[jsk_unitree_startup] Send Unitree-launch-email

jsk_unitree_robot/jsk_unitree_startup/launch/unitree_bringup.launch

@@ -36,4 +36,9 @@
   <!-- let people to know unitree is bringup -->
   <node pkg="jsk_unitree_startup" type="wakeup.l"
         name="wakeup" output="log" />
+
+  <!-- send email when unitree is bringup -->
+  <node pkg="jsk_unitree_startup" type="launch_email.py"
+        name="launch_email" output="log" />
+
 </launch>

jsk_unitree_robot/jsk_unitree_startup/package.xml

@@ -13,6 +13,7 @@
   <run_depend>unitree_legged_real</run_depend>
   <run_depend>rwt_app_chooser</run_depend>
   <run_depend>app_manager</run_depend>
+  <run_depend>python3-bs4</run_depend>
   <run_depend>rosserial_python</run_depend>
   <run_depend>teleop_twist_joy</run_depend>
 

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 = "<br>"
+
+        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()