merge: gpsr_command_parser (#149)

* fix: incorrect remapping keys for handover

* fix: remove speech server in launch file

* feat: initial copy of @insertish 's script

* data: add mock data jsons from competition template

* feat: class to load gpsr known data into lists of strings as required for parsing

* feat: add state machine for showcasing command parsing

skills/src/lasr_skills/__init__.py

@@ -12,4 +12,5 @@
 from .listen_for import ListenFor
 from .play_motion import PlayMotion
 from .receive_object import ReceiveObject
-from .handover_object import HandoverObject
+from .handover_object import HandoverObject
+from .ask_and_listen import AskAndListen

tasks/gpsr/CMakeLists.txt

@@ -156,6 +156,7 @@ include_directories(
 catkin_install_python(PROGRAMS
   scripts/parse_gpsr_xmls.py
   nodes/commands/question_answer
+  nodes/command_parser
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

tasks/gpsr/data/mock_data/locations.json

@@ -0,0 +1,102 @@
+{
+    "bed": {
+        "placeable": true,
+        "object_category": null
+    },
+    "bedside table": {
+        "placeable": true,
+        "object_category": null
+    },
+    "shelf": {
+        "placeable": true,
+        "object_category": "cleaning supplies"
+    },
+    "trashbin": {
+        "placeable": false,
+        "object_category": null
+    },
+    "dishwasher": {
+        "placeable": true,
+        "object_category": null
+    },
+    "potted plant": {
+        "placeable": false,
+        "object_category": null
+    },
+    "kitchen table": {
+        "placeable": true,
+        "object_category": "dishes"
+    },
+    "chairs": {
+        "placeable": false,
+        "object_category": null
+    },
+    "pantry": {
+        "placeable": true,
+        "object_category": "food"
+    },
+    "refigerator": {
+        "placeable": true,
+        "object_category": null
+    },
+    "sink": {
+        "placeable": true,
+        "object_category": null
+    },
+    "cabinet": {
+        "placeable": true,
+        "object_category": "drinks"
+    },
+    "coatrack": {
+        "placeable": false,
+        "object_category": null
+    },
+    "desk": {
+        "placeable": true,
+        "object_category": "fruits"
+    },
+    "armchair": {
+        "placeable": false,
+        "object_category": null
+    },
+    "desk lamp": {
+        "placeable": false,
+        "object_category": null
+    },
+    "waste basket": {
+        "placeable": false,
+        "object_category": null
+    },
+    "tv stand": {
+        "placeable": true,
+        "object_category": null
+    },
+    "storage rack": {
+        "placeable": true,
+        "object_category": null
+    },
+    "lamp": {
+        "placeable": false,
+        "object_category": null
+    },
+    "side tables": {
+        "placeable": true,
+        "object_category": "snacks"
+    },
+    "sofa": {
+        "placeable": true,
+        "object_category": null
+    },
+    "bookshelf": {
+        "placeable": true,
+        "object_category": "toys"
+    },
+    "entrance": {
+        "placeable": false,
+        "object_category": null
+    },
+    "exit": {
+        "placeable": false,
+        "object_category": null
+    }
+}

tasks/gpsr/data/mock_data/names.json

@@ -0,0 +1,14 @@
+{
+    "names": [
+        "Adel",
+        "Angel",
+        "Axel",
+        "Charlie",
+        "Janes",
+        "Jules",
+        "Morgan",
+        "Paris",
+        "Robin",
+        "Simone"
+    ]
+}

tasks/gpsr/data/mock_data/objects.json

@@ -0,0 +1,76 @@
+{
+    "drinks": {
+        "items": [
+            "orange juice",
+            "red wine",
+            "milk",
+            "iced tea",
+            "cola",
+            "tropical juice",
+            "juice pack"
+        ],
+        "singular": "drink"
+    },
+    "fruits": {
+        "items": [
+            "apple",
+            "pear",
+            "lemon",
+            "peach",
+            "banana",
+            "strawberry",
+            "orange",
+            "plum"
+        ],
+        "singular": "fruit"
+    },
+    "snacks": {
+        "items": [
+            "cheezit",
+            "cornflakes",
+            "pringles"
+        ],
+        "singular": "snack"
+    },
+    "foods": {
+        "items": [
+            "tuna",
+            "sugar",
+            "strawberry jello",
+            "tomato soup",
+            "mustard",
+            "chocolate jello",
+            "spam",
+            "coffee grounds"
+        ],
+        "singular": "food"
+    },
+    "dishes": {
+        "items": [
+            "plate",
+            "fork",
+            "spoon",
+            "cup",
+            "knife",
+            "bowl"
+        ],
+        "singular": "dish"
+    },
+    "toys": {
+        "items": [
+            "rubiks cube",
+            "soccer ball",
+            "dice",
+            "tennis ball",
+            "baseball"
+        ],
+        "singular": "toy"
+    },
+    "cleaning supplies": {
+        "items": [
+            "cleanser",
+            "sponge"
+        ],
+        "singular": "cleaning supply"
+    }
+}

tasks/gpsr/data/mock_data/rooms.json

@@ -0,0 +1,9 @@
+{
+    "rooms": [
+        "bedroom",
+        "kitchen",
+        "office",
+        "living room",
+        "bedroom"
+    ]
+}

tasks/gpsr/nodes/command_parser

@@ -0,0 +1,172 @@
+#!/usr/bin/env python3
+import argparse
+import smach
+import rospy
+from typing import Dict
+
+from gpsr.load_known_data import GPSRDataLoader
+from gpsr.regex_command_parser import Configuration, gpsr_compile_and_parse
+from lasr_skills import AskAndListen, Say
+
+ENGISH_MAPPING = {
+    "goToLoc": "Go to location",
+    "findPrsInRoom": "Find people in room",
+    "meetPrsAtBeac": "Meet person at beacon",
+    "countPrsInRoom": "Count people in room",
+    "tellPrsInfoInLoc": "Tell person information in location",
+    "talkInfoToGestPrsInRoom": "Talk information to guest in room",
+    "answerToGestPrsInRoom": "Answer to guest in room",
+    "followNameFromBeacToRoom": "Follow name from beacon to room",
+    "guideNameFromBeacToBeac": "Guide name from beacon to beacon",
+    "guidePrsFromBeacToBeac": "Guide person from beacon to beacon",
+    "guideClothPrsFromBeacToBeac": "Guide clothed person from beacon to beacon",
+    "greetClothDscInRm": "Greet clothed description in room",
+    "greetNameInRm": "Greet name in room",
+    "meetNameAtLocThenFindInRm": "Meet name at location then find in room",
+    "countClothPrsInRoom": "Count clothed people in room",
+    "tellPrsInfoAtLocToPrsAtLoc": "Tell person information at location to person at location",
+    "followPrsAtLoc": "Follow person at location",
+    "takeObjFromPlcmt": "Take object from placement",
+    "findObjInRoom": "Find object in room",
+    "countObjOnPlcmt": "Count object on placement",
+    "tellObjPropOnPlcmt": "Tell object properties on placement",
+    "bringMeObjFromPlcmt": "Bring me object from placement",
+    "tellCatPropOnPlcmt": "Tell category properties on placement",
+}
+
+
+def parse_args() -> Dict:
+    parser = argparse.ArgumentParser(description="GPSR Command Parser")
+    parser.add_argument(
+        "--data-dir",
+        type=str,
+        default="../data/mock_data/",
+        help="Path to the directory that contains the data json files.",
+    )
+    known, unknown = parser.parse_known_args()
+    return vars(known)
+
+
+class ParseCommand(smach.State):
+    def __init__(self, data_config: Configuration):
+        smach.State.__init__(
+            self,
+            outcomes=["succeeded", "failed"],
+            input_keys=["transcribed_speech"],
+            output_keys=["command"],
+        )
+        self.data_config = data_config
+
+    def execute(self, userdata):
+        try:
+            userdata.command = gpsr_compile_and_parse(
+                self.data_config, userdata.transcribed_speech.lower()
+            )
+        except Exception as e:
+            rospy.logerr(e)
+            return "failed"
+        return "succeeded"
+
+
+class OutputParsedCommand(smach.State):
+    def __init__(self):
+        smach.State.__init__(
+            self,
+            outcomes=["succeeded", "failed"],
+            input_keys=["command"],
+            output_keys=["command_string"],
+        )
+
+    def execute(self, userdata):
+        try:
+            command = userdata.command
+            english_command = ENGISH_MAPPING[command["command"]]
+            command_parameters = command[command["command"]]
+            rospy.loginfo(f"Command: {english_command}")
+            rospy.loginfo(f"Parameters: {command_parameters}")
+            tts_phrase = f"I parsed the command as you want me to: {english_command}, with the following parameters:"
+            for key, value in command_parameters.items():
+                if isinstance(value, list):
+                    value = " and ".join(value)
+                tts_phrase += f" {key}: {value},"
+        except Exception as e:
+            rospy.logerr(e)
+            return "failed"
+        rospy.loginfo(tts_phrase)
+        userdata.command_string = tts_phrase
+        return "succeeded"
+
+
+class CommandParserStateMachine(smach.StateMachine):
+    def __init__(self, config: Configuration):
+        smach.StateMachine.__init__(
+            self,
+            outcomes=["succeeded", "failed"],
+            input_keys=["tts_phrase", "command_string"],
+            output_keys=["command"],
+        )
+        self.config = config
+        with self:
+            smach.StateMachine.add(
+                "GET_COMMAND",
+                AskAndListen(),
+                transitions={"succeeded": "PARSE_COMMAND", "failed": "GET_COMMAND"},
+                remapping={
+                    "tts_phrase": "tts_phrase",
+                    "transcribed_speech": "transcribed_speech",
+                },
+            )
+            smach.StateMachine.add(
+                "PARSE_COMMAND",
+                ParseCommand(data_config=self.config),
+                transitions={
+                    "succeeded": "OUTPUT_PARSED_COMMAND",
+                    "failed": "GET_COMMAND",
+                },
+                remapping={
+                    "transcribed_speech": "transcribed_speech",
+                    "command": "command",
+                },
+            )
+            smach.StateMachine.add(
+                "OUTPUT_PARSED_COMMAND",
+                OutputParsedCommand(),
+                transitions={
+                    "succeeded": "SAY_PARSED_COMMAND",
+                    "failed": "GET_COMMAND",
+                },
+                remapping={"command": "command", "tts_phrase": "tts_phrase"},
+            )
+            smach.StateMachine.add(
+                "SAY_PARSED_COMMAND",
+                Say(),
+                transitions={
+                    "succeeded": "GET_COMMAND",
+                    "aborted": "GET_COMMAND",
+                    "preempted": "GET_COMMAND",
+                },
+                remapping={"text": "command_string"},
+            )
+
+
+if __name__ == "__main__":
+    rospy.init_node("gpsr_command_parser")
+    args = parse_args()
+    data_loader = GPSRDataLoader(data_dir=args["data_dir"])
+    gpsr_known_data: Dict = data_loader.load_data()
+    config = Configuration(
+        {
+            "person_names": gpsr_known_data["names"],
+            "location_names": gpsr_known_data["non_placeable_locations"],
+            "placement_location_names": gpsr_known_data["placeable_locations"],
+            "room_names": gpsr_known_data["rooms"],
+            "object_names": gpsr_known_data["objects"],
+            "object_categories_plural": gpsr_known_data["categories_plural"],
+            "object_categories_singular": gpsr_known_data["categories_singular"],
+        }
+    )
+    rospy.loginfo("GPSR Command Parser: Initialized")
+    sm = CommandParserStateMachine(config)
+    sm.userdata.tts_phrase = "I am ready to receive a command; ask away!"
+    result = sm.execute()
+    rospy.spin()