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Daisukes/speech priority dev (#101)
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* add speech priority

Signed-off-by: Seita Kayukawa <[email protected]>

* delete a blank line

Signed-off-by: Seita Kayukawa <[email protected]>

* set priority value

Signed-off-by: Seita Kayukawa <[email protected]>

* create SpeechPriority Class

Signed-off-by: SeitaKayukawa <[email protected]>

* move SpeechPriority Class to cabot_rclpy_util.py

Signed-off-by: SeitaKayukawa <[email protected]>

* set speech priority to Entrance and POI

Signed-off-by: SeitaKayukawa <[email protected]>

* add EntrancePOI

Signed-off-by: SeitaKayukawa <[email protected]>

* update cabot_ui/interface to set speech priority in description functions

Signed-off-by: Masayuki Murata <[email protected]>

* move SpeechPriority class definition

Signed-off-by: Daisuke Sato <[email protected]>

---------

Signed-off-by: Seita Kayukawa <[email protected]>
Signed-off-by: SeitaKayukawa <[email protected]>
Signed-off-by: Masayuki Murata <[email protected]>
Signed-off-by: Daisuke Sato <[email protected]>
Co-authored-by: Seita Kayukawa <[email protected]>
Co-authored-by: Masayuki Murata <[email protected]>
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@daisukes @muratams
3 people authored Nov 22, 2024
1 parent ee1b6e5 commit ca5a465
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Showing 4 changed files with 77 additions and 31 deletions.
3 changes: 2 additions & 1 deletion cabot_ui/cabot_ui/datautil.py
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Original file line number Diff line number Diff line change
Expand Up @@ -206,9 +206,10 @@ def analyze_features(self):
# links = geojson.Object.get_objects_by_type(geojson.Link)
doors = geojson.Object.get_objects_by_type(geojson.DoorPOI)
infos = geojson.Object.get_objects_by_type(geojson.InfoPOI)
entrances = geojson.Object.get_objects_by_type(geojson.EntrancePOI)
speeds = geojson.Object.get_objects_by_type(geojson.SpeedPOI)

for poi in doors+infos+speeds:
for poi in doors+infos+entrances+speeds:
min_link, min_dist = geojson.Object.get_nearest_link(poi)
if min_link is None:
CaBotRclpyUtil.debug(F"poi {poi._id} ({poi.floor}) is not registered.")
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30 changes: 30 additions & 0 deletions cabot_ui/cabot_ui/geojson.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@
import geometry_msgs.msg
from cabot_ui import geoutil, i18n
from cabot_ui.cabot_rclpy_util import CaBotRclpyUtil
from cabot_ui.interface import SpeechPriority


class RouteStruct(enum.Enum):
Expand Down Expand Up @@ -628,6 +629,10 @@ def __init__(self, facility, i, node):
def floor(self):
return self.node.floor

@property
def speech_priority(self):
return SpeechPriority.LOW

def update_anchor(self, anchor):
self.anchor = anchor

Expand Down Expand Up @@ -761,6 +766,8 @@ def marshal(cls, dic):
cls = DoorPOI
if category == '_nav_info_':
cls = InfoPOI
if category == '_nav_entrance_':
cls = EntrancePOI
if category == '_cabot_speed_':
cls = SpeedPOI
if category == '_nav_elevator_cab_':
Expand Down Expand Up @@ -797,6 +804,10 @@ def _get_prop(self, key):
def floor(self):
return self._get_prop('hulop_height')

@property
def speech_priority(self):
return SpeechPriority.REQUIRED

def approaching_statement(self):
return None

Expand Down Expand Up @@ -875,6 +886,25 @@ def approached_statement(self):
return self.name


class EntrancePOI(POI):
"""Nav Entrance POI class"""

@classmethod
def marshal(cls, dic):
"""marshal Entrance POI object"""
return cls(**dic)

def __init__(self, **dic):
super(EntrancePOI, self).__init__(**dic)

def approached_statement(self):
return self.name

@property
def speech_priority(self):
return SpeechPriority.LOW


class SpeedPOI(POI):
"""Cabot Speed POI class"""

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71 changes: 41 additions & 30 deletions cabot_ui/cabot_ui/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,20 @@
from cabot_common import vibration


class SpeechPriority:
REQUIRED = 90
HIGH = 60
NORMAL = 30
LOW = 10


class UserInterface(object):
SOCIAL_ANNOUNCE_INTERVAL = Duration(seconds=15.0)
NOTIFY_TURN_INTERVAL = Duration(seconds=5.0)
PRIORITY_REQUIRED = 90
PRIORITY_HIGH = 60
PRIORITY_NORMAL = 30
PRIORITY_LOW = 10

def __init__(self, node: Node):
self._node = node
Expand Down Expand Up @@ -106,7 +117,7 @@ def change_language(self, lang):
self.lang = lang
i18n.set_language(self.lang)

def speak(self, text, force=True, pitch=50, volume=50, rate=50):
def speak(self, text, force=True, pitch=50, volume=50, rate=50, priority=SpeechPriority.NORMAL):
if text is None:
return

Expand All @@ -121,7 +132,7 @@ def speak(self, text, force=True, pitch=50, volume=50, rate=50):
if not speak_proxy.wait_for_service(timeout_sec=1):
CaBotRclpyUtil.error("Service cannot be found")
return
CaBotRclpyUtil.info(F"try to speak {text} (v={voice}, r={rate}, p={pitch}) {force}")
CaBotRclpyUtil.info(F"try to speak {text} (v={voice}, r={rate}, p={pitch}, priority={priority}) {force}")
request = cabot_msgs.srv.Speak.Request()
request.text = text
request.rate = rate
Expand All @@ -130,7 +141,7 @@ def speak(self, text, force=True, pitch=50, volume=50, rate=50):
request.lang = self.lang
request.voice = voice
request.force = force
request.priority = 50
request.priority = priority
request.timeout = 2.0
request.channels = cabot_msgs.srv.Speak.Request.CHANNEL_BOTH
speak_proxy.call_async(request)
Expand Down Expand Up @@ -179,21 +190,21 @@ def menu_changed(self, menu=None, backed=False, usage=False):

def pause_navigation(self):
self._activity_log("cabot/interface", "navigation", "pause")
self.speak(i18n.localized_string("PAUSE_NAVIGATION"))
self.speak(i18n.localized_string("PAUSE_NAVIGATION"), priority=SpeechPriority.REQUIRED)

def cancel_navigation(self):
pass # self.speak(i18n.localized_string("CANCEL_NAVIGATION"))
pass # self.speak(i18n.localized_string("CANCEL_NAVIGATION"), priority=SpeechPriority.REQUIRED)

def resume_navigation(self):
self._activity_log("cabot/interface", "navigation", "resume")
self.speak(i18n.localized_string("RESUME_NAVIGATION"))
self.speak(i18n.localized_string("RESUME_NAVIGATION"), priority=SpeechPriority.REQUIRED)

def pausing_navigation(self):
self._activity_log("cabot/interface", "navigation", "pausing")
self.speak(i18n.localized_string("PLEASE_WAIT_FOR_A_SECOND"))
self.speak(i18n.localized_string("PLEASE_WAIT_FOR_A_SECOND"), priority=SpeechPriority.REQUIRED)

def start_exploration(self):
pass # self.speak(i18n.localized_string("START_EXPLORATION"))
pass # self.speak(i18n.localized_string("START_EXPLORATION"), priority=SpeechPriority.REQUIRED)

# navigate interface

Expand All @@ -202,11 +213,11 @@ def activity_log(self, category="", text="", memo=""):

def in_preparation(self):
self._activity_log("cabot/interface", "status", "prepare")
self.speak(i18n.localized_string("IN_PRERARATION"))
self.speak(i18n.localized_string("IN_PRERARATION"), priority=SpeechPriority.REQUIRED)

def i_am_ready(self):
self._activity_log("cabot/interface", "status", "ready")
self.speak(i18n.localized_string("I_AM_READY"))
self.speak(i18n.localized_string("I_AM_READY"), priority=SpeechPriority.REQUIRED)

def start_navigation(self):
self._activity_log("cabot/interface", "navigation", "start")
Expand Down Expand Up @@ -265,7 +276,7 @@ def notify_human(self, angle=0):

self._activity_log("cabot/interface", "human")
self.vibrate(pattern=vib)
self.speak(i18n.localized_string("AVOIDING_A_PERSON"))
self.speak(i18n.localized_string("AVOIDING_A_PERSON"), priority=SpeechPriority.NORMAL)

def have_arrived(self, goal):
raise RuntimeError("Should no use this func")
Expand All @@ -274,33 +285,33 @@ def have_arrived(self, goal):

if name:
if desc:
self.speak(i18n.localized_string("YOU_HAVE_ARRIVED_WITH_NAME_AND_DESCRIPTION").format(name, desc))
self.speak(i18n.localized_string("YOU_HAVE_ARRIVED_WITH_NAME_AND_DESCRIPTION").format(name, desc), priority=SpeechPriority.HIGH)
else:
self.speak(i18n.localized_string("YOU_HAVE_ARRIVED_WITH_NAME").format(name))
self.speak(i18n.localized_string("YOU_HAVE_ARRIVED_WITH_NAME").format(name), priority=SpeechPriority.HIGH)
else:
self.speak(i18n.localized_string("YOU_HAVE_ARRIVED"))
self.speak(i18n.localized_string("YOU_HAVE_ARRIVED"), priority=SpeechPriority.HIGH)
self._activity_log("cabot/interface", "navigation", "arrived")

def approaching_to_poi(self, poi=None):
statement = poi.approaching_statement()
if statement:
self.speak(statement)
self.speak(statement, priority=poi.speech_priority)
self._activity_log("cabot/interface", "poi", "approaching")

def approached_to_poi(self, poi=None):
statement = poi.approached_statement()
if statement:
self.speak(statement)
self.speak(statement, priority=poi.speech_priority)
self._activity_log("cabot/interface", "poi", "approached")

def passed_poi(self, poi=None):
statement = poi.passed_statement()
if statement:
self.speak(statement)
self.speak(statement, priority=poi.speech_priority)
self._activity_log("cabot/interface", "poi", "passed")

def could_not_get_current_location(self):
self.speak(i18n.localized_string("COULD_NOT_GET_CURRENT_LOCATION"))
self.speak(i18n.localized_string("COULD_NOT_GET_CURRENT_LOCATION"), priority=SpeechPriority.REQUIRED)

def enter_goal(self, goal):
pass
Expand All @@ -322,53 +333,53 @@ def request_sound(self, sound: SNMessage):
def set_pause_control(self, flag):
self._activity_log("cabot/interface", "pause_control", str(flag))
if flag:
self.speak(i18n.localized_string("PAUSE_CONTROL"))
self.speak(i18n.localized_string("PAUSE_CONTROL"), priority=SpeechPriority.REQUIRED)

def please_call_elevator(self, pos):
self._activity_log("cabot/interface", "navigation", "elevator button")
if pos:
self.speak(i18n.localized_string("CALL_ELEVATOR_PLEASE_ON_YOUR",
i18n.localized_string(pos)))
i18n.localized_string(pos)), priority=SpeechPriority.REQUIRED)
else:
self.speak(i18n.localized_string("CALL_ELEVATOR_PLEASE"))
self.speak(i18n.localized_string("CALL_ELEVATOR_PLEASE"), priority=SpeechPriority.REQUIRED)

def elevator_opening(self):
self._activity_log("cabot/interface", "navigation", "elevator opening")
self.vibrate(vibration.FRONT)
self.speak(i18n.localized_string("ELEVATOR_IS_OPENING"))
self.speak(i18n.localized_string("ELEVATOR_IS_OPENING"), priority=SpeechPriority.REQUIRED)

def floor_changed(self, floor):
self._activity_log("cabot/interface", "navigation", "floor_changed")
self.speak(i18n.localized_string("GETTING_OFF_THE_ELEVATOR"))
self.speak(i18n.localized_string("GETTING_OFF_THE_ELEVATOR"), priority=SpeechPriority.REQUIRED)

def queue_start_arrived(self):
self._activity_log("cabot/interface", "queue", "start arrived")
self.speak(i18n.localized_string("GOING_TO_GET_IN_LINE"))
self.speak(i18n.localized_string("GOING_TO_GET_IN_LINE"), priority=SpeechPriority.REQUIRED)

def queue_proceed(self):
self._activity_log("cabot/interface", "queue", "proceed")
self.vibrate(vibration.FRONT)

def please_pass_door(self):
self._activity_log("cabot/interface", "navigation", "manual door")
self.speak(i18n.localized_string("DOOR_POI_USER_ACTION"))
self.speak(i18n.localized_string("DOOR_POI_USER_ACTION"), priority=SpeechPriority.REQUIRED)

def door_passed(self):
self._activity_log("cabot/interface", "navigation", "door passed")
self.speak(i18n.localized_string("DOOR_POI_PASSED"))
self.speak(i18n.localized_string("DOOR_POI_PASSED"), priority=SpeechPriority.REQUIRED)

def please_follow_behind(self):
self._activity_log("cabot/interface", "navigation", "please_follow_behind")
self.speak(i18n.localized_string("FOLLOW_BEHIND_PLEASE_NARROW"))
self.speak(i18n.localized_string("FOLLOW_BEHIND_PLEASE_NARROW"), priority=SpeechPriority.REQUIRED)

def please_return_position(self):
self._activity_log("cabot/interface", "navigation", "please_return_position")
self.speak(i18n.localized_string("RETURN_TO_POSITION_PLEASE"))
self.speak(i18n.localized_string("RETURN_TO_POSITION_PLEASE"), priority=SpeechPriority.REQUIRED)

def requesting_describe_surround(self):
self._activity_log("cabot/interface", "requesting_describe_surround", "")
self.speak(i18n.localized_string("REQUESTING_DESCRIBE_SURROUND"))
self.speak(i18n.localized_string("REQUESTING_DESCRIBE_SURROUND"), priority=SpeechPriority.HIGH)

def describe_surround(self, description):
self._activity_log("cabot/interface", "describe_surround", description)
self.speak(description)
self.speak(description, priority=SpeechPriority.HIGH)
4 changes: 4 additions & 0 deletions cabot_ui/cabot_ui/visualizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,10 @@ def make_marker2(ns=None, pose=None,
array.markers.append(make_marker(poi, b=1.0, x=1.0, s=0.5, _type=Marker.ARROW))
array.markers.append(make_marker(poi, text=poi.approached_statement(),
_type=Marker.TEXT_VIEW_FACING))
elif isinstance(poi, geojson.EntrancePOI):
array.markers.append(make_marker(poi, b=1.0, x=1.0, s=0.5, _type=Marker.ARROW))
array.markers.append(make_marker(poi, text=poi.approached_statement(),
_type=Marker.TEXT_VIEW_FACING))
elif isinstance(poi, geojson.SpeedPOI):
array.markers.append(make_marker(poi, r=1.0, x=1.0, s=0.5, _type=Marker.ARROW))
array.markers.append(make_marker(poi, text="%.2f m/s" % (poi.limit),
Expand Down

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