def __init__(self, robot_name, tf_listener, pre_hook=None, post_hook=None):
"""
constructor
:param robot_name: robot_name
:param tf_listener: tf_server.TFClient()
:param pre_hook: callable function to execute before a query call, i.e. to set light color
:param post_hook: callable function to execute after a query call
"""
super(Api, self).__init__(robot_name=robot_name,
tf_listener=tf_listener)
self._pre_hook = pre_hook
self._post_hook = post_hook
self.cv_bridge = CvBridge()
client = self.create_simple_action_client('/' + robot_name + '/hmi',
QueryAction)
self._client = Client(simple_action_client=client)
self.restart_srv = self.create_service_client(
'/' + robot_name +
'/hmi/dragonfly_speech_recognition/restart_node', Empty)
self._image_from_ros_publisher = rospy.Publisher('/' + robot_name +
'/hmi/image',
CompressedImage,
queue_size=1)
class Api(RobotPart):
def __init__(self, robot_name, tf_listener):
super(Api, self).__init__(robot_name=robot_name, tf_listener=tf_listener)
client = self.create_simple_action_client('/' + robot_name + '/hmi', QueryAction)
self._client = Client(simple_action_client=client)
self.restart_srv = self.create_service_client('/' + robot_name + '/hmi/dragonfly_speech_recognition/restart_node', Empty)
def query(self, description, grammar, target, timeout=10):
"""
Perform a HMI query, returns a HMIResult
:param description: text describing the query
:param grammar: string with the grammar to load
:param target: string identifying the target of the grammar to recognize
:param timeout: timeout in seconds (float)
"""
return self._client.query(description, grammar, target, timeout)
@property
def last_talker_id(self):
return self._client.last_talker_id
def old_query(self, spec, choices, timeout=10):
msg = 'robot.ears.recognize IS REMOVED. Use `robot.hmi.query`'
rospy.logerr(msg)
raise Exception(msg)
def restart_dragonfly(self):
try:
self.restart_srv()
except rospy.ServiceException, e:
rospy.logerr("Service call failed: {0}".format(e))
class Api(RobotPart):
def __init__(self, robot_name, tf_listener, pre_hook=None, post_hook=None):
"""
constructor
:param robot_name: robot_name
:param tf_listener: tf_server.TFClient()
:param pre_hook: callable function to execute before a query call, i.e. to set light color
:param post_hook: callable function to execute after a query call
"""
super(Api, self).__init__(robot_name=robot_name, tf_listener=tf_listener)
self._pre_hook = pre_hook
self._post_hook = post_hook
client = self.create_simple_action_client('/' + robot_name + '/hmi', QueryAction)
self._client = Client(simple_action_client=client)
self.restart_srv = self.create_service_client('/' + robot_name + '/hmi/dragonfly_speech_recognition/restart_node', Empty)
def query(self, description, grammar, target, timeout=10):
"""
Perform a HMI query, returns a HMIResult
:param description: text describing the query
:param grammar: string with the grammar to load
:param target: string identifying the target of the grammar to recognize
:param timeout: timeout in seconds (float)
"""
if callable(self._pre_hook):
self._pre_hook()
try:
answer = self._client.query(description, grammar, target, timeout)
except TimeoutException as e:
if callable(self._post_hook):
self._post_hook()
self.restart_dragonfly()
raise e
if callable(self._post_hook):
self._post_hook()
return answer
@property
def last_talker_id(self):
return self._client.last_talker_id
def old_query(self, spec, choices, timeout=10):
msg = 'robot.ears.recognize IS REMOVED. Use `robot.hmi.query`'
rospy.logerr(msg)
raise Exception(msg)
def reset(self):
self.restart_dragonfly()
return True
def restart_dragonfly(self):
try:
self.restart_srv()
except rospy.ServiceException as e:
rospy.logerr("Service call failed: {0}".format(e))
class Api(RobotPart):
def __init__(self, robot_name, tf_listener, pre_hook=None, post_hook=None):
"""
constructor
:param robot_name: robot_name
:param tf_listener: tf_server.TFClient()
:param pre_hook: callable function to execute before a query call, i.e. to set light color
:param post_hook: callable function to execute after a query call
"""
super(Api, self).__init__(robot_name=robot_name,
tf_listener=tf_listener)
self._pre_hook = pre_hook
self._post_hook = post_hook
client = self.create_simple_action_client('/' + robot_name + '/hmi',
QueryAction)
self._client = Client(simple_action_client=client)
self.restart_srv = self.create_service_client(
'/' + robot_name +
'/hmi/dragonfly_speech_recognition/restart_node', Empty)
def query(self, description, grammar, target, timeout=10):
"""
Perform a HMI query, returns a HMIResult
:param description: text describing the query
:param grammar: string with the grammar to load
:param target: string identifying the target of the grammar to recognize
:param timeout: timeout in seconds (float)
"""
if callable(self._pre_hook):
self._pre_hook()
try:
answer = self._client.query(description, grammar, target, timeout)
except TimeoutException as e:
if callable(self._post_hook):
self._post_hook()
raise e
if callable(self._post_hook):
self._post_hook()
return answer
@property
def last_talker_id(self):
return self._client.last_talker_id
def old_query(self, spec, choices, timeout=10):
msg = 'robot.ears.recognize IS REMOVED. Use `robot.hmi.query`'
rospy.logerr(msg)
raise Exception(msg)
def restart_dragonfly(self):
try:
self.restart_srv()
except rospy.ServiceException as e:
rospy.logerr("Service call failed: {0}".format(e))
def __init__(self, robot_name, tf_listener, pre_hook=None, post_hook=None):
"""
constructor
:param robot_name: robot_name
:param tf_listener: tf_server.TFClient()
:param pre_hook: callable function to execute before a query call, i.e. to set light color
:param post_hook: callable function to execute after a query call
"""
super(Api, self).__init__(robot_name=robot_name, tf_listener=tf_listener)
self._pre_hook = pre_hook
self._post_hook = post_hook
client = self.create_simple_action_client('/' + robot_name + '/hmi', QueryAction)
self._client = Client(simple_action_client=client)
self.restart_srv = self.create_service_client('/' + robot_name + '/hmi/dragonfly_speech_recognition/restart_node', Empty)
def __init__(self, robot_name, tf_listener):
super(Api, self).__init__(robot_name=robot_name, tf_listener=tf_listener)
client = self.create_simple_action_client('/' + robot_name + '/hmi', QueryAction)
self._client = Client(simple_action_client=client)
self.restart_srv = self.create_service_client('/' + robot_name + '/hmi/dragonfly_speech_recognition/restart_node', Empty)
class Api(RobotPart):
def __init__(self, robot_name, tf_listener, pre_hook=None, post_hook=None):
"""
constructor
:param robot_name: robot_name
:param tf_listener: tf_server.TFClient()
:param pre_hook: callable function to execute before a query call, i.e. to set light color
:param post_hook: callable function to execute after a query call
"""
super(Api, self).__init__(robot_name=robot_name,
tf_listener=tf_listener)
self._pre_hook = pre_hook
self._post_hook = post_hook
self.cv_bridge = CvBridge()
client = self.create_simple_action_client('/' + robot_name + '/hmi',
QueryAction)
self._client = Client(simple_action_client=client)
self.restart_srv = self.create_service_client(
'/' + robot_name +
'/hmi/dragonfly_speech_recognition/restart_node', Empty)
self._image_from_ros_publisher = rospy.Publisher('/' + robot_name +
'/hmi/image',
CompressedImage,
queue_size=1)
def query(self, description, grammar, target, timeout=10):
"""
Perform a HMI query, returns a HMIResult
:param description: text describing the query
:param grammar: string with the grammar to load
:param target: string identifying the target of the grammar to recognize
:param timeout: timeout in seconds (float)
"""
if callable(self._pre_hook):
self._pre_hook()
try:
answer = self._client.query(description, grammar, target, timeout)
self.restart_dragonfly()
except TimeoutException as e:
if callable(self._post_hook):
self._post_hook()
self.restart_dragonfly()
raise e
if callable(self._post_hook):
self._post_hook()
return answer
def _show_image(self, msg, seconds=5.0):
"""
Show an image on the HMI display interface
:param msg: CompressedImage to display
:param seconds: How many seconds you would like to display the image on the screen
"""
msg.header.stamp = rospy.Time.from_sec(seconds)
self._image_from_ros_publisher.publish(msg)
def show_image(self, path_to_image, seconds=5.0):
"""
Show an image on the HMI display interface
:param path_to_image: Absolute path to image file
:param seconds: How many seconds you would like to display the image on the screen
"""
compressed_image_msg = self.cv_bridge.cv2_to_compressed_imgmsg(
cv2.imread(path_to_image))
self._show_image(compressed_image_msg, seconds)
def show_image_from_msg(self, msg, seconds=5.0):
"""
Show an image on the HMI display interface
:param msg: rgb msg
:param seconds: How many seconds you would like to display the image on the screen
"""
compressed_image_msg = self.cv_bridge.cv2_to_compressed_imgmsg(
self.cv_bridge.imgmsg_to_cv2(msg, "bgr8"))
self._show_image(compressed_image_msg, seconds)
@property
def last_talker_id(self):
return self._client.last_talker_id
def old_query(self, spec, choices, timeout=10):
msg = 'robot.ears.recognize IS REMOVED. Use `robot.hmi.query`'
rospy.logerr(msg)
raise Exception(msg)
def reset(self):
self.restart_dragonfly()
return True
def restart_dragonfly(self):
try:
self.restart_srv()
except rospy.ServiceException as e:
rospy.logerr("Service call failed: {0}".format(e))
if __name__ == "__main__":
import rospy
rospy.init_node('test_autocompletions')
target = rospy.get_param('~target', target)
grammar_file = rospy.get_param('~grammar_file', None)
# Verify the specified grammar
if grammar_file and target:
with open(grammar_file) as gf:
grammar = gf.read()
sac = actionlib.SimpleActionClient('/hmi', QueryAction)
sac.wait_for_server()
client = Client(simple_action_client=sac)
rospy.sleep(rospy.Duration(5))
rospy.logwarn(
"Press enter to continue after you have started a conversation with the bot"
)
raw_input(
"Press enter to continue after you have started a conversation with the bot"
)
result = client.query("What is your order?", grammar, target, timeout=300)
print(result)