Step5: Extending the Dialog System

Here, we connect our dialog system to the external components.

Edit the script given to the dialog manager as follows.

sample-en2.seatml

<?xml version="1.0" encoding="UTF-8"?>
<seatml>
  <general name="sample">
    <agent name="speechin" type="rtcin" datatype="TimedString" />
    <agent name="speechout" type="rtcout" datatype="TimedString" />
    <agent name="commandout" type="rtcout" datatype="TimedString" />
  </general>
  <state name="OPEN">
    <rule>
      <key>hello</key>
      <command host="speechout">hello</command>
      <command host="commandout">command-hello</command>
    </rule>
    <rule>
      <key>bye</key>
      <command host="speechout">bye bye</command>
      <command host="commandout">command-bye</command>
    </rule>
  </state>
</seatml>

Stop the SEAT components (by entering Ctrl + C in the terminal) and start again with the edited script.

% seat sample-en2.seatml

Dialog manager starts with one more output ports.

You can give command to external components by connecting to this port.

For example, we can connect the components shown in the following script.

ConsoleOut.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
import sys
import time
import OpenRTM_aist
import RTC
 
consoleout_spec = ["implementation_id", "ConsoleOut",
                  "type_name",         "ConsoleOut",
                  "description",       "Console output component",
                  "version",           "1.0",
                  "vendor",            "sample",
                  "category",          "example",
                  "activity_type",     "DataFlowComponent",
                  "max_instance",      "10",
                  "language",          "Python",
                  "lang_type",         "script",
                  ""]
 
class ConsoleOut(OpenRTM_aist.DataFlowComponentBase):
    def __init__(self, manager):
        OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
        self._data = RTC.TimedString(RTC.Time(0,0),"")
        self._inport = OpenRTM_aist.InPort("in", self._data)
    def onInitialize(self):
        # Set OutPort buffer
        self.registerInPort("in", self._inport)
        return RTC.RTC_OK
 
    def onExecute(self, ec_id):
        while self._inport.isNew():
            data = self._inport.read()
            print "command : %s" % data.data
        time.sleep(0.1)
        return RTC.RTC_OK
 
def MyModuleInit(manager):
    profile = OpenRTM_aist.Properties(defaults_str=consoleout_spec)
    manager.registerFactory(profile,
                            ConsoleOut,
                            OpenRTM_aist.Delete)
    comp = manager.createComponent("ConsoleOut")
 
def main():
    mgr = OpenRTM_aist.Manager.init(sys.argv)
    mgr.setModuleInitProc(MyModuleInit)
    mgr.activateManager()
    mgr.runManager()
 
if __name__ == "__main__":
    main()

This component shows the command to the terminal. Please check the received commands, by saying “Hello” “Bye” to the microphone.

By editing the script given to the dialog manager, you can create a port you like and send data of any type. By using this feature, for example, you can connect the dialog system to the actual robot to send command “moving forward” or “retreat”.