[jsk_fetch_startup] Use dynamicreconfigure to change speak volume of time_signal.py

jsk_fetch_robot/jsk_fetch.rosinstall.melodic

@@ -5,10 +5,12 @@
 # https://github.com/PR2/app_manager/pull/50
 # In order to run multiple app_managers in one master, we need this PR
 # https://github.com/PR2/app_manager/pull/54
+# This PR add run_name entry to specif node name when we use run entry
+# https://github.com/PR2/app_manager/pull/64
 - git:
     local-name: PR2/app_manager
-    uri: https://github.com/knorth55/app_manager.git
-    version: fetch15
+    uri: https://github.com/tkmtnt7000/app_manager.git
+    version: add-run-name-entry-fetch15
 # we need this for proximity sensors
 - git:
     local-name: RoboticMaterials/FA-I-sensor

jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt

@@ -11,6 +11,7 @@ endif()
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  dynamic_reconfigure
   roscpp
   std_msgs
   sensor_msgs
@@ -24,10 +25,16 @@ find_package(catkin REQUIRED COMPONENTS
 )
 find_package(Boost REQUIRED COMPONENTS)
 
+generate_dynamic_reconfigure_options(
+  cfg/TimeSignal.cfg
+)
+
 ###################################
 ## catkin specific configuration ##
 ###################################
-catkin_package()
+catkin_package(
+  CATKIN_DEPENDS dynamic_reconfigure
+)
 
 catkin_add_env_hooks(99.jsk_fetch_startup SHELLS bash zsh sh
   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)

jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app

@@ -1,6 +1,8 @@
 display: Speak time signal
 platform: fetch
 run: jsk_fetch_startup/time_signal.py
+run_name: "time_signal"
+# run_name needs https://github.com/PR2/app_manager/pull/64
 interface: jsk_fetch_startup/time_signal.interface
 icon: jsk_fetch_startup/time_signal.png
 timeout: 120

jsk_fetch_robot/jsk_fetch_startup/cfg/TimeSignal.cfg

@@ -0,0 +1,11 @@
+#! /usr/bin/env python
+
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+PACKAGE = 'jsk_fetch_startup'
+
+gen = ParameterGenerator()
+gen.add("volume", double_t, 0, "Volume of sound.", 1.0, 0.0, 1.0)
+
+exit(gen.generate(PACKAGE, PACKAGE, "TimeSignal"))

jsk_fetch_robot/jsk_fetch_startup/package.xml

@@ -12,7 +12,9 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend version_gte="0.7.11">fetch_teleop</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
 
+  <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>image_proc</run_depend>
   <run_depend>jsk_fetch_accessories</run_depend>
   <run_depend>jsk_fetch_diagnosis</run_depend>

jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py

@@ -8,12 +8,14 @@
 import sys
 import urllib2
 
+from dynamic_reconfigure.server import Server
+from jsk_fetch_startup.cfg import TimeSignalConfig as Config
 from sound_play.msg import SoundRequestAction
 from sound_play.msg import SoundRequestGoal
 
 
 class TimeSignal(object):
-    def __init__(self):
+    def __init__(self, volume=1.0):
         self.client_en = actionlib.SimpleActionClient(
             '/sound_play', SoundRequestAction)
         self.client_jp = actionlib.SimpleActionClient(
@@ -23,6 +25,8 @@ def __init__(self):
         self.now_hour = self.now_time.hour
         self.now_minute = self.now_time.minute
         self.day = self.now_time.strftime('%a')
+        self.volume = volume
+        self.srv = Server(Config, self.config_callback)
         reload(sys)
         sys.setdefaultencoding('utf-8')
         api_key_file = rospy.get_param(
@@ -35,7 +39,7 @@ def speak(self, client, speech_text, lang=None):
         sound_goal = SoundRequestGoal()
         sound_goal.sound_request.sound = -3
         sound_goal.sound_request.command = 1
-        sound_goal.sound_request.volume = 1.0
+        sound_goal.sound_request.volume = self.volume
         if lang is not None:
             sound_goal.sound_request.arg2 = lang
         sound_goal.sound_request.arg = speech_text
@@ -153,6 +157,20 @@ def _get_weather_forecast(self, lang='en'):
             forecast_text += " The wind speed is {} meter per second.".format(wind_speed)
         return forecast_text
 
+    def _set_volume(self, volume):
+        '''
+        Set speak volume between 0.0 and 1.0
+        '''
+        volume = min(max(0.0, volume), 1.0)
+        if self.volume != volume:
+            self.volume = volume
+            rospy.loginfo("time_signal's volume was set to {}".format(
+                self.volume))
+
+    def config_callback(self, config, level):
+        self._set_volume(config.volume)
+        return config
+
 
 if __name__ == '__main__':
     rospy.init_node('time_signal')

jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l

@@ -11,4 +11,5 @@
 (ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 0.2)
 (ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 0.2)
 (ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 0.2)
+(ros::set-dynamic-reconfigure-param "/time_signal" "volume" :double 0.2)
 (exit)

jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l

@@ -11,4 +11,5 @@
 (ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 1.0)
 (ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 1.0)
 (ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 1.0)
+(ros::set-dynamic-reconfigure-param "/time_signal" "volume" :double 1.0)
 (exit)

jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l

@@ -11,4 +11,5 @@
 (ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 0.0)
 (ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 0.0)
 (ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 0.0)
+(ros::set-dynamic-reconfigure-param "/time_signal" "volume" :double 0.0)
 (exit)