Demo enabling ChatStrategy working. WIP.

ros/demos/chatbot/src/chatbot_node.cpp

@@ -1,4 +1,64 @@
-int main(int argc, char* argv[])
-{
+
+#include <hbba_lite/core/DesireSet.h>
+#include <hbba_lite/core/RosFilterPool.h>
+#include <hbba_lite/core/GecodeSolver.h>
+#include <hbba_lite/core/HbbaLite.h>
+#include <hbba_lite/core/RosStrategyStateLogger.h>
+
+#include <t_top_hbba_lite/Strategies.h>
+
+#include <memory>
+
+using namespace std;
+
+constexpr bool WAIT_FOR_SERVICE = true;
+constexpr const char* NODE_NAME = "chatbot_node";
+
+int startNode() {
+
+    auto node = rclcpp::Node::make_shared(NODE_NAME);
+
+    auto desireSet = make_shared<DesireSet>();
+    auto filterPool = make_shared<RosFilterPool>(node, WAIT_FOR_SERVICE);
+
+    vector<unique_ptr<BaseStrategy>> strategies;
+
+    //strategies.emplace_back(createSpeechToTextStrategy(filterPool));
+    //strategies.emplace_back(createTalkStrategy(filterPool, desireSet, node));
+    strategies.emplace_back(createChatStrategy(filterPool, desireSet, node));
+
+
+    auto solver = make_unique<GecodeSolver>();
+    auto strategyStateLogger = make_unique<RosTopicStrategyStateLogger>(node);
+    HbbaLite hbba(desireSet, move(strategies), {{"sound", 1}}, move(solver), move(strategyStateLogger));
+
+
+    desireSet->addDesire(make_unique<ChatDesire>());
+
+
+    rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 2);
+
+    RCLCPP_INFO_STREAM(node->get_logger(), "Chatbot started");
+    executor.add_node(node);
+    executor.spin();
     return 0;
 }
+
+
+
+int main(int argc, char** argv)
+{
+    rclcpp::init(argc, argv);
+
+    try
+    {
+        return startNode();
+    }
+    catch (const std::exception& e)
+    {
+        RCLCPP_ERROR_STREAM(rclcpp::get_logger(NODE_NAME), "Chatbot crashed (" << e.what() << ")");
+        return -1;
+    }
+
+    rclcpp::shutdown();
+}

ros/utils/t_top_hbba_lite/CMakeLists.txt

@@ -41,9 +41,9 @@ target_include_directories(t_top_hbba_lite_cpp
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
 )
-ament_target_dependencies(t_top_hbba_lite_cpp rclcpp hbba_lite nav_msgs sensor_msgs behavior_msgs std_msgs std_msgs daemon_ros_client)
+ament_target_dependencies(t_top_hbba_lite_cpp rclcpp hbba_lite nav_msgs sensor_msgs behavior_msgs perception_msgs std_msgs std_msgs daemon_ros_client)
 
-ament_export_dependencies(rclcpp hbba_lite nav_msgs sensor_msgs behavior_msgs std_msgs std_msgs daemon_ros_client)
+ament_export_dependencies(rclcpp hbba_lite nav_msgs sensor_msgs behavior_msgs perception_msgs std_msgs std_msgs daemon_ros_client)
 ament_export_targets(export_t_top_hbba_lite_cpp HAS_LIBRARY_TARGET)
 
 install(

ros/utils/t_top_hbba_lite/include/t_top_hbba_lite/Strategies.h

@@ -15,6 +15,8 @@
 #include <behavior_msgs/msg/done.hpp>
 #include <behavior_msgs/msg/sound_file.hpp>
 
+#include <perception_msgs/msg/transcript.hpp>
+
 #include <memory>
 
 class FaceAnimationStrategy : public Strategy<FaceAnimationDesire>
@@ -181,7 +183,7 @@ class ChatStrategy : public Strategy<ChatDesire>
     std::shared_ptr<DesireSet> m_desireSet;
     std::shared_ptr<rclcpp::Node> m_node;
 
-    rclcpp::Subscription<behavior_msgs::msg::Text>::SharedPtr m_transcriptSubscriber;
+    rclcpp::Subscription<perception_msgs::msg::Transcript>::SharedPtr m_transcriptSubscriber;
     rclcpp::Subscription<behavior_msgs::msg::Done>::SharedPtr m_chatDoneSubscriber;
     rclcpp::Subscription<behavior_msgs::msg::Done>::SharedPtr m_talkDoneSubscriber;
 
@@ -201,7 +203,7 @@ class ChatStrategy : public Strategy<ChatDesire>
     void onEnabling(const ChatDesire& desire) override;
 
 private:
-    void transcriptSubscriberCallback(const behavior_msgs::msg::Text::SharedPtr msg);
+    void transcriptSubscriberCallback(const perception_msgs::msg::Transcript::SharedPtr msg);
     void chatDoneSubscriberCallback(const behavior_msgs::msg::Done::SharedPtr msg);
     void talkDoneSubscriberCallback(const behavior_msgs::msg::Done::SharedPtr msg);
 };

ros/utils/t_top_hbba_lite/src/Strategies.cpp

@@ -264,16 +264,20 @@ ChatStrategy::ChatStrategy(
     : Strategy<ChatDesire>(
           utility,
           {{"sound", 1}},
-          {{"chat/filter_state", FilterConfiguration::onOff()}},
+          {
+            {"talk/filter_state", FilterConfiguration::onOff(FilterConfiguration::DefaultState::DISABLED)},
+            {"speech_to_text/filter_state", FilterConfiguration::onOff(FilterConfiguration::DefaultState::DISABLED)},
+            {"vad/filter_state", FilterConfiguration::onOff(FilterConfiguration::DefaultState::DISABLED)}
+          },
           move(filterPool)),
       m_desireSet(move(desireSet)),
       m_node(move(node))
 {
     //TODO verify topics
-    m_transcriptSubscriber = m_node->create_subscription<behavior_msgs::msg::Text>(
-        "/transcript",
+    m_transcriptSubscriber = m_node->create_subscription<perception_msgs::msg::Transcript>(
+        "speech_to_text/transcript",
         1,
-        [this](const behavior_msgs::msg::Text::SharedPtr msg) { transcriptSubscriberCallback(msg); });
+        [this](const perception_msgs::msg::Transcript::SharedPtr msg) { transcriptSubscriberCallback(msg); });
 
     m_chatDoneSubscriber = m_node->create_subscription<behavior_msgs::msg::Done>(
         "chat/done",
@@ -310,7 +314,7 @@ void ChatStrategy::onEnabling(const ChatDesire& desire)
 
 }
 
-void ChatStrategy::transcriptSubscriberCallback(const behavior_msgs::msg::Text::SharedPtr msg)
+void ChatStrategy::transcriptSubscriberCallback(const perception_msgs::msg::Transcript::SharedPtr msg)
 {
     // LISTENING DONE
     disableFilter("vad/filter_state");
@@ -625,13 +629,5 @@ unique_ptr<BaseStrategy> createChatStrategy(
     shared_ptr<rclcpp::Node> node,
     uint16_t utility)
 {
-    return make_unique<Strategy<ChatDesire>>(
-        utility,
-        unordered_map<string, uint16_t>{},
-        unordered_map<string, FilterConfiguration>{
-            {"talk/filter_state", FilterConfiguration::onOff(FilterConfiguration::DefaultState::DISABLED)},
-            {"speech_to_text/filter_state", FilterConfiguration::onOff(FilterConfiguration::DefaultState::DISABLED)},
-            {"vad/filter_state", FilterConfiguration::onOff(FilterConfiguration::DefaultState::DISABLED)},
-        },
-        move(filterPool));
+    return make_unique<ChatStrategy>(utility, move(filterPool), move(desireSet), move(node));
 }