class TTSFeedback:
# Receive messages that indicate that TTS (or chatbot) has started
# or finished vocalizing.
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("speech_events", String, self.speech_event_cb)
# Notification from text-to-speech (TTS) module, that it has
# started, or stopped vocalizing. This message might be published
# by either the TTS module itself, or by some external chatbot.
#
# rostopic pub --once speech_events std_msgs/String start
# rostopic pub --once speech_events std_msgs/String stop
def speech_event_cb(self, speech_event):
print('speech_event, type ' + speech_event.data)
if speech_event.data == "start":
rospy.loginfo("starting speech")
self.atomo.vocalization_started()
elif speech_event.data == "stop":
rospy.loginfo("ending speech")
self.atomo.vocalization_ended()
elif speech_event.data.startswith("duration"):
rospy.loginfo("speech_event.data {}".format(speech_event.data))
else:
rospy.logerr("unknown speech_events message: " + speech_event.data)
class RoomBrightness:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/opencog/room_luminance', Luminance, self.bright_cb)
def bright_cb(self, data):
self.atomo.room_brightness(data.value)
class RoomBrightness:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/opencog/room_luminance', Luminance, self.bright_cb)
def bright_cb(self, data):
self.atomo.room_brightness(data.value)
def __init__(self):
# The OpenCog API. This is used to send face data to OpenCog.
self.atomo = AtomicMsgs()
# List of currently visible faces
self.visible_faces = []
# Subscribed pi_vision topics and events
self.TOPIC_FACE_EVENT = "/camera/face_event"
self.EVENT_NEW_FACE = "new_face"
self.EVENT_LOST_FACE = "lost_face"
self.EVENT_RECOGNIZED_FACE = "recognized_face"
# Overrides current face being tracked by WebUI
self.EVENT_TRACK_FACE = "track_face"
self.TOPIC_FACE_LOCATIONS = "/camera/face_locations"
# Face appearance/disappearance from pi_vision
rospy.Subscriber(self.TOPIC_FACE_EVENT, FaceEvent, self.face_event_cb)
# Face location information from pi_vision
rospy.Subscriber(self.TOPIC_FACE_LOCATIONS, Faces, self.face_loc_cb)
rospy.Subscriber("/behavior_control", Int32, self.behavior_control_cb)
# Control Eyes and face by default
self.control_mode = 255
class FaceRecog:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/camera/face_recognition', faces_ids, self.face_cb)
def face_cb(self, data):
for fc in data.faces:
self.atomo.face_recognition(fc.id, fc.name)
class SaliencyTrack:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/nmpt_saliency_point', targets, self.sal_cb)
def sal_cb(self, data):
loc = data.positions[0]
self.atomo.saliency(loc.x,loc.y,loc.z,data.degree)
class FaceRecog:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/camera/face_recognition', faces_ids, self.face_cb)
def face_cb(self, data):
for fc in data.faces:
self.atomo.face_recognition(fc.id, fc.name);
class ChatTrack:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("chatbot_speech", ChatMessage, self.stt_cb)
# ---------------------------------------------------------------
# Speech-to-text callback
def stt_cb(self, msg):
if msg.confidence >= 50:
self.atomo.who_said(msg.utterance)
class AudioPower:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("audio_sensors", audiodata, self.audio_cb)
def audio_cb(self, data):
print "Sudden sound change {}".format(data.suddenchange)
self.atomo.audio_bang(data.suddenchange)
self.atomo.audio_energy(data.Decibel)
class ChatTrack:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("chatbot_speech", ChatMessage, self.stt_cb)
# ---------------------------------------------------------------
# Speech-to-text callback
def stt_cb(self, msg):
if msg.confidence >= 50:
self.atomo.who_said(msg.utterance)
class SaliencyTrack:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/nmpt_saliency_point', targets, self.sal_cb)
def sal_cb(self, data):
loc = data.positions[0]
z=-(loc.y*2.0-1.0)
x=1.0
y=-1.0*(loc.x*2.0-1.0)
#print "locations x="+str(x)+" y="+str(y)+" z="+str(z)+"\n"
self.atomo.saliency(x,y,z,data.degree)
def __init__(self):
# A list of parameter names that are mirrored in opencog
# for controling psi-rules
self.param_list = []
# Parameter dictionary that is used for updating states
# recorded in the atomspace. It is used to cache the
# atomspace values.
self.param_dict = {}
self.atomo = AtomicMsgs()
rospy.Subscriber("/opencog_control/parameter_updates", Config,
self.openpsi_control_cb)
class SaliencyTrack:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/nmpt_saliency_point', targets, self.sal_cb)
def sal_cb(self, data):
loc = data.positions[0]
z = -(loc.y * 2.0 - 1.0)
x = 1.0
y = -1.0 * (loc.x * 2.0 - 1.0)
#print "locations x="+str(x)+" y="+str(y)+" z="+str(z)+"\n"
self.atomo.saliency(x, y, z, data.degree)
class ChatTrack:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("chatbot_speech", ChatMessage,
self.chat_perceived_text_cb)
# ---------------------------------------------------------------
# Speech-to-text callback
def chat_perceived_text_cb(self, msg):
if msg.confidence >= 50:
# XXX FIXME WTF Why are there two of these????
# Surely one of these is enough to do the trick!
self.atomo.who_said(msg.utterance)
self.atomo.perceived_text(msg.utterance)
def __init__(self):
# The OpenCog API. This is used to send sound localization
# data to OpenCog.
self.atomo = AtomicMsgs()
# Sound localization
parameter_name = "sound_localization/mapping_matrix"
if rospy.has_param(parameter_name):
self.sl_matrix = rospy.get_param(parameter_name)
rospy.Subscriber("/manyears/source_pose", PoseStamped, \
self.sound_cb)
print "Sound localization is enabled"
else :
print "Sound localization is disabled"
class ChatTrack:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("chatbot_speech", ChatMessage,
self.chat_perceived_text_cb)
# ---------------------------------------------------------------
# Speech-to-text callback
def chat_perceived_text_cb(self, msg):
if msg.confidence >= 50:
# XXX FIXME WTF Why are there two of these????
# Surely one of these is enough to do the trick!
self.atomo.who_said(msg.utterance)
self.atomo.perceived_text(msg.utterance)
class Control:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("/behavior_switch", String,
self.behavior_switch_cb)
# The 'btree_on' and 'btree_off' data-strings shouldn't be used,
# as they are meant for switching on and off non-opencog demos.
def behavior_switch_cb(self, data):
print "Received /behavior_switch " + data.data
if data.data == "opencog_on":
self.atomo.wholeshow_start()
if data.data == "opencog_off":
self.atomo.wholeshow_stop()
def __init__(self):
# The OpenCog API. This is used to send face data to OpenCog.
self.atomo = AtomicMsgs()
self.atomo.create_face_octomap()
# List of currently visible faces
self.visible_faces = []
# Subscribed pi_vision topics and events
self.TOPIC_FACE_EVENT = "/camera/face_event"
self.EVENT_NEW_FACE = "new_face"
self.EVENT_LOST_FACE = "lost_face"
self.EVENT_RECOGNIZED_FACE = "recognized_face"
# Overrides current face being tracked by WebUI
self.EVENT_TRACK_FACE = "track_face"
self.TOPIC_FACE_LOCATIONS = "/camera/face_locations"
# Face appearance/disappearance from pi_vision
rospy.Subscriber(self.TOPIC_FACE_EVENT, FaceEvent, self.face_event_cb)
# Face location information from pi_vision
rospy.Subscriber(self.TOPIC_FACE_LOCATIONS, Faces, self.face_loc_cb)
rospy.Subscriber("/behavior_control", Int32, self.behavior_control_cb)
# Control Eyes and face by default
self.control_mode = 255
class SoundTrack:
def __init__(self):
# The OpenCog API. This is used to send sound localization
# data to OpenCog.
self.atomo = AtomicMsgs()
# Sound localization
parameter_name = "sound_localization/mapping_matrix"
if rospy.has_param(parameter_name):
self.sl_matrix = rospy.get_param(parameter_name)
rospy.Subscriber("/manyears/source_pose", PoseStamped, \
self.sound_cb)
print "Sound localization is enabled"
else :
print "Sound localization is disabled"
# ---------------------------------------------------------------
# Store the location of the strongest sound-source in the
# OpenCog space server. This data arrives at a rate of about
# 30 Hz, currently, from ManyEars.
def sound_cb(self, msg):
# Convert to camera coordinates, using an affine matrix
# (which combines a rotation and translation).
#
# A typical sl_matrix looks like this:
#
# 0.943789 0.129327 0.304204 0.00736024
# -0.131484 0.991228 -0.0134787 0.00895614
# -0.303278 -0.0272767 0.952513 0.0272001
# 0 0 0 1
#
vs = [msg.pose.position.x, \
msg.pose.position.y, \
msg.pose.position.z, \
1]
r = [0, 0, 0, 0]
for i in range(0,3):
for j in range(0,3):
r[i] += self.sl_matrix[i][j] * vs[j]
self.atomo.update_sound(r[0], r[1], r[2])
class ControlPsi:
def __init__(self):
# A list of parameter names that are mirrored in opencog
# for controling psi-rules
self.param_list = []
# Parameter dictionary that is used for updating states
# recorded in the atomspace. It is used to cache the
# atomspace values.
self.param_dict = {}
self.atomo = AtomicMsgs()
rospy.Subscriber("/opencog_control/parameter_updates", Config,
self.openpsi_control_cb)
# For web-ui interface
def openpsi_control_cb(self, data):
"""
This function is used for interactively modifying the weight of
openpsi rules.
"""
param_yaml = rosmsg.get_yaml_for_msg(data.doubles + data.ints)
self.param_list = yaml.load(param_yaml)
for i in self.param_list:
# Populate the parameter dictionary
if i["name"] not in self.param_dict:
self.param_dict[i["name"]] = i["value"]
if i["name"] == "max_waiting_time":
scm_str = '''(StateLink
(AnchorNode "Chatbot: MaxWaitingTime")
(TimeNode %f))''' % (i["value"])
else:
scm_str = '''(StateLink
(ListLink
(ConceptNode "OpenPsi: %s")
(ConceptNode "OpenPsi: weight"))
(NumberNode %f))''' % (i["name"], i["value"])
self.atomo.evaluate_scm(scm_str)
class Affect:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("chatbot_affect_perceive", String,
self.language_affect_perceive_cb)
# The perceived emotional content of words spoken to the robot.
# That is, were people being rude to the robot? Polite to it? Angry
# with it? We subscribe; there may be multiple publishers of this
# message: it might be supplied by some linguistic-processing module,
# or it might be supplied by a chatbot.
#
# emo is of type std_msgs/String
def language_affect_perceive_cb(self, emo):
print 'chatbot perceived affect class =' + emo.data
rospy.loginfo('chatbot perceived affect class =' + emo.data)
if emo.data == "happy":
# behavior tree will use these predicates
self.atomo.affect_happy()
else:
self.atomo.affect_negative()
def __init__(self):
self.atomo = AtomicMsgs()
rospy.init_node('subscriber', anonymous=True)
#print "hello"
root_topic = rospy.get_param("/tensorflow_node/publishing/topic")
node_topics = rospy.get_published_topics(root_topic)
for topic,_ in node_topics:
#print topic
rospy.Subscriber(topic, TFNodeState, callback=self.destin_cb, callback_args=topic)
rospy.spin()
class AudioPower:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("audio_sensors", audiodata, self.audio_cb)
def audio_cb(self, data):
#print "SuddenChange {}".format(data.SuddenChange)
if data.SuddenChange:
self.atomo.audio_bang(1.0)
else:
self.atomo.audio_bang(0.0)
self.atomo.audio_energy(data.Decibel)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/opencog/room_luminance', Luminance, self.bright_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/nmpt_saliency_point', targets, self.sal_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/camera/face_recognition', faces_ids, self.face_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("chatbot_speech", ChatMessage, self.stt_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("chatbot_speech", ChatMessage,
self.chat_perceived_text_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("chatbot_speech", ChatMessage,
self.chat_perceived_text_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("/behavior_switch", String,
self.behavior_switch_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("chatbot_affect_perceive", String,
self.language_affect_perceive_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("speech_events", String, self.speech_event_cb)
class FaceTrack:
# Control flags. Ideally, FaceTrack should publish targets using
# ros_commo EvaControl class.
C_EYES = 16
C_FACE = 32
# Face tracking will be disabled if neither of these flags are set.
# (this allows for a manual over-ride of face-tracking by other
# control processes.)
C_FACE_TRACKING = C_FACE | C_EYES
def __init__(self):
# The OpenCog API. This is used to send face data to OpenCog.
self.atomo = AtomicMsgs()
# List of currently visible faces
self.visible_faces = []
# Subscribed pi_vision topics and events
self.TOPIC_FACE_EVENT = "/camera/face_event"
self.EVENT_NEW_FACE = "new_face"
self.EVENT_LOST_FACE = "lost_face"
self.EVENT_RECOGNIZED_FACE = "recognized_face"
# Overrides current face being tracked by WebUI
self.EVENT_TRACK_FACE = "track_face"
self.TOPIC_FACE_LOCATIONS = "/camera/face_locations"
# Face appearance/disappearance from pi_vision
rospy.Subscriber(self.TOPIC_FACE_EVENT, FaceEvent, self.face_event_cb)
# Face location information from pi_vision
rospy.Subscriber(self.TOPIC_FACE_LOCATIONS, Faces, self.face_loc_cb)
rospy.Subscriber("/behavior_control", Int32, self.behavior_control_cb)
# Control Eyes and face by default
self.control_mode = 255
# ----------------------------------------------------------
# Start tracking a face
def add_face(self, faceid):
if faceid in self.visible_faces:
return
self.visible_faces.append(faceid)
logger.info("New face added to visibile faces: " +
str(self.visible_faces))
self.atomo.add_face_to_atomspace(faceid)
# Stop tracking a face
def remove_face(self, faceid):
self.atomo.remove_face_from_atomspace(faceid)
if faceid in self.visible_faces:
self.visible_faces.remove(faceid)
logger.info("Lost face; visibile faces now: " + str(self.visible_faces))
# Force the robot to turn its attention to the given
# face (to interact with, talk with) that face.
def track_face(self, faceid):
if faceid in self.visible_faces:
logger.info("Face requested interaction: " + str(faceid))
self.atomo.add_tracked_face_to_atomspace(faceid)
# ----------------------------------------------------------
# pi_vision ROS callbacks
# pi_vision ROS callback, called when a new face is detected,
# or a face is lost.
def face_event_cb(self, data):
if not self.control_mode & self.C_FACE_TRACKING:
return
if data.face_event == self.EVENT_NEW_FACE:
self.add_face(data.face_id)
elif data.face_event == self.EVENT_LOST_FACE:
self.remove_face(data.face_id)
elif data.face_event == self.EVENT_TRACK_FACE:
self.track_face(data.face_id)
elif data.face_event == self.EVENT_RECOGNIZED_FACE:
self.atomo.face_recognition(data.face_id, data.recognized_id)
# pi_vision ROS callback, called when pi_vision has new face
# location data for us. This happens frequently (about 10x/second)
def face_loc_cb(self, data):
if not self.control_mode & self.C_FACE_TRACKING:
return
for face in data.faces:
# Update location of a face. The location is stored in the
# OpenCog space server (octomap).
if face.id in self.visible_faces:
self.atomo.update_face_octomap(face.id,
face.point.x, face.point.y, face.point.z)
# Enable/disable Opencog face-tracking. This is driven by the
# master control GUI.
def behavior_control_cb(self, data):
# Is facetracking currently enabled?
facetracking = self.control_mode & self.C_FACE_TRACKING
self.control_mode = data.data
print("New Control mode %i" % self.control_mode )
# If face-tracking was enabled, and is now disabled ...
if facetracking > 0 and self.control_mode & self.C_FACE_TRACKING == 0:
self.atomo.update_ft_state_to_atomspace(False)
# Need to clear faces:
for face in self.visible_faces[:]:
self.remove_face(face)
elif self.control_mode & self.C_FACE_TRACKING > 0:
self.atomo.update_ft_state_to_atomspace(True)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/nmpt_saliency_point', targets, self.sal_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/camera/face_recognition', faces_ids, self.face_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("audio_sensors", audiodata, self.audio_cb)
class FaceTrack:
# Control flags. Ideally, FaceTrack should publish targets using
# ros_commo EvaControl class.
C_EYES = 16
C_FACE = 32
# Face tracking will be disabled if neither of these flags are set.
# (this allows for a manual over-ride of face-tracking by other
# control processes.)
C_FACE_TRACKING = C_FACE | C_EYES
def __init__(self):
# The OpenCog API. This is used to send face data to OpenCog.
self.atomo = AtomicMsgs()
self.atomo.create_face_octomap()
# List of currently visible faces
self.visible_faces = []
# Subscribed pi_vision topics and events
self.TOPIC_FACE_EVENT = "/camera/face_event"
self.EVENT_NEW_FACE = "new_face"
self.EVENT_LOST_FACE = "lost_face"
self.EVENT_RECOGNIZED_FACE = "recognized_face"
# Overrides current face being tracked by WebUI
self.EVENT_TRACK_FACE = "track_face"
self.TOPIC_FACE_LOCATIONS = "/camera/face_locations"
# Face appearance/disappearance from pi_vision
rospy.Subscriber(self.TOPIC_FACE_EVENT, FaceEvent, self.face_event_cb)
# Face location information from pi_vision
rospy.Subscriber(self.TOPIC_FACE_LOCATIONS, Faces, self.face_loc_cb)
rospy.Subscriber("/behavior_control", Int32, self.behavior_control_cb)
# Control Eyes and face by default
self.control_mode = 255
# ----------------------------------------------------------
# Start tracking a face
def add_face(self, faceid):
if faceid in self.visible_faces:
return
self.visible_faces.append(faceid)
logger.info("New face added to visibile faces: " +
str(self.visible_faces))
self.atomo.add_face_to_atomspace(faceid)
# Stop tracking a face
def remove_face(self, faceid):
self.atomo.remove_face_from_atomspace(faceid)
if faceid in self.visible_faces:
self.visible_faces.remove(faceid)
logger.info("Lost face; visibile faces now: " + str(self.visible_faces))
# Force the robot to turn its attention to the given
# face (to interact with, talk with) that face.
def track_face(self, faceid):
if faceid in self.visible_faces:
logger.info("Face requested interaction: " + str(faceid))
self.atomo.add_tracked_face_to_atomspace(faceid)
# ----------------------------------------------------------
# pi_vision ROS callbacks
# pi_vision ROS callback, called when a new face is detected,
# or a face is lost. Also called for recognized faces.
#
# This callback handles recognized faces using a special message
# format, published on the `/camera/face_locations`. Note that
# there is also a different topic for recognized faces, called
# `/camera/face_recognition`. See the `face-recog.py` file for
# details. I am not sure what subsystem published which message
# type. XXX FIXME - figure out why there are two different
# face recognition subsystems, and standardize one which we
# should use.
def face_event_cb(self, data):
if not self.control_mode & self.C_FACE_TRACKING:
return
if data.face_event == self.EVENT_NEW_FACE:
self.add_face(data.face_id)
elif data.face_event == self.EVENT_LOST_FACE:
self.remove_face(data.face_id)
elif data.face_event == self.EVENT_TRACK_FACE:
self.track_face(data.face_id)
elif data.face_event == self.EVENT_RECOGNIZED_FACE:
self.atomo.face_recognition(data.face_id, data.recognized_id)
# pi_vision ROS callback, called when pi_vision has new face
# location data for us. This happens frequently (about 10x/second)
def face_loc_cb(self, data):
if not self.control_mode & self.C_FACE_TRACKING:
return
for face in data.faces:
# Update location of a face. The location is stored in the
# OpenCog space server (octomap).
if face.id in self.visible_faces:
self.atomo.update_face_octomap(face.id,
face.point.x, face.point.y, face.point.z)
# Enable/disable Opencog face-tracking. This is driven by the
# master control GUI. XXX FIXME -- why should this ever be disabled?
# OpenCog should always know about faces; perhaps it is congtrol of
# head and eye movements that should be disabled?
def behavior_control_cb(self, data):
# Is facetracking currently enabled?
facetracking = self.control_mode & self.C_FACE_TRACKING
self.control_mode = data.data
print("New Control mode %i" % self.control_mode )
# If face-tracking was enabled, and is now disabled ...
if facetracking > 0 and self.control_mode & self.C_FACE_TRACKING == 0:
self.atomo.update_ft_state_to_atomspace(False)
# Need to clear faces:
for face in self.visible_faces[:]:
self.remove_face(face)
elif self.control_mode & self.C_FACE_TRACKING > 0:
self.atomo.update_ft_state_to_atomspace(True)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("audio_sensors", audiodata, self.audio_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/opencog/room_luminance', Luminance, self.bright_cb)
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber("chatbot_speech", ChatMessage, self.stt_cb)
