fix: working new question answer state machine

m-barker · Mar 11, 2024 · d7a9b22 · d7a9b22
1 parent e41b4dd
commit d7a9b22
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Showing 6 changed files with 28 additions and 14 deletions.
diff --git a/skills/src/lasr_skills/__init__.py b/skills/src/lasr_skills/__init__.py
@@ -10,4 +10,6 @@
 from .look_to_point import LookToPoint
 from .look_to_point import LookToPoint
 from .go_to_location import GoToLocation
-from .go_to_semantic_location import GoToSemanticLocation
+from .go_to_semantic_location import GoToSemanticLocation
+from .listen import Listen
+from .say import Say
diff --git a/skills/src/lasr_skills/ask_and_listen.py b/skills/src/lasr_skills/ask_and_listen.py
@@ -1,6 +1,6 @@
 import smach
-from listen import Listen
-from skills.src.lasr_skills.say import Say
+from lasr_skills import Listen
+from lasr_skills import Say
 
 
 class AskAndListen(smach.StateMachine):
@@ -15,12 +15,20 @@ def __init__(self):
             smach.StateMachine.add(
                 "SAY",
                 Say(),
-                transitions={"succeeded": "LISTEN", "failed": "failed"},
-                remapping={"tts_phrase": "text"},
+                transitions={
+                    "succeeded": "LISTEN",
+                    "aborted": "failed",
+                    "preempted": "failed",
+                },
+                remapping={"text": "tts_phrase"},
             )
             smach.StateMachine.add(
                 "LISTEN",
                 Listen(),
-                transitions={"succeeded": "succeeded", "failed": "failed"},
-                remapping={"transcribed_speech": "transcribed_speech"},
+                transitions={
+                    "succeeded": "succeeded",
+                    "aborted": "failed",
+                    "preempted": "failed",
+                },
+                remapping={"sequence": "transcribed_speech"},
             )
diff --git a/skills/src/lasr_skills/xml_question_answer.py b/skills/src/lasr_skills/xml_question_answer.py
@@ -51,7 +51,7 @@ def __init__(self, index_path: str, txt_path: str, xml_path: str, k: int = 1):
 
     def execute(self, userdata):
         rospy.wait_for_service("/lasr_faiss/txt_query")
-        q_a_dict: dict = parse_question_xml(userdata.xml_path)
+        q_a_dict: dict = parse_question_xml(self.xml_path)
         try:
             request = TxtQueryRequest(
                 self.txt_path,

diff --git a/tasks/gpsr/CMakeLists.txt b/tasks/gpsr/CMakeLists.txt
@@ -155,7 +155,7 @@ include_directories(
 ## in contrast to setup.py, you can choose the destination
 catkin_install_python(PROGRAMS
   scripts/parse_gpsr_xmls.py
-  nodes/question_answer
+  nodes/commands/question_answer
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

diff --git a/tasks/gpsr/launch/commands/question_answer.launch b/tasks/gpsr/launch/commands/question_answer.launch
@@ -24,7 +24,7 @@
         type="transcribe_microphone_server"
         name="transcribe_speech"
         output="screen"
-        args="--mic_device 5"
+        args="--mic_device 9"
     />
 
 </launch>
diff --git a/tasks/gpsr/nodes/commands/question_answer b/tasks/gpsr/nodes/commands/question_answer
@@ -22,7 +22,7 @@ class QuestionAnswerStateMachine(smach.StateMachine):
                 transitions={"succeeded": "XML_QUESTION_ANSWER", "failed": "failed"},
                 remapping={
                     "tts_phrase:": "tts_phrase",
-                    "transcribed_speech": "query_sentence",
+                    "transcribed_speech": "transcribed_speech",
                 },
             )
             smach.StateMachine.add(
@@ -33,16 +33,20 @@ class QuestionAnswerStateMachine(smach.StateMachine):
                     input_data["xml_path"],
                     input_data["k"],
                 ),
-                transitions={"succeeded": "succeeded", "failed": "failed"},
+                transitions={"succeeded": "SAY_ANSWER", "failed": "failed"},
                 remapping={
-                    "query_sentence": "query_sentence",
+                    "query_sentence": "transcribed_speech",
                     "closest_answers": "closest_answers",
                 },
             )
             smach.StateMachine.add(
                 "SAY_ANSWER",
                 Say(format_str="The answer to your question is: {}"),
-                transitions={"succeeded": "succeeded", "failed": "failed"},
+                transitions={
+                    "succeeded": "succeeded",
+                    "aborted": "failed",
+                    "preempted": "failed",
+                },
                 remapping={"placeholders": "closest_answers"},
             )