def standby(self, prompt=False):
logger.info("Standby")
if prompt:
Speaker.play_async("如果需要協助再呼叫我。")
Information.set_user_speaking(False, 5)
else:
Information.set_user_speaking(False, 1)
self._user_listener.listen_hotword()
def __init__(self, sub1, is_simulation=False):
super(Sub3, self).__init__()
logger.debug("__init__")
Information.set_sub1(sub1)
self.dialogue_client = DialogueClient.get_instance()
self.running = True
self.is_simulation = is_simulation
self.sub4 = None
def __process_indoor(client, target):
dest = Information.parse_indoor_destination(target)
if dest is None:
Speaker.play("很抱歉，目前我還不知道怎麼帶你去" + target)
client.standby(True)
else:
Speaker.play("好的，我現在開始找尋附近的" + target)
Information.set_indoor_destination(dest)
client.standby()
def update_sim_kanbans(self):
logger.debug("update_sim_kanbans: 0")
if not Information.is_indoor():
return # Not indoor, don't update
self.sim_kanbans_index += 1
if self.sim_kanbans_index >= len(self.sim_kanbans):
self.sim_kanbans_index = 0
kanban = self.sim_kanbans[self.sim_kanbans_index]
Information.set_information("kanban_indoor", kanban)
def implement_intent(client, query_result):
target = query_result.parameters['scene']
if len(target) == 0:
msg = "我沒聽清楚要切換到哪個場景，請再說一遍。"
Speaker.play(msg)
client.listen_user()
else:
if "室內" == target:
Information.set_indoor(True)
Speaker.play("好的，已經切換到" + target)
elif "室外" == target:
Information.set_indoor(False)
Speaker.play("好的，已經切換到" + target)
else:
Speaker.play("很抱歉，我還不知道怎麼切換到" + target)
client.standby(True)
def speak_kanban(self, kanban):
if Information.is_user_speaking():
return
msg = "" # msg = format("%s方%s公尺處，有一個%s標示指向%s方")
if kanban["user_direction"] is not None:
msg += self.gen_direction_text(kanban["user_direction"])
if kanban["distance"] is not None:
msg += str(kanban["distance"]) + "步左右，"
if kanban["name"] is not None:
msg += "有一個" + Information.get_indoor_destination_text(kanban["name"]) + "標示"
if "direction" in kanban and kanban["direction"] is not None:
msg += "指向" + self.gen_direction_text(kanban["direction"])
msg += "，請依指示轉彎後繼續前進"
logger.info(msg)
self.play_sound(msg, quieter=True)
def run(self):
self.listen_hotword()
while self.running:
if self.job_count > 0:
Speaker.mute()
Information.set_user_speaking(True)
# try:
self.__record(self.limit_seconds)
# except Exception as ex:
# logger.error("Do record error!\n%s", str(ex))
Information.set_user_speaking(False)
Speaker.unmute()
self.job_count = 0
time.sleep(1)
time.sleep(0.01)
logger.info("terminated")
def get_user_location():
# loc = gmaps.geolocate()
# return 25.0230239, 121.2210628
# return loc['location']['lat'], loc['location']['lng']
loc = info.get_location()
if loc is None:
geo = gmaps.geolocate()
loc = geo['location']['lat'], geo['location']['lng']
return loc[0], loc[1]
def __walk_timer(self):
# arrived = Information.get_information('sub1_arrived')
dest = Information.get_information('sub1_destination')
# 如果還沒到且目的地不同，就會前進
if dest is not None:
# dest = Information.get_information('sub1_destination')
if not Helper.is_arrived(self.current_location, dest):
if len(self.locations) > 0:
self.current_location = self.locations.pop(0)
Information.set_information("location",
self.current_location)
logger.debug("walk to: %s", str(self.current_location))
if Helper.is_arrived(self.current_location, dest):
logger.warn("Arrived.")
Information.set_information('sub1_destination', None)
# Information.set_information("sub1_arrived", True)
if self.running:
Timer(5, self.__walk_timer).start()
def __arrived_outdoor(self, key, value):
if len(self.destinations) == 0:
return
Information.set_outdoor_destination(None, None)
dest = self.destinations.pop()
Speaker.play("您已經抵達" + dest.name)
self.destinations.clear()
# 取消 2021/9/27
# count = len(self.destinations)
# if count > 0:
# next_dest = self.destinations[count - 1]
# Speaker.play("接下來我們將繼續前往" + next_dest.name)
# Speaker.play("現在開始請聽我的指示前進")
# Information.set_outdoor_destination(next_dest.coordinate, next_dest.dest_type)
# else:
# self.standby(True)
Information.set_outdoor_destination(None, None)
self.standby(True)
def get_kanban(self, kanban_name):
viewed_kanbans = Information.get_indoor_kanbans()
if viewed_kanbans is None:
return None
for kanban in viewed_kanbans:
logger.debug("Kanban: %s", str(kanban))
if "name" in kanban:
if kanban_name == str(kanban["name"]):
return kanban
return None
def run(self):
self.dialogue_client.start()
# if self.is_simulation:
# self.sub1 = Sub1()
# self.sub1.start()
self.sub4 = Sub4(self.is_simulation)
self.sub4.start()
Information.set_indoor(False)
while self.running:
if self.dialogue_client.is_terminated:
self.terminate()
time.sleep(1)
if not self.dialogue_client.is_terminated:
self.dialogue_client.shutdown()
logger.info("terminated")
return
def implement_intent(client, query_result):
target = query_result.parameters['location']
if len(target) == 0:
msg = "對不起我沒聽清楚你要去的地方，請您再說一遍。"
Speaker.play(msg)
client.listen_user()
else:
if Information.is_indoor():
__process_indoor(client, target)
else:
__process_outdoor(client, target)
def walk_timer(self):
# logger.debug("walk_timer begin")
arrived = Information.get_information('sub4_arrived')
if not arrived:
dest = Information.get_information('sub4_destination')
kanban_name = Information.get_indoor_destination_text(dest)
kanban = self.get_kanban(dest)
if kanban is not None:
distance = kanban["distance"]
if distance is not None:
if float(distance) <= 0:
logger.warn("Arrived.")
self.play_sound("您已經抵達" + kanban_name)
Information.set_information("sub4_arrived", True)
else:
self.speak_kanban(kanban)
else:
self.speak_kanban(kanban)
else:
# logger.debug("walk_timer 1, is_user_speaking: %s" % (Information.is_user_speaking(),))
if not Information.is_user_speaking():
# logger.debug("walk_timer 2")
self.play_sound("我看不見有關" + kanban_name + "的標示，請看看四週或往前走一下", quieter=True)
obstacle = self.get_kanban("99")
if obstacle is not None:
self.speak_obstacle(obstacle)
def implement_intent(client, query_result):
kanbans = Information.get_indoor_kanbans() or []
all_kanbans = []
for k in kanbans:
if 'name' in k:
all_kanbans.append(Information.get_indoor_destination_text(k["name"]))
# all_kanbans = [Information.get_indoor_destination_text(k["name"]) for k in kanbans]
if len(all_kanbans) == 0:
msg = "前方看不見任何標示，請轉頭看看四週"
Speaker.play(msg)
client.standby()
else:
if len(all_kanbans) == 1:
msg = "前面的指標只有一個" + all_kanbans[0] + "標示"
else:
msg = "前面的指標有" + ",".join(all_kanbans[:-1])
msg += "和" + all_kanbans[-1]
msg += ", 請告訴我你想去的地方"
Speaker.play(msg)
client.listen_user()
def __on_message(self, client, db, msg):
data = msg.payload.decode('utf-8', 'ignore')
write_log("topic: %s, data: %s" % (msg.topic, data))
if data:
try:
data = json.loads(data)
except:
write_log("[ERROR] json.loads(data)")
topic = ""
data = {}
if "location" == msg.topic:
self.location = ([data["lat"], data["lng"]], [True])
elif "awakable" == msg.topic:
self.awakable = "on" == data["status"]
elif "indoor" == msg.topic:
self.indoor = "on" == data["status"]
elif "kanban_indoor" == msg.topic:
Information.set_indoor_kanbans(data)
elif "arrived" == msg.topic:
self.arrived = "on" == data["status"]
elif "echo" == msg.topic:
write_log("An echo got.")
def implement_intent(client, query_result):
if Information.is_indoor():
dest = Information.get_indoor_destination()
if dest is not None:
Information.stop_indoor_destination()
msg = "好的，己停止前往" + Information.get_indoor_destination_text(dest)
Speaker.play(msg)
else:
dest = client.get_current_destination()
if dest is not None:
Information.stop_outdoor_destination()
msg = "好的，己停止前往" + dest.name
Speaker.play(msg)
client.standby(True)
def __find_place(place):
max_meters = 3000
name, coord, dist = NavHelper.get_nearest_place(place)
if name is None:
return None
name2, coord2 = Information.find_similar_location(name)
if name2:
d = NavHelper.get_walking_distance(coord2)
if d <= max_meters:
name, coord, dist = name2, coord2, d
if dist <= max_meters:
return Destination(name, coord, dist)
else:
return None
def start(self):
Speaker.play_async("HI，我叫小美，你好。")
# Speaker.play_async("HI How are you")
if not os.path.exists("user"):
os.makedirs("user")
if not os.path.exists("output"):
os.makedirs("output")
self._user_listener = UserListener.UserListener(
args=(self.user_words, ))
self._user_listener.start()
self._user_processor = UserProcessor.UserProcessor(
args=(self.user_words, self))
self._user_processor.start()
Information.subscribe('sub1_arrived', self.__arrived_outdoor, True)
Information.subscribe('sub4_arrived', self.__arrived_indoor, True)
Information.start()
Information.set_indoor(True)
self.is_terminated = False
def cancel_destination(self):
dest = Information.get_information('sub4_destination')
if dest is not None:
self.play_sound("己停止前往" + dest)
Information.set_information("sub4_arrived", True)
def __arrived_indoor(self, key, value):
if Information.get_indoor_destination() is None:
return
# Speaker.play("您已經抵達" + dest.name)
self.standby(True)
def add_destination(self, dest):
self.destinations.append(dest)
Information.set_outdoor_destination(dest.coordinate, dest.dest_type)
def shutdown(self):
Speaker.play("我會想你的")
Information.terminate()
self._user_processor.terminate()
self._user_listener.terminate()
self.is_terminated = True
def __stop_playing():
Information.set_user_speaking(False)
global _is_playing
_is_playing = False
def is_speaking(self):
return Information.is_user_speaking()
def update_kanbans(self, kanbans):
Information.set_indoor_kanbans(json.loads(kanbans))
from dialogue import Information
import time
def callback01(name, value):
print("%s is changed to: %s" % (name, value))
Information.subscribe('time', callback01)
Information.start()
time.sleep(10)
Information.terminate()
def __start_playing():
Information.set_user_speaking(True)
global _is_playing
_is_playing = True