[dialogflow_intent_client] Handling dialogflow intents

dialogflow_intent_client/CMakeLists.txt

@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(dialogflow_intent_client)
+
+find_package(catkin REQUIRED COMPONENTS
+  catkin_virtualenv REQUIRED
+  message_generation
+  std_msgs
+  actionlib_msgs
+  )
+
+add_message_files(
+  FILES
+  IntentInfo.msg
+  )
+
+add_action_files(
+  FILES
+  RegisterIntent.action
+  ListIntent.action
+  )
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  actionlib_msgs
+  )
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime
+  )
+
+catkin_generate_virtualenv(
+  PYTHON_INTERPRETER python3
+  )
+
+file(GLOB NODE_SCRIPTS_FILES node_scripts/*.py)
+
+catkin_install_python(
+  PROGRAMS ${NODE_SCRIPTS_FILES}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)

dialogflow_intent_client/action/ListIntent.action

@@ -0,0 +1,6 @@
+std_msgs/Empty request
+---
+dialogflow_intent_client/IntentInfo[] intents
+bool done
+---
+string status

dialogflow_intent_client/action/RegisterIntent.action

@@ -0,0 +1,5 @@
+dialogflow_intent_client/IntentInfo intent
+---
+bool done
+---
+string status

dialogflow_intent_client/launch/dialogflow_intent_client.launch

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <arg name="credential" />
+    <node name="dialogflow_intent_client"
+        pkg="dialogflow_intent_client" type="dialogflow_intent_node.py"
+        output="screen">
+      <rosparam subst_value="true">
+        google_cloud_credentials_json: $(arg credential)
+      </rosparam>
+    </node>
+</launch>

dialogflow_intent_client/msg/IntentInfo.msg

@@ -0,0 +1,3 @@
+string intent
+string[] concat_training_phrases
+string[] message_texts

dialogflow_intent_client/node_scripts/dialogflow_intent_node.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+
+import actionlib
+from dialogflow_intent_client.msg import RegisterIntentAction, RegisterIntentGoal, RegisterIntentResult, RegisterIntentFeedback
+from dialogflow_intent_client.msg import ListIntentAction, ListIntentGoal, ListIntentResult, ListIntentFeedback
+from dialogflow_intent_client.msg import IntentInfo
+import google.cloud.dialogflow as df
+from google.oauth2.service_account import Credentials
+import rospy
+
+class DialogflowIntentClient(object):
+    def __init__(self):
+        credentials_json = rospy.get_param(
+            '~google_cloud_credentials_json', None)
+        credentials = Credentials.from_service_account_file(credentials_json)
+        self.intents_client = df.IntentsClient(credentials=credentials)
+        self.project_id = credentials.project_id
+        self._intent_create_as = actionlib.SimpleActionServer("~register_intent_action",
+                                                              RegisterIntentAction,
+                                                              execute_cb=self.register_cb,
+                                                              auto_start=False)
+        self._intent_list_as = actionlib.SimpleActionServer("~list_intent_action",
+                                                            ListIntentAction,
+                                                            execute_cb=self.list_cb,
+                                                            auto_start=False)
+        self._intent_create_as.start()
+        self._intent_list_as.start()
+
+    def register_df_intent(self, intent_name, training_phrases, message_texts):
+        parent = df.AgentsClient.agent_path(self.project_id)
+        phrases = []
+        for phrase in training_phrases:
+            part = df.Intent.TrainingPhrase.Part(text=phrase)
+            training_phrase = df.Intent.TrainingPhrase(parts=[part])
+            phrases.append(training_phrase)
+        text = df.Intent.Message.Text(text=message_texts)
+        message = df.Intent.Message(text=text)
+        intent = df.Intent(
+            display_name=intent_name, training_phrases=phrases, messages=[message])
+        response = self.intents_client.create_intent(
+            request={"parent": parent, "intent": intent}
+        )
+        return response
+
+    def list_df_intent(self):
+        parent = df.AgentsClient.agent_path(self.project_id)
+        req = df.ListIntentsRequest(parent=parent,
+                                    intent_view=df.IntentView.INTENT_VIEW_FULL)
+        intents = self.intents_client.list_intents(request=req)
+        msgs = []
+        for intent in intents:
+            msg = IntentInfo()
+            msg.intent = intent.display_name
+            for training_phrase in intent.training_phrases: # training phrases
+                phrase = ""
+                for part in training_phrase.parts:
+                    phrase += str(part.text)
+                msg.concat_training_phrases.append(str(phrase))
+            for message in intent.messages:
+                msg.message_texts.append(str(message.text))
+            msgs.append(msg)
+        return msgs
+
+    def register_cb(self, goal):
+        feedback = RegisterIntentFeedback()
+        result = RegisterIntentResult()
+        success = False
+        try:
+            res = self.register_df_intent(goal.intent.intent,
+                                          goal.intent.concat_training_phrases,
+                                          goal.intent.message_texts)
+            feedback.status = str(res)
+            success = True
+            rospy.loginfo("Succeeded in registering the intent: {}".format(goal.intent.intent))
+        except Exception as e:
+            rospy.logerr(str(e))
+            feedback.status = str(e)
+            success = False
+        finally:
+            self._intent_create_as.publish_feedback(feedback)
+            result.done = success
+            self._intent_create_as.set_succeeded(result)
+
+    def list_cb(self, goal):
+        feedback = ListIntentFeedback()
+        result = ListIntentResult()
+        success = False
+        try:
+            msgs = self.list_df_intent()
+            intents_info = ""
+            for msg in msgs:
+                result.intents.append(msg)
+                intents_info += "{}, ".format(msg.intent)
+            success = True
+            rospy.loginfo("Listed intents: {}".format(intents_info))
+            # from IPython.terminal import embed; ipshell=embed.InteractiveShellEmbed(config=embed.load_default_config())(local_ns=locals())
+        except Exception as e:
+            rospy.logerr(str(e))
+            feedback.status = str(e)
+            success = False
+        finally:
+            self._intent_list_as.publish_feedback(feedback)
+            result.done = success
+            self._intent_list_as.set_succeeded(result)
+
+
+if __name__ == "__main__":
+    rospy.init_node("dialogflow_intent_manager")
+    node = DialogflowIntentClient()
+    rospy.spin()

dialogflow_intent_client/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>dialogflow_intent_client</name>
+  <version>2.1.24</version>
+  <description>The dialogflow_intent_client package</description>
+
+  <maintainer email="[email protected]">Yoshiki Obinata</maintainer>
+
+  <license>BSD</license>
+
+  <author email="[email protected]">Yoshiki Obinata</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>catkin_virtualenv</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>roslaunch</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+  <export>
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
+</package>

dialogflow_intent_client/requirements.txt

@@ -0,0 +1,2 @@
+google-auth==2.9.0
+google-cloud-dialogflow==2.14.1

dialogflow_task_executive/launch/dialogflow_ros.launch

@@ -9,6 +9,7 @@
   <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID false)"/>
   <arg name="enable_hotword" default="true" />
   <arg name="always_publish_result" default="false" doc="Always publish dialog_response topic even the node gets actionlib request." />
+  <arg name="launch_intent_client" default="false" />
 
   <node name="dialogflow_client"
         pkg="dialogflow_task_executive" type="dialogflow_client.py"
@@ -28,4 +29,10 @@
               file="$(find dialogflow_task_executive)/config/dialogflow_hotword.yaml"/>
   </node>
 
+  <group if="$(arg launch_intent_client)">
+    <include file="$(find dialogflow_intent_client)/launch/dialogflow_intent_client.launch">
+      <arg name="credential" value="$(arg credential)" />
+    </include>
+  </group>
+
 </launch>