Merge pull request #303 from hansonrobotics/performance_events

Speech as performance event, added parameters for matching speech

src/performances/scripts/runner.py

@@ -84,6 +84,7 @@ def __init__(self):
         # Shared subscribers for nodes
         rospy.Subscriber('/' + self.robot_name + '/speech_events', String,
                          lambda msg: self.notify('speech_events', msg))
+        rospy.Subscriber('/' + self.robot_name + '/speech', ChatMessage, self.speech_callback)
         # Shared subscribers for nodes
         rospy.Subscriber('/hand_events', String, self.hand_callback)
 
@@ -341,5 +342,9 @@ def hand_callback(self, msg):
         self.notify(msg.data, msg)
 
 
+    def speech_callback(self, msg):
+        self.notify('SPEECH', msg.utterance)
+
+
 if __name__ == '__main__':
     Runner()

src/performances/src/performances/nodes.py

@@ -274,8 +274,10 @@ def __init__(self, data, runner):
         self.timer = False
         if 'on_event' not in self.data.keys():
             self.data['on_event'] = False
+        if 'event_param' not in self.data.keys():
+            self.data['event_param'] = False
 
-    def start_performance(self, msg=None):
+    def start_performance(self):
         if self.subscriber:
             self.runner.unregister(self.data['topic'].strip(), self.subscriber)
             self.subscriber = None
@@ -286,29 +288,43 @@ def start_performance(self, msg=None):
         if not response.success:
             self.runner.resume()
 
-    def start(self, run_time):
-        self.runner.pause()
+    def event_callback(self, msg=None):
+        if self.data['event_param']:
+            # Check if any comma separated
+            params = str(self.data['event_param']).lower().split(',')
+            matched = False
+            for p in params:
+                try:
+                    str(msg or '').lower().index(p.strip())
+                    matched = True
+                    continue
+                except ValueError:
+                    matched = matched or False
+            if not matched:
+                return False
+        if self.data['on_event']:
+            self.start_performance()
+        else:
+            self.resume()
 
-        def resume(msg=None):
-            if self.subscriber:
-                self.runner.unregister(self.data['topic'].strip(), self.subscriber)
-                self.subscriber = None
-            if not self.finished:
-                self.runner.resume()
-            if self.timer:
-                self.timer.cancel()
+    def resume(self):
+        if self.subscriber:
+            self.runner.unregister(self.data['topic'].strip(), self.subscriber)
+            self.subscriber = None
+        if not self.finished:
+            self.runner.resume()
+        if self.timer:
+            self.timer.cancel()
 
+    def start(self, run_time):
+        self.runner.pause()
         if 'topic' in self.data:
             topic = self.data['topic'].strip()
-            if self.data['on_event']:
-                self.subscriber = self.runner.register(topic, self.start_performance)
-            else:
-                self.subscriber = self.runner.register(topic, resume)
-
+            self.subscriber = self.runner.register(topic, self.event_callback)
         try:
             timeout = float(self.data['timeout'])
             if timeout > 0.1:
-                self.timer = Timer(timeout, resume)
+                self.timer = Timer(timeout, self.resume)
                 self.timer.start()
         except (ValueError, KeyError) as e:
             logger.error(e)

src/webui/client/modules/performances/entities/node.js

@@ -67,8 +67,8 @@ define(['application', 'backbone', 'lib/api', 'jquery', 'supermodel'],
                     defaultValues: {speed: 1, interval: 1}
                 },
                 pause: {
-                    label: 'Pause',
-                    properties: ['topic', 'timeout', 'on_event'],
+                    label: 'Break',
+                    properties: ['topic', 'timeout', 'on_event', 'event_param'],
                     defaultValues: {duration: 0.2}
                 },
                 settings: {

src/webui/client/modules/performances/views/node_select.js

@@ -16,6 +16,7 @@ define(['application', 'marionette', './templates/node_select.tpl', '../entities
                 langSelect: 'select.app-lang-select',
                 attentionRegionList: '.app-attention-region-list',
                 topicInput: '.app-node-topic',
+                eventParamInput: '.app-node-event-param',
                 btreeModeSelect: 'select.app-btree-mode-select',
                 speechEventSelect: 'select.app-speech-event-select',
                 hrAngleSlider: '.app-hr-angle-slider',
@@ -33,6 +34,7 @@ define(['application', 'marionette', './templates/node_select.tpl', '../entities
                 'change @ui.textInput': 'setTextDuration',
                 'change @ui.langSelect': 'setLanguage',
                 'change @ui.topicInput': 'setTopic',
+                'change @ui.eventParamInput': 'setEventParam',
                 'change @ui.listenResponseInputs': 'updateChatResponses',
                 'click @ui.listenAddResponseButton': 'addListenResponse',
                 'click @ui.removeListenResponseButton': 'removeListenResponse',
@@ -46,6 +48,7 @@ define(['application', 'marionette', './templates/node_select.tpl', '../entities
             },
             modelChanged: function () {
                 this.ui.topicInput.val(this.model.get('topic'));
+                this.ui.eventParamInput.val(this.model.get('event_param'));
             },
             onAttach: function () {
                 this.initFields();
@@ -304,6 +307,9 @@ define(['application', 'marionette', './templates/node_select.tpl', '../entities
             setTopic: function () {
                 this.model.set('topic', this.ui.topicInput.val());
             },
+            setEventParam: function () {
+                this.model.set('event_param', this.ui.eventParamInput.val());
+            },
             enableAttentionRegionSelect: function () {
                 var self = this;
 

src/webui/client/modules/performances/views/templates/node_select.tpl

@@ -21,10 +21,15 @@
     <div class="app-attention-region-list"></div>
 
     <div class="form-group" data-node-property="topic">
-        <label>Wait for topic</label>
+        <label>Wait for Event</label>
         <input type="text" class="app-node-topic form-control" title="Topic name"/>
     </div>
 
+    <div class="form-group" data-node-property="event_param">
+        <label>Event Match Parameter</label>
+        <input type="text" class="app-node-event-param form-control" title="Event Parameter"/>
+    </div>
+
     <div class="form-group" data-node-property="btree_mode">
         <label title="Mode">Mode</label>
         <select class="app-btree-mode-select">

src/webui/client/modules/settings/entities/node_config_schema.js

@@ -26,7 +26,7 @@ define(['backbone', 'lib/api', './node_config'], function (Backbone, api, NodeCo
 
                 Promise.all([desc_schema, node_schema]).then(function (data) {
                     var properties = {};
-                    for (let prop of data) {
+                    for (var prop in data) {
                         properties = _.extend(properties, prop);
                     }
                     options.success && options.success({