Added some basic functionality for synchronized speech and behavior

.gitignore

@@ -1,2 +1,4 @@
 *.pyc
 *.swp
+hlpr_dialogue_production/data/*
+hlpr_speech_synthesis/src/hlpr_speech_synthesis/data/*

.travis.yml

@@ -121,6 +121,7 @@ install:
 before_script:
   # source dependencies: install using wstool.
   - cd ~/catkin_ws/src
+  - git clone -b catkin git://github.com/interaction-lab/cordial-public.git
   - wstool init
   - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
   - wstool up

hlpr_dialogue_production/CMakeLists.txt

@@ -0,0 +1,194 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hlpr_dialogue_production)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  smach
+  smach_ros
+  control_msgs
+  actionlib
+  actionlib_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+# add_service_files(
+#   FILES
+#   LookAt.srv
+#   LookAtT.srv
+#   LookAtTS.srv
+# )
+
+## Generate actions in the 'action' folder
+ add_action_files(
+   FILES
+   DialogueAct.action
+   Gesture.action
+   Viseme.action
+ )
+
+# Generate added messages and services with any dependencies listed here
+ generate_messages(
+   DEPENDENCIES
+   geometry_msgs
+   actionlib_msgs
+   std_msgs
+ )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hlpr_lookat
+#  CATKIN_DEPENDS rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(hlpr_lookat
+#   src/${PROJECT_NAME}/hlpr_lookat.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(hlpr_lookat ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(hlpr_lookat_node src/hlpr_lookat_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(hlpr_lookat_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(hlpr_lookat_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS hlpr_lookat hlpr_lookat_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hlpr_lookat.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

hlpr_dialogue_production/LICENSE

@@ -0,0 +1,27 @@
+Copyright (c) 2017, Elaine Short
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of contingency nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

hlpr_dialogue_production/README.md

@@ -0,0 +1,4 @@
+# Contingency Detection Package
+
+This package detects contingency in behaviors.
+

hlpr_dialogue_production/action/DialogueAct.action

@@ -0,0 +1,7 @@
+string text_or_key
+string audio_file
+string behavior_yaml
+---
+string outcome
+---
+string[] active_states

hlpr_dialogue_production/action/Gesture.action

@@ -0,0 +1,5 @@
+string[] poses
+---
+bool success
+---
+string current_pose

hlpr_dialogue_production/action/Viseme.action

@@ -0,0 +1,5 @@
+string viseme
+---
+bool success
+---
+string current_pose

hlpr_dialogue_production/docs/hlpr_dialogue_production.rst

@@ -0,0 +1,32 @@
+HLPR Dialogue Production
+=========================
+
+Controllers
+-----------
+.. automodule:: controllers
+   :members:
+
+Dialogue
+---------
+.. automodule:: dialogue
+
+.. autoclass:: Synchronizer
+   :members: __init__, start, reset
+
+.. autoclass:: ControllerState
+   :members: __init__, setup_sync
+
+.. autoclass:: TTSSpeechStart
+   :members: __init__
+
+.. autoclass:: TTSFallbackSpeechStart
+   :members: __init__
+
+.. autoclass:: FileSpeechStart
+   :members: __init__
+
+.. autoclass:: NoPrepSpeechStart
+   :members: __init__
+
+.. autoclass:: SpeechState
+   :members: __init__

hlpr_dialogue_production/launch/all_controllers.launch

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="debug" default="false"/>
+  <arg name="gesture" default="false"/>
+  <arg name="visemes" default="true"/>
+  <arg name="voice" default="Justin"/>
+
+  <node name="test_beep_controller" pkg="hlpr_dialogue_production" type="test_action_server.py"/>
+  <node name="soundplay_node" pkg="sound_play" type="soundplay_node.py"/>
+  <node if="$(arg gesture)" name="gesture_controller" pkg="hlpr_dialogue_production" type="gesture_action_server.py"/>
+  <node if="$(arg visemes)" name="viseme_controller" pkg="hlpr_dialogue_production" type="viseme_action_server.py" output="screen"/>
+  <group unless="$(arg debug)">
+    <!-- NOTE: can also pass -p to this command, not currently supported in the launch file.
+         TODO(kukanani): add ROS parameter system so that -t, -p, -d can be passed independently without needing launch file hijinx -->
+    <node name="hlpr_dialogue" pkg="hlpr_dialogue_production" type="standalone_server.py" args="-t -v $(arg voice)" output="screen"/>
+  </group>
+  <node if="$(arg debug)"
+    name="hlpr_dialogue" pkg="hlpr_dialogue_production" type="standalone_server.py" args="-d" output="screen"/>
+</launch>

hlpr_dialogue_production/package.xml

@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<package>
+  <name>hlpr_dialogue_production</name>
+  <version>0.0.0</version>
+  <description>Speech production with simultaneous behavior for HLP-R robot.</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Elaine Short</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/hlpr_lookat</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>cordial_tts</build_depend>
+  <build_depend>hlpr_manipulation_utils</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>control_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>actionlib</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
+  <run_depend>smach</run_depend>
+  <run_depend>smach_ros</run_depend>
+  <run_depend>hlpr_manipulation_utils</run_depend>
+  <run_depend>cordial_tts</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

hlpr_dialogue_production/setup.py

@@ -0,0 +1,12 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['hlpr_dialogue_production'],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)

hlpr_dialogue_production/speech/gen_phrases.sh

@@ -0,0 +1,5 @@
+#!/bin/sh
+
+mkdir audio_data
+rosrun cordial_tts gen_phrases.py -o phrases.yaml -d ./audio_data -v Kendra script.txt 
+oggdec audio_data/*.ogg