/
chaplus_ros.py
executable file
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/
chaplus_ros.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2020, JSK Robotics Lab.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of JSK Robotics, Lab. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
# Author: Ayaka Fujii <a-fujii@jsk.imi.i.u-tokyo.ac.jp>
import rospy
import rospkg
from std_msgs.msg import String
import requests
import json
import sys
import re
if sys.version_info.major == 2:
reload(sys)
sys.setdefaultencoding('utf-8')
class ChaplusROS(object):
def __init__(self):
self.chatbot_engine = rospy.get_param("~chatbot_engine", "Chaplus")
self.use_sample = rospy.get_param("~use_sample", True)
# please write your apikey to chaplus_ros/apikey.json
r = rospkg.RosPack()
apikey_path = rospy.get_param(
"~chaplus_apikey_file", r.get_path('chaplus_ros')+"/apikey.json")
try:
with open(apikey_path) as j:
apikey_json = json.loads(j.read())
except Exception as e:
rospy.logerr('Could not find {}'.format(apikey_path))
rospy.logerr('please add your API keys to chaplus, for example')
rospy.logerr(
"echo '{\"apikey\": \00000000\"}' > `rospack find chaplus_ros`/apikey.json")
sys.exit(e)
if self.use_sample==True:
communication_sample_path=rospy.get_param(
"~communication_sample_file", r.get_path('chaplus_ros')+"/communication_sample.json")
try:
with open(communication_sample_path) as j2:
self.communication_sample_json = json.loads(j2.read(), strict=False)
except Exception as e:
rospy.logerr('Could not find {}'.format(communication_sample_path))
sys.exit(e)
if self.chatbot_engine=="Chaplus":
self.headers = {'content-type': 'text/json'}
self.url = 'https://www.chaplus.jp/v1/chat?apikey={}'.format(
apikey_json['apikey'])
elif self.chatbot_engine=="A3RT":
self.apikey = apikey_json['apikey_a3rt']
self.endpoint = "https://api.a3rt.recruit-tech.co.jp/talk/v1/smalltalk"
else:
rospy.logerr("please use chatbot_engine Chaplus or A3RT")
sys.exit(1)
# define pub/sub
self.pub = rospy.Publisher('response', String, queue_size=1)
rospy.Subscriber("request", String, self.topic_cb)
def topic_cb(self, msg):
# use chaplus
if self.chatbot_engine=="Chaplus":
try:
rospy.loginfo("received {}".format(msg.data))
if self.use_sample==True:
self.data =json.dumps(
{'utterance': msg.data,
'agentstate': self.communication_sample_json["agentState"],
'addition': self.communication_sample_json["addition"]
})
else:
self.data = json.dumps({'utterance': msg.data})
response = requests.post(
url=self.url, headers=self.headers, data=self.data)
response_json = response.json()
if 'bestResponse' not in response_json:
best_response = "ごめんなさい、よくわからないです"
else:
best_response = response_json['bestResponse']['utterance']
except Exception as e:
rospy.logerr("Failed to reqeust url={}, headers={}, data={}".format(
self.url, self.headers, self.data))
rospy.logerr(e)
best_response = "ごめんなさい、よくわからないです"
rospy.loginfo("chaplus: returns best response {}".format(best_response))
#use A3RT
elif self.chatbot_engine=="A3RT":
try:
rospy.loginfo("received {}".format(msg.data))
params = {"apikey": self.apikey, "query": msg.data,}
response = requests.post(self.endpoint, params)
response_json = response.json()
if 'results' not in response_json:
best_response = "ごめんなさい、よくわからないです"
else:
best_response = response_json["results"][0]["reply"]
except Exception as e:
rospy.logerr("Failed to reqeust url={}, data={}".format(
self.endpoint, msg.data))
rospy.logerr(e)
best_response = "ごめんなさい、よくわからないです"
rospy.loginfo("a3rt: returns best response {}".format(best_response))
else:
rospy.logerr("please use chatbot_engine Chaplus or A3RT")
if response_json is not None:
# convert to string for print out
if sys.version_info.major == 2:
rospy.logdebug(str(json.dumps(response_json, indent=2,
ensure_ascii=False, encoding='unicode-escape')))
else: # pytyon3
rospy.logdebug(json.dumps(
response_json, indent=2, ensure_ascii=False))
#publish response
self.pub.publish(String(best_response))
if __name__ == '__main__':
rospy.init_node('chaplus_ros')
ChaplusROS()
rospy.spin()