feat: working command parser sm

Author: m-barker

tasks/gpsr/CMakeLists.txt

@@ -155,6 +155,7 @@ include_directories(
 ## in contrast to setup.py, you can choose the destination
 catkin_install_python(PROGRAMS
   scripts/parse_gpsr_xmls.py
+  scripts/main.py
   nodes/commands/question_answer
   nodes/command_parser
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

tasks/gpsr/scripts/main.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python3
+import smach
+import rospy
+import sys
+from typing import Dict
+from gpsr.load_known_data import GPSRDataLoader
+from gpsr.regex_command_parser import Configuration
+from gpsr.states import CommandParserStateMachine
+
+
+def load_gpsr_configuration() -> Configuration:
+    gpsr_data_dir = sys.argv[1]
+    """Loads the configuration for the GPSR command parser"""
+    data_loader = GPSRDataLoader(data_dir=gpsr_data_dir)
+    gpsr_known_data: Dict = data_loader.load_data()
+    config = Configuration(
+        {
+            "person_names": gpsr_known_data["names"],
+            "location_names": gpsr_known_data["non_placeable_locations"],
+            "placement_location_names": gpsr_known_data["placeable_locations"],
+            "room_names": gpsr_known_data["rooms"],
+            "object_names": gpsr_known_data["objects"],
+            "object_categories_plural": gpsr_known_data["categories_plural"],
+            "object_categories_singular": gpsr_known_data["categories_singular"],
+        }
+    )
+    return config
+
+
+def main():
+    config = load_gpsr_configuration()
+    command_parser_sm = CommandParserStateMachine(data_config=config)
+    command_parser_sm.execute()
+    parsed_command: Dict = command_parser_sm.userdata.parsed_command
+    rospy.loginfo(f"Parsed command: {parsed_command}")
+
+
+if __name__ == "__main__":
+    rospy.init_node("gpsr_main")
+    main()
+    rospy.spin()

tasks/gpsr/src/gpsr/states/__init__.py

@@ -1,3 +1,3 @@
 from .talk import Talk
-from .command_parser import ParseCommand, CommandParserStateMachine
 from .command_similarity_matcher import CommandSimilarityMatcher
+from .command_parser import ParseCommand, CommandParserStateMachine

tasks/gpsr/src/gpsr/states/command_parser.py

@@ -1,12 +1,10 @@
 #!/usr/bin/env python3
-import argparse
 import smach
 import rospy
 
-from gpsr.load_known_data import GPSRDataLoader
 from gpsr.regex_command_parser import Configuration, gpsr_compile_and_parse
 from gpsr.states import CommandSimilarityMatcher
-from lasr_skills import AskAndListen, Say
+from lasr_skills import AskAndListen
 
 
 class ParseCommand(smach.State):
@@ -29,7 +27,7 @@ def execute(self, userdata):
         rospy.loginfo(f"Received command : {userdata.raw_command.lower()}")
         try:
             userdata.parsed_command = gpsr_compile_and_parse(
-                self.data_config, userdata.transcribed_speech.lower()
+                self.data_config, userdata.raw_command.lower()
             )
         except Exception as e:
             rospy.logerr(e)
@@ -58,7 +56,7 @@ def __init__(
         with self:
             smach.StateMachine.add(
                 "ASK_FOR_COMMAND",
-                AskAndListen(),
+                AskAndListen(tts_phrase="Hello, please tell me your command."),
                 transitions={"succeeded": "PARSE_COMMAND", "failed": "failed"},
                 remapping={"transcribed_speech": "raw_command"},
             )
@@ -78,7 +76,7 @@ def __init__(
                 CommandSimilarityMatcher([n_vecs_per_txt_file] * total_txt_files),
                 transitions={"succeeded": "PARSE_COMMAND", "failed": "failed"},
                 remapping={
-                    "command": "parsed_command",
-                    "matched_command": "matched_command",
+                    "command": "raw_command",
+                    "matched_command": "raw_command",
                 },
             )