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[jsk_fetch_startup/kithcen] Change description with using notify-recognition #343

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merged 3 commits into from
Sep 8, 2022
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[jsk_fetch_startup/kithcen] Change description with using notify-recognition #343

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059340b
[jsk_fetch_startup/kithcen] Change description dependent on success o…
tkmtnt7000 Aug 24, 2022
32dedd4
[jsk_fetch_startup/kitchen] Use notify-recognition in description
tkmtnt7000 Aug 24, 2022
be18947
[jsk_fetch_startup] Fix description message
tkmtnt7000 Aug 24, 2022
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62 changes: 42 additions & 20 deletions jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
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Original file line number Diff line number Diff line change
Expand Up @@ -415,7 +415,8 @@ Args:
(notify-app "object recognition"
(send msg :header :stamp)
location
(format nil "~A is found" label-names)))))
(format nil "~A is found" label-names))
label-names)))

(defun notify-co2 (&key (location "kitchen"))
(let* ((msg (one-shot-subscribe "/eco2" std_msgs::UInt16
Expand Down Expand Up @@ -759,14 +760,14 @@ Args:
'(lambda (userdata)
(let ((light-on (get-light-on)))
(setf (cdr (assoc 'initial-light-on userdata)) light-on)
(set-alist 'description "電気がついているか確認したよ" userdata)
(if light-on
(set-alist 'description "電気がついていたよ" userdata)
(set-alist 'description "電気がついていなかったよ" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
light-on)))
(:report-light-on
'(lambda (userdata)
(report-light-on)
(set-alist 'description "電気がついていたよ" userdata)
(set-alist 'image "" userdata)
t))
(:room-light-on
'(lambda (userdata)
Expand All @@ -781,7 +782,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-dock-front-trial userdata)))
(success (move-to-dock-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-dock-front userdata)) success)
(set-alist 'description "ドックの前に移動したよ" userdata)
(if success
(set-alist 'description "ドックの前に移動したよ" userdata)
(set-alist 'description "ドックの前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-dock-front
Expand All @@ -801,7 +804,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata)))
(success (move-to-tv-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-tv-front userdata)) success)
(set-alist 'description "テレビの前に移動したよ" userdata)
(if success
(set-alist 'description "テレビの前に移動したよ" userdata)
(set-alist 'description "テレビの前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-tv-front
Expand All @@ -821,7 +826,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-tv-desk-trial userdata)))
(success (move-to-tv-desk :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
(set-alist 'description "机の前に移動したよ" userdata)
(if success
(set-alist 'description "机の前に移動したよ" userdata)
(set-alist 'description "机の前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-tv-desk
Expand All @@ -841,7 +848,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata)))
(success (move-to-desk-back :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-desk-back userdata)) success)
(set-alist 'description "部屋の後ろに移動したよ" userdata)
(if success
(set-alist 'description "部屋の後ろに移動したよ" userdata)
(set-alist 'description "部屋の後ろに移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-desk-back
Expand All @@ -861,7 +870,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata)))
(success (move-to-desk-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-desk-front userdata)) success)
(set-alist 'description "部屋の前に移動したよ" userdata)
(if success
(set-alist 'description "部屋の前に移動したよ" userdata)
(set-alist 'description "部屋の前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-desk-front
Expand All @@ -881,7 +892,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata)))
(success (move-to-kitchen-door-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
(set-alist 'description "ドアの前に移動したよ" userdata)
(if success
(set-alist 'description "ドアの前に移動したよ" userdata)
(set-alist 'description "ドアの前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-kitchen-door-front
Expand All @@ -901,14 +914,18 @@ Args:
(let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata)))
(success (move-to-sink-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-kitchen userdata)) success)
(set-alist 'description "キッチンに向かったよ" userdata)
(if success
(set-alist 'description "キッチンに移動したよ" userdata)
(set-alist 'description "キッチンに移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-kitchen
'(lambda (userdata)
(inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
(set-alist 'description "キッチンの様子を見たよ" userdata)
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
(let ((label-names (notify-recognition :location "kitchen"))
(notify-text (if label-names (format nil "~Aがあったよ" label-names) "")))
(inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
(set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
t))
(:report-move-to-sink-front-failure
'(lambda (userdata)
Expand All @@ -921,13 +938,15 @@ Args:
(let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata)))
(success (move-to-trashcan-front :n-trial n-trial)))
(setf (cdr (assoc 'success-go-to-trashcan userdata)) success)
(set-alist 'description "ゴミ箱の前に向かったよ" userdata)
(if success
(set-alist 'description "ゴミ箱の前に移動したよ" userdata)
(set-alist 'description "ゴミ箱の前に移動しようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:inspect-trashcan
'(lambda (userdata)
(inspect-trashcan :tweet (cdr (assoc 'tweet userdata)))
(set-alist 'description "ゴミ箱の前に行けなかったよ" userdata)
(set-alist 'description "ゴミ箱の様子を確認したよ" userdata)
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
t))
(:report-move-to-trashcan-front-failure
Expand All @@ -942,7 +961,9 @@ Args:
(let* ((n-trial (cdr (assoc 'n-dock-trial userdata)))
(success (auto-dock :n-trial n-trial :clear-costmap nil)))
(setf (cdr (assoc 'success-auto-dock userdata)) success)
(set-alist 'description "帰ってきたよ" userdata)
(if success
(set-alist 'description "帰ってきたよ" userdata)
(set-alist 'description "帰ってこようとしたけど，迷子になっちゃった" userdata))
(set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
success)))
(:auto-dock-failure
Expand All @@ -957,9 +978,10 @@ Args:
(initial-light-on (cdr (assoc 'initial-light-on userdata)))
(control-switchbot (cdr (assoc 'control-switchbot userdata))))
(if (and success-auto-dock (not initial-light-on))
(room-light-off :control-switchbot control-switchbot))
(set-alist 'description "電気を消したよ" userdata)
(set-alist 'image "" userdata))
(progn
(room-light-off :control-switchbot control-switchbot)
(set-alist 'description "電気を消したよ" userdata)
(set-alist 'image "" userdata))))
t))
(:finish
'(lambda (userdata)
Expand Down