def run(self):
""" run ros node """
# initialize ros node
rospy.init_node('ChatTRCP')
rospy.loginfo("start DoCoMo Chat TRCP node")
""" for ROSpeexInterface """
self.rospeex = ROSpeexInterface()
self.rospeex.init()
self.rospeex.register_sr_response(self.sr_response)
"""日本語（英語もある）でNICT(Googleもある)"""
"""launchファイ決めてもいいけど、動的に変更する？"""
"""とりあえず、現状は決め打ち"""
self.lang = 'ja'
# self.input_engine = 'nict'
self.input_engine = 'google'
self.rospeex.set_spi_config(language='ja', engine='google')
# self.rospeex.set_spi_config(language=self.lang, engine=self.input_engine)
""" 発話理解APIの準備 """
self.req = DoCoMoUnderstandingReq()
self.req.projectKey = 'OSU'
self.req.appName = ''
self.req.appKey = 'hoge_app01'
self.req.clientVer = '1.0.0'
self.req.dialogMode = 'off'
self.req.language = 'ja'
self.req.userId = '12 123456 123456 0'
self.req.lat = '139.766084'
self.req.lon = '35.681382'
""" 雑談対話APIの準備 """
self.req_chat = DoCoMoChatReq()
self.req_chat.utt = ""
self.req_chat.context = _chat_["context"]
self.req_chat.nickname = _chat_["nickname"]
self.req_chat.nickname_y = _chat_["nickname_y"]
self.req_chat.sex = _chat_["sex"]
self.req_chat.bloodtype = _chat_["bloodtype"]
self.req_chat.birthdateY = _chat_["birthdateY"]
self.req_chat.birthdateM = _chat_["birthdateM"]
self.req_chat.birthdateD = _chat_["birthdateD"]
self.req_chat.age = _chat_["age"]
self.req_chat.constellations = _chat_["constellations"]
self.req_chat.place = _chat_["place"]
self.req_chat.mode = _chat_["mode"]
self.req_chat.t = _chat_["t"]
rospy.wait_for_service('docomo_sentenceunderstanding')
self.understanding = rospy.ServiceProxy('docomo_sentenceunderstanding',
DoCoMoUnderstanding)
rospy.wait_for_service('docomo_qa')
self.qa = rospy.ServiceProxy('docomo_qa', DoCoMoQa)
rospy.wait_for_service('docomo_chat')
self.chat = rospy.ServiceProxy('docomo_chat', DoCoMoChat)
self.resp_understanding = DoCoMoUnderstandingRes()
self.nowmode = "CHAT"
rospy.spin()
class talk_node(object):
def __init__(self):
self._interface = ROSpeexInterface()
def sr_response(self, message):
run = re.compile('(?P<run>走行)').search(message)
start = re.compile('(?P<start>開始)').search(message)
print 'you said : %s' %message
if run is not None and start is not None:
text = u'ナビゲーションを開始します。'
robot_msg = 'start'
rospy.loginfo(robot_msg)
syscommand_pub.publish(robot_msg)
print 'rospeex reply : %s' %text
self._interface.say(text, 'ja', 'nict')
def run(self):
self._interface.init()
self._interface.register_sr_response(self.sr_response)
self._interface.set_spi_config(language='ja',engine='nict')
rospy.spin()
def main():
rospy.init_node('demo')
interface = ROSpeexInterface()
interface.init()
# interface.set_sr_response()
interface.register_sr_response(sr_response)
interface.set_spi_config(language='ja', engine='nict')
rospy.spin()
def main():
rospy.init_node('demo')
interface = ROSpeexInterface()
interface.init()
# interface.set_sr_response()
interface.register_sr_response( sr_response )
interface.set_spi_config(language='ja', engine='nict')
rospy.spin()
class recognition(object):
def __init__(self):
self._interface = ROSpeexInterface()
def sr_response(self, message):
#文字列検索
#止まる
stop = re.compile('(?P<stop>止ま|ストップ)').search(message)
#前に関するもの
front = re.compile('(?P<front>前|進め)').search(message)
#後ろに関するもの
back = re.compile('(?P<back>後|下が|バック)').search(message)
#右に関するもの
right = re.compile('(?P<right>右)').search(message)
#左に関するもの
left = re.compile('(?P<left>左)').search(message)
#認識した音声を出力
print 'rospeex replay : %s' % message
#検索した文字列に対して以下の数字を配信する
#検索した文字列が何も一致しなかったら配信しない。
if stop is not None:
pub.publish(0)
elif front is not None:
pub.publish(1)
elif back is not None:
pub.publish(2)
elif right is not None:
pub.publish(3)
elif left is not None:
pub.publish(4)
sleep(2)
def run(self):
""" run ros node """
#初期化
rospy.init_node('speech_recognition')
self._interface.init()
#音声認識エンジンの設定(言語,エンジン)
self._interface.set_spi_config(language='ja', engine='nict')
#音声認識結果取得用コールバック関数
self._interface.register_sr_response(self.sr_response)
rospy.spin()
if __name__ == "__main__":
_pattern_rule = re.compile(
'.*(robot)*.*(back|come|start|straight|right|left|stop|wait)')
_operation_count = 0
_turn_action = 0
_started = False
_force_stop = False
_force_stop = False
_during_right = False
_during_left = False
rospy.init_node('rospeex_turtle')
rospeex = ROSpeexInterface()
rospeex.init()
rospeex.register_sr_response(sr_response)
rospeex.set_spi_config(language='en', engine='nict')
#rospeex.set_spi_config(language='en',engine='google')
turtle_pub = rospy.Publisher('cmd_vel_mux/input/teleop', Twist)
rospy.Timer(rospy.Duration(0, 100000000), timer_callback)
try:
rospy.spin()
except:
print e
finally:
twist = Twist()
twist.linear.x = 0
twist.linear.y = 0
class ChatTRCP(object):
""" ChatTRCP class """
def __init__(self):
""" Initializer """
def run(self):
""" run ros node """
# initialize ros node
rospy.init_node('ChatTRCP')
rospy.loginfo("start DoCoMo Chat TRCP node")
""" for ROSpeexInterface """
self.rospeex = ROSpeexInterface()
self.rospeex.init()
self.rospeex.register_sr_response(self.sr_response)
"""日本語（英語もある）でNICT(Googleもある)"""
"""launchファイ決めてもいいけど、動的に変更する？"""
"""とりあえず、現状は決め打ち"""
self.lang = 'ja'
# self.input_engine = 'nict'
self.input_engine = 'google'
self.rospeex.set_spi_config(language='ja', engine='google')
# self.rospeex.set_spi_config(language=self.lang, engine=self.input_engine)
""" 発話理解APIの準備 """
self.req = DoCoMoUnderstandingReq()
self.req.projectKey = 'OSU'
self.req.appName = ''
self.req.appKey = 'hoge_app01'
self.req.clientVer = '1.0.0'
self.req.dialogMode = 'off'
self.req.language = 'ja'
self.req.userId = '12 123456 123456 0'
self.req.lat = '139.766084'
self.req.lon = '35.681382'
""" 雑談対話APIの準備 """
self.req_chat = DoCoMoChatReq()
self.req_chat.utt = ""
self.req_chat.context = _chat_["context"]
self.req_chat.nickname = _chat_["nickname"]
self.req_chat.nickname_y = _chat_["nickname_y"]
self.req_chat.sex = _chat_["sex"]
self.req_chat.bloodtype = _chat_["bloodtype"]
self.req_chat.birthdateY = _chat_["birthdateY"]
self.req_chat.birthdateM = _chat_["birthdateM"]
self.req_chat.birthdateD = _chat_["birthdateD"]
self.req_chat.age = _chat_["age"]
self.req_chat.constellations = _chat_["constellations"]
self.req_chat.place = _chat_["place"]
self.req_chat.mode = _chat_["mode"]
self.req_chat.t = _chat_["t"]
rospy.wait_for_service('docomo_sentenceunderstanding')
self.understanding = rospy.ServiceProxy('docomo_sentenceunderstanding',
DoCoMoUnderstanding)
rospy.wait_for_service('docomo_qa')
self.qa = rospy.ServiceProxy('docomo_qa', DoCoMoQa)
rospy.wait_for_service('docomo_chat')
self.chat = rospy.ServiceProxy('docomo_chat', DoCoMoChat)
self.resp_understanding = DoCoMoUnderstandingRes()
self.nowmode = "CHAT"
rospy.spin()
""" DoCoMo 雑談対話の実行 """
def execChat(self, message):
# Rospeexを使うと、文字列の最後に「。」が付くので削除する
src = message
dst = src.replace('。', '')
self.req_chat.utt = dst
self.res_chat = self.chat(self.req_chat)
rospy.loginfo("TRCP Chat response:%s", self.res_chat.response)
self.rospeex.say(self.res_chat.response.yomi, 'ja', 'nict')
return True
""" DoCoMo 知識検索の実行 """
def execQA(self, message):
rospy.loginfo("TRCP:Q&A")
self.req_qa = DoCoMoQaReq()
self.req_qa.text = message
res_qa = self.qa(self.req_qa)
rospy.loginfo("TRCP Q&A response:%s", res_qa.response.code)
self.rospeex.say(res_qa.response.textForSpeech, 'ja', 'nict')
return True
def sr_response(self, message):
rospy.loginfo("sr_responsee:%s", message)
#message が特定のキーワードであれば、それに対応した処理を行う
""" 時間 ->現在時刻を答える"""
time = re.compile('(?P<time>何時)').search(message)
if time is not None:
rospy.loginfo("What Time is it now? :%s", message)
d = datetime.datetime.today()
text = u'%d時%d分です。' % (d.hour, d.minute)
# rospeex reply
self.rospeex.say(text, 'ja', 'nict')
return True
""" 自己紹介 ->挨拶する"""
hello = re.compile('(?P<introduce>)自己紹介').search(message)
if hello is not None:
rospy.loginfo("Self introduce :%s", message)
text = "皆さんこんにちわ。私の名前はイレイサーです。僕は家庭でみんなの手伝いをするために作られたホームサービスロボットなんだ。"
# rospeex reply
self.rospeex.say(text, 'ja', 'nict')
return True
# 特定のキーワード処理はここまで
try:
""" もし現在の会話モードが「しりとり」なら
文章理解APIをスキップする
"""
if self.nowmode == "CHAIN":
self.resp_understanding.success = True
self.resp_understanding.response.commandId = "BC00101"
self.resp_understanding.response.utteranceText = message
else:
self.req.utteranceText = message
self.resp_understanding = self.understanding(self.req)
if self.resp_understanding.success:
commandId = self.resp_understanding.response.commandId
rospy.loginfo("<<< %s", commandId)
if commandId == "BC00101":
rospy.loginfo("BBBB")
"""雑談"""
rospy.loginfo("TRCP:Chat")
# Rospeexを使うと、文字列の最後に「。」が付くので削除する
src = self.resp_understanding.response.utteranceText
dst = src.replace('。', '')
self.req_chat.utt = dst
self.res_chat = self.chat(self.req_chat)
rospy.loginfo("TRCP Chat response:%s",
self.res_chat.response)
"""雑談対話からのレスポンスを設定する"""
self.req_chat.mode = self.res_chat.response.mode.encode(
'utf-8')
self.req_chat.context = self.res_chat.response.context.encode(
'utf-8')
if self.nowmode == "CHAIN":
if self.res_chat.response.mode == "srtr":
self.nowmode = "CHAIN"
self.rospeex.say(self.res_chat.response.utt, 'ja',
'nict')
else:
self.nowmode = "CHAT"
self.rospeex.say(self.res_chat.response.utt, 'ja',
'nict')
elif self.nowmode == "CHAT":
if self.res_chat.response.mode == "srtr":
self.nowmode = "CHAIN"
self.rospeex.say(self.res_chat.response.utt, 'ja',
'nict')
else:
self.nowmode = "CHAT"
self.rospeex.say(self.res_chat.response.yomi, 'ja',
'nict')
elif commandId == "BK00101":
"""知識検索"""
rospy.loginfo("TRCP:Q&A")
self.req_qa = DoCoMoQaReq()
self.req_qa.text = self.resp_understanding.response.utteranceText
print self.resp_understanding.response.utteranceText
res_qa = self.qa(self.req_qa)
rospy.loginfo("TRCP Q&A response:%s", res_qa.response.code)
self.rospeex.say(res_qa.response.textForSpeech, 'ja',
'nict')
"""
質問回答のレスポンスコードは、下記のいずれかを返却。
S020000: 内部のDBからリストアップした回答
S020001: 知識Q&A APIが計算した回答
S020010: 外部サイトから抽出した回答候補
S020011: 外部サイトへのリンクを回答
E010000: 回答不能(パラメータ不備)
E020000: 回答不能(結果0件)
E099999: 回答不能(処理エラー)
※Sで始まる場合は正常回答、
Eで始まる場合は回答が得られていないことを示す。
"""
if res_qa.success:
print res_qa.response.textForDisplay
rospy.loginfo("TRCP:%s", res_qa.response.textForSpeech)
# for answer in res_qa.response.answer:
# print answer.rank
# print answer.answerText
# print answer.linkText
# print answer.linkUrl
if res_qa.response.code == 'S020000':
pass
elif res_qa.response.code == 'S020001':
pass
elif res_qa.response.code == 'S020010':
pass
elif res_qa.response.code == 'S020011':
pass
elif res_qa.response.code == 'E010000':
pass
elif res_qa.response.code == 'E020000':
pass
elif res_qa.response.code == 'E099999':
pass
else:
pass
else:
pass
elif commandId == "BT00101":
"""乗換案内"""
rospy.loginfo(":Transfer")
self.execQA(message)
elif commandId == "BT00201":
"""地図"""
rospy.loginfo(":Map")
self.execQA(message)
elif commandId == "BT00301":
"""天気"""
rospy.loginfo(":Weather")
"""お天気検索"""
"""http://weather.livedoor.com/weather_hacks/webservice"""
# self.execQA(message)
self.execChat(message)
elif commandId == "BT00401":
"""グルメ検索"""
rospy.loginfo(":Restaurant")
""" グルなびWebサービス"""
"""http://api.gnavi.co.jp/api/"""
self.execQA(message)
elif commandId == "BT00501":
"""ブラウザ"""
rospy.loginfo(":Webpage")
self.execQA(message)
elif commandId == "BT00601":
"""観光案内"""
rospy.loginfo(":Sightseeing")
self.execQA(message)
elif commandId == "BT00701":
"""カメラ"""
rospy.loginfo(":Camera")
self.execQA(message)
elif commandId == "BT00801":
"""ギャラリー"""
rospy.loginfo(":Gallery")
self.execQA(message)
elif commandId == "BT00901":
"""通信"""
rospy.loginfo(":Coomunincation")
self.execQA(message)
elif commandId == "BT01001":
"""メール"""
rospy.loginfo(":Mail")
self.execQA(message)
elif commandId == "BT01101":
"""メモ登録"""
rospy.loginfo(":Memo input")
self.execQA(message)
elif commandId == "BT01102":
"""メモ参照"""
rospy.loginfo(":Memo output")
self.execQA(message)
elif commandId == "BT01201":
"""アラーム"""
rospy.loginfo(":Alarm")
self.execQA(message)
elif commandId == "BT01301":
"""スケジュール登録"""
rospy.loginfo(":Schedule input")
self.execQA(message)
elif commandId == "BT01302":
"""スケジュール参照"""
rospy.loginfo(":Schedule input")
self.execQA(message)
elif commandId == "BT01501":
"""端末設定"""
rospy.loginfo(":Setting")
self.execQA(message)
elif commandId == "BT01601":
"""SNS投稿"""
rospy.loginfo(":SNS")
self.execQA(message)
elif commandId == "BT90101":
"""キャンセル"""
rospy.loginfo(":Cancel")
self.execQA(message)
elif commandId == "BM00101":
"""地図乗換"""
rospy.loginfo(":Map transfer")
self.execQA(message)
elif commandId == "BM00201":
"""通話メール"""
rospy.loginfo(":Short mail")
self.execQA(message)
else:
"""発話理解APIで判定不能"""
"""Undeterminable"""
rospy.loginfo("Undeterminable:%s",
self.resp_understanding.response.commandId)
self.rospeex.say("ごめんなさい、良く聞き取れませんでした。", 'ja', 'nict')
else:
"""発話理解APIがエラーのとき"""
rospy.loginfo("DoCoMo 発話理解API failed")
pass
except:
"""対話プログラムのどこかでエラーのとき"""
rospy.loginfo("error")
pass
return True
def __init__(self):
self._interface = ROSpeexInterface()
def run(self):
""" run ros node """
# initialize ros node
rospy.init_node('ChatTRCP')
rospy.loginfo("start DoCoMo Chat TRCP node")
""" for ROSpeexInterface """
self.rospeex = ROSpeexInterface()
self.rospeex.init()
self.rospeex.register_sr_response( self.sr_response )
"""日本語（英語もある）でNICT(Googleもある)"""
"""launchファイ決めてもいいけど、動的に変更する？"""
"""とりあえず、現状は決め打ち"""
self.lang = 'ja'
# self.input_engine = 'nict'
self.input_engine = 'google'
self.rospeex.set_spi_config(language='ja',engine='google')
# self.rospeex.set_spi_config(language=self.lang, engine=self.input_engine)
""" 発話理解APIの準備 """
self.req = DoCoMoUnderstandingReq()
self.req.projectKey = 'OSU'
self.req.appName = ''
self.req.appKey = 'hoge_app01'
self.req.clientVer = '1.0.0'
self.req.dialogMode = 'off'
self.req.language = 'ja'
self.req.userId = '12 123456 123456 0'
self.req.lat = '139.766084'
self.req.lon = '35.681382'
""" 雑談対話APIの準備 """
self.req_chat = DoCoMoChatReq()
self.req_chat.utt = ""
self.req_chat.context = _chat_["context"]
self.req_chat.nickname = _chat_["nickname"]
self.req_chat.nickname_y = _chat_["nickname_y"]
self.req_chat.sex = _chat_["sex"]
self.req_chat.bloodtype = _chat_["bloodtype"]
self.req_chat.birthdateY = _chat_["birthdateY"]
self.req_chat.birthdateM = _chat_["birthdateM"]
self.req_chat.birthdateD = _chat_["birthdateD"]
self.req_chat.age = _chat_["age"]
self.req_chat.constellations = _chat_["constellations"]
self.req_chat.place = _chat_["place"]
self.req_chat.mode = _chat_["mode"]
self.req_chat.t = _chat_["t"]
rospy.wait_for_service('docomo_sentenceunderstanding')
self.understanding = rospy.ServiceProxy('docomo_sentenceunderstanding',DoCoMoUnderstanding)
rospy.wait_for_service('docomo_qa')
self.qa = rospy.ServiceProxy('docomo_qa',DoCoMoQa)
rospy.wait_for_service('docomo_chat')
self.chat = rospy.ServiceProxy('docomo_chat',DoCoMoChat)
self.resp_understanding = DoCoMoUnderstandingRes()
self.nowmode = "CHAT"
rospy.spin()
class ChatTRCP(object):
""" ChatTRCP class """
def __init__(self):
""" Initializer """
def run(self):
""" run ros node """
# initialize ros node
rospy.init_node('ChatTRCP')
rospy.loginfo("start DoCoMo Chat TRCP node")
""" for ROSpeexInterface """
self.rospeex = ROSpeexInterface()
self.rospeex.init()
self.rospeex.register_sr_response( self.sr_response )
"""日本語（英語もある）でNICT(Googleもある)"""
"""launchファイ決めてもいいけど、動的に変更する？"""
"""とりあえず、現状は決め打ち"""
self.lang = 'ja'
# self.input_engine = 'nict'
self.input_engine = 'google'
self.rospeex.set_spi_config(language='ja',engine='google')
# self.rospeex.set_spi_config(language=self.lang, engine=self.input_engine)
""" 発話理解APIの準備 """
self.req = DoCoMoUnderstandingReq()
self.req.projectKey = 'OSU'
self.req.appName = ''
self.req.appKey = 'hoge_app01'
self.req.clientVer = '1.0.0'
self.req.dialogMode = 'off'
self.req.language = 'ja'
self.req.userId = '12 123456 123456 0'
self.req.lat = '139.766084'
self.req.lon = '35.681382'
""" 雑談対話APIの準備 """
self.req_chat = DoCoMoChatReq()
self.req_chat.utt = ""
self.req_chat.context = _chat_["context"]
self.req_chat.nickname = _chat_["nickname"]
self.req_chat.nickname_y = _chat_["nickname_y"]
self.req_chat.sex = _chat_["sex"]
self.req_chat.bloodtype = _chat_["bloodtype"]
self.req_chat.birthdateY = _chat_["birthdateY"]
self.req_chat.birthdateM = _chat_["birthdateM"]
self.req_chat.birthdateD = _chat_["birthdateD"]
self.req_chat.age = _chat_["age"]
self.req_chat.constellations = _chat_["constellations"]
self.req_chat.place = _chat_["place"]
self.req_chat.mode = _chat_["mode"]
self.req_chat.t = _chat_["t"]
rospy.wait_for_service('docomo_sentenceunderstanding')
self.understanding = rospy.ServiceProxy('docomo_sentenceunderstanding',DoCoMoUnderstanding)
rospy.wait_for_service('docomo_qa')
self.qa = rospy.ServiceProxy('docomo_qa',DoCoMoQa)
rospy.wait_for_service('docomo_chat')
self.chat = rospy.ServiceProxy('docomo_chat',DoCoMoChat)
self.resp_understanding = DoCoMoUnderstandingRes()
self.nowmode = "CHAT"
rospy.spin()
""" DoCoMo 雑談対話の実行 """
def execChat(self, message):
# Rospeexを使うと、文字列の最後に「。」が付くので削除する
src = message
dst=src.replace('。', '')
self.req_chat.utt = dst
self.res_chat = self.chat(self.req_chat)
rospy.loginfo("TRCP Chat response:%s",self.res_chat.response)
self.rospeex.say(self.res_chat.response.yomi , 'ja', 'nict')
return True
""" DoCoMo 知識検索の実行 """
def execQA(self, message):
rospy.loginfo("TRCP:Q&A")
self.req_qa = DoCoMoQaReq()
self.req_qa.text = message
res_qa = self.qa(self.req_qa)
rospy.loginfo("TRCP Q&A response:%s",res_qa.response.code)
self.rospeex.say(res_qa.response.textForSpeech , 'ja', 'nict')
return True
def sr_response(self, message):
rospy.loginfo("sr_responsee:%s", message)
#message が特定のキーワードであれば、それに対応した処理を行う
""" 時間 ->現在時刻を答える"""
time = re.compile('(?P<time>何時)').search(message)
if time is not None:
rospy.loginfo("What Time is it now? :%s", message)
d = datetime.datetime.today()
text = u'%d時%d分です。'%(d.hour, d.minute)
# rospeex reply
self.rospeex.say(text, 'ja', 'nict')
return True
""" 自己紹介 ->挨拶する"""
hello = re.compile('(?P<introduce>)自己紹介').search(message)
if hello is not None:
rospy.loginfo("Self introduce :%s", message)
text = "皆さんこんにちわ。私の名前はイレイサーです。僕は家庭でみんなの手伝いをするために作られたホームサービスロボットなんだ。"
# rospeex reply
self.rospeex.say(text, 'ja', 'nict')
return True
# 特定のキーワード処理はここまで
try:
""" もし現在の会話モードが「しりとり」なら
文章理解APIをスキップする
"""
if self.nowmode == "CHAIN":
self.resp_understanding.success = True
self.resp_understanding.response.commandId = "BC00101"
self.resp_understanding.response.utteranceText = message
else:
self.req.utteranceText = message
self.resp_understanding = self.understanding(self.req)
if self.resp_understanding.success:
commandId = self.resp_understanding.response.commandId
rospy.loginfo("<<< %s", commandId)
if commandId == "BC00101":
rospy.loginfo("BBBB")
"""雑談"""
rospy.loginfo("TRCP:Chat")
# Rospeexを使うと、文字列の最後に「。」が付くので削除する
src = self.resp_understanding.response.utteranceText
dst=src.replace('。', '')
self.req_chat.utt = dst
self.res_chat = self.chat(self.req_chat)
rospy.loginfo("TRCP Chat response:%s",self.res_chat.response)
"""雑談対話からのレスポンスを設定する"""
self.req_chat.mode = self.res_chat.response.mode.encode('utf-8')
self.req_chat.context = self.res_chat.response.context.encode('utf-8')
if self.nowmode == "CHAIN":
if self.res_chat.response.mode == "srtr":
self.nowmode = "CHAIN"
self.rospeex.say(self.res_chat.response.utt , 'ja', 'nict')
else:
self.nowmode = "CHAT"
self.rospeex.say(self.res_chat.response.utt , 'ja', 'nict')
elif self.nowmode == "CHAT":
if self.res_chat.response.mode == "srtr":
self.nowmode = "CHAIN"
self.rospeex.say(self.res_chat.response.utt , 'ja', 'nict')
else:
self.nowmode = "CHAT"
self.rospeex.say(self.res_chat.response.yomi , 'ja', 'nict')
elif commandId == "BK00101":
"""知識検索"""
rospy.loginfo("TRCP:Q&A")
self.req_qa = DoCoMoQaReq()
self.req_qa.text = self.resp_understanding.response.utteranceText
print self.resp_understanding.response.utteranceText
res_qa = self.qa(self.req_qa)
rospy.loginfo("TRCP Q&A response:%s",res_qa.response.code)
self.rospeex.say(res_qa.response.textForSpeech , 'ja', 'nict')
"""
質問回答のレスポンスコードは、下記のいずれかを返却。
S020000: 内部のDBからリストアップした回答
S020001: 知識Q&A APIが計算した回答
S020010: 外部サイトから抽出した回答候補
S020011: 外部サイトへのリンクを回答
E010000: 回答不能(パラメータ不備)
E020000: 回答不能(結果0件)
E099999: 回答不能(処理エラー)
※Sで始まる場合は正常回答、
Eで始まる場合は回答が得られていないことを示す。
"""
if res_qa.success:
print res_qa.response.textForDisplay
rospy.loginfo("TRCP:%s",res_qa.response.textForSpeech)
# for answer in res_qa.response.answer:
# print answer.rank
# print answer.answerText
# print answer.linkText
# print answer.linkUrl
if res_qa.response.code == 'S020000':
pass
elif res_qa.response.code == 'S020001':
pass
elif res_qa.response.code == 'S020010':
pass
elif res_qa.response.code == 'S020011':
pass
elif res_qa.response.code == 'E010000':
pass
elif res_qa.response.code == 'E020000':
pass
elif res_qa.response.code == 'E099999':
pass
else:
pass
else:
pass
elif commandId == "BT00101":
"""乗換案内"""
rospy.loginfo(":Transfer")
self.execQA(message)
elif commandId == "BT00201":
"""地図"""
rospy.loginfo(":Map")
self.execQA(message)
elif commandId == "BT00301":
"""天気"""
rospy.loginfo(":Weather")
"""お天気検索"""
"""http://weather.livedoor.com/weather_hacks/webservice"""
# self.execQA(message)
self.execChat(message)
elif commandId == "BT00401":
"""グルメ検索"""
rospy.loginfo(":Restaurant")
""" グルなびWebサービス"""
"""http://api.gnavi.co.jp/api/"""
self.execQA(message)
elif commandId == "BT00501":
"""ブラウザ"""
rospy.loginfo(":Webpage")
self.execQA(message)
elif commandId == "BT00601":
"""観光案内"""
rospy.loginfo(":Sightseeing")
self.execQA(message)
elif commandId == "BT00701":
"""カメラ"""
rospy.loginfo(":Camera")
self.execQA(message)
elif commandId == "BT00801":
"""ギャラリー"""
rospy.loginfo(":Gallery")
self.execQA(message)
elif commandId == "BT00901":
"""通信"""
rospy.loginfo(":Coomunincation")
self.execQA(message)
elif commandId == "BT01001":
"""メール"""
rospy.loginfo(":Mail")
self.execQA(message)
elif commandId == "BT01101":
"""メモ登録"""
rospy.loginfo(":Memo input")
self.execQA(message)
elif commandId == "BT01102":
"""メモ参照"""
rospy.loginfo(":Memo output")
self.execQA(message)
elif commandId == "BT01201":
"""アラーム"""
rospy.loginfo(":Alarm")
self.execQA(message)
elif commandId == "BT01301":
"""スケジュール登録"""
rospy.loginfo(":Schedule input")
self.execQA(message)
elif commandId == "BT01302":
"""スケジュール参照"""
rospy.loginfo(":Schedule input")
self.execQA(message)
elif commandId == "BT01501":
"""端末設定"""
rospy.loginfo(":Setting")
self.execQA(message)
elif commandId == "BT01601":
"""SNS投稿"""
rospy.loginfo(":SNS")
self.execQA(message)
elif commandId == "BT90101":
"""キャンセル"""
rospy.loginfo(":Cancel")
self.execQA(message)
elif commandId == "BM00101":
"""地図乗換"""
rospy.loginfo(":Map transfer")
self.execQA(message)
elif commandId == "BM00201":
"""通話メール"""
rospy.loginfo(":Short mail")
self.execQA(message)
else:
"""発話理解APIで判定不能"""
"""Undeterminable"""
rospy.loginfo("Undeterminable:%s",self.resp_understanding.response.commandId)
self.rospeex.say("ごめんなさい、良く聞き取れませんでした。" , 'ja', 'nict')
else:
"""発話理解APIがエラーのとき"""
rospy.loginfo("DoCoMo 発話理解API failed")
pass
except:
"""対話プログラムのどこかでエラーのとき"""
rospy.loginfo("error")
pass
return True
if operation == "come" or operation == "follow" or operation == "on" or operation == "one" or operation == "start":
pubvoice = rospy.Publisher('follow', String)
pubvoice.publish(String("Follow"))
print "Following. and published"
speak("WoofWoof")
elif operation == "stop" or operation == "wait" or operation == "off" or operation == "two":
pubvoice = rospy.Publisher('follow', String)
pubvoice.publish(String("Stop"))
print "I stopped. and published"
speak("WoofWoof")
elif message != "":
#speak("What")
print "What?"
if __name__=="__main__":
_pattern_rule = re.compile( '.*(robot)*.*(back|come|stop|wait)')
rospy.init_node('rospeex_turtle')
rospeex = ROSpeexInterface()
rospeex.init()
rospeex.register_sr_response( sr_response )
rospeex.set_spi_config(language='en',engine='nict')
try:
rospy.spin();
except:
print e
class ChatTRCP(object):
""" ChatTRCP class """
def __init__(self):
""" Initializer """
def run(self):
""" run ros node """
# initialize ros node
rospy.init_node('ChatTRCP')
rospy.loginfo("start DoCoMo Chat TRCP node")
""" for ROSpeexInterface """
self.rospeex = ROSpeexInterface()
self.rospeex.init()
self.rospeex.register_sr_response(self.sr_response)
self.rospeex.set_spi_config(language='ja', engine='nict')
"""日本語（英語もある）でNICT(Googleもある)"""
"""launchファイ決めてもいいけど、動的に変更する？"""
"""とりあえず、現状は決め打ち"""
self.lang = 'ja'
self.input_engine = 'nict'
self.rospeex.set_spi_config(language='ja', engine='nict')
""" for jsk voice understanding """
rospy.Subscriber("/Tablet/voice", VoiceMessage, self.jsk_voice)
""" 発話理解APIの準備 """
self.req = DoCoMoUnderstandingReq()
self.req.projectKey = 'OSU'
self.req.appName = ''
self.req.appKey = 'hoge_app01'
self.req.clientVer = '1.0.0'
self.req.dialogMode = 'off'
self.req.language = 'ja'
self.req.userId = '12 123456 123456 0'
self.req.lat = '139.766084'
self.req.lon = '35.681382'
""" 雑談対話APIの準備 """
self.req_chat = DoCoMoChatReq()
self.req_chat.utt = ""
self.req_chat.context = _chat_["context"]
self.req_chat.nickname = _chat_["nickname"]
self.req_chat.nickname_y = _chat_["nickname_y"]
self.req_chat.sex = _chat_["sex"]
self.req_chat.bloodtype = _chat_["bloodtype"]
self.req_chat.birthdateY = _chat_["birthdateY"]
self.req_chat.birthdateM = _chat_["birthdateM"]
self.req_chat.birthdateD = _chat_["birthdateD"]
self.req_chat.age = _chat_["age"]
self.req_chat.constellations = _chat_["constellations"]
self.req_chat.place = _chat_["place"]
self.req_chat.mode = _chat_["mode"]
self.req_chat.t = _chat_["t"]
rospy.wait_for_service('docomo_sentenceunderstanding')
self.understanding = rospy.ServiceProxy('docomo_sentenceunderstanding',
DoCoMoUnderstanding)
rospy.wait_for_service('docomo_qa')
self.qa = rospy.ServiceProxy('docomo_qa', DoCoMoQa)
rospy.wait_for_service('docomo_chat')
self.chat = rospy.ServiceProxy('docomo_chat', DoCoMoChat)
self.resp_understanding = DoCoMoUnderstandingRes()
_nowmode = "CHAT"
rospy.spin()
def jsk_voice(self, data):
# print len(data.texts)
# for elem in data.texts:
# print elem
rospy.loginfo("jsk_voice:%s", data.texts[0])
self.chat(data.texts[0])
def sr_response(self, message):
# Rospeexを使うと、文字列の最後に「。」が付くので削除する
src = message
sr_dst = src.replace('。', '')
rospy.loginfo("rospeex:%s", sr_dst)
chat(sr_dst)
def chat(self, message):
rospy.loginfo("chat:%s", message)
#message が特定のキーワードであれば、それに対応した処理を行う
""" 時間 ->現在時刻を答える"""
time = re.compile('(?P<time>何時)').search(message)
if time is not None:
rospy.loginfo("What Time is it now? :%s", message)
d = datetime.datetime.today()
text = u'%d時%d分です。' % (d.hour, d.minute)
# rospeex reply
self.rospeex.say(text, 'ja', 'nict')
return True
# 特定のキーワード処理はここまで
print _nowmode
try:
""" もし現在の会話モードが「しりとり」なら
文章理解APIをスキップする
それ以外なら、文章理解APIで文章を解析する
"""
if _nowmode == "CHAIN":
self.resp_understanding.success = True
self.resp_understanding.response.commandId = "BC00101"
self.resp_understanding.response.utteranceText = message
else:
self.req.utteranceText = message
self.resp_understanding = self.understanding(self.req)
if self.resp_understanding.success:
commandId = self.resp_understanding.response.commandId
rospy.loginfo("<<< %s", commandId)
if commandId == "BC00101":
"""雑談"""
rospy.loginfo("TRCP:Chat")
self.res_chat = self.chat(self.req_chat)
rospy.loginfo("TRCP Chat response:%s",
self.res_chat.response)
elif commandId == "BK00101":
"""知識検索"""
rospy.loginfo("TRCP:Q&A")
self.req_qa = DoCoMoQaReq()
self.req_qa.text = self.resp_understanding.response.utteranceText
print self.resp_understanding.response.utteranceText
res_qa = self.qa(self.req_qa)
rospy.loginfo("TRCP Q&A response:%s", res_qa.response.code)
self.rospeex.say(res_qa.response.textForSpeech, 'ja',
'nict')
else:
"""発話理解APIがエラーのとき"""
rospy.loginfo("DoCoMo 発話理解API failed")
pass
except:
"""対話プログラムのどこかでエラーのとき"""
rospy.loginfo("error")
pass
return True
f.write(cbstr)
f.close()
sys.stdout.write('cbstr: ')
print(cbstr)
f = open(text_data, 'r')
voice_data = f.read()
voice_data = voice_data.decode('utf-8')
sys.stdout.write('voice text:')
print(voice_data)
f.close()
interface.say(voice_data, language=language, engine='nict')
endflg = 1
rospy.init_node("hoge")
interface = ROSpeexInterface()
interface.init()
interface.register_sr_response(callback)
interface.register_ss_response(ss_callback)
#language = "en"
language = 'ja'
#voice_font = "nict(ja)"
text_data = 'recognized_text.txt'
interface.set_spi_config(language=language, engine='nict')
endflg = 0
def recognize_speak(filename):
def run(self):
""" run ros node """
# initialize ros node
rospy.init_node('ChatTRCP')
rospy.loginfo("start DoCoMo Chat TRCP node")
""" for ROSpeexInterface """
self.rospeex = ROSpeexInterface()
self.rospeex.init()
self.rospeex.register_sr_response( self.sr_response )
self.rospeex.set_spi_config(language='ja', engine='nict')
"""日本語（英語もある）でNICT(Googleもある)"""
"""launchファイ決めてもいいけど、動的に変更する？"""
"""とりあえず、現状は決め打ち"""
self.lang = 'ja'
self.input_engine = 'nict'
self.rospeex.set_spi_config(language='ja',engine='nict')
""" for jsk voice understanding """
rospy.Subscriber("/Tablet/voice", VoiceMessage, self.jsk_voice)
""" 発話理解APIの準備 """
self.req = DoCoMoUnderstandingReq()
self.req.projectKey = rospy.get_param("~req_projectKey", 'OSU')
self.req.appName = rospy.get_param("~req_appName" ,'')
self.req.appKey = rospy.get_param("~req_appKey" ,'hoge_app01')
self.req.clientVer = rospy.get_param("~req_clientVer", '1.0.0')
self.req.dialogMode = rospy.get_param("~req_dialogMode",'off')
self.req.language = rospy.get_param("~req_language", 'ja')
self.req.userId = rospy.get_param("~req_userId", '12 123456 123456 0')
self.req.lat = rospy.get_param("~req_lat" , '139.766084')
self.req.lon = rospy.get_param("~req_lon" , '35.681382')
""" 雑談対話APIの準備 """
self.req_chat = DoCoMoChatReq()
self.req_chat.utt = ""
self.req_chat.context = rospy.get_param("~context", "aaabbbccc111222333")
self.req_chat.nickname = rospy.get_param("~nickname", "ひろゆき")
self.req_chat.nickname_y = rospy.get_param("~nickname_y", "ヒロユキ")
self.req_chat.sex = rospy.get_param("~sex", "男")
self.req_chat.bloodtype = rospy.get_param("~bloodtype", "AB")
self.req_chat.birthdateY = rospy.get_param("~birthdateY", "1960")
self.req_chat.birthdateM = rospy.get_param("~birthdateM", "7")
self.req_chat.birthdateD = rospy.get_param("~birthdateD", "11")
self.req_chat.age = rospy.get_param("~age", "56")
self.req_chat.constellations = rospy.get_param("~constellations", "蟹")
self.req_chat.place = rospy.get_param("~place", "東京")
self.req_chat.mode = rospy.get_param("~mode", "dialog")
self.req_chat.t = rospy.get_param("~t", "20")
""" サービスの起動 """
rospy.wait_for_service('docomo_sentenceunderstanding')
self.understanding = rospy.ServiceProxy('docomo_sentenceunderstanding',DoCoMoUnderstanding)
rospy.wait_for_service('docomo_qa')
self.qa = rospy.ServiceProxy('docomo_qa',DoCoMoQa)
rospy.wait_for_service('docomo_chat')
self.chat = rospy.ServiceProxy('docomo_chat',DoCoMoChat)
self.resp_understanding = DoCoMoUnderstandingRes()
self.nowmode = "CHAT"
rospy.spin()
class ChatTRCP(object):
""" ChatTRCP class """
def __init__(self):
""" Initializer """
def run(self):
""" run ros node """
# initialize ros node
rospy.init_node('ChatTRCP')
rospy.loginfo("start DoCoMo Chat TRCP node")
""" for ROSpeexInterface """
self.rospeex = ROSpeexInterface()
self.rospeex.init()
self.rospeex.register_sr_response( self.sr_response )
self.rospeex.set_spi_config(language='ja', engine='nict')
"""日本語（英語もある）でNICT(Googleもある)"""
"""launchファイ決めてもいいけど、動的に変更する？"""
"""とりあえず、現状は決め打ち"""
self.lang = 'ja'
self.input_engine = 'nict'
self.rospeex.set_spi_config(language='ja',engine='nict')
""" for jsk voice understanding """
rospy.Subscriber("/Tablet/voice", VoiceMessage, self.jsk_voice)
""" 発話理解APIの準備 """
self.req = DoCoMoUnderstandingReq()
self.req.projectKey = rospy.get_param("~req_projectKey", 'OSU')
self.req.appName = rospy.get_param("~req_appName" ,'')
self.req.appKey = rospy.get_param("~req_appKey" ,'hoge_app01')
self.req.clientVer = rospy.get_param("~req_clientVer", '1.0.0')
self.req.dialogMode = rospy.get_param("~req_dialogMode",'off')
self.req.language = rospy.get_param("~req_language", 'ja')
self.req.userId = rospy.get_param("~req_userId", '12 123456 123456 0')
self.req.lat = rospy.get_param("~req_lat" , '139.766084')
self.req.lon = rospy.get_param("~req_lon" , '35.681382')
""" 雑談対話APIの準備 """
self.req_chat = DoCoMoChatReq()
self.req_chat.utt = ""
self.req_chat.context = rospy.get_param("~context", "aaabbbccc111222333")
self.req_chat.nickname = rospy.get_param("~nickname", "ひろゆき")
self.req_chat.nickname_y = rospy.get_param("~nickname_y", "ヒロユキ")
self.req_chat.sex = rospy.get_param("~sex", "男")
self.req_chat.bloodtype = rospy.get_param("~bloodtype", "AB")
self.req_chat.birthdateY = rospy.get_param("~birthdateY", "1960")
self.req_chat.birthdateM = rospy.get_param("~birthdateM", "7")
self.req_chat.birthdateD = rospy.get_param("~birthdateD", "11")
self.req_chat.age = rospy.get_param("~age", "56")
self.req_chat.constellations = rospy.get_param("~constellations", "蟹")
self.req_chat.place = rospy.get_param("~place", "東京")
self.req_chat.mode = rospy.get_param("~mode", "dialog")
self.req_chat.t = rospy.get_param("~t", "20")
""" サービスの起動 """
rospy.wait_for_service('docomo_sentenceunderstanding')
self.understanding = rospy.ServiceProxy('docomo_sentenceunderstanding',DoCoMoUnderstanding)
rospy.wait_for_service('docomo_qa')
self.qa = rospy.ServiceProxy('docomo_qa',DoCoMoQa)
rospy.wait_for_service('docomo_chat')
self.chat = rospy.ServiceProxy('docomo_chat',DoCoMoChat)
self.resp_understanding = DoCoMoUnderstandingRes()
self.nowmode = "CHAT"
rospy.spin()
def trcpSay(self, text):
self.rospeex.say(text, 'ja', 'nict')
def jsk_voice(self,data):
# print len(data.texts)
# for elem in data.texts:
# print elem
rospy.loginfo("jsk_voice:%s", data.texts[0])
self.execTrcpChat(data.texts[0])
def sr_response(self, message):
# Rospeexを使うと、文字列の最後に「。」が付くので削除する
src = message
sr_dst=src.replace('。', '')
rospy.loginfo("rospeex:%s", sr_dst)
self.execTrcpChat(sr_dst)
""" DoCoMo 知識検索の実行 """
def execDoCoMoQA(self, message):
rospy.loginfo("DoCoMo Q&A")
self.req_qa = DoCoMoQaReq()
self.req_qa.text = message
res_qa = self.qa(self.req_qa)
if res_qa.success:
# for answer in res_qa.response.answer:
# print answer.rank
# print answer.answerText
# print answer.linkText
# print answer.linkUrl
"""
質問回答のレスポンスコードは、下記のいずれかを返却。
S020000: 内部のDBからリストアップした回答
S020001: 知識Q&A APIが計算した回答
S020010: 外部サイトから抽出した回答候補
S020011: 外部サイトへのリンクを回答
E010000: 回答不能(パラメータ不備)
E020000: 回答不能(結果0件)
E099999: 回答不能(処理エラー)
※Sで始まる場合は正常回答、
Eで始まる場合は回答が得られていないことを示す。
"""
rospy.loginfo("DoCoMo Q&A response code:%s",res_qa.response.code)
if res_qa.response.code == 'S020000':
rospy.loginfo("DoCoMo Q&A response:%s",res_qa.response.textForDisplay)
self.trcpSay(res_qa.response.textForSpeech)
elif res_qa.response.code == 'S020001':
rospy.loginfo("DoCoMo Q&A response:%s",res_qa.response.textForDisplay)
self.trcpSay(res_qa.response.textForSpeech)
elif res_qa.response.code == 'S020010':
rospy.loginfo("DoCoMo Q&A response:%s",res_qa.response.textForDisplay)
self.trcpSay(res_qa.response.textForSpeech)
elif res_qa.response.code == 'S020011':
rospy.loginfo("DoCoMo Q&A response:%s",res_qa.response.textForDisplay)
self.trcpSay(res_qa.response.textForSpeech)
elif res_qa.response.code == 'E010000':
rospy.loginfo("DoCoMo Q&A response:%s",res_qa.response.textForDisplay)
self.trcpSay("ごめんなさい、答えが見つかりませんでした")
elif res_qa.response.code == 'E020000':
rospy.loginfo("DoCoMo Q&A response:%s",res_qa.response.textForDisplay)
self.trcpSay("ごめんなさい、答えが見つかりませんでした")
elif res_qa.response.code == 'E099999':
rospy.loginfo("DoCoMo Q&A response:%s",res_qa.response.textForDisplay)
self.trcpSay("ごめんなさい、答えが見つかりませんでした")
else:
pass
else:
rospy.loginfo("DoCoMo Q&A response:%s","system error")
return False
return True
def execTrcpChat(self, message):
rospy.loginfo("chat:%s", message)
#message が特定のキーワードであれば、それに対応した処理を行う
""" 時間 ->現在時刻を答える"""
time = re.compile('(?P<time>何時)').search(message)
if time is not None:
rospy.loginfo("What Time is it now? :%s", message)
d = datetime.datetime.today()
text = u'%d時%d分です。'%(d.hour, d.minute)
self.trcpSay(text)
return True
# 特定のキーワード処理はここまで
print self.nowmode
try:
""" もし現在の会話モードが「しりとり」なら
文章理解APIをスキップする
それ以外なら、文章理解APIで文章を解析する
"""
if self.nowmode == "CHAIN":
self.resp_understanding.success = True
self.resp_understanding.response.commandId = "BC00101"
self.resp_understanding.response.utteranceText = message
else:
self.req.utteranceText = message
self.resp_understanding = self.understanding(self.req)
if self.resp_understanding.success:
commandId = self.resp_understanding.response.commandId
rospy.loginfo("<< %s", commandId)
if commandId == "BC00101":
"""雑談"""
rospy.loginfo("DoCoMo Chat")
self.req_chat.utt = message
self.res_chat = self.chat(self.req_chat)
rospy.loginfo("DoCoMo Chat response:%s",self.res_chat.response)
"""雑談対話からのレスポンスを設定する"""
self.req_chat.mode = self.res_chat.response.mode.encode('utf-8')
self.req_chat.context = self.res_chat.response.context.encode('utf-8')
if self.nowmode == "CHAIN":
if self.res_chat.response.mode == "srtr":
print self.nowmode
self.nowmode = "CHAIN"
self.trcpSay(self.res_chat.response.utt)
else:
print self.nowmode
self.nowmode = "CHAT"
self.trcpSay(self.res_chat.response.utt)
elif self.nowmode == "CHAT":
if self.res_chat.response.mode == "srtr":
print self.nowmode
self.nowmode = "CHAIN"
self.trcpSay(self.res_chat.response.utt)
else:
print self.nowmode
self.nowmode = "CHAT"
rospy.loginfo("TRCP Chat response:%s",self.res_chat.response.yomi)
self.trcpSay(self.res_chat.response.yomi)
elif commandId == "BK00101":
"""知識検索"""
rospy.loginfo(":Q&A")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT00101":
"""乗換案内"""
rospy.loginfo(":Transfer")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT00201":
"""地図"""
rospy.loginfo(":Map")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT00301":
"""天気"""
rospy.loginfo(":Weather")
"""お天気検索"""
"""http://weather.livedoor.com/weather_hacks/webservice"""
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT00401":
"""グルメ検索"""
rospy.loginfo(":Restaurant")
""" グルなびWebサービス"""
"""http://api.gnavi.co.jp/api/"""
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT00501":
"""ブラウザ"""
rospy.loginfo(":Webpage")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT00601":
"""観光案内"""
rospy.loginfo(":Sightseeing")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT00701":
"""カメラ"""
rospy.loginfo(":Camera")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT00801":
"""ギャラリー"""
rospy.loginfo(":Gallery")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT00901":
"""通信"""
rospy.loginfo(":Coomunincation")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT01001":
"""メール"""
rospy.loginfo(":Mail")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT01101":
"""メモ登録"""
rospy.loginfo(":Memo input")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT01102":
"""メモ参照"""
rospy.loginfo(":Memo output")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT01201":
"""アラーム"""
rospy.loginfo(":Alarm")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT01301":
"""スケジュール登録"""
rospy.loginfo(":Schedule input")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT01302":
"""スケジュール参照"""
rospy.loginfo(":Schedule input")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT01501":
"""端末設定"""
rospy.loginfo(":Setting")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT01601":
"""SNS投稿"""
rospy.loginfo(":SNS")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BT90101":
"""キャンセル"""
rospy.loginfo(":Cancel")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BM00101":
"""地図乗換"""
rospy.loginfo(":Map transfer")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
elif commandId == "BM00201":
"""通話メール"""
rospy.loginfo(":Short mail")
self.execDoCoMoQA(self.resp_understanding.response.utteranceText)
else:
"""発話理解APIで判定不能"""
"""Undeterminable"""
rospy.loginfo("Undeterminable:%s",self.resp_understanding.response.commandId)
self.trcpSay("ごめんなさい、良く聞き取れませんでした。")
else:
"""発話理解APIがエラーのとき"""
rospy.loginfo("DoCoMo 発話理解API failed")
pass
except:
"""対話プログラムのどこかでエラーのとき"""
rospy.loginfo("error")
pass
return True
def __init__(self):
self._interface = ROSpeexInterface()
