[dialogflow_intent_client] The package for access to dialogflow intent settings

dialogflow_task_executive/CMakeLists.txt

@@ -21,15 +21,19 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
   FILES
   DialogResponse.msg
+  IntentInfo.msg
 )
 
 add_action_files(
   FILES
   DialogText.action
+  RegisterIntent.action
+  ListIntent.action
 )
 
 generate_messages(
   DEPENDENCIES
+  std_msgs
   actionlib_msgs
 )
 

dialogflow_task_executive/README.md

@@ -65,6 +65,8 @@ Please read [app_manager](https://github.com/PR2/app_manager/) for more detailed
 
 ## Create new Intent in Dialogflow
 
+### Web console
+
 For your new task, create new Intent as below.
 
 `Action` section, you can set full name (`<package name>/<app name>`), app name or camel-cased name of your `app_manager` app.
@@ -78,6 +80,39 @@ If your app is registered as `your_package/your_demo`, you need to set `your_pac
 
 In order to fulfill other forms, please read [dialogflow doc](https://dialogflow.com/docs/intents) for more detailed information abount Intent.
 
+### ROS node using API
+
+You can add new intent with actionlib. First, you launch
+
+```shell
+roslaunch dialogflow_task_executive dialogflow_intent_client.launch credential:=<YOUR GOOGLE CLOUD JSON KEY>
+```
+or make `launch_intent_client` arg true in `dialogflow_ros.launch` .
+
+To check registered intent, call the action `~list_intent_action` .
+
+To register the intent, call the action `~register_intent_action` . For example, if you want to add the intent, named `hello`, invoked with the word `hi`, you call the action on shell like
+
+```shell
+rostopic pub /dialogflow_intent_client/register_intent_action/goal dialogflow_task_executive/RegisterIntentActionGoal "header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: ''
+goal_id:
+  stamp:
+    secs: 0
+    nsecs: 0
+  id: ''
+goal:
+  intent:
+    intent: 'hello'
+    concat_training_phrases:
+    - ''
+    message_texts:
+    - 'hi'"
+```
 
 ## Usage
 

dialogflow_task_executive/action/ListIntent.action

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

dialogflow_task_executive/action/RegisterIntent.action

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

dialogflow_task_executive/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_task_executive" type="dialogflow_intent_node.py"
+        output="screen">
+      <rosparam subst_value="true">
+        google_cloud_credentials_json: $(arg credential)
+      </rosparam>
+    </node>
+</launch>

dialogflow_task_executive/launch/dialogflow_ros.launch

@@ -10,6 +10,7 @@
   <arg name="override_project_id" default="false" doc="Specify true if the project_id argument takes priority over the project_id section of the credential file." />
   <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"
@@ -30,4 +31,10 @@
               file="$(find dialogflow_task_executive)/config/dialogflow_hotword.yaml"/>
   </node>
 
+  <group if="$(arg launch_intent_client)">
+    <include file="$(find dialogflow_task_executive)/launch/dialogflow_intent_client.launch">
+      <arg name="credential" value="$(arg credential)" />
+    </include>
+  </group>
+
 </launch>

dialogflow_task_executive/msg/IntentInfo.msg

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

dialogflow_task_executive/node_scripts/dialogflow_client.py

@@ -117,7 +117,7 @@ def make_dialog_msg(self, result):
         # check if ROS_PYTHON_VERSION exists in indigo
         if (self.language == 'ja-JP'
             and ("ROS_PYTHON_VERSION" not in os.environ
-                 or os.environ["ROS_PYTHON_VERSION"] == "2")):
+                 or sys.version_info.major <= 2)):
             msg.query = result.query_text.encode("utf-8")
             msg.response = result.fulfillment_text.encode("utf-8")
         else:

dialogflow_task_executive/node_scripts/dialogflow_intent_node.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+
+import actionlib
+from dialogflow_task_executive.msg import RegisterIntentAction, RegisterIntentGoal, RegisterIntentResult, RegisterIntentFeedback
+from dialogflow_task_executive.msg import ListIntentAction, ListIntentGoal, ListIntentResult, ListIntentFeedback
+from dialogflow_task_executive.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_task_executive/requirements.in

@@ -1 +1,3 @@
 dialogflow==1.1.1
+google-auth==2.9.0
+google-cloud-dialogflow==2.14.1

dialogflow_task_executive/requirements.in.noetic

@@ -4,3 +4,5 @@ grpcio-status==1.48.1
 googleapis-common-protos[grpc]==1.56.2
 protobuf==3.20.1  # fix Could not find a version that matches protobuf<4.0.0dev,<5.0.0dev,>=3.15.0,>=3.20.1,>=4.21.3 (from google-api-core[grpc]==1.33.1->dialogflow==1.1.1->-r requirements.in (line 1))
 grpcio==1.54.0            # via google-api-core, googleapis-common-protos, grpcio-status
+google-auth==2.9.0
+google-cloud-dialogflow==2.14.1

google_chat_ros/scripts/google_chat_ros_node.py

@@ -222,13 +222,11 @@ def event_cb(self, event, publish_topic=True):
                 action = event.get('action')
                 msg.action.action_method_name = action.get('actionMethodName')
                 if action.get('parameters'):
-                    parameters = []
                     for param in action.get('parameters'):
                         action_parameter = ActionParameter()
-                        action_parameter.key = param.get('key')
-                        action_parameter.value = param.get('value')
-                        parameters.append(action_parameter)
-                msg.action.parameters = parameters
+                        action_parameter.key = param.get("key") if param.get("key") else ""
+                        action_parameter.value = param.get("value") if param.get("value") else ""
+                        msg.action.parameters.append(action_parameter)
             if publish_topic:
                 self._card_activity_pub.publish(msg)
             return msg

google_chat_ros/src/google_chat_ros/google_chat.py

@@ -125,7 +125,7 @@ def _pubsub_cb(self, message):
         except Exception as e:
             rospy.logerr("Failed to handle the request from Cloud PubSub.")
             rospy.logerr("It might be caused because of invalid type message from GCP")
-            rospy.logerr("{}".str(e))
+            rospy.logerr(e)
         finally:
             message.ack()