Upgrade receptionist (#1338)

Picovoice model updated to detect person names

Author: MatthijsBurgh

challenge_receptionist/src/challenge_receptionist/learn_guest.py

@@ -6,6 +6,7 @@
 from robot_smach_states.human_interaction import Say
 from robot_smach_states.human_interaction.human_interaction import WaitForPersonInFront, AskPersonName, AskPersonNamePicoVoice, LearnPerson, HearOptionsExtra, HearOptionsExtraPicoVoice
 from robot_smach_states.reset import ResetArms
+from robot_smach_states.utility import CheckTries
 
 import robot_smach_states.util.designators as ds
 import smach
@@ -43,6 +44,7 @@ def __init__(self, robot,
         smach.StateMachine.__init__(self, outcomes=['succeeded', 'failed', 'aborted'])
 
         self.drink_spec_des = ds.Designator(challenge_knowledge.common.drink_spec, name='drink_spec')
+        reset_des = ds.VariableDesignator(resolve_type=bool).writeable
 
         with self:
             smach.StateMachine.add('GOTO_DOOR',
@@ -131,10 +133,13 @@ def __init__(self, robot,
             else:
                 smach.StateMachine.add('HEAR_DRINK_ANSWER',
                                        HearOptionsExtraPicoVoice(
-                                           robot, "drinks", guest_drink_des.writeable, look_at_standing_person=True
-                                       ),
+                                           robot, "receptionist", guest_drink_des.writeable, ["drinks"], look_at_standing_person=True),
                                        transitions={'heard': 'RESET_1',
-                                                    'no_result': 'DEFAULT_DRINK'})
+                                                    'no_result': 'CHECK_TRIES'})
+
+            smach.StateMachine.add("CHECK_TRIES",
+                                   CheckTries(max_tries=3, reset_des=reset_des),
+                                   transitions={"not_yet": "SAY_DRINK_QUESTION", "max_tries": "DEFAULT_DRINK"})
 
             smach.StateMachine.add('DEFAULT_DRINK',
                                    DrinkNotHeard(guest_drink_des.writeable, default_drink=default_drink),

robot_smach_states/src/robot_smach_states/human_interaction/human_interaction.py

@@ -600,6 +600,20 @@ def execute(self, userdata=None):
 
         return 'succeeded'
 
+@smach.cb_interface(outcomes=["succeeded", "failed"])
+def process_answer(_, context: Union[ds.Designator[str], str], answer_des, output_des):
+    try:
+        answer_val = answer_des.resolve()
+        rospy.logdebug(f"{answer_val=}")
+        semantic = answer_val.semantics[ds.value_or_resolve(context)]
+        rospy.loginfo(f"Your answer is: '{semantic}'")
+        output_des.write(semantic)
+
+    except KeyError as e:
+        rospy.loginfo(f"KeyError resolving the semantic heard: {e}")
+        return "failed"
+    return "succeeded"
+
 
 class AskPersonNamePicoVoice(smach.StateMachine):
     """
@@ -613,19 +627,6 @@ def __init__(self, robot, person_name_des, default_name="operator", nr_tries=2):
         reset_des = ds.VariableDesignator(resolve_type=bool).writeable
         answer = ds.VariableDesignator(resolve_type=HMIResult)
 
-        @smach.cb_interface(outcomes=["succeeded", "failed"])
-        def process_answer(_, answer_des, output_des):
-            try:
-                answer_val = answer_des.resolve()
-                rospy.logdebug(f"{answer_val=}")
-                name = answer_val.semantics["name"]
-                rospy.loginfo(f"This person's name is: '{name}'")
-                output_des.write(str(name))
-            except KeyError as e:
-                rospy.loginfo(f"KeyError resolving the name heard: {e}")
-                return "failed"
-            return "succeeded"
-
         with self:
             self.add(
                 "WRITE_RESET_DES_TRUE", WriteDesignator(reset_des, True), transitions={"written": "SAY"}
@@ -642,12 +643,12 @@ def process_answer(_, answer_des, output_des):
             )
             self.add(
                 "HEAR",
-                HearOptionsExtraPicoVoice(robot, "askPersonName", answer.writeable),
+                HearOptionsExtraPicoVoice(robot, "receptionist", answer.writeable, ["personName"]),
                 transitions={"heard": "PROCESS_ANSWER", "no_result": "CHECK_TRIES"},
             )
             self.add(
                 "PROCESS_ANSWER",
-                smach.CBState(process_answer, cb_args=[answer, person_name_des]),
+                smach.CBState(process_answer, cb_args=["name", answer, person_name_des]),
                 transitions={"succeeded": "succeeded", "failed": "CHECK_TRIES"},
             )
             self.add(