info "action     : ~A" (send ret :action))
+     (ros::ros-info "query      : ~A" (send ret :query))
+     (ros::ros-info "response   : ~A" (send ret :response))
+     (ros::ros-info "parameters : ~A" (send ret :parameters))
+     (ros::ros-info "    speech : ~A" (send ret :speech_score))
+     (ros::ros-info "    intent : ~A" (send ret :intent_score))
+     ret))
+  )
+
+
+(ros::roseus "client")
+(setq client (instance dialogflow-client :init))
+(send client :publish-dialog "一緒に映画見よう")
+(send client :publish-dialog "壁紙がきれいだったよ")
+(send client :publish-dialog "一緒に飾り付けしよう")
+(send client :publish-dialog "風船を右に置いて")
+(exit)

dialogflow_task_executive/samples/demo.launch

@@ -0,0 +1,12 @@
+<launch>
+  <arg name="google_cloud_credentials_json" default="" />
+  <arg name="project_id" default="eternal-byte-236613" />
+  <include file="$(find dialogflow_task_executive)/launch/dialogflow_task_executive.launch" >
+    <arg name="credential" value="$(arg google_cloud_credentials_json)" />
+    <arg name="project_id" value="$(arg project_id)" />
+    <arg name="run_app_manager" value="true" />
+    <arg name="enable_hotword" default="false" />
+  </include>
+  <node pkg="dialogflow_task_executive" type="client.l"
+        name="client" output="screen" />
+</launch>