def react_to_feedback(ctx: rs.ContextWrapper):
if ctx[prop_game_in_progress]:
rand = random.random()
if ctx[nlp.prop_yesno].yes():
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_winning_exclamations")
if rand < 0.5:
emotion = SUNGLASSES_ON_EMOTION
ctx[prop_sunglasses_on] = True
else:
emotion = HEARTS_EMOTION
if ctx.conf(key=USE_EMOTIONS):
emo_client(emotion)
ctx[prop_feedback_received] = True
logger.info("correct")
elif ctx[nlp.prop_yesno].no():
if ctx[prop_guess_attempt_count] < 3:
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_new_guess_attempt")
ctx[prop_another_attempt] = True
logger.info("wrong guess")
else:
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_losing_exclamations")
if ctx.conf(key=USE_EMOTIONS):
emo_client(SHY_EMOTION)
ctx[prop_feedback_received] = True
else:
ctx[prop_feedback_received] = False
return rs.Emit()
else:
return rs.Resign()
def send_on_telegram(ctx: rs.ContextWrapper, text: str):
"""
If all telegram chats should be in the same context, sends the text to every currently active chat.
Otherwise it only sends output using the Pipe if it is a child process
"""
if not text or not isinstance(text, str):
return rs.Resign()
if ctx.conf(key=ALL_IN_ONE_CONTEXT_CONFIG_KEY):
# TODO don't instantiate the updater every time
token = ctx.conf(key=TOKEN_CONFIG_KEY)
if not token:
logger.error('telegram-token is not set. Shutting down telegramio')
return rs.Delete()
updater: Updater = Updater(token)
for chat_id in active_chats.keys():
updater.bot.send_message(chat_id=chat_id, text=text)
else:
child_conn = ctx.conf(key=CHILD_CONN_CONFIG_KEY)
if child_conn:
# Child Process -> write to Pipe
child_conn.send(text)
else:
# Master Process -> State not needed
return rs.Delete()
def move_head(ctx: rs.ContextWrapper):
for axis, lower, upper in [(prop_head_axis0, ctx.conf(key=AXIS0_LOWER_LIMIT_KEY), ctx.conf(key=AXIS0_UPPER_LIMIT_KEY)),
(prop_head_axis1, ctx.conf(key=AXIS1_LOWER_LIMIT_KEY), ctx.conf(key=AXIS1_UPPER_LIMIT_KEY)),
(prop_head_axis2, ctx.conf(key=AXIS2_LOWER_LIMIT_KEY), ctx.conf(key=AXIS2_UPPER_LIMIT_KEY))]:
data = random.uniform(lower, upper)
if random.random() < ctx.conf(key=HEAD_MOVEMENT_PROBABILITY_KEY): # move or don't move axis with probability
logger.info(f"Publishing {data} to {axis.topic}")
ctx[axis] = Float32(data=data)
def save_face(ctx: rs.ContextWrapper, id, face_vector):
try:
redis_conn = redis.Redis(
host=ctx.conf(key=REDIS_HOST_CONF),
port=ctx.conf(key=REDIS_PORT_CONF),
password=ctx.conf(key=REDIS_PASS_CONF))
redis_conn.set(id, pickle.dumps(face_vector))
except redis.exceptions.ConnectionError as e:
err_msg = "Looks like the redis connection is unavailable :-("
logger.error(err_msg)
def reset(ctx: rs.ContextWrapper):
"""
If there is no call for given seconds, removes the interlocutor node and initializes face oracle filter
from scratch.
"""
# Remove interloc if present
if any(ctx.enum(interloc.prop_all)):
popped_node = ctx.pop(
f'interloc:all:{interloc.ANON_INTERLOC_ID}')
if popped_node:
logger.info(
"Visual contact is broken, removed the interlocutor node"
)
# Install a new FaceOracleFilter
ctx[prop_face_filter] = FaceOracleFilter()
def ping_activity_choice(ctx: rs.ContextWrapper):
if ctx[prop_game_in_progress]:
rand = random.random()
pinged_times = ctx[prop_ping_choice_count]
if pinged_times < 5:
if rand < 0.4 and ctx.conf(key=USE_EMOTIONS):
emo_client(LOOK_RIGHT_EMOTION)
elif (rand > 0.4 and rand < 0.8
and ctx.conf(key=USE_EMOTIONS)):
emo_client(LOOK_LEFT_EMOTION)
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_ping_activity_choice")
ctx[prop_ping_choice_count] = pinged_times + 1
return rs.Emit()
else:
ctx[prop_stop_game] = True
def move_eyes(ctx: rs.ContextWrapper):
if random.random() < ctx.conf(key=EYE_MOVEMENT_PROBABILITY_KEY):
if random.random() < 0.5:
logger.info(f"Publishing {LOOK_LEFT_EMOTION} to {prop_move_eyes.topic}")
ctx[prop_move_eyes] = String(data=LOOK_LEFT_EMOTION)
else:
logger.info(f"Publishing {LOOK_RIGHT_EMOTION} to {prop_move_eyes.topic}")
ctx[prop_move_eyes] = String(data=LOOK_RIGHT_EMOTION)
def push_telegram_interloc(ctx: rs.ContextWrapper, telegram_node: Node,
name: str):
"""
Push the telegram_node into interloc:all:name
"""
if ctx.push(parent_property_or_path=interloc.prop_all,
child=rs.Property(name=name, default_value=telegram_node)):
logger.debug(f"Pushed {telegram_node} to interloc:all")
def react_to_continue_decision(ctx: rs.ContextWrapper):
rand = random.random()
if ctx[nlp.prop_yesno].yes():
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_positive_expressions") + " Let's continue then"
if rand < 0.7 and ctx.conf(key=USE_EMOTIONS):
emo_client(LUCKY_EMOTION)
return rs.Emit()
elif ctx[nlp.prop_yesno].no():
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_no_continuation")
if ctx.conf(key=USE_EMOTIONS):
emo_client(KISS_EMOTION)
ctx[prop_stop_game] = True
else:
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_misunderstanding")
ctx[prop_continuation_unclear] = True
def ask_to_continue(ctx: rs.ContextWrapper):
if ctx[prop_feedback_received]:
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_offer_another_round")
if ctx[prop_sunglasses_on] and ctx.conf(key=USE_EMOTIONS):
emo_client(SUNGLASSES_ON_EMOTION)
ctx[prop_sunglasses_on] = False
return rs.Emit()
else:
return rs.Resign()
def process_play_decision(ctx: rs.ContextWrapper):
if not ctx[prop_game_in_progress]:
if ctx[nlp.prop_yesno].yes():
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_positive_expressions") + \
" Do you want to hear the rules?"
if ctx.conf(key=USE_EMOTIONS):
emo_client(SMILEBLINK_EMOTION)
return rs.Emit()
elif ctx[nlp.prop_yesno].no():
if random.random() < 0.5 and ctx.conf(key=USE_EMOTIONS):
emo_client(ROLL_EYES_EMOTION)
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_refuse_offer")
ctx[prop_stop_game] = True
else:
ctx[prop_decision_unclear] = True
ctx[rawio.prop_out] = verbaliser.get_random_phrase(
"charades_misunderstanding")
else:
return rs.Resign()
def store_face_and_name(ctx: rs.ContextWrapper):
tokens = ctx[nlp.prop_tokens]
triples = ctx[nlp.prop_triples]
if len(tokens) == 1:
name = tokens[0]
elif triples[0].get_object().text and triples[0].match_either_lemma(
pred={"be"}):
name = triples[0].get_object().text
else:
ctx["rawio:out"] = "Sorry, what was the name?"
return rs.Emit()
ctx["rawio:out"] = f"Got it, I'm sure I'll remember {name} next time I see that face!"
# Create memory entry
sess: Session = ravestate_ontology.get_session()
onto: Ontology = ravestate_ontology.get_ontology()
query = Node(metatype=onto.get_type("Person"))
query.set_properties({"name": name})
node_list = sess.retrieve(query)
if not node_list:
node = sess.create(query)
logger.info(f"Created new Node in scientio session: {node}")
elif len(node_list) == 1:
node = node_list[0]
else:
logger.error(
f'Failed to create or retrieve Scientio Node for {name}!')
return
logger.info(f"Node ID for {name} in picture is {node.get_id()}!")
# Store face vector with node id in redis
try:
redis_conn = redis.Redis(host=ctx.conf(key=REDIS_HOST_CONF),
port=ctx.conf(key=REDIS_PORT_CONF),
password=ctx.conf(key=REDIS_PASS_CONF))
redis_conn.set(node.get_id(), ctx["sendpics:face_vec"])
except redis.exceptions.ConnectionError as e:
err_msg = "Looks like the redis connection is unavailable :-("
logger.error(err_msg)
ctx[rawio.prop_out] = err_msg
def stop_game_session(ctx: rs.ContextWrapper):
'''
go off the game session so new game can be started
'''
if not ctx[prop_game_stopped]:
if ctx[prop_sunglasses_on] and ctx.conf(key=USE_EMOTIONS):
emo_client(SUNGLASSES_ON_EMOTION)
ctx[prop_sunglasses_on] = False
ctx[prop_game_in_progress] = False
ctx[prop_waiting_for_label] = False
ctx[prop_ping_choice_count] = 0
ctx[prop_game_stopped] = True
ctx[rawio.prop_out] = "I will stop now but if you want to " \
"play again just tell me"
def start_recording(ctx: rs.ContextWrapper):
if ctx.conf(key=USE_EMOTIONS):
emo_client(HYPNO_EMOTION)
resp = recognition_client()
if resp:
global count_round
count_round = count_round + 1
logger.info(f"Round {count_round}")
ctx[rawio.prop_out] = "Beep! Now let me think a little bit"
ctx[prop_waiting_for_label] = True
ctx[prop_guess_attempt_count] = 0
return rs.Emit()
else:
ctx[rawio.prop_out] = BROKEN_MESSAGE
ctx[prop_stop_game] = True
def gpt3(ctx: rs.ContextWrapper):
append_to_history(ctx.conf(key=HUMAN_PROMPT_PREFIX_KEY),
ctx[rawio.prop_in])
prompt = ctx.conf(key=PROMPT_KEY) + "\n".join(history + ctx.conf(
key=ROBOY_PROMPT_PREFIX_KEY))
logger.info(prompt)
result = requests.post(
"https://api.openai.com/v1/engines/davinci/completions",
json={
"prompt": prompt,
"temperature": ctx.conf(key=TEMPERATURE_KEY),
"max_tokens": ctx.conf(key=MAX_TOKENS_KEY),
"top_p": ctx.conf(key=MIN_PROB_KEY),
"stop": ctx.conf(key=STOP_INDICATORS_KEY)
},
headers={
"Authorization": f"Bearer {ctx.conf(key=GPT3_API_KEY)}"
}).json()
logger.info(result)
ctx[rawio.prop_out] = result["choices"][0]["text"]
def create_small_talk_states(ctx: rs.ContextWrapper, interloc_path: str):
used_follow_up_preds = set()
@rs.state(cond=idle.sig_bored_by_user,
write=(rawio.prop_out, prop_predicate, prop_subject),
read=(interloc_path, prop_predicate),
weight=1.2,
cooldown=40.,
emit_detached=True,
signal=sig_follow_up)
def small_talk(ctx: rs.ContextWrapper):
sess: Session = mem.get_session()
interloc: Node = ctx[interloc_path]
if interloc.get_id(
) < 0: # ask for name, if the interlocutor is not (yet) a persistent instance
pred = "NAME"
else:
pred = find_empty_relationship(interloc.get_relationships())
ctx[prop_subject] = interloc_path
if not ctx[prop_predicate]:
if pred:
logger.info(f"Personal question: intent={pred}")
ctx[prop_predicate] = pred
ctx[rawio.prop_out] = verbaliser.get_random_question(pred)
else:
unused_fup_preds = PREDICATE_SET.difference(
used_follow_up_preds)
if not unused_fup_preds:
logger.info(
f"Ran out of smalltalk predicates for {interloc_path}, committing suicide..."
)
return rs.Delete(resign=True)
pred = random.sample(
PREDICATE_SET.difference(used_follow_up_preds), 1)
pred = pred[0]
used_follow_up_preds.add(pred)
ctx[prop_predicate] = pred
relationship_ids: Set[int] = interloc.get_relationships(
pred)
if len(relationship_ids) > 0: # Just to be safe ...
object_node_list = sess.retrieve(
node_id=list(relationship_ids)[0])
if len(object_node_list) > 0:
ctx[rawio.
prop_out] = verbaliser.get_random_followup_question(
pred).format(
name=interloc.get_name(),
obj=object_node_list[0].get_name())
logger.info(f"Follow-up: intent={pred}")
return rs.Emit()
return rs.Resign()
else:
# While the predicate is set, repeat the question. Once the predicate is answered,
# it will be set to None, such that a new predicate is entered.
ctx[rawio.prop_out] = verbaliser.get_random_question(
ctx[prop_predicate])
@rs.state(cond=sig_follow_up.max_age(-1.) & nlp.prop_triples.changed(),
write=(rawio.prop_out, prop_predicate, prop_inference_mutex),
read=(interloc_path, prop_predicate, nlp.prop_yesno))
def fup_react(ctx: rs.ContextWrapper):
sess: Session = mem.get_session()
subject_node: Node = ctx[interloc_path]
pred = ctx[prop_predicate]
object_node_list = []
relationship_ids: Set[int] = subject_node.get_relationships(pred)
if len(relationship_ids) > 0:
object_node_list = sess.retrieve(
node_id=list(relationship_ids)[0])
if len(object_node_list) > 0:
ctx[rawio.prop_out] = verbaliser.get_random_followup_answer(
pred).format(name=subject_node.get_name(),
obj=object_node_list[0].get_name())
else:
ctx[rawio.prop_out] = "Oh, I see!"
ctx[prop_predicate] = None
ctx.add_state(small_talk)
ctx.add_state(fup_react)
def sync_ros_properties(ctx: rs.ContextWrapper):
"""
State that creates a ROS2-Node, registers all Ros2SubProperties and Ros2PubProperties in ROS2 and keeps them synced
"""
global global_prop_set, global_node
# check for ROS2 availability
if not ROS2_AVAILABLE:
logger.error(
"ROS2 is not available, therefore all ROS2-Properties "
"will be just normal properties without connection to ROS2!")
return rs.Delete()
# get config stuff
node_name = ctx.conf(key=NODE_NAME_CONFIG_KEY)
if not node_name:
logger.error(
f"{NODE_NAME_CONFIG_KEY} is not set. Shutting down ravestate_ros2")
return rs.Delete()
spin_frequency = ctx.conf(key=SPIN_FREQUENCY_CONFIG_KEY)
if spin_frequency is None or spin_frequency < 0:
logger.error(
f"{SPIN_FREQUENCY_CONFIG_KEY} is not set or less than 0. Shutting down ravestate_ros2"
)
return rs.Delete()
if spin_frequency == 0:
spin_sleep_time = 0
else:
spin_sleep_time = 1 / spin_frequency
# init ROS
if not rclpy.ok():
rclpy.init()
if not global_node:
global_node = rclpy.create_node(node_name)
global global_prop_set
# current_props: hash -> subscription/publisher
current_props: Dict = dict()
# ROS-Context Sync Loop
while not ctx.shutting_down():
# remove deleted props
removed_props = current_props.keys() - global_prop_set
for prop_hash in removed_props:
item = current_props[prop_hash]
if isinstance(item, rclpy.subscription.Subscription):
global_node.destroy_subscription(item)
elif isinstance(item, rclpy.publisher.Publisher):
global_node.destroy_publisher(item)
elif isinstance(item, rclpy.client.Client):
global_node.destroy_client(item)
current_props.pop(prop_hash)
# add new props
new_props = global_prop_set - current_props.keys()
for prop in new_props:
# register subscribers in ROS
if isinstance(prop, Ros2SubProperty):
# register in context
@rs.receptor(ctx_wrap=ctx, write=prop.id())
def ros_to_ctx_callback(ctx, msg, prop_name: str):
ctx[prop_name] = msg
prop.ros_to_ctx_callback = ros_to_ctx_callback
prop.subscription = global_node.create_subscription(
prop.msg_type, prop.topic, prop.ros_subscription_callback)
current_props[prop.__hash__()] = prop.subscription
# register publishers in ROS
if isinstance(prop, Ros2PubProperty):
prop.publisher = global_node.create_publisher(
prop.msg_type, prop.topic)
current_props[prop.__hash__()] = prop.publisher
# register clients in ROS
if isinstance(prop, Ros2CallProperty):
prop.client = global_node.create_client(
prop.service_type, prop.service_name)
current_props[prop.__hash__()] = prop.client
# replace prop with hash in global_props
global_prop_set.remove(prop)
global_prop_set.add(prop.__hash__())
# spin once
rclpy.spin_once(global_node, timeout_sec=0)
time.sleep(spin_sleep_time)
global_node.destroy_node()
rclpy.shutdown()
def is_affectionate(ctx: rs.ContextWrapper):
if any(l in ctx[nlp.prop_lemmas] for l in AFFECTIONATE_LIST) and \
random.random() < ctx.conf(key=AFFECTIONATE_PROB_KEY):
logger.debug(f"Emitting {sig_affectionate.name}")
return rs.Emit()
return rs.Resign()
def am_i_bored_by_user(ctx: rs.ContextWrapper):
"""
Emits idle:bored-by-user idle:bored as emitted and there is a present interlocutor.
"""
if any(ctx.enum(interloc.prop_all)):
return rs.Emit(wipe=True)
def is_surprised(ctx: rs.ContextWrapper):
if random.random() < ctx.conf(key=SURPRISED_PROB_KEY):
logger.debug(f"Emitting {sig_surprise.name}")
return rs.Emit()
return rs.Resign()
def telegram_run(ctx: rs.ContextWrapper):
"""
Starts up the telegram bot and adds a handler to write incoming messages to rawio:in
"""
@rs.receptor(ctx_wrap=ctx, write=rawio.prop_in)
def text_receptor(ctx: rs.ContextWrapper, message_text: str):
"""
Writes the message_text to rawio:in
"""
ctx[rawio.prop_in] = message_text
@rs.receptor(ctx_wrap=ctx, write=rawio.prop_pic_in)
def photo_receptor(ctx: rs.ContextWrapper, photo_path):
"""
Handles photo messages, write to rawio:pic_in
"""
ctx[rawio.prop_pic_in] = photo_path
@rs.receptor(ctx_wrap=ctx, write=interloc.prop_all)
def push_telegram_interloc(ctx: rs.ContextWrapper, telegram_node: Node,
name: str):
"""
Push the telegram_node into interloc:all:name
"""
if ctx.push(parent_property_or_path=interloc.prop_all,
child=rs.Property(name=name, default_value=telegram_node)):
logger.debug(f"Pushed {telegram_node} to interloc:all")
def make_sure_effective_user_exists(update: Update):
"""
Retrieves scientio Node of User if it exists, otherwise creates it in the scientio session
Calls the push_telegram_interloc receptor to push the scientio node into interloc:all
Adds the User to the set of active_users and the chat to the set of active_chats
"""
active_chats[update.effective_chat.id] = (Timestamp(), None)
if update.effective_user.id in active_users:
active_users[update.effective_user.id].add(
update.effective_chat.id)
else:
# set up scientio
if ontology.initialized.wait():
sess: Session = ontology.get_session()
onto: Ontology = ontology.get_ontology()
# create scientio Node of type TelegramPerson
query = Node(metatype=onto.get_type("TelegramPerson"))
prop_dict = {'telegram_id': update.effective_user.id}
if update.effective_user.username:
prop_dict['name'] = update.effective_user.username
if update.effective_user.full_name:
prop_dict['full_name'] = update.effective_user.full_name
query.set_properties(prop_dict)
node_list = sess.retrieve(query)
if not node_list:
telegram_node = sess.create(query)
logger.info(
f"Created new Node in scientio session: {telegram_node}"
)
elif len(node_list) == 1:
telegram_node = node_list[0]
else:
logger.error(
f'Found multiple TelegramPersons that matched query: {update.message.chat_id} '
f'in scientio session. Cannot push node to interloc:all!'
)
return
# push chat-Node
push_telegram_interloc(telegram_node, update.effective_chat.id)
active_users[update.effective_user.id] = {
update.effective_chat.id
}
def handle_text(bot: Bot, update: Update):
"""
Handle incoming text messages
"""
make_sure_effective_user_exists(update)
text_receptor(update.effective_message.text)
def handle_photo(bot: Bot, update: Update):
"""
Handle incoming photo messages.
"""
make_sure_effective_user_exists(update)
photo_index = 2 # Seems like a good size index. TODO: Make configurable
while photo_index >= len(update.effective_message.photo):
photo_index -= 1
if photo_index < 0:
logger.error(
"Telegram photo handler was called, but no photo received!"
)
return
file_descr = bot.get_file(
update.effective_message.photo[photo_index].file_id)
photo = requests.get(file_descr.file_path)
file_path = mkstemp()[1]
with open(file_path, 'wb') as file:
file.write(photo.content)
photo_receptor(file_path)
def handle_input_multiprocess(bot: Bot, update: Update):
"""
Handle incoming messages
"""
if update.effective_chat.id not in active_chats:
add_new_child_process(update.effective_chat.id)
# write (bot, update) to Pipe
active_chats[update.effective_chat.id][0].update()
logger.info(f"INPUT: {update.effective_message.text}")
active_chats[update.effective_chat.id][1].send((bot, update))
# send typing symbol
bot.send_chat_action(chat_id=update.effective_chat.id,
action=ChatAction.TYPING)
def add_new_child_process(chat_id):
"""
Adds the chat of the incoming message to the set of active_chats
Creates new Ravestate Context in new Process for the new chat and
sets up a bidirectional Pipe for communication between Master and Child Processes
"""
# start method has to be 'spawn'
mp_context = mp.get_context('spawn')
# Pipe to communicate between Master Process and all children
parent_conn, child_conn = mp.Pipe()
# create commandline args for child config file
args = []
child_config_paths_list = ctx.conf(key=CHILD_FILES_CONFIG_KEY)
for child_config_path in child_config_paths_list:
args += ['-f', child_config_path]
# set up new Process and override child_conn with the Pipe-Connection
p = mp_context.Process(target=rs.create_and_run_context,
args=(*args, ),
kwargs={
'runtime_overrides':
[(MODULE_NAME, CHILD_CONN_CONFIG_KEY,
child_conn)]
})
p.start()
active_chats[chat_id] = (Timestamp(), parent_conn)
def error(bot: Bot, update: Update, error: TelegramError):
"""
Log Errors caused by Updates.
"""
logger.warning(
f'Update {update.effective_message} caused error {error.message}')
def _manage_children(updater):
"""
Receive messages from children via Pipe and then send them to corresponding Telegram Chat.
Remove chats when they get older than the chat lifetime.
:param updater: The Updater of the telegram-Bot
"""
chat_lifetime = ctx.conf(
key=CHAT_LIFETIME) * 60 # conversion from minutes to seconds
while not ctx.shutting_down():
removable_chats = set()
removable_users = set()
# wait for children to write to Pipe and then send message to chat
tick_interval = 1. / ctx.conf(mod=rs.CORE_MODULE_NAME,
key=rs.TICK_RATE_CONFIG_KEY)
time.sleep(tick_interval)
for chat_id, (last_msg_timestamp,
parent_pipe) in active_chats.items():
if parent_pipe.poll():
try:
msg = parent_pipe.recv()
if isinstance(msg, str):
logger.info(f"OUTPUT: {msg}")
updater.bot.send_message(chat_id=chat_id, text=msg)
else:
logger.error(
f'Tried sending non-str object as telegram message: {str(msg)}'
)
except EOFError:
# Child pipe was closed
parent_pipe.close()
removable_chats.add(chat_id)
continue
# remove chat from active_chats if inactive for too long
if last_msg_timestamp.age() > chat_lifetime:
parent_pipe.close()
removable_chats.add(chat_id)
for chat_id in removable_chats:
active_chats.pop(chat_id)
for user_id, chat_ids in active_users.items():
# remove chat from chats that the user is part of
chat_ids.discard(chat_id)
if len(chat_ids) == 0:
# user is no longer part of any active chats
removable_users.add(user_id)
for user_id in removable_users:
active_users.pop(user_id)
def _bootstrap_telegram_master():
"""
Handle TelegramIO as the Master Process.
Start the bot, and handle incoming telegram messages.
"""
token = ctx.conf(key=TOKEN_CONFIG_KEY)
if not token:
logger.error(
f'{TOKEN_CONFIG_KEY} is not set. Shutting down telegramio')
return rs.Delete()
child_config_paths_list = ctx.conf(key=CHILD_FILES_CONFIG_KEY)
if not ctx.conf(key=ALL_IN_ONE_CONTEXT_CONFIG_KEY) and (
not child_config_paths_list
or not isinstance(child_config_paths_list, list) or not all(
os.path.isfile(child_config_path)
for child_config_path in child_config_paths_list)):
logger.error(
f'{CHILD_FILES_CONFIG_KEY} is not set (correctly). Shutting down telegramio'
)
return rs.Delete()
updater: Updater = Updater(token)
# Get the dispatcher to register handlers
dispatcher: Dispatcher = updater.dispatcher
if ctx.conf(key=ALL_IN_ONE_CONTEXT_CONFIG_KEY):
# handle noncommand-messages with the matching handler
dispatcher.add_handler(MessageHandler(Filters.text, handle_text))
dispatcher.add_handler(MessageHandler(Filters.photo, handle_photo))
else:
dispatcher.add_handler(
MessageHandler(Filters.text | Filters.photo,
handle_input_multiprocess))
# log all errors
dispatcher.add_error_handler(error)
# Start the Bot
updater.start_polling() # non blocking
if not ctx.conf(key=ALL_IN_ONE_CONTEXT_CONFIG_KEY):
_manage_children(updater)
def _bootstrap_telegram_child():
"""
Handle TelegramIO as a Child Process.
Listen to Pipe and handle incoming texts and photos.
"""
try:
while not ctx.shutting_down():
# receive Bot,Update for telegram chat
bot, update = child_conn.recv() # blocking
if update.effective_message.photo:
handle_photo(bot, update)
elif update.effective_message.text:
if update.effective_message.text.strip().lower(
) in verbaliser.get_phrase_list("farewells"):
send_on_telegram(
ctx, verbaliser.get_random_phrase("farewells"))
logger.info("Shutting down child process")
ctx.shutdown()
handle_text(bot, update)
else:
logger.error(
f"{MODULE_NAME} received an update it cannot handle.")
except EOFError:
# Pipe was closed -> Parent was killed or parent has closed the pipe
logger.info(
"Pipe was closed, therefore the telegram-child will shut down."
)
ctx.shutdown()
child_conn = ctx.conf(key=CHILD_CONN_CONFIG_KEY)
is_master_process = child_conn is None
if is_master_process:
return _bootstrap_telegram_master()
else:
_bootstrap_telegram_child()
def is_busy(ctx: rs.ContextWrapper):
busy = True if any(ctx.enum(interloc.prop_all)) else False
# Set this as param if you want to use it inside ws_comm, otherwise you can just assign a variable
if ROS_AVAILABLE:
rospy.set_param('roboy_is_busy', busy)
def sync_ros_properties(ctx: rs.ContextWrapper):
"""
State that creates a ROS1-Node, registers all Ros1SubProperties and Ros1PubProperties in ROS1 and keeps them synced
"""
global global_prop_set, global_node
# check for ROS1 availability
if not ROS1_AVAILABLE:
logger.error(
"ROS1 is not available, therefore all ROS1-Properties "
"will be just normal properties without connection to ROS1!")
return rs.Delete()
# get config stuff
node_name = ctx.conf(key=NODE_NAME_CONFIG_KEY)
if not node_name:
logger.error(
f"{NODE_NAME_CONFIG_KEY} is not set. Shutting down ravestate_ros1")
return rs.Delete()
spin_frequency = ctx.conf(key=SPIN_FREQUENCY_CONFIG_KEY)
if spin_frequency is None or spin_frequency < 0:
logger.error(
f"{SPIN_FREQUENCY_CONFIG_KEY} is not set or less than 0. Shutting down ravestate_ros1"
)
return rs.Delete()
if spin_frequency == 0:
spin_sleep_time = 0
else:
spin_sleep_time = 1 / spin_frequency
# Use same node_name if ROS1 was already initialized (i.e. by importing pyroboy)
if rospy.get_name():
node_name = rospy.get_name()[1:] # cut off leading /
# init ROS1
#rospy.init_node(node_name, disable_signals=True)
global global_prop_set
# current_props: hash -> Subscriber/Publisher/ServiceProxy
current_props: Dict = dict()
# ROS1-Context Sync Loop
while not ctx.shutting_down() and not rospy.core.is_shutdown():
# remove deleted props
removed_props = current_props.keys() - global_prop_set
for prop_hash in removed_props:
item = current_props[prop_hash]
item.unregister()
current_props.pop(prop_hash)
# add new props
new_props = global_prop_set - current_props.keys()
for prop in new_props:
# register subscribers in ROS1
if isinstance(prop, Ros1SubProperty):
# register in context
@rs.receptor(ctx_wrap=ctx, write=prop.id())
def ros_to_ctx_callback(ctx, msg, prop_name: str):
ctx[prop_name] = msg
prop.ros_to_ctx_callback = ros_to_ctx_callback
prop.subscriber = rospy.Subscriber(
prop.topic, prop.msg_type, prop.ros_subscription_callback)
current_props[prop.__hash__()] = prop.subscriber
# register publishers in ROS1
if isinstance(prop, Ros1PubProperty):
prop.publisher = rospy.Publisher(prop.topic,
prop.msg_type,
queue_size=prop.queue_size)
current_props[prop.__hash__()] = prop.publisher
# register clients in ROS1
if isinstance(prop, Ros1CallProperty):
prop.client = rospy.ServiceProxy(prop.service_name,
prop.service_type)
current_props[prop.__hash__()] = prop.client
# replace prop with hash in global_props
global_prop_set.remove(prop)
global_prop_set.add(prop.__hash__())
rospy.rostime.wallsleep(spin_sleep_time)
rospy.signal_shutdown("ravestate_ros1 is shutting down")
def recognize_faces(ctx: rs.ContextWrapper):
"""
Activates with each incoming face data served by face oracle. Responsible for synchronizing the node of
person in vision with the anonymous interlocutor node. Uses face oracle filter to organize the incoming data
and find out the right person.
"""
face_filter: FaceOracleFilter = ctx[prop_face_filter]
faces: Faces = ctx[prop_subscribe_faces]
# Push faces to face filter
best_guess_changed = face_filter.push_message(faces)
if best_guess_changed:
current_best_guess: Person = face_filter.current_best_guess
onto: Ontology = mem.get_ontology()
sess: Session = mem.get_session()
person_node = Node(metatype=onto.get_type("Person"))
best_guess_id = current_best_guess.id
face_vector = current_best_guess.face_vector
if current_best_guess.is_known:
person_node_query = sess.retrieve(node_id=best_guess_id)
if person_node_query:
person_node = person_node_query[0]
else:
err_msg = "Person with id %s is not found in memory." % best_guess_id
logger.error(err_msg)
return
else:
person_node.set_properties({
'face_vector':
face_vector,
'name':
interloc.ANON_INTERLOC_ID
})
push = False
# Check if there is any interlocutor. If necessary and pop the current node and push person node
# instead.
if any(ctx.enum(interloc.prop_all)):
interloc_node: Node = ctx[
f'interloc:all:{interloc.ANON_INTERLOC_ID}']
# If interloc and the person nodes are not same pop and push person node.
if not (interloc_node.get_id() == person_node.get_id()
) or interloc_node.get_id() < 0:
# Remove the current interloc
logger.info('Popping current interlocutor')
popped_node = ctx.pop(
f'interloc:all:{interloc.ANON_INTERLOC_ID}')
assert popped_node == True
push = True
else:
# Update the face vector of the person already familiar with
save_face(ctx, interloc_node.get_id(),
current_best_guess.face_vector)
else:
push = True
if push:
# Push the new interlocutor
ctx.push(parent_property_or_path=interloc.prop_all,
child=rs.Property(name=interloc.ANON_INTERLOC_ID,
default_value=person_node))
logger.info(
f"Pushed node with id {person_node.id} to interloc:all"
)
def console_input(ctx: rs.ContextWrapper):
while not ctx.shutting_down():
input_value = input("> ")
rawio.say(ctx, input_value)
def is_happy(ctx: rs.ContextWrapper):
if random.random() < ctx.conf(key=HAPPY_PROB_KEY):
logger.debug(f"Emitting {sig_happy.name}")
return rs.Emit()
return rs.Resign()