From e234f9dd62c61e69befa33d349f6edce2d15cb22 Mon Sep 17 00:00:00 2001
From: m-barker <mattbarker322@gmail.com>
Date: Wed, 6 Mar 2024 15:57:43 +0000
Subject: [PATCH] feat: working launch file and quesiton answering with TTS

---
 tasks/gpsr/launch/question_answer.launch |  8 ++++++++
 tasks/gpsr/nodes/question_answer         | 25 ++++++++++++------------
 tasks/gpsr/package.xml                   |  1 +
 3 files changed, 21 insertions(+), 13 deletions(-)

diff --git a/tasks/gpsr/launch/question_answer.launch b/tasks/gpsr/launch/question_answer.launch
index 87de56930..79c3a6fb2 100644
--- a/tasks/gpsr/launch/question_answer.launch
+++ b/tasks/gpsr/launch/question_answer.launch
@@ -19,4 +19,12 @@
         args="--k $(arg k) --index_path $(arg index_path) --txt_path $(arg text_path) --xml_path $(arg xml_path)"
     />
 
+    <node
+        pkg="lasr_speech_recognition_whisper"
+        type="transcribe_microphone_server"
+        name="transcribe_speech"
+        output="screen"
+        args="--mic_device 5"
+    />
+
 </launch>
\ No newline at end of file
diff --git a/tasks/gpsr/nodes/question_answer b/tasks/gpsr/nodes/question_answer
index fe00ce725..e7541a5b0 100644
--- a/tasks/gpsr/nodes/question_answer
+++ b/tasks/gpsr/nodes/question_answer
@@ -76,18 +76,17 @@ def parse_args() -> dict:
 if __name__ == "__main__":
     rospy.init_node("gpsr_question_answer")
     args: dict = parse_args()
-    print(args)
-    q_a_sm = QuestionAnswerStateMachine(args)
-    outcome = q_a_sm.execute()
-    voice = Voice()
-    if outcome == "succeeded":
-        rospy.loginfo(f"Question: {args['question']}")
-        rospy.loginfo(f"Closest Answers: {q_a_sm.userdata.closest_answers}")
-        voice.sync_tts(
-            f"The answer to your question is: {q_a_sm.userdata.closest_answers[0]}"
-        )
-    else:
-        rospy.logerr("Question Answer State Machine failed")
-        voice.sync_tts(f"Sorry, I wasn't able to find an answer to your question")
+    while not rospy.is_shutdown():
+        q_a_sm = QuestionAnswerStateMachine(args)
+        outcome = q_a_sm.execute()
+        voice = Voice()
+        if outcome == "succeeded":
+            rospy.loginfo(f"Closest Answers: {q_a_sm.userdata.closest_answers}")
+            voice.sync_tts(
+                f"The answer to your question is: {q_a_sm.userdata.closest_answers[0]}"
+            )
+        else:
+            rospy.logerr("Question Answer State Machine failed")
+            voice.sync_tts(f"Sorry, I wasn't able to find an answer to your question")
 
     rospy.spin()
diff --git a/tasks/gpsr/package.xml b/tasks/gpsr/package.xml
index d9d8689e5..cf974db17 100644
--- a/tasks/gpsr/package.xml
+++ b/tasks/gpsr/package.xml
@@ -51,6 +51,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <depend>lasr_vector_databases_faiss</depend>
   <depend>lasr_vector_databases_msgs</depend>
+  <depend>lasr_speech_recognition_whisper</depend>
   <!-- <build_depend>catkin_virtualenv</build_depend> -->
   <!-- The export tag contains other, unspecified, tags -->
   <export>