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GA recv fix
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@conema
conema committed May 29, 2019
1 parent 8a9abc4 commit da084fc
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Showing 2 changed files with 104 additions and 58 deletions.
159 changes: 101 additions & 58 deletions behavior_1/behavior.xar
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@
<BehaviorKeyframe name="keyframe1" index="1">
<Diagram>
<Box name="GA" id="2" localization="8" tooltip="This box contains a python script that can be utilized to speak with Google Assistant" x="432" y="120">
<bitmap>../../../../../Others/tirocinio/node-assistant/module-chore/google-assistant.png</bitmap>
<bitmap>media/images/box/box-python-script.png</bitmap>
<script language="4">
<content>
<![CDATA[import wave
Expand All @@ -26,14 +26,13 @@ import re
import json
import sys
import threading
import errno
from subprocess import Popen, PIPE
from threading import Thread
from Queue import Queue, Empty
# TCP client
TCP_IP = '172.20.10.4'
TCP_PORT = 32768
BUFFER_SIZE = 512
# GA answers
Expand All @@ -48,48 +47,18 @@ command = ['arecord',
ON_POSIX = 'posix' in sys.builtin_module_names
def enqueue_output(out, queue):
t = threading.currentThread()
for line in iter(out.readline, b''):
if getattr(t, "stop_t", False):
# Stop thread
break
queue.put(line)
out.close()
def connect_ga():
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((TCP_IP, TCP_PORT))
return s
def start_recording():
p = Popen(command, stdout=PIPE, bufsize=1, close_fds=ON_POSIX)
q = Queue()
t = Thread(target=enqueue_output, args=(p.stdout, q))
t.daemon = True
t.start()
return q, t
def remove_emoji(text):
emoji_pattern = re.compile("["
u"\U0001F600-\U0001F64F" # emoticons
u"\U0001F300-\U0001F5FF" # symbols & pictographs
u"\U0001F680-\U0001F6FF" # transport & map symbols
u"\U0001F1E0-\U0001F1FF" # flags (iOS)
"]+", flags=re.UNICODE)
return emoji_pattern.sub(r'', text)
class MyClass(GeneratedClass):
def __init__(self):
GeneratedClass.__init__(self)
self.tts = ALProxy('ALTextToSpeech')
self.soundPeak = False
def onLoad(self):
#put initialization code here
pass
self.soundPeak = False
self.eu = ""
self.isEOU = False
self.ip = self.getParameter('IP')
self.port = self.getParameter('Port')
def onUnload(self):
#put clean-up code here
Expand All @@ -104,11 +73,12 @@ class MyClass(GeneratedClass):
def start_zora(self):
self.isEOU = False
self.eu = ""
self.soundPeak = False
self.q, self.t = start_recording()
self.q, self.t = self.start_recording()
self.logger.info("Recording...")
self.s = connect_ga()
self.s = self.connect_ga()
self.logger.info("Connected to GA")
self.onListening()
Expand All @@ -133,8 +103,19 @@ class MyClass(GeneratedClass):
else:
#We have data, send it
#audioList.append(data)
self.s.send(data)
self.eu += self.s.recv(BUFFER_SIZE)
try:
self.s.send(data)
try:
self.eu += self.s.recv(BUFFER_SIZE)
except socket.error, e:
err = e.args[0]
if err != errno.EAGAIN and err != errno.EWOULDBLOCK:
self.logger.info(e)
break;
except:
break;
if (self.eu is None):
self.logger.info("Wrong answer from server")
Expand All @@ -145,7 +126,14 @@ class MyClass(GeneratedClass):
self.logger.info("END_OF_UTTERANCE")
while True:
self.eu += self.s.recv(BUFFER_SIZE)
try:
self.eu += self.s.recv(BUFFER_SIZE)
except socket.error, e:
err = e.args[0]
if err != errno.EAGAIN and err != errno.EWOULDBLOCK:
print e
break;
#No more data from server
if("STOP_JSON" in self.eu):
Expand Down Expand Up @@ -176,11 +164,11 @@ class MyClass(GeneratedClass):
if data:
response = json.loads(data.group(1))
del self.eu
self.eu = ""
if "text" in response:
#We have a text answer from GA
speach = remove_emoji(response["text"])
speach = self.remove_emoji(response["text"])
speach = speach.encode('utf-8')
speach = re.sub(r'\.\n.*\n*\( +.+\)\.*', '', speach) #remove link from supplemental display text
speach = re.sub(r'-{3}', '', speach) #remove ---
Expand All @@ -191,27 +179,47 @@ class MyClass(GeneratedClass):
microphone_mode = str(response["microphone_mode"]) #CLOSE_MICROPHONE or DIALOG_FOLLOW_ON
conversation_state = response["conversation_state"] #state information for the subsequent audio
#self.logger.info(speach)
self.tts.say(speach)
try:
# Custom device action to run Choregraphe scripts
if response["deviceAction"]:
device_command = json.dumps(response["deviceAction"]["inputs"][0]["payload"]["commands"][0]["execution"][0]["command"]).replace("\"", "")
device_value = json.dumps(response["deviceAction"]["inputs"][0]["payload"]["commands"][0]["execution"][0]["params"]["action"]).replace("\"", "")
self.logger.info("comm " + device_command)
self.logger.info("value " + device_value)
except KeyError as e:
device_command = ""
pass
self.s.close()
self.goReco()
if device_command == "me.conema.commands.ZoraSwitch":
self.startBehaviour(device_value)
self.logger.info("finished GA")
break
if microphone_mode != DFO:
#If GA dont't want an answer from the user
self.soundPeak = False
else:
if microphone_mode != DFO:
#If GA dont't want an answer from the user
break;
while not self.soundPeak:
pass
else:
self.logger.info("Again");
self.start_zora()
self.soundPeak = False
while not self.soundPeak:
pass
self.goReco()
self.start_zora()
else:
self.logger.info("Error/No answer")
#break
self.onError()
self.onErrorGA()
self.goReco()
Expand All @@ -223,11 +231,44 @@ class MyClass(GeneratedClass):
self.logger.info("finished GA")
self.onStopped()
pass
def onInput_onStop(self):
self.onUnload() #it is recommended to reuse the clean-up as the box is stopped
self.onStopped() #activate the output of the box]]>
self.onStopped() #activate the output of the box
def connect_ga(self):
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((self.ip, self.port))
s.setblocking(0)
return s
def start_recording(self):
p = Popen(command, stdout=PIPE, bufsize=1, close_fds=ON_POSIX)
q = Queue()
t = Thread(target=self.enqueue_output, args=(p.stdout, q))
t.daemon = True
t.start()
return q, t
def enqueue_output(self, out, queue):
t = threading.currentThread()
for line in iter(out.readline, b''):
if getattr(t, "stop_t", False):
# Stop thread
break
queue.put(line)
out.close()
def remove_emoji(self, text):
emoji_pattern = re.compile("["
u"\U0001F600-\U0001F64F" # emoticons
u"\U0001F300-\U0001F5FF" # symbols & pictographs
u"\U0001F680-\U0001F6FF" # transport & map symbols
u"\U0001F1E0-\U0001F1FF" # flags (iOS)
"]+", flags=re.UNICODE)
return emoji_pattern.sub(r'', text)]]>
</content>
</script>
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
Expand All @@ -239,7 +280,9 @@ class MyClass(GeneratedClass):
<Output name="onError" type="1" type_size="1" nature="2" inner="0" tooltip="" id="7" />
<Output name="onUnderstood" type="1" type_size="1" nature="2" inner="0" tooltip="" id="8" />
<Output name="goReco" type="1" type_size="1" nature="2" inner="0" tooltip="" id="9" />
<Parameter name="url" inherits_from_parent="0" content_type="3" value="https://9f1d1359.ngrok.io/answer" default_value="" custom_choice="0" tooltip="" id="10" />
<Output name="startBehaviour" type="3" type_size="1" nature="2" inner="0" tooltip="" id="10" />
<Parameter name="IP" inherits_from_parent="0" content_type="3" value="127.0.0.1" default_value="127.0.0.1" custom_choice="0" tooltip="" id="11" />
<Parameter name="Port" inherits_from_parent="0" content_type="1" value="4000" default_value="4000" min="0" max="65535" tooltip="" id="12" />
</Box>
<Box name="Face Tracker" id="4" localization="-1" tooltip="This box makes the robot track a face with different modes." x="205" y="323">
<bitmap>media/images/box/interaction/target_face.png</bitmap>
Expand Down
3 changes: 3 additions & 0 deletions ga.pml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,9 @@
<Dialogs />
<Resources>
<File name="google-assistant" src="google-assistant.png" />
<File name="" src=".gitignore" />
<File name="LICENSE" src="LICENSE" />
<File name="README" src="README.md" />
</Resources>
<Topics />
<IgnoredPaths />
Expand Down

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