Kayukawa/description request

cabot_ui/cabot_ui/description.py

@@ -242,7 +242,7 @@ def request_description_with_images1(self, global_position, length_index=0):
         return None
 
     # for EventMapper2()
-    def request_description_with_images2(self, global_position, mode, length_index=0):
+    def request_description_with_images2(self, global_position, mode, length_index=0, timeout=10):
         if not self.enabled:
             return None
         if not self.surround_enabled and not self.stop_reason_enabled and not self.stop_reason_data_collect_enabled:
@@ -323,14 +323,17 @@ def request_description_with_images2(self, global_position, mode, length_index=0
             response = requests.post(
                 F"{API_URL}?{lat=}&{lng=}&{rotation=}&{max_distance=}&{length_index=}&{distance_to_travel=}",
                 headers=headers,
-                data=json_data
+                data=json_data,
+                timeout=timeout
             )
             if response.status_code == 200:
                 response_json = response.json()
                 self._logger.info('Successfully sent images to server.')
                 return response_json
             else:
                 self._logger.error(f'Failed to send images to server. Status code: {response.status_code}')
+        except requests.exceptions.Timeout:
+            self._logger.error("Request timed out. Skipping description processing.")
         except Exception as e:
             self._logger.error(f'Error sending HTTP request: {e}')
         return None

cabot_ui/cabot_ui/interface.py

@@ -42,6 +42,7 @@ class SpeechPriority:
     REQUIRED = 90
     HIGH = 60
     NORMAL = 30
+    MODERATE = 25
     LOW = 10
 
 
@@ -400,12 +401,12 @@ def please_return_position(self):
 
     def requesting_describe_surround(self):
         self._activity_log("cabot/interface", "requesting_describe_surround", "")
-        self.speak(i18n.localized_string("REQUESTING_DESCRIBE_SURROUND"), priority=SpeechPriority.HIGH)
+        self.speak(i18n.localized_string("REQUESTING_DESCRIBE_SURROUND"), priority=SpeechPriority.MODERATE)
 
     def requesting_describe_surround_stop_reason(self):
         self._activity_log("cabot/interface", "requesting_describe_surround_stop_reason", "")
-        self.speak(i18n.localized_string("REQUESTING_DESCRIBE_FORWARD"), priority=SpeechPriority.HIGH)
+        self.speak(i18n.localized_string("REQUESTING_DESCRIBE_FORWARD"), priority=SpeechPriority.MODERATE)
 
     def describe_surround(self, description):
         self._activity_log("cabot/interface", "describe_surround", description)
-        self.speak(description, priority=SpeechPriority.HIGH)
+        self.speak(description, priority=SpeechPriority.MODERATE)

cabot_ui/scripts/cabot_ui_manager.py

@@ -39,6 +39,8 @@
 import threading
 import traceback
 import yaml
+import requests
+import time
 
 from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 import rclpy
@@ -89,6 +91,8 @@ def __init__(self, node, nav_node, tf_node, srv_node, act_node, soc_node, desc_n
         self._navigation = Navigation(nav_node, tf_node, srv_node, act_node, soc_node)
         self._navigation.delegate = self
         self._description = Description(desc_node)
+        self._last_description_event_time = 0
+        self._processing_lock = threading.Lock()
         # self._exploration = Exploration()
         # self._exploration.delegate = self
 
@@ -462,31 +466,64 @@ def _process_navigation_event(self, event):
                     self._interface.describe_surround(result['description'])
 
         if event.subtype == "description_stop_reason" and self._description.enabled:
+            current_time = time.time()
+            if current_time - self._last_description_event_time < 10:
+                return
+            self._last_description_event_time = current_time
+
+            if not self._processing_lock.acquire(blocking=False):
+                return
+
             self._logger.info("Request Stop Reason Description")
-            if self._interface.last_pose:
-                gp = self._interface.last_pose['global_position']
-                self._interface.requesting_describe_surround_stop_reason()
-                result = self._description.request_description_with_images2(gp, "stop_reason", length_index=0)
-                if result:
-                    self._interface.describe_surround(result['description'])
+            try:
+                if self._interface.last_pose:
+                    gp = self._interface.last_pose['global_position']
+                    self._interface.requesting_describe_surround_stop_reason()
+                    try:
+                        result = self._description.request_description_with_images2(gp, "stop_reason", length_index=0, timeout=10)
+                        if result:
+                            self._interface.describe_surround(result['description'])
+                    except requests.exceptions.Timeout:
+                        self._logger.error("Request timed out. Skipping description processing.")
+                    except Exception as e:
+                        self._logger.error(f"Error in request: {e}")
+            finally:
+                self._processing_lock.release()
 
         if event.subtype == "description_surround" and self._description.enabled:
             # TODO: needs to reset last_plan_distance when arrived/paused
+            current_time = time.time()
+            if current_time - self._last_description_event_time < 10:
+                return
+            self._last_description_event_time = current_time
+
+            if not self._processing_lock.acquire(blocking=False):
+                return
+
             self._logger.info(F"Request Surround Description (Duration: {event.param})")
-            if self._interface.last_pose:
-                length_index = event.param
-                gp = self._interface.last_pose['global_position']
-                self._interface.requesting_describe_surround()
-                result = self._description.request_description_with_images2(gp, "surround", length_index=length_index)
-                if result:
-                    self._interface.describe_surround(result['description'])
+            try:
+                if self._interface.last_pose:
+                    length_index = event.param
+                    gp = self._interface.last_pose['global_position']
+                    self._interface.requesting_describe_surround()
+                    try:
+                        result = self._description.request_description_with_images2(gp, "surround", length_index=length_index, timeout=10)
+                        if result:
+                            self._interface.describe_surround(result['description'])
+                    except requests.exceptions.Timeout:
+                        self._logger.error("Request timed out. Skipping description processing.")
+                    except Exception as e:
+                        self._logger.error(f"Error in request: {e}")
+            finally:
+                self._processing_lock.release()
 
         if event.subtype == "toggle_speak_state":
             self._logger.info("Request Toggle TTS State")
             e = NavigationEvent("togglespeakstate", None)
             msg = std_msgs.msg.String()
             msg.data = str(e)
             self._eventPub.publish(msg)
+            self._last_description_event_time = 0
 
         if event.subtype == "toggle_conversation":
             self._logger.info("Request Start/Stop Conversation Interface")
@@ -616,13 +653,29 @@ def done_callback():
                     self._interface.pausing_navigation()
                 else:
                     if event.subtype == "resume_or_stop_reason" and self._description.enabled:
+                        current_time = time.time()
+                        if current_time - self._last_description_event_time < 10:
+                            return
+                        self._last_description_event_time = current_time
+
+                        if not self._processing_lock.acquire(blocking=False):
+                            return
+
                         self._logger.info("Request Stop Reason Description")
-                        if self._interface.last_pose:
-                            gp = self._interface.last_pose['global_position']
-                            self._interface.requesting_describe_surround_stop_reason()
-                            result = self._description.request_description_with_images2(gp, "stop_reason", length_index=0)
-                            if result:
-                                self._interface.describe_surround(result['description'])
+                        try:
+                            if self._interface.last_pose:
+                                gp = self._interface.last_pose['global_position']
+                                self._interface.requesting_describe_surround_stop_reason()
+                                try:
+                                    result = self._description.request_description_with_images2(gp, "stop_reason", length_index=0, timeout=10)
+                                    if result:
+                                        self._interface.describe_surround(result['description'])
+                                except requests.exceptions.Timeout:
+                                    self._logger.error("Request timed out. Skipping description processing.")
+                                except Exception as e:
+                                    self._logger.error(f"Error in request: {e}")
+                        finally:
+                            self._processing_lock.release()
                     else:
                         self._logger.info("NavigationState: state is not in pause state")
             else: