Merge pull request #5 from interaction-lab/develop

Merge from original repo

.gitignore

@@ -107,6 +107,7 @@ ENV/
 #**/*.yaml
 #**/*.wav
 **/*.ogg
+**/doc/html/**
 **/private-keys.json
 **/private-keys_en.json
 

TEST-docker-compose-harmoni-swarm.yml

@@ -1,6 +1,7 @@
-#This is an example of a swarm based compose file that can launch from a single PC. It works, but cannot do static IPs.
-#It may requre setting up your own network and then treating it as an external network.
-#To deploy: docker stack deploy -c TEST-docker-compose-harmoni-swarm.yml <stack_name>
+# This is an example of a swarm based compose file that can launch from a single PC.
+# It works, but cannot do static IPs.
+# It may requre setting up your own network and then treating it as an external network.
+# To deploy: docker stack deploy -c TEST-docker-compose-harmoni-swarm.yml <stack_name>
 version: "3.8"
 services:
   harmoni_core:
@@ -55,7 +56,7 @@ services:
       - /etc/timezone:/etc/timezone:ro
       - /etc/localtime:/etc/localtime:ro
     working_dir: /root/harmoni_catkin_ws/src/HARMONI
-    entrypoint: /bin/bash --rcfile /root/setup_script.sh 
+    entrypoint: /bin/bash --rcfile /root/setup_script.sh
     stdin_open: true #get a interactive terminal when attaching.
     tty: true
     # command: roscore
@@ -89,7 +90,7 @@ services:
         ipv4_address: 172.18.3.5
     hostname: ros_hardware
     # depends_on:
-      # - "harmoni_core"
+    # - "harmoni_core"
     devices:
       - /dev/dri:/dev/dri
       - /dev/snd:/dev/snd
@@ -111,12 +112,12 @@ services:
       - /etc/localtime:/etc/localtime:ro
     working_dir: /root/harmoni_catkin_ws/src/HARMONI
     #TODO: remove dumb-init and next line
-    entrypoint: /bin/bash --rcfile /root/setup_script.sh 
+    entrypoint: /bin/bash --rcfile /root/setup_script.sh
     stdin_open: true #get a interactive terminal when attaching.
     tty: true
     #command: bash -c "
-    #  terminator -ue \"cd ../HARMONI && echo 'Entering harmoni_hardware Container... \\n start with rlhardwareservices' && bash\"" 
-   
+    #  terminator -ue \"cd ../HARMONI && echo 'Entering harmoni_hardware Container... \\n start with rlhardwareservices' && bash\""
+
 networks:
   ros_net:
     driver: overlay

docker-compose-full.yml

@@ -37,7 +37,7 @@ services:
       # Configuration
       - ~/.aws:/root/.aws/
       - ./dockerfiles/config/.asoundrc:/root/.asoundrc
-      - ~/.gcp/private-keys.json:/root/private-keys.json
+      - ~/.gcp/private-keys.json:/root/.gcp/private-keys.json
       # Other
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /etc/timezone:/etc/timezone:ro

docker-compose.yml

@@ -34,7 +34,7 @@ services:
       - ../HARMONI/:/root/local_mount/HARMONI/
       # Configuration
       - ~/.aws:/root/.aws/
-      - ~/.gcp/private-keys.json:/root/private-keys.json
+      - ~/.gcp/private-keys.json:/root/.gcp/private-keys.json
       # Other
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /etc/timezone:/etc/timezone:ro
@@ -75,7 +75,7 @@ services:
       - ../HARMONI/:/root/local_mount/HARMONI/
       # Configuration
       - ~/.aws:/root/.aws/
-      - ~/.gcp/private-keys.json:/root/private-keys.json
+      - ~/.gcp/private-keys.json:/root/.gcp/private-keys.json
       # Other
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /etc/timezone:/etc/timezone:ro
@@ -114,7 +114,7 @@ services:
       - ../HARMONI/:/root/local_mount/HARMONI/
       # Configuration
       - ~/.aws:/root/.aws/
-      - ~/.gcp/private-keys.json:/root/private-keys.json
+      - ~/.gcp/private-keys.json:/root/.gcp/private-keys.json
       # Other
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /etc/timezone:/etc/timezone:ro
@@ -153,7 +153,7 @@ services:
       - ../HARMONI/:/root/local_mount/HARMONI/
       # Configuration
       - ~/.aws:/root/.aws/
-      - ~/.gcp/private-keys.json:/root/private-keys.json
+      - ~/.gcp/private-keys.json:/root/.gcp/private-keys.json
       # Other
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /etc/timezone:/etc/timezone:ro

dockerfiles/harmoni/kinetic/base/dockerfile

@@ -176,6 +176,7 @@ RUN APT_INSTALL="apt-get install -y --no-install-recommends" && \
     packaging==19.1 \
     soundfile \
     empy \
+    wget \
     PyAudio \
     imutils \
     --force-reinstall defusedxml \

dockerfiles/harmoni/noetic/base/dockerfile

@@ -57,6 +57,7 @@ RUN \
     # catkin_tools \
     # AWS
     boto3 \
+    wget \
     awscli \
     google-cloud-speech==1.3.2 \
     dialogflow \

harmoni_actuators/harmoni_face/CMakeLists.txt

@@ -198,3 +198,4 @@ include_directories(
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+catkin_add_nosetests(test)

harmoni_actuators/harmoni_face/launch/face_service.launch

@@ -3,22 +3,13 @@
 
     <arg name="web_directory_path" value="$(find harmoni_face)/web"/>
     <arg name="port" default="8081"/>
-	<arg name="use_face" default="true"/>
-	<arg name="test" default="false"/>
-	<arg name="test_input" default="[{'start': 0.075, 'time': 2,'type': 'action', 'id': 'QT/point_front'}, {'start': 0.075,'time': 2, 'type': 'viseme', 'id': 'POSTALVEOLAR'},{'start': 0.006, 'time': 2,  'type': 'action', 'id': 'happy_face'}]"/>
-	<arg name="test_id" default="default"/>
-  	<group if="$(arg use_face)">
-			<rosparam file="$(find harmoni_face)/config/configuration.yaml"/>
-			<param name="test_face" value="$(arg test)"/>
-			<param name="test_input_face" value="$(arg test_input)"/>
-			<param name="test_id_face" value="$(arg test_id)"/>
-			<param name="name_face" value="face"/>
-			<node pkg="harmoni_face" type="http_server_runner.py" name="face_http_server" output="screen" args="$(arg web_directory_path) $(arg port)" />
-			<node pkg="harmoni_face" type="face_service.py" name="harmoni_face_$(arg test_id)" output="screen"/>
-			<include ns="bridge_face" file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
-				<arg name="port" value="9000"/>
-			</include>
-  	</group>
+	<arg name="instance_id" default="default"/>
+	<param name="instance_id" value="$(arg instance_id)"/>
+	<rosparam file="$(find harmoni_face)/config/configuration.yaml"/>
+	<node pkg="harmoni_face" type="http_server_runner.py" name="face_http_server" output="screen" args="$(arg web_directory_path) $(arg port)" />
+	<node pkg="harmoni_face" type="face_service.py" name="harmoni_face_$(arg instance_id)" output="screen"/>
+	<include ns="bridge_face" file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+		<arg name="port" value="9000"/>
+	</include>
 
-
-</launch>
+</launch>

harmoni_actuators/harmoni_face/package.xml

@@ -55,6 +55,8 @@
   <exec_depend>message_runtime</exec_depend>
   <build_export_depend>rospy</build_export_depend>
   <exec_depend>rospy</exec_depend>
+  <test_depend>rosunit</test_depend>
+  <test_depend>rostest</test_depend>
 
 
 

harmoni_actuators/harmoni_face/setup.py

@@ -5,7 +5,7 @@
 
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
-    packages=["harmoni_face"], package_dir={"": "scripts"},
+    packages=["harmoni_face"], package_dir={"": "src"},
 )
 
 setup(**setup_args)

harmoni_actuators/harmoni_face/scripts/harmoni_face/face_service.py → harmoni_actuators/harmoni_face/src/harmoni_face/face_service.py

@@ -20,7 +20,7 @@
 
 class EyesService(HarmoniServiceManager):
     """
-    Eyes service
+    TODO: Eyes service
     """
 
     def __init__(self, name, param):
@@ -30,7 +30,7 @@ def __init__(self, name, param):
         self.gaze_speed = param["gaze_speed"]
         self.service_id = hf.get_child_id(self.name)
         """ Setup the face """
-        # self.setup_face()
+        self.setup_face()
         """ Setup the publisher for the face """
         self.face_pub = rospy.Publisher(
             ActuatorNameSpace.face.value + self.service_id + "/expressing",
@@ -87,17 +87,19 @@ def do(self, data):
                 rospy.sleep(valid_face_expression[-1]["au_ms"])
             self.state = State.SUCCESS
             self.actuation_completed = True
+            self.result_msg=""
         except Exception:
             self.state = State.FAILED
             self.actuation_completed = True
+            self.result_msg=""
         rospy.loginfo("Completed Expression")
-        return
+        return {"response": self.state, "message": self.result_msg}
 
     def setup_face(self):
         """ Setup the face """
         rospy.loginfo("Setting up the %s eyes" % self.name)
         rospy.loginfo("Checking that face is connected to ROS websocket")
-        rospy.wait_for_service("/harmoni/actuating/face/is_connected")
+        #rospy.wait_for_service("/harmoni/actuating/face/is_connected")
         rospy.loginfo("Done, face is connected to ROS websocket")
         [
             self.face_expression,
@@ -155,9 +157,10 @@ def get_face_data(self, data):
         # rospy.loginfo("The face expressions available are %s" % self.face_expression)
 
         data = ast.literal_eval(data)
-        behavior_data = ast.literal_eval(data["behavior_data"])
-        # print(data)
-
+        if "behavior_data" in data:
+            behavior_data = ast.literal_eval(data["behavior_data"])
+        else:
+            behavior_data = data
         viseme_set = []
         facial_expression = []
         sentence = []
@@ -178,18 +181,7 @@ def get_face_data(self, data):
         validated_face_expr = []
         for fexp in ordered_facial_data:
             validated_face_expr.append(self.face_expression[fexp["id"]])
-
-        for i in range(0, len(viseme_set) - 1):
-            viseme_set[i]["duration"] = (
-                viseme_set[i + 1]["start"] - viseme_set[i]["start"]
-            )
-
-        viseme_set[-1]["duration"] = self.min_duration_viseme
-
-        viseme_behaviors = list(
-            filter(lambda b: b["duration"] >= self.min_duration_viseme, viseme_set)
-        )
-        ordered_visemes = list(sorted(viseme_behaviors, key=lambda b: b["start"]))
+        viseme_set = []
         rospy.loginfo("The validated facial expressions are %s" % validated_face_expr)
         rospy.loginfo("The validated visemes are %s" % viseme_set)
         print("Finished getting face data for sentence:", sentence)
@@ -210,9 +202,7 @@ def __init__(self, name, param):
         self.speed_viseme = param["speed_viseme"]
         self.timer_interval = param["timer_interval"]
         self.service_id = hf.get_child_id(self.name)
-        """ Setup the face """
         self.setup_face()
-        """ Setup the publisher for the face """
         self.face_pub = rospy.Publisher(
             ActuatorNameSpace.face.value + self.service_id + "/expressing",
             FaceRequest,
@@ -223,8 +213,18 @@ def __init__(self, name, param):
         return
 
     def do(self, data):
-        """ Do the expression"""
+        """Do expression in web face
+
+        Args:
+            data ([str]): stringified json from tts results  
+
+        Returns:
+            response (int): whether SUCCESS of FAIL
+            message (str): result message 
+        """
+        rospy.loginfo("Do expressions")
         self.actuation_completed = False
+        self.result_msg=""
         [valid_face_expression, visemes] = self.get_face_data(data)
         try:
             self.state = State.REQUEST
@@ -273,10 +273,11 @@ def do(self, data):
             self.state = State.FAILED
             self.actuation_completed = True
         rospy.loginfo("Completed Expression")
-        return
+        return {"response": self.state, "message": self.result_msg}
 
     def setup_face(self):
-        """ Setup the face """
+        """Setup the face, waiting for the connection with the web page
+        """
         rospy.loginfo("Setting up the %s mouth" % self.name)
         rospy.loginfo("Checking that face is connected to ROS websocket")
         rospy.wait_for_service("/harmoni/actuating/face/is_connected")
@@ -337,8 +338,10 @@ def get_face_data(self, data):
         # rospy.loginfo("The face expressions available are %s" % self.face_expression)
 
         data = ast.literal_eval(data)
-        behavior_data = ast.literal_eval(data["behavior_data"])
-
+        if "behavior_data" in data:
+            behavior_data = ast.literal_eval(data["behavior_data"])
+        else:
+            behavior_data = data
         viseme_set = []
         facial_expression = []
         sentence = []
@@ -380,38 +383,24 @@ def get_face_data(self, data):
         return (validated_face_expr, viseme_set)
 
 
+
 def main():
+    """Set names, collect params, and give service to server"""
     service_name = ActuatorNameSpace.face.name
-    name = rospy.get_param("/name_" + service_name + "/")
-    test = rospy.get_param("/test_" + service_name + "/")
-    test_input = rospy.get_param("/test_input_" + service_name + "/")
-    test_id = rospy.get_param("/test_id_" + service_name + "/")
+    instance_id = rospy.get_param("/instance_id")
+    service_id_mouth = f"{service_name}_mouth_{instance_id}"
+    service_id_eyes = f"{service_name}_eyes_{instance_id}"
     try:
         rospy.init_node(service_name)
-        param_eyes = rospy.get_param(name + "/" + test_id + "_param/eyes/")
-        param_mouth = rospy.get_param(name + "/" + test_id + "_param/mouth/")
-        if not hf.check_if_id_exist(service_name, test_id):
-            rospy.logerr(
-                "ERROR: Remember to add your configuration ID also in the harmoni_core config file"
-            )
-            return
-        service = hf.set_service_server(service_name, test_id)
-        s_eyes = EyesService(service + "_eyes_" + test_id, param_eyes)
-        s_mouth = MouthService(service + "_mouth_" + test_id, param_mouth)
-        service_server_eyes = HarmoniServiceServer(
-            name=service + "_eyes_" + test_id, service_manager=s_eyes
-        )
-        service_server_mouth = HarmoniServiceServer(
-            name=service + "_mouth_" + test_id, service_manager=s_mouth
-        )
-        if test:
-            rospy.loginfo("Testing the %s" % (service + "_mouth"))
-            rospy.sleep(1)
-            s_mouth.do(str({"behavior_data": str(test_input)}))
-        else:
-            service_server_eyes.update_feedback()
-            service_server_mouth.update_feedback()
-            rospy.spin()
+        param_eyes = rospy.get_param(service_name + "/" + instance_id + "_param/eyes/")
+        param_mouth = rospy.get_param(service_name + "/" + instance_id + "_param/mouth/")
+        s_eyes = EyesService(service_name + "_eyes_" + instance_id, param_eyes)
+        s_mouth = MouthService(service_name + "_mouth_" + instance_id, param_mouth)
+        service_server_eyes = HarmoniServiceServer(service_id_eyes, s_eyes)
+        service_server_mouth = HarmoniServiceServer(service_id_mouth, s_mouth)
+        service_server_eyes.start_sending_feedback()
+        service_server_mouth.start_sending_feedback()
+        rospy.spin()
     except rospy.ROSInterruptException:
         pass
 

harmoni_actuators/harmoni_face/test/face.test

@@ -0,0 +1,13 @@
+<launch>
+    <param name="instance_id" value="default"/>
+    <arg name="web_directory_path" value="$(find harmoni_face)/web"/>
+    <arg name="port" default="8081"/>
+    <rosparam file="$(find harmoni_face)/config/configuration.yaml"/>
+    <node pkg="harmoni_face" type="http_server_runner.py" name="face_http_server" output="screen" args="$(arg web_directory_path) $(arg port)" />
+	<include ns="bridge_face" file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+		<arg name="port" value="9000"/>
+	</include>
+    <node pkg="harmoni_face" type="face_service.py" name="harmoni_face_default" output="screen"/>
+	<param name="test_face_input" value="[{'start': 0.075, 'time': 2,'type': 'action', 'id': 'QT/point_front'}, {'start': 0.075,'time': 2, 'type': 'viseme', 'id': 'POSTALVEOLAR'},{'start': 0.006, 'time': 2,  'type': 'action', 'id': 'happy_face'}]"/>
+    <test test-name="test_face" pkg="harmoni_face" type="rostest_face.py" />
+</launch>