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| set(appname r1Obr-orchestrator) | ||
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| file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini) | ||
| file(GLOB templates ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.template) | ||
| file(GLOB apps ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml) | ||
| file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini) | ||
| file(GLOB robotInterface ${CMAKE_CURRENT_SOURCE_DIR}/conf/robotInterface/*.xml) | ||
| file(GLOB templates ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.template) | ||
| file(GLOB apps ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml) | ||
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| yarp_install(FILES ${conf} DESTINATION ${${PROJECT_NAME}_CONTEXTS_INSTALL_DIR}/${appname}) | ||
| yarp_install(FILES ${apps} DESTINATION ${${PROJECT_NAME}_APPLICATIONS_INSTALL_DIR}) | ||
| yarp_install(FILES ${scripts} DESTINATION ${${PROJECT_NAME}_APPLICATIONS_TEMPLATES_INSTALL_DIR}) | ||
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| yarp_install(FILES ${robotInterface} DESTINATION ${${PROJECT_NAME}_CONTEXTS_INSTALL_DIR}/${appname}/robotInterface) |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1 @@ | ||
| config robotInterface/chatBot_nwc_test.xml |
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7 changes: 6 additions & 1 deletion
7
app/r1Obr-orchestrator/conf/r1Obr-orchestrator_R1_noContinuousSearch.ini
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18 changes: 18 additions & 0 deletions
18
app/r1Obr-orchestrator/conf/robotInterface/chatBot_nwc_test.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!-- | ||
| SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT) | ||
| SPDX-License-Identifier: BSD-3-Clause | ||
| --> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
| <robot name="chatBotTest" build="2" portprefix="" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
| <devices> | ||
| <device name="chatBotNwc" type="chatBot_nwc_yarp"> | ||
| <param extern-name="test_local" name="local"> | ||
| /test/chatBot | ||
| </param> | ||
| <param extern-name="test_remote" name="remote"> | ||
| /chatBot_nws/rpc | ||
| </param> | ||
| </device> | ||
| </devices> | ||
| </robot> |
18 changes: 18 additions & 0 deletions
18
app/r1Obr-orchestrator/conf/robotInterface/speechSynthesizer_nwc_test.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!-- | ||
| SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT) | ||
| SPDX-License-Identifier: BSD-3-Clause | ||
| --> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
| <robot name="speechSynthesizerTest" build="2" portprefix="" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
| <devices> | ||
| <device name="speechSynthesizerNwc" type="speechSynthesizer_nwc_yarp"> | ||
| <param extern-name="test_local" name="local"> | ||
| /test/speechSynthesizer | ||
| </param> | ||
| <param extern-name="test_remote" name="remote"> | ||
| /speechSynthesizer_nws_yarp | ||
| </param> | ||
| </device> | ||
| </devices> | ||
| </robot> |
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| config robotInterface/chatBot_nwc.xml |
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| /* | ||
| * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT) | ||
| * | ||
| * This library is free software; you can redistribute it and/or | ||
| * modify it under the terms of the GNU Lesser General Public | ||
| * License as published by the Free Software Foundation; either | ||
| * version 2.1 of the License, or (at your option) any later version. | ||
| * | ||
| * This library is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
| * Lesser General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU Lesser General Public | ||
| * License along with this library; if not, write to the Free Software | ||
| * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA | ||
| */ | ||
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| #include "inputManager.h" | ||
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| YARP_LOG_COMPONENT(INPUT_MANAGER, "r1_obr.orchestrator.inputManager") | ||
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| InputManager::InputManager(double _period, yarp::os::ResourceFinder &rf) | ||
| : PeriodicThread(_period), m_rf(rf) {} | ||
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| // ****************************************************** // | ||
| bool InputManager::threadInit() | ||
| { | ||
| // Defaults | ||
| string voiceCommandPortName = "/r1Obr-orchestrator/voice_command:i"; | ||
| string inputCommandPortName = "/r1Obr-orchestrator/input_command:i"; | ||
| string inputManagerRPCPortName = "/r1Obr-orchestrator/inputManager:rpc"; | ||
| string device_chatBot_nwc = "chatBot_nwc_yarp"; | ||
| string local_chatBot_nwc = "/r1Obr-orchestrator/chatBot"; | ||
| string remote_chatBot_nwc = "/chatBot_nws"; | ||
| string language_chatbot = "auto"; | ||
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| // ------------------ out ------------------ // | ||
| if(!m_inputManagerRPCPort.open(inputManagerRPCPortName)) | ||
| { | ||
| yCError(INPUT_MANAGER, "Unable to open input manager RPC port"); | ||
| return false; | ||
| } | ||
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| // ------------------ in ------------------ // | ||
| if(!m_rf.check("INPUT_MANAGER")) | ||
| { | ||
| yCWarning(INPUT_MANAGER,"INPUT_MANAGER section missing in ini file. Using the default values"); | ||
| } | ||
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| Searchable& inputs_config = m_rf.findGroup("INPUT_MANAGER"); | ||
| if(inputs_config.check("voice_command_port")) {voiceCommandPortName = inputs_config.find("voice_command_port").asString();} | ||
| if(inputs_config.check("input_command_port")) {inputCommandPortName = inputs_config.find("input_command_port").asString();} | ||
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| // Voice Command Port | ||
| if (!m_voiceCommandPort.open(voiceCommandPortName)) | ||
| { | ||
| yCError(INPUT_MANAGER, "Unable to open voice command port"); | ||
| return false; | ||
| } | ||
| m_voiceCommandPort.useCallback(*this); | ||
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| // Other Input Port | ||
| if (!m_inputCommandPort.open(inputCommandPortName)) | ||
| { | ||
| yCError(INPUT_MANAGER, "Unable to open input command port"); | ||
| return false; | ||
| } | ||
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| // iChatBot | ||
| m_chatBot_active = inputs_config.check("chatbot_active") ? (inputs_config.find("chatbot_active").asString() == "true") : false; | ||
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| if(m_chatBot_active) | ||
| { | ||
| Property chatBotProp; | ||
| chatBotProp.put("device", inputs_config.check("device", Value(device_chatBot_nwc))); | ||
| chatBotProp.put("local", inputs_config.check("local", Value(local_chatBot_nwc))); | ||
| chatBotProp.put("remote", inputs_config.check("remote", Value(remote_chatBot_nwc))); | ||
| m_PolyCB.open(chatBotProp); | ||
| if(!m_PolyCB.isValid()) | ||
| { | ||
| yCWarning(INPUT_MANAGER,"Error opening PolyDriver check parameters. Using the default values"); | ||
| } | ||
| m_PolyCB.view(m_iChatBot); | ||
| if(!m_iChatBot){ | ||
| yCError(INPUT_MANAGER,"Error opening IChatBot interface. Device not available"); | ||
| return false; | ||
| } | ||
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| if(inputs_config.check("language")) language_chatbot = inputs_config.find("language").asString(); | ||
| m_iChatBot->setLanguage(language_chatbot); | ||
| } | ||
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| return true; | ||
| } | ||
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| // ****************************************************** // | ||
| void InputManager::threadRelease() | ||
| { | ||
| if(!m_voiceCommandPort.isClosed()) | ||
| m_voiceCommandPort.close(); | ||
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| if(!m_inputCommandPort.isClosed()) | ||
| m_inputCommandPort.close(); | ||
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| if (m_inputManagerRPCPort.asPort().isOpen()) | ||
| m_inputManagerRPCPort.close(); | ||
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| if(m_PolyCB.isValid()) | ||
| m_PolyCB.close(); | ||
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| yCInfo(INPUT_MANAGER, "Input Manager thread released"); | ||
| } | ||
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| // ****************************************************** // | ||
| void InputManager::run() | ||
| { | ||
| Bottle* inputCommand = m_inputCommandPort.read(false); | ||
| if(inputCommand != nullptr) | ||
| { | ||
| writeToRPC(*inputCommand); | ||
| } | ||
| } | ||
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| // ****************************************************** // | ||
| void InputManager::onRead(Bottle& b) | ||
| { | ||
| string b_str = b.toString(); | ||
| yCInfo(INPUT_MANAGER,"Received: %s",b_str.c_str()); | ||
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| string msg; | ||
| m_iChatBot->interact(b_str, msg); | ||
| yCInfo(INPUT_MANAGER,"ChatBot replied: %s",msg.c_str()); | ||
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| Bottle msg_btl; | ||
| msg_btl.fromString(msg); | ||
| writeToRPC(msg_btl); | ||
| } | ||
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| // ****************************************************** // | ||
| void InputManager::writeToRPC(Bottle& req) | ||
| { | ||
| Bottle _rep_; | ||
| m_inputManagerRPCPort.write(req,_rep_); | ||
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| yCInfo(INPUT_MANAGER, "Replied from orchestrator: %s", _rep_.toString().c_str() ); | ||
| } | ||
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