Missxa bot merge

.gitignore

@@ -72,3 +72,9 @@ community-server/data-backup
 
 *.iml
 nlu/parser/target/
+
+nlu/parser/src/main/java/edu/stanford/nlp/sempre/roboy/api/apiKeys\.yml
+
+dialog/src/main/java/roboy/util/api/apiKeys\.yml
+dialog/src/main/java/roboy/util/api/apiKeys.yml
+resources/telegram.json

config.properties

@@ -10,6 +10,7 @@ ROS_MASTER_IP: 127.0.0.1
 # roboy_vision
 # roboy_test
 # roboy_filters
+# roboy_nodered
 
 ROS_ACTIVE_PKGS:
 #  - roboy_gnlp
@@ -18,11 +19,15 @@ ROS_ACTIVE_PKGS:
 #  - roboy_speech_recognition
 #  - roboy_face
 #  - roboy_filters
-- roboy_test
+#  - roboy_vision
+#  - roboy_nodered
+#  - roboy_test
 
 DEBUG: true
 DEMO_MODE: false
 INFINITE_REPETITION: true
+#timeout for threads in seconds
+CONVERSATION_TIMEOUT: 10800
 
 # only single input is allowed, defaults to cmdline
 #INPUT: cmdline
@@ -34,41 +39,51 @@ INPUT: telegram
 # multiple outputs are allowed, defaults to cmdline
 OUTPUTS:
 #- cmdline
-# - ibm
-# - cerevoice
-# - freetts
-# - ibm
-# - emotions
-# - udp
- - telegram
+#- cerevoice
+#- freetts
+#- ibm
+#- emotions
+#- udp
+- telegram
 
 UDP_IN_SOCKET: 55555
 UDP_OUT_SOCKET: 55556
 UDP_HOST_ADDRESS: 127.0.0.1
 
 PARSER_PORT: 5000
 # PERSONALITY_FILE: "resources/personalityFiles/ExpoPersonality.json"
-
-PERSONALITY_FILE: "resources/personalityFiles/OrdinaryPersonality.json"
-#PERSONALITY_FILE: "resources/personalityFiles/bot/TelegramBot.json"
+# PERSONALITY_FILE: "resources/personalityFiles/OrdinaryPersonality.json"
+PERSONALITY_FILE: "resources/personalityFiles/bot/TelegramBot.json"
 # PERSONALITY_FILE: "resources/personalityFiles/tutorial/MathTest.json"
 # PERSONALITY_FILE: "resources/personalityFiles/tutorial/ToyStateMachine.json"
+# PERSONALITY_FILE: "resources/personalityFiles/GamePersonality.json"
+# PERSONALITY_FILE: "resources/personalityFiles/FairShowPersonality.json"
 # PERSONALITY_FILE: "resources/personalityFiles/uzupis.json"
+# PERSONALITY_FILE: "resources/personalityFiles/DevoPersonality.json"
+# PERSONALITY_FILE: "resources/personalityFiles/test/WildPersonality.json"
 
 IBM_TTS_USER: ""
 IBM_TTS_PASS: ""
 
 CONTEXT_GUI_ENABLED: false
 ACTION_CLIENT_SCRIPT: "/home/roboy/workspace/Roboy/src/roboy_dialog/resources/scripts/action_client.py"
 
+TELEGRAM_API_TOKENS_FILE: "resources/telegram.json"
+# delay in seconds to send the asnwer
+TELEGRAM_TYPING_DELAY: 0
+# delay in seconds to start processing telegram input
+TELEGRAM_PROCESSING_DELAY: 2
+
+PARLAI_PORT: 8877
+PARLAI_HOST: "127.0.0.1"
 
 
 # Logging Levels
 #   Each Logging Module has different levels. End users should use warn. Developers should use either info or debug/fine.
 
-# Memory: java.util.logging
+# Memory: java.util.logging NO DEBUG, see readthedocs->logging policy
 #   https://docs.oracle.com/javase/7/docs/api/java/util/logging/Level.html
-MEMORY_LOG_MODE: "DEBUG" 
+MEMORY_LOG_MODE: "FINE" 
 
 # Dialog: LOG4J 2
 #   https://logging.apache.org/log4j/2.x/log4j-api/apidocs/org/apache/logging/log4j/Level.html
@@ -78,4 +93,3 @@ DIALOG_LOG_MODE: "DEBUG"
 # Parser/NLU: LogInfo
 #   Supports all Log4J levels. See Documentation for more details
 PARSER_LOG_MODE: "DEBUG" 
-TELEGRAM_API_TOKENS_FILE: "/Users/Apple/botboy/tokens.json"

dialog/pom.xml

@@ -27,6 +27,7 @@
                         <artifactId>maven-surefire-plugin</artifactId>
                         <version>2.22.0</version>
                         <configuration>
+                            <workingDirectory>${project.parent.basedir}</workingDirectory>
                             <excludes>
                                 <exclude>roboy.memory.MemoryIntegrationTest</exclude>
                             </excludes>
@@ -354,7 +355,7 @@
         <dependency>
             <groupId>org.ros.rosjava_messages</groupId>
             <artifactId>roboy_communication_control</artifactId>
-            <version>0.0.1</version>
+            <version>0.0.3</version>
         </dependency>
 
         <dependency>
@@ -429,6 +430,12 @@
             <artifactId>telegrambots</artifactId>
             <version>3.6.1</version>
         </dependency>
+
+        <dependency>
+            <groupId>co.gongzh.procbridge</groupId>
+            <artifactId>procbridge</artifactId>
+            <version>1.0.2</version>
+        </dependency>
     </dependencies>
 
 </project>

dialog/src/main/java/roboy/context/Context.java

@@ -7,6 +7,8 @@
 import roboy.ros.RosMainNode;
 import roboy.util.ConfigManager;
 import roboy_communication_cognition.DirectionVector;
+import roboy_communication_control.Strings;
+import std_msgs.Bool;
 
 import java.util.ArrayList;
 
@@ -44,6 +46,18 @@ public class Context {
     public final HistoryInterface<ValueHistory<Integer>, Integer, Integer> OTHER_Q =
             new HistoryInterface<>(new ValueHistory<Integer>());
 
+    public final HistoryInterface<DetecedPerson,Integer, std_msgs.Bool> PERSON_DETECTION =
+            new HistoryInterface<>(new DetecedPerson());
+
+    public final HistoryInterface<PeopleAround,Integer, std_msgs.Int8> CROWD_DETECTION =
+            new HistoryInterface<>(new PeopleAround());
+
+    public final HistoryInterface<DetectedObjects,Integer, Strings> OBJECT_DETECTION =
+            new HistoryInterface<>(new DetectedObjects());
+
+    public final HistoryInterface<BoothSentence, Integer, std_msgs.String > BOOTH_SENTENCE =
+            new HistoryInterface<>(new BoothSentence());
+
     /* GUI */
     private final ArrayList guiValues = new ArrayList();
     private final ArrayList guiHistories = new ArrayList();
@@ -58,6 +72,10 @@ public class Context {
     private boolean rosInitialized = false;
     private AudioDirectionUpdater AUDIO_ANGLES_UPDATER;
     private ROSTestUpdater ROS_TEST_UPDATER;
+    private DetectedPersonUpdater DETECTED_PERSON_UPDATER;
+    private PeopleAroundUpdater CROWD_UPDATER;
+    private DetectedObjectsUpdater DETECTED_OBJ_UPDATER;
+    private BoothSentenceUpdater BOOTH_SENTENCE_UPDATER;
 
     /* OBSERVERS */
     private final FaceCoordinatesObserver FACE_COORDINATES_OBSERVER;
@@ -107,6 +125,16 @@ public void initializeROS(RosMainNode ros) {
                 // TODO Add a FACE_COORDINATE_UPDATER.
                 // Edit the data type and integration tests, once the real data type is used.
 
+                if(ConfigManager.ROS_ACTIVE_PKGS.contains("roboy_vision")) {
+                    DETECTED_PERSON_UPDATER = new DetectedPersonUpdater(PERSON_DETECTION.valueHistory, ros);
+                    DETECTED_OBJ_UPDATER = new DetectedObjectsUpdater(OBJECT_DETECTION.valueHistory, ros);
+                    CROWD_UPDATER = new PeopleAroundUpdater(CROWD_DETECTION.valueHistory, ros);
+                }
+
+                if(ConfigManager.ROS_ACTIVE_PKGS.contains("roboy_nodered")){
+                    BOOTH_SENTENCE_UPDATER = new BoothSentenceUpdater(BOOTH_SENTENCE.valueHistory, ros);
+                }
+
                 rosInitialized = true;
             }
         }

dialog/src/main/java/roboy/context/contextObjects/BoothSentence.java

@@ -0,0 +1,9 @@
+package roboy.context.contextObjects;
+
+import roboy.context.ValueHistory;
+
+/**
+ * Holds Strings with information about the booth at a fair, sent by the node-red GUI
+ * */
+public class BoothSentence extends ValueHistory<std_msgs.String> {
+}

dialog/src/main/java/roboy/context/contextObjects/BoothSentenceUpdater.java

@@ -0,0 +1,26 @@
+package roboy.context.contextObjects;
+
+import roboy.context.ROSTopicUpdater;
+import roboy.ros.RosMainNode;
+import roboy.ros.RosSubscribers;
+
+/**
+ * Pushes new values sent by the Booth Sentence ROS topic into the Booth Sentence value history.
+ */
+public class BoothSentenceUpdater extends ROSTopicUpdater<std_msgs.String, BoothSentence> {
+
+    public BoothSentenceUpdater(BoothSentence target, RosMainNode node) {
+        super(target, node);
+    }
+
+    @Override
+    protected synchronized void update() {
+        target.updateValue(message);
+    }
+
+    @Override
+    protected RosSubscribers getTargetSubscriber() {
+        return RosSubscribers.BOOTH_SENTENCE;
+    }
+
+}

dialog/src/main/java/roboy/context/contextObjects/DetecedPerson.java

@@ -0,0 +1,9 @@
+package roboy.context.contextObjects;
+
+import roboy.context.ValueHistory;
+
+/**
+ * Holds booleans whether a person is longer than 10 seconds in the field of view receiving from vision
+ * */
+public class DetecedPerson extends ValueHistory<std_msgs.Bool> {
+}

dialog/src/main/java/roboy/context/contextObjects/DetectedObjects.java

@@ -0,0 +1,11 @@
+package roboy.context.contextObjects;
+
+import roboy.context.ValueHistory;
+import roboy_communication_control.Strings;
+
+
+/**
+ * Holds detected Objects as a String Array receiving from vision
+ * */
+public class DetectedObjects extends ValueHistory<Strings> {
+}

dialog/src/main/java/roboy/context/contextObjects/DetectedObjectsUpdater.java

@@ -0,0 +1,27 @@
+package roboy.context.contextObjects;
+
+import roboy.context.ROSTopicUpdater;
+import roboy.ros.RosMainNode;
+import roboy.ros.RosSubscribers;
+import roboy_communication_control.Strings;
+
+/**
+ * Pushes new values sent by the Detected Objects ROS topic into the DetectedObjects value history.
+ */
+public class DetectedObjectsUpdater extends ROSTopicUpdater<Strings, DetectedObjects> {
+
+    public DetectedObjectsUpdater(DetectedObjects target, RosMainNode node) {
+        super(target, node);
+    }
+
+    @Override
+    protected synchronized void update() {
+        target.updateValue(message);
+    }
+
+    @Override
+    protected RosSubscribers getTargetSubscriber() {
+        return RosSubscribers.DETECTED_OBJECTS;
+    }
+
+}

dialog/src/main/java/roboy/context/contextObjects/DetectedPersonUpdater.java

@@ -0,0 +1,26 @@
+package roboy.context.contextObjects;
+
+import roboy.context.ROSTopicUpdater;
+import roboy.ros.RosMainNode;
+import roboy.ros.RosSubscribers;
+
+/**
+ * Pushes new values sent by the Person Listening ROS topic into the DetectedPerson value history.
+ */
+public class DetectedPersonUpdater extends ROSTopicUpdater<std_msgs.Bool, DetecedPerson> {
+
+    public DetectedPersonUpdater(DetecedPerson target, RosMainNode node) {
+        super(target, node);
+    }
+
+    @Override
+    protected synchronized void update() {
+        target.updateValue(message);
+    }
+
+    @Override
+    protected RosSubscribers getTargetSubscriber() {
+        return RosSubscribers.PERSON_LISTENING;
+    }
+
+}