feat: receptionist command similarity matcher

tasks/gpsr/src/gpsr/states/command_similarity_matcher.py

@@ -52,12 +52,12 @@ def execute(self, userdata):
     sm = smach.StateMachine(outcomes=["succeeded", "failed"])
     with sm:
         sm.userdata.tts_phrase = "Please tell me your command."
-        # smach.StateMachine.add(
-        #     "ASK_FOR_COMMAND",
-        #     AskAndListen(),
-        #     transitions={"succeeded": "COMMAND_SIMILARITY_MATCHER", "failed": "failed"},
-        #     remapping={"transcribed_speech": "command"},
-        # )
+        smach.StateMachine.add(
+            "ASK_FOR_COMMAND",
+            AskAndListen(),
+            transitions={"succeeded": "COMMAND_SIMILARITY_MATCHER", "failed": "failed"},
+            remapping={"transcribed_speech": "command"},
+        )
         sm.add(
             "LISTEN",
             Listen(),
@@ -71,18 +71,18 @@ def execute(self, userdata):
         sm.add(
             "COMMAND_SIMILARITY_MATCHER",
             CommandSimilarityMatcher([1177943] * 10),
-            transitions={"succeeded": "LISTEN"},
+            transitions={"succeeded": "SAY_MATCHED_COMMAND", "failed": "failed"},
+        )
+        sm.add(
+            "SAY_MATCHED_COMMAND",
+            Say(),
+            transitions={
+                "succeeded": "ASK_FOR_COMMAND",
+                "aborted": "failed",
+                "preempted": "failed",
+            },
+            remapping={"text": "matched_command"},
         )
-        # smach.StateMachine.add(
-        #     "SAY_MATCHED_COMMAND",
-        #     Say(),
-        #     transitions={
-        #         "succeeded": "ASK_FOR_COMMAND",
-        #         "aborted": "failed",
-        #         "preempted": "failed",
-        #     },
-        #     remapping={"text": "matched_command"},
-        # )
 
     sm.execute()
     rospy.spin()

tasks/receptionist/src/receptionist/states/match_name_and_drink.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+import os
+import rospy
+import rospkg
+import smach
+from lasr_skills import AskAndListen, Say
+from lasr_vector_databases_msgs.srv import TxtQuery, TxtQueryRequest
+
+
+class MatchNameAndDrink(smach.State):
+    def __init__(self):
+        smach.State.__init__(
+            self,
+            outcomes=["succeeded", "failed"],
+            input_keys=["sequence"],
+            output_keys=["matched_name", "matched_drink", "sequence"],
+        )
+
+        self._query_service = rospy.ServiceProxy("lasr_faiss/txt_query", TxtQuery)
+        self._text_path = os.path.join(
+            rospkg.RosPack().get_path("receptionist"),
+            "data",
+            "name_and_drink_vector_db.txt",
+        )
+        self._index_path = os.path.join(
+            rospkg.RosPack().get_path("receptionist"), "data", "name_and_drink.index"
+        )
+
+    def execute(self, userdata):
+        rospy.loginfo(f"Received transcript: {userdata.sequence}")
+        request = TxtQueryRequest()
+        request.txt_paths = [self._text_path]
+        request.index_paths = [self._index_path]
+        request.query_sentence = userdata.sequence
+        request.k = 1
+        response = self._query_service(request)
+        matched_name, matched_drink = response.closest_sentences[0].split(
+            " and my favorite drink is "
+        )
+        matched_name = matched_name.split("My name is ")[1]
+        userdata.matched_name = matched_name
+        userdata.matched_drink = matched_drink
+        rospy.loginfo(
+            f"Matched name: {matched_name} and matched drink: {matched_drink}"
+        )
+        userdata.sequence = (
+            f"Hello {matched_name}, I see that your favorite drink is {matched_drink}."
+        )
+        return "succeeded"
+
+
+if __name__ == "__main__":
+    rospy.init_node("match_name_and_drink")
+    sm = smach.StateMachine(outcomes=["succeeded", "failed"])
+    with sm:
+        smach.StateMachine.add(
+            "ASK_FOR_NAME_AND_DRINK",
+            AskAndListen(
+                tts_phrase="Hello, please tell me your name and favorite drink."
+            ),
+            transitions={"succeeded": "MATCH_NAME_AND_DRINK", "failed": "failed"},
+            remapping={"transcribed_speech": "sequence"},
+        )
+        smach.StateMachine.add(
+            "MATCH_NAME_AND_DRINK",
+            MatchNameAndDrink(),
+            transitions={"succeeded": "SAY_MATCHED_NAME_AND_DRINK", "failed": "failed"},
+            remapping={"sequence": "sequence"},
+        )
+        smach.StateMachine.add(
+            "SAY_MATCHED_NAME_AND_DRINK",
+            Say(),
+            transitions={
+                "succeeded": "succeeded",
+                "aborted": "failed",
+                "preempted": "failed",
+            },
+            remapping={
+                "text": "sequence",
+            },
+        )
+    sm.execute()