diff --git a/jsk_unitree_robot/jsk_unitree_startup/launch/unitree_bringup.launch b/jsk_unitree_robot/jsk_unitree_startup/launch/unitree_bringup.launch index 6ae4f34cf1..5c3284b694 100644 --- a/jsk_unitree_robot/jsk_unitree_startup/launch/unitree_bringup.launch +++ b/jsk_unitree_robot/jsk_unitree_startup/launch/unitree_bringup.launch @@ -36,4 +36,9 @@ + + + + diff --git a/jsk_unitree_robot/jsk_unitree_startup/package.xml b/jsk_unitree_robot/jsk_unitree_startup/package.xml index 000f338283..fa8a9f42ee 100644 --- a/jsk_unitree_robot/jsk_unitree_startup/package.xml +++ b/jsk_unitree_robot/jsk_unitree_startup/package.xml @@ -13,6 +13,7 @@ unitree_legged_real rwt_app_chooser app_manager + python3-bs4 rosserial_python teleop_twist_joy diff --git a/jsk_unitree_robot/jsk_unitree_startup/scripts/launch_email.py b/jsk_unitree_robot/jsk_unitree_startup/scripts/launch_email.py new file mode 100755 index 0000000000..9dbca74fdc --- /dev/null +++ b/jsk_unitree_robot/jsk_unitree_startup/scripts/launch_email.py @@ -0,0 +1,302 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +import argparse +from bs4 import BeautifulSoup +import datetime +import emoji +import json +import socket +import sys +import random +import re +import rospy +from jsk_robot_startup.msg import Email +from jsk_robot_startup.msg import EmailBody +if sys.version_info.major == 2: + import urllib2 +else: + from urllib import request + + +class RobotLaunchEmail: + """ + Send email when robot launched with tips. + """ + def __init__(self): + # Character code differences between python versions + # See https://stackoverflow.com/questions/54153986/handling-encode-when-converting-from-python2-to-python3 #NOQA + rospy.init_node('robot_launch_email') + if sys.version_info.major == 2: + reload(sys) + sys.setdefaultencoding('utf-8') + api_key_file = '/var/lib/robot/openweathermap_api_key.txt' + with open(api_key_file, 'r') as f: + self.appid = f.read().split('\n')[0] + self.constellation = "sagittarius" + self.constellation_jpn = "いて" + self.pub = rospy.Publisher("email", Email, queue_size=10) + + def get_tips(self): + """ + Get tips from zatsuneta random article. + + Returns: + ---------- + title : str + article title + contents : str + article contents (heading) + detail_url :str + URL of the article written about the details + """ + url = 'https://zatsuneta.com/category/random.html' + if sys.version_info.major == 2: + response = urllib2.urlopen(url) + else: + response = request.urlopen(url) + soup = BeautifulSoup(response, 'html5lib') + topstories = soup.find('div', class_="article") + title = topstories.find('a')['title'] + detail_url = topstories.find('a')['href'] + contents = topstories.find('p').text + response.close() + + return title, contents, detail_url + + # Partly copied from https://github.com/knorth55/jsk_robot/blob/b2999b0cece82d7b1d46320a1e7c84e4fc078bd2/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py #NOQA + def get_weather_forecast(self, lang='en'): + url = 'http://api.openweathermap.org/data/2.5/weather?q=tokyo&lang={}&units=metric&appid={}'.format(lang, self.appid) # NOQA + if sys.version_info.major == 2: + resp = json.loads(urllib2.urlopen(url).read()) + else: + resp = json.loads(request.urlopen(url).read()) + weather = resp['weather'][0]['description'] + + forecast_text = "" + if lang == 'ja': + forecast_text = "今日の天気は" + weather + "です。" + else: + forecast_text = " The weather is " + weather + " now." + + # It feels like the robot is expressing its will based on the weather. + if "晴" in weather: + forecast_tuple = ( + '日差しに気をつけて。', + 'お散歩しよう！', + ) + elif "雨" in weather: + forecast_tuple = ( + '部屋の中で遊ぼう！', + '傘忘れていない？', + ) + elif "雲" or "曇" or "くもり" in weather: + forecast_tuple = ( + '晴れたらいいな', + ) + elif "雪" in weather: + forecast_tuple = ( + '雪合戦しよう！', + '寒さに気をつけて', + ) + else: + forecast_tuple = (' ') + forecast_text += random.choice(forecast_tuple) + + return forecast_text + + def add_emoji(self, mode): + """ + 0: 普通, 1: 喜び, 2: 安心, 3: 悪巧み, 4: 驚き, 5: 悲しみ, 6: 怒り, 7: 照れ, + 8: 恐怖, 9: 好き, 10: ウインク・おふざけ, 11: 退屈, 12: 混乱 + ref: https://www.webfx.com/tools/emoji-cheat-sheet/ + """ + dic = {0: ":neutral_face:", 1: ":smile:", 2: ":relieved:", + 3: ":smirk:", 4: ":astonished:", 5: ":cry:", + 6: ":angry:", 7: ":flushed:", 8: ":scream:", + 9: ":heart_eyes:", 10: ":wink:", 11: ":sleepy:", 12: ":sweat:"} + + return emoji.emojize(dic[mode], language='alias') + + def set_constellation(self): + parser = argparse.ArgumentParser() + parser.add_argument("--month", default="12") + parser.add_argument("--days", default="14") + args = parser.parse_args() + + birthday_num = int(args.month) * 100 + int(args.days) + if 1221 < birthday_num <= 1231 or 101 <= birthday_num <= 119: + self.constellation = "capricorn" + self.constellation_jpn = "やぎ" + elif 119 < birthday_num <= 131 or 201 <= birthday_num <= 218: + self.constellation = "aquarius" + self.constellation_jpn = "みずがめ" + elif 218 < birthday_num <= 229 or 301 <= birthday_num <= 320: + self.constellation = "pisces" + self.constellation_jpn = "うお" + elif 320 < birthday_num <= 331 or 401 <= birthday_num <= 419: + self.constellation = "aries" + self.constellation_jpn = "おひつじ" + elif 419 < birthday_num <= 430 or 501 <= birthday_num <= 520: + self.constellation = "taurus" + self.constellation_jpn = "おうし" + elif 520 < birthday_num <= 531 or 601 <= birthday_num <= 621: + self.constellation = "gemini" + self.constellation_jpn = "ふたご" + elif 621 < birthday_num <= 630 or 701 <= birthday_num <= 722: + self.constellation = "cancer" + self.constellation_jpn = "かに" + elif 722 < birthday_num <= 731 or 801 <= birthday_num <= 822: + self.constellation = "leo" + self.constellation_jpn = "しし" + elif 822 < birthday_num <= 831 or 901 <= birthday_num <= 922: + self.constellation = "virgo" + self.constellation_jpn = "おとめ" + elif 922 < birthday_num <= 930 or 1001 <= birthday_num <= 1023: + self.constellation = "libra" + self.constellation_jpn = "てんびん" + elif 1023 < birthday_num <= 1031 or 1101 <= birthday_num <= 1121: + self.constellation = "scorpio" + self.constellation_jpn = "さそり" + elif 1121 < birthday_num <= 1130 or 1201 <= birthday_num <= 1221: + self.constellation = "sagittarius" + self.constellation_jpn = "いて" + else: + rospy.logerr("Inappropriate birthday." + "Set default constellation: sagittarius") + + def get_fortune(self): + """ + Get tips from horoscope + Return: + message : str + """ + def add_comment_rank(rank): + if rank == 1: + message = "すごい、1位だ" + self.add_emoji(4) + elif rank <= 3: + message = str(rank) + "位！いい感じ" + self.add_emoji(1) + elif rank == 12: + message = "最下位..."\ + + self.add_emoji(5)\ + + "ラッキーアイテムをチェックしなきゃ！！" + else: + message = str(rank) + "位かぁ。そこそこかな" + self.add_emoji(0) + return " " + message + + def add_comment_love(point): + if point >= 9: + message = "出会いを求めてお散歩しちゃおっかな" + self.add_emoji(9) + elif point >= 6: + message = "気になってるあの子に会えちゃうかも" + self.add_emoji(7) + elif point <= 3: + message = "こんなの信じないぞ" + self.add_emoji(6) + else: + message = "平凡な一日になりそう..." + self.add_emoji(11) + return " " + message + + def add_comment_money(point): + if point >= 9: + message = "今日はお買い物しちゃおうかな" + self.add_emoji(10) + elif point <= 3: + message = "お金のつかい過ぎには気をつけよう..." + self.add_emoji(8) + else: + message = "今日は何事もなさそうかな" + self.add_emoji(2) + return " " + message + + def add_comment_business(point): + if point >= 7: + message = "研究頑張ったら良いことあるかも" + self.add_emoji(1) + elif point >= 4: + message = "いいのか悪いのか分からないなぁ" + self.add_emoji(12) + else: + message = "今日は研究さぼっちゃおうかな〜" + self.add_emoji(3) + return " " + message + + url = 'https://fortune.yahoo.co.jp/12astro/' + self.constellation + if sys.version_info.major == 2: + response = urllib2.urlopen(url) + else: + response = request.urlopen(url) + soup = BeautifulSoup(response, "html.parser") + fortune = soup.find('div', id="jumpdtl").find_all('td') + f_contents = soup.find( + 'div', class_="yftn12a-md48").find_all('dd')[0].contents[0] + try: + rank = re.sub( + r"\D", "", fortune[-5].contents[0].contents[0]) + "位" + except BaseException: + rank = re.sub( + r"\D", "", fortune[-5].contents[0].attrs['alt']) + "位" + point_overall = fortune[-4].contents[0].attrs['alt'] + point_love = fortune[-3].contents[0].attrs['alt'] + point_money = fortune[-2].contents[0].attrs['alt'] + point_business = fortune[-1].contents[0].attrs['alt'] + rank_int = int(re.sub(r"\D", "", rank)) + point_love_int = int(re.sub(r"\D", "", point_love)[2:]) + point_money_int = int(re.sub(r"\D", "", point_money)[2:]) + point_business_int = int(re.sub(r"\D", "", point_business)[2:]) + message = "今日の星座占い：" + self.constellation_jpn\ + + "座の運勢は【" + rank + "】" + add_comment_rank(rank_int) + "\n" + message += f_contents + "\n" + message += "だって！\n" + message += "\n" + message += "総合運: " + point_overall + "\n" + message += "恋愛運: " + point_love\ + + add_comment_love(point_love_int) + "\n" + message += "金運: " + point_money\ + + add_comment_money(point_money_int) + "\n" + message += "仕事運: " + point_business\ + + add_comment_business(point_business_int) + "\n" + response.close() + + return message + + def send_mail(self): + """ + Send mail with email node + """ + msg = Email() + + greeting = EmailBody() + greeting.type = 'text' + greeting.message = "おはよう。" + current_time = datetime.datetime.now() + greeting.message += "{}時{}分です。\n".format( + current_time.hour, current_time.minute) + greeting.message += "{} \n".format( + self.get_weather_forecast(lang="ja")) + + content_tips = EmailBody() + content_tips.type = 'text' + tips_title, tips, detail_url = self.get_tips() + content_tips.message = "今日の豆知識 \n" + content_tips.message += "{}: {} \n".format(tips_title, tips) + content_tips.message += "詳細: {} \n".format(detail_url) + + content_fortune = EmailBody() + content_fortune.type = 'text' + content_fortune.message = self.get_fortune() + + change_line = EmailBody() + change_line.type = 'html' + change_line.message = "
" + + msg.body = [greeting, + change_line, + content_tips, + change_line, + content_fortune] + msg.subject = "{} が起動しました".format(socket.gethostname()) + msg.sender_address = "unitreepro@jsk.imi.i.u-tokyo.ac.jp" + msg.receiver_address = "unitree@jsk.imi.i.u-tokyo.ac.jp" + + rospy.sleep(1) + rospy.loginfo("Send mail") + self.pub.publish(msg) + + +if __name__ == '__main__': + RobotLaunchEmail = RobotLaunchEmail() + RobotLaunchEmail.set_constellation() + RobotLaunchEmail.send_mail()