Merge pull request #1194 from knorth55/add-time-signal-app

[jsk_fetch_startup] add time_signal app in jsk_fetch_startup

jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed

@@ -21,3 +21,5 @@ apps:
     display: fetch patrol in 73B2
   - app: jsk_fetch_startup/speak_battery
     display: speak battery information
+  - app: jsk_fetch_startup/time_signal
+    display: speak time signal

jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app

@@ -0,0 +1,5 @@
+display: Speak time signal
+platform: fetch
+launch: jsk_fetch_startup/time_signal.xml
+interface: jsk_fetch_startup/time_signal.interface
+icon: jsk_fetch_startup/time_signal.png

jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.interface

@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}

jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.xml

@@ -0,0 +1,3 @@
+<launch>
+  <node name="run_time_signal" pkg="jsk_fetch_startup" type="time_signal.py" output="screen"/>
+</launch>

jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py

@@ -1,8 +1,10 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
+import actionlib
 from datetime import datetime
-from sound_play.msg import SoundRequestActionGoal
+from sound_play.msg import SoundRequestAction
+from sound_play.msg import SoundRequestGoal
 import json
 import rospy
 import sys
@@ -11,9 +13,10 @@
 
 class TimeSignal(object):
     def __init__(self):
-        self.pub = rospy.Publisher('/robotsound_jp/goal',
-                                   SoundRequestActionGoal, queue_size=1)
-        rospy.sleep(1)
+        self.client_en = actionlib.SimpleActionClient(
+            '/sound_play', SoundRequestAction)
+        self.client_jp = actionlib.SimpleActionClient(
+            '/robotsound_jp', SoundRequestAction)
         self.now_time = datetime.now()
         self.now_hour = self.now_time.hour
         self.day = self.now_time.strftime('%a')
@@ -23,39 +26,71 @@ def __init__(self):
         self.resp = json.loads(
             urllib2.urlopen('http://weather.livedoor.com/forecast/webservice/json/v1?city=%s'%self.citycode).read())
 
-    def speak(self):
-        sound_goal = SoundRequestActionGoal()
-        sound_goal.goal_id.stamp = rospy.Time.now()
-        sound_goal.goal.sound_request.sound = -3
-        sound_goal.goal.sound_request.command = 1
-        sound_goal.goal.sound_request.volume = 1.0
-        sound_goal.goal.sound_request.arg2 = "jp"
+    def speak(self, client, speech_text, lang=None):
+        client.wait_for_server(timeout=rospy.Duration(1.0))
+        sound_goal = SoundRequestGoal()
+        sound_goal.sound_request.sound = -3
+        sound_goal.sound_request.command = 1
+        sound_goal.sound_request.volume = 1.0
+        if lang is not None:
+            sound_goal.sound_request.arg2 = lang
+        sound_goal.sound_request.arg = speech_text
+        client.send_goal(sound_goal)
+        client.wait_for_result()
+        return client.get_result()
 
+    def speak_jp(self):
         # time signal
         speech_text = str(self.now_hour) + '時です。'
-        if (self.now_hour == 0):
+        if self.now_hour == 0:
             speech_text += '早く帰りましょう。'
-        if (self.day == 'Mon') and (self.now_hour == 12):
+        if self.now_hour == 12:
+            speech_text += '昼食の時間です。'
+        if self.now_hour == 19:
+            speech_text += '夕食の時間です。'
+        if self.day == 'Mon' and self.now_hour == 12:
             speech_text += 'そろそろ研究会です。'
-        if (self.day == 'Tue') and (self.now_hour == 12):
+        if self.day == 'Tue' and self.now_hour == 12:
             speech_text += 'そろそろ輪講です。'
-        if (self.day == 'Tue') and (self.now_hour == 15):
+        if self.day == 'Tue' and self.now_hour == 15:
             speech_text += '掃除の時間です。'
-        if (self.day == 'Fri') and (self.now_hour == 14):
+        if self.day == 'Fri' and self.now_hour == 14:
             speech_text += '創造輪講の時間です。'
-        if (self.day == 'Fri') and (self.now_hour == 16):
+        if self.day == 'Fri' and self.now_hour == 16:
             speech_text += '掃除の時間です。'
 
         # weather forecast
-        if (self.now_hour == 0) or (self.now_hour == 19):
+        if self.now_hour == 0 or self.now_hour == 19:
             speech_text += '今日の天気は' + self.resp['forecasts'][0]['telop'] + 'です。'
 
-        rospy.loginfo('time signal')
-        sound_goal.goal.sound_request.arg = speech_text
-        self.pub.publish(sound_goal)
+        self.speak(self.client_jp, speech_text, lang='jp')
+
+
+    def speak_en(self):
+        speech_text = self._get_text(self.now_hour)
+        # time signal
+        if self.now_hour == 0:
+            speech_text += " Let's go home."
+        if self.now_hour == 12:
+            speech_text += " Let's go to lunch."
+        self.speak(self.client_en, speech_text)
+
+    def _get_text(self, hour):
+       if hour == 0:
+          text = 'midnight'
+       elif hour == 12:
+          text = 'noon'
+       else:
+          if hour > 12:
+              text = str(hour % 12) + ' PM'
+          else:
+              text = str(hour % 12) + ' AM'
+       text = "It's " + text + "."
+       return text 
 
 
 if __name__ == '__main__':
     rospy.init_node('time_signal')
     t = TimeSignal()
-    t.speak()
+    t.speak_jp()
+    t.speak_en()