def _generator(self):
"""Generator function that continuously yields audio chunks from the
buffer. Used to stream data to the Google Speech API Asynchronously.
:return A streaming request with the audio data.
First request carries config data per Dialogflow docs.
:rtype: Iterator[:class:`StreamingDetectIntentRequest`]
"""
# First message contains session, query_input, and params
query_input = QueryInput(audio_config=self._audio_config)
contexts = utils.converters.contexts_msg_to_struct(self.last_contexts)
params = QueryParameters(contexts=contexts)
req = StreamingDetectIntentRequest(
session=self._session,
query_input=query_input,
query_params=params,
single_utterance=True,
output_audio_config=self._output_audio_config
)
yield req
if self.USE_AUDIO_SERVER:
with AudioServerStream() as stream:
audio_generator = stream.generator()
for content in audio_generator:
yield StreamingDetectIntentRequest(input_audio=content)
else:
with MicrophoneStream() as stream:
audio_generator = stream.generator()
for content in audio_generator:
yield StreamingDetectIntentRequest(input_audio=content)
def event_intent(self, event):
"""Send an event message to Dialogflow
:param event: The ROS event message
:type event: DialogflowEvent
:return: The result from dialogflow as a ROS msg
:rtype: DialogflowResult
"""
# Convert if needed
if type(event) is DialogflowEvent:
event_input = utils.converters.events_msg_to_struct(event)
else:
event_input = event
query_input = QueryInput(event=event_input)
params = utils.converters.create_query_parameters(
contexts=self.last_contexts
)
response = self._session_cli.detect_intent(
session=self._session,
query_input=query_input,
query_params=params,
output_audio_config=self._output_audio_config
)
df_msg = utils.converters.result_struct_to_msg(response.query_result)
if self.PLAY_AUDIO:
self._play_stream(response.output_audio)
return df_msg
def detect_intent_text(self, msg):
"""Use the Dialogflow API to detect a user's intent. Goto the Dialogflow
console to define intents and params.
:param msg: DialogflowRequest msg
:return query_result: Dialogflow's query_result with action parameters
:rtype: DialogflowResult
"""
# Create the Query Input
text_input = TextInput(text=msg.query_text,
language_code=self._language_code)
query_input = QueryInput(text=text_input)
# Create QueryParameters
user_contexts = utils.converters.contexts_msg_to_struct(msg.contexts)
self.last_contexts = utils.converters.contexts_msg_to_struct(
self.last_contexts)
contexts = self.last_contexts + user_contexts
params = QueryParameters(contexts=contexts)
try:
self.contaChiamateApi += 1 #incremento il contatore chiamate Api
response = self._session_cli.detect_intent(
session=self._session,
query_input=query_input,
query_params=params,
output_audio_config=self._output_audio_config)
except google.api_core.exceptions.ServiceUnavailable:
rospy.logwarn(
"DF_CLIENT: Deadline exceeded exception caught. The response "
"took too long or you aren't connected to the internet!")
else:
# Store context for future use
self.last_contexts = utils.converters.contexts_struct_to_msg(
response.query_result.output_contexts)
df_msg = utils.converters.result_struct_to_msg(
response.query_result)
# stampo i risultati
#rospy.loginfo(utils.output.print_result(response.query_result))
rospy.loginfo(utils.output.print_result(response.query_result))
# Play audio
if self.PLAY_LOCAL_AUDIO:
self._results_pub.publish(df_msg)
if self.PLAY_GOOGLE_AUDIO:
self._play_stream(response.output_audio)
return df_msg