improvements on dialogflow and google chat

dialogflow_task_executive/node_scripts/dialogflow_client.py

@@ -104,7 +104,7 @@ def make_dialog_msg(self, result):
         msg = DialogResponse()
         msg.header.stamp = rospy.Time.now()
         if result.action == 'input.unknown':
-            rospy.logwarn("Unknown action")
+            rospy.logwarn("Unknown action '{}'".format(result.action))
         msg.action = result.action
 
         # check if ROS_PYTHON_VERSION exists in indigo
@@ -134,7 +134,9 @@ def __init__(self):
     def cb(self, goal):
         feedback = DialogTextFeedback()
         result = DialogTextResult()
+        df_result = None
         success = False
+        rospy.loginfo("goal = {}".format(goal))
         try:
             if self.session_id is None:
                 self.session_id = str(uuid.uuid1())
@@ -154,7 +156,10 @@ def cb(self, goal):
         finally:
             self._as.publish_feedback(feedback)
             result.done = success
-            self._as.set_succeeded(result)
+            if success:
+                self._as.set_succeeded(result)
+            else:
+                self._as.set_preempted()
             if df_result and self.always_publish_result:
                 self.pub_res.publish(result.response)
 

google_chat_ros/launch/google_chat.launch

@@ -22,6 +22,7 @@
   <!-- params for helper -->
   <arg name="use_helper" default="true" />
   <arg name="to_dialogflow_client" default="false" />
+  <arg name="send_dialogflow_response_to_google_chat" default="true" />
   <arg name="debug_sound" default="false" />
 
   <node name="google_chat_ros" pkg="google_chat_ros" type="google_chat_ros_node.py"
@@ -49,6 +50,7 @@
         respawn="$(arg respawn)" output="screen" if="$(arg use_helper)">
     <rosparam subst_value="true">
       to_dialogflow_client: $(arg to_dialogflow_client)
+      send_dialogflow_response_to_google_chat: $(arg send_dialogflow_response_to_google_chat)
       debug_sound: $(arg debug_sound)
     </rosparam>
   </node>

google_chat_ros/scripts/helper.py

@@ -18,6 +18,7 @@ def __init__(self):
         # Get configuration params
         self.to_dialogflow_task_executive = rospy.get_param("~to_dialogflow_client")
         self.sound_play_jp = rospy.get_param("~debug_sound")
+        self.send_dialogflow_response_to_google_chat = rospy.get_param("~send_dialogflow_response_to_google_chat", True)
         self._message_sub = rospy.Subscriber("google_chat_ros/message_activity", MessageEvent, callback=self._message_cb)
         self.recent_message_event = None
 
@@ -59,13 +60,14 @@ def _message_cb(self, data):
         thread_name = data.message.thread_name
         text = data.message.argument_text
         if self.to_dialogflow_task_executive:
-            chat_goal = SendMessageGoal()
-            chat_goal.space = space
-            chat_goal.thread_name = thread_name
             dialogflow_res = self.dialogflow_action_client(text)
-            content = "<{}> {}".format(sender_id, dialogflow_res.response.response)
-            chat_goal.text = content
-            self.send_chat_client(chat_goal)
+            if self.send_dialogflow_response_to_google_chat:
+                chat_goal = SendMessageGoal()
+                chat_goal.space = space
+                chat_goal.thread_name = thread_name
+                content = "<{}> {}".format(sender_id, dialogflow_res.response.response)
+                chat_goal.text = content
+                self.send_chat_client(chat_goal)
         if self.sound_play_jp:
             sound_goal = SoundRequestGoal()
             sound_goal.sound_request.sound = sound_goal.sound_request.SAY