fix py

hni_cpp/launch/chat_launch.py

@@ -17,19 +17,19 @@ def generate_launch_description():
         ),
         Node(
             package='hni_py',
-            executable='gstt_service.py',
+            executable='gstt_service',
             name='gstt_service_node',
             output='screen'
         ),
         Node(
             package='hni_py',
-            executable='chat_service.py',
+            executable='chat_service',
             name='chat_service_node',
             output='screen'
         ),
         Node(
             package='hni_py',
-            executable='gtts_service.py',
+            executable='gtts_service',
             name='gtts_service_node',
             output='screen'
         ),

hni_cpp/launch/experiment_launch.py → hni_cpp/launch/experiment_nao_launch.py

@@ -2,14 +2,15 @@
 from launch.actions import IncludeLaunchDescription
 from launch_ros.substitutions import FindPackageShare
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
 
 def generate_launch_description():
     return LaunchDescription([
         Node(
             package='nao_lola_client',
             executable='nao_lola_client',
             name='lola_node',
-            output='screen'
+            output='screen',
         ),
         IncludeLaunchDescription(
                 PythonLaunchDescriptionSource([

hni_cpp/launch/experiment_pc_launch.py

@@ -0,0 +1,14 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='hni_py', executable='face_track_server', name='face_track_server_node',
+            output='screen',
+        ),
+        Node(
+            package='hni_cpp', executable='chat_action_server', name='chat_action_server',
+            prefix=['xterm -e'],
+        ),
+    ])

hni_py/hni_py/chat_service.py

@@ -18,21 +18,18 @@
 import rclpy
 from rclpy.node import Node
 
-from hri_interfaces.srv import Chat
+from hni_interfaces.srv import Chat
 
-import openai
-import os
-
-api_key = os.environ["OPENAI_API_KEY"]
-
-openai.api_key = api_key
+# new
+from openai import OpenAI
 
 
 class ChatService(Node):
 
     def __init__(self):
         super().__init__('chat_service_server')
         self.srv = self.create_service(Chat, 'chatGPT_service', self.chat_callback)
+        self.client = OpenAI()
         self.chat_messages = [
         {"role": "system", "content": """You are the sixth version of the Aldebaran NAO umanoid robot. You are not an AI vocal assistant only.
                                          The software that makes you work is based on a ROS2 open-source project called 'Open Access NAO' (OAN).
@@ -64,16 +61,15 @@ def chat_callback(self, sRequest, sResponse):
         self.get_logger().info("Incoming request: " + sRequest.question)
         self.chat_messages.append({"role": "user", "content": sRequest.question})
         reply = self.get_response(messages=self.chat_messages)
-        reply_text = reply['content'];
+        reply_text = reply.content;
         self.get_logger().info("Reply: " + reply_text)
         self.chat_messages.append(reply)
         sResponse.answer = reply_text
         return sResponse    
 
     def get_response(self, messages:list):
-        response = openai.ChatCompletion.create(
-            model = "gpt-3.5-turbo",
-            #model = "gpt-4-turbo-preview",
+        response = self.client.chat.completions.create(
+            model = "gpt-3.5-turbo", # gpt-4-turbo-preview
             messages = messages,
             temperature = 1.0 # 0.0 - 2.0
         )
@@ -83,9 +79,9 @@ def get_response(self, messages:list):
 def main(args=None):
     rclpy.init(args=args)
 
-    minimal_service = ChatService()
+    chat_service = ChatService()
 
-    rclpy.spin(minimal_service)
+    rclpy.spin(chat_service)
 
     rclpy.shutdown()
 

hni_py/hni_py/face_track_server.py

@@ -67,7 +67,7 @@ def __init__(self):
         self.br = CvBridge()
 
         # Load the YOLOv8 model
-        self.model = YOLO('/home/toto/Gdrive/uni/robocup/robocup_ws/src/hri/hri_vision/hri_vision/models/yolov8n-face.pt')
+        self.model = YOLO('src/hni/hni_py/hni_py/models/yolov8n-face.pt')
 
         # Store the track history
         self.track_history = defaultdict(lambda: [])

hni_py/hni_py/gstt_service.py

@@ -56,16 +56,16 @@ def __init__(self):
             #model="latest_short",
             model="latest_long"
         )
-        self.timeout = speech.StreamingRecognitionConfig.VoiceActivityTimeout(
-            speech_start_timeout=duration1,
-            speech_end_timeout=duration2
-        )
+        #self.timeout = speech.StreamingRecognitionConfig.VoiceActivityTimeout(
+        #    speech_start_timeout=duration1,
+        #    speech_end_timeout=duration2
+        #)
 
         self.streaming_config = speech.StreamingRecognitionConfig(
             config=self.config,
-            #single_utterance=True,
+            single_utterance=True,
             #interim_results=True,
-            enable_voice_activity_events=True, voice_activity_timeout=self.timeout
+            #enable_voice_activity_events=True, voice_activity_timeout=self.timeout,
         )
 
         self.srv = self.create_service(SetBool, "gstt_service", self.gstt_callback)
@@ -74,7 +74,7 @@ def __init__(self):
 
 
 
-        self.get_logger().info('GSTTService initializedaa')
+        self.get_logger().info('GSTTService initialized')
 
 
 
@@ -107,7 +107,7 @@ def gstt_callback(self, sRequest, sResponse):
                 for response in responses_iterator:         #BLOCKING!
                     self.get_logger().info('responses loop')
                     if time.time() - start_time > timeout_seconds:
-                        self.get_logger().error("Timeout: No final result after %d seconds." % timeout_seconds)
+                        self.get_logger().error('Timeout: No final result after %d seconds.' % (timeout_seconds))
                         sResponse.success = False
                         sResponse.message = "timeout"
                         break  # Exit the loop if we've reached the timeout without a final result
@@ -126,22 +126,22 @@ def gstt_callback(self, sRequest, sResponse):
                         final_transcript_received = True
                         # Extract the top alternative of the final result
                         top_transcript = result.alternatives[0].transcript
-                        self.get_logger().info(f"Final transcript: {top_transcript}")
+                        self.get_logger().info(f'Final transcript: {top_transcript}')
                         sResponse.success = True
                         sResponse.message = top_transcript
                         break  # Exit the loop since we've received a final transcript
                     self.get_logger().info('final result checked')
 
                     if not final_transcript_received:
-                        self.get_logger().error("No final transcript received.")
+                        self.get_logger().error('No final transcript received.')
                         sResponse.success = False
                         sResponse.message = "No final transcript received."
 
                 self.get_logger().debug('GSTTService complete request')
                 return sResponse
 
             except Exception as e:
-                self.get_logger().error(f"Error during speech recognition: {e}")
+                self.get_logger().error(f'Error during speech recognition: {e}')
                 sResponse.success = False
                 return sResponse
 
@@ -228,11 +228,11 @@ def __retrieve_text(self, responses):
 
             except GoogleAPICallError as e:
                 if e.code == code_pb2.PERMISSION_DENIED:
-                    self.get_logger().error("Permission denied error.")
+                    self.get_logger().error('Permission denied error.')
                 elif e.code == code_pb2.NOT_FOUND:
-                    self.get_logger().error("Resource not found.")
+                    self.get_logger().error('Resource not found.')
                 else:
-                    self.get_logger().error(f"An error occurred: {e}")
+                    self.get_logger().error(f'An error occurred: {e}')
             return ""    
 
 

hni_py/hni_py/gtts_service.py

@@ -56,6 +56,9 @@ def __init__(self):
         self.sound_handle_b = SoundClient(self, blocking=False)
 
         self.srv = self.create_service(TextToSpeech, "gtts_service", self.gtts_callback)
+
+        self.volume = 0.4
+
         self.get_logger().info("GTTSService Server initialized.")
 
     def gtts_callback(self, sRequest, sResponse):
@@ -79,20 +82,21 @@ def gtts_callback(self, sRequest, sResponse):
             with open("/tmp/output.ogg", "wb") as out:
                 # Write the response to the output file.
                 out.write(response.audio_content)
-                self.get_logger().info('Audio content written to file "output.ogg"')
+                self.get_logger().debug('Audio content written to file "output.ogg"')
 
-            self.get_logger().info("Playing output.ogg at full volume.")
+            self.get_logger().info(f'Playing output.ogg at {self.volume*100}% volume.')
 
-            self.sound_handle_b.playWave("/tmp/output.ogg")
 
-            self.get_logger().info("Playwave stopped")
+            self.sound_handle_b.playWave("/tmp/output.ogg",self.volume)
+
+            self.get_logger().debug('Playwave stopped')
 
             sResponse.success = True
 
         else:
             sResponse.success = False
             sResponse.debug = "empty text to convert"
-            self.get_logger().info("empty text to convert")
+            self.get_logger().warn('empty text to convert')
 
         return sResponse
 

hni_py/setup.py

@@ -31,4 +31,61 @@
             'gtts_service = hni_py.gtts_service:main',
         ],
     },
+
 )
+
+"""
+
+import os
+from glob import glob
+from setuptools import setup
+
+package_name = 'my_package'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    # Packages to export
+    packages=[package_name],
+    # Files we want to install, specifically launch files
+    data_files=[
+        # Install marker file in the package index
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        # Include our package.xml file
+        (os.path.join('share', package_name), ['package.xml']),
+        # Include all launch files.
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*.launch.py'))),
+    ],
+    # This is important as well
+    install_requires=['setuptools'],
+    zip_safe=True,
+    author='ROS 2 Developer',
+    author_email='ros2@ros.com',
+    maintainer='ROS 2 Developer',
+    maintainer_email='ros2@ros.com',
+    keywords=['foo', 'bar'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: TODO',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='My awesome package.',
+    license='TODO',
+    # Like the CMakeLists add_executable macro, you can add your python
+    # scripts here.
+    entry_points={
+        'console_scripts': [
+            'chat_client = hni_py.chat_client:main',
+            'chat_service = hni_py.chat_service:main',
+            'face_track_client = hni_py.face_track_client:main',
+            'face_track_server = hni_py.face_track_server:main',
+            'g2stt_service = hni_py.g2stt_service:main',
+            'gstt_client = hni_py.gstt_client:main',
+            'gstt_service = hni_py.gstt_service:main',
+            'gtts_client = hni_py.gtts_client:main',
+            'gtts_service = hni_py.gtts_service:main',
+        ],
+    },
+)
+"""