/*********************************************************************************************************************** * * BehaviorLeaveAMessage * Victor / Engine * * Created by Jarrod Hatfield on 4/01/2018 * * Description * + Parent behavior for allowing the user to record a message and save it to Victor's local storage. * **********************************************************************************************************************/ #include "behaviorLeaveAMessage.h" #include "engine/actions/animActions.h" #include "engine/actions/compoundActions.h" #include "engine/aiComponent/behaviorComponent/behaviors/animationWrappers/behaviorTextToSpeechLoop.h" #include "engine/aiComponent/behaviorComponent/behaviorContainer.h" #include "engine/aiComponent/behaviorComponent/behaviorExternalInterface/behaviorExternalInterface.h" #include "engine/aiComponent/behaviorComponent/behaviorExternalInterface/beiRobotInfo.h" #include "engine/aiComponent/behaviorComponent/userIntentComponent.h" #include "engine/aiComponent/behaviorComponent/userIntentData.h" #include "engine/aiComponent/behaviorComponent/userIntents.h" #include "engine/components/localeComponent.h" #include "engine/components/mics/micComponent.h" #include "engine/components/mics/voiceMessageSystem.h" #include "engine/components/visionComponent.h" #include "coretech/common/engine/jsonTools.h" #include "coretech/common/engine/utils/timer.h" #include "util/console/consoleInterface.h" #include "util/logging/logging.h" #include "clad/types/animationTrigger.h" #include // todo notes: // + need to implement "stop on pickup/tap" feature // + there are many common helper functions and things used between the messaging behavior, create a helpers class // + user metadata eg. VisionComponent::IsNameTaken(...) should be moved outside of the vision system // + record/playback can be interrupted by "petting him", picking him up, or wakeword? #define PRINT_DEBUG( format, ... ) \ PRINT_CH_DEBUG( "VoiceMessage", "BehaviorLeaveAMessage", format, ##__VA_ARGS__ ) #define PRINT_INFO( format, ... ) \ PRINT_CH_INFO( "VoiceMessage", "BehaviorLeaveAMessage", format, ##__VA_ARGS__ ) namespace Anki { namespace Vector { namespace { // Configurable localization keys const char* kKey_ttsNoRecipientKey = "ttsNoRecipientKey"; const char* kKey_ttsUnknownRecipientKey = "ttsUnknownRecipientKey"; const char* kKey_ttsMailboxFullKey = "ttsMailboxFullKey"; const char* kKey_RequireKnownUser = "requireKnownUser"; const char* kKey_Duration = "recordDuration"; const float kDefaultDuration = 10.0f; CONSOLE_VAR( bool, kRequireKnownUser, "VoiceMessage", true ); } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - BehaviorLeaveAMessage::InstanceConfig::InstanceConfig() : recordDuration( kDefaultDuration ), requireKnownUser( true ) { } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - BehaviorLeaveAMessage::DynamicVariables::DynamicVariables() : messageId( kInvalidVoiceMessageId ) { } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - BehaviorLeaveAMessage::BehaviorLeaveAMessage( const Json::Value& config ) : ICozmoBehavior( config ) { _iVars.ttsNoRecipientKey = JsonTools::ParseString( config, kKey_ttsNoRecipientKey, "BehaviorLeaveAMessage.NoRecipient" ); _iVars.ttsUnknownRecipientKey = JsonTools::ParseString( config, kKey_ttsUnknownRecipientKey, "BehaviorLeaveAMessage.UnknownRecipient" ); _iVars.ttsMailboxFullKey = JsonTools::ParseString( config, kKey_ttsMailboxFullKey, "BehaviorLeaveAMessage.MailboxFull" ); JsonTools::GetValueOptional( config, kKey_Duration, _iVars.recordDuration ); JsonTools::GetValueOptional( config, kKey_RequireKnownUser, _iVars.requireKnownUser ); } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::GetBehaviorJsonKeys(std::set& expectedKeys) const { expectedKeys.insert( kKey_ttsNoRecipientKey ); expectedKeys.insert( kKey_ttsUnknownRecipientKey ); expectedKeys.insert( kKey_ttsMailboxFullKey ); expectedKeys.insert( kKey_Duration ); expectedKeys.insert( kKey_RequireKnownUser ); } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::InitBehavior() { const BehaviorContainer& container = GetBEI().GetBehaviorContainer(); container.FindBehaviorByIDAndDowncast( BEHAVIOR_ID(MessagingRecordTTS), BEHAVIOR_CLASS(TextToSpeechLoop), _iVars.ttsBehavior ); } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::GetAllDelegates( std::set& delegates ) const { delegates.insert( _iVars.ttsBehavior.get() ); } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::GetBehaviorOperationModifiers( BehaviorOperationModifiers& modifiers ) const { modifiers.wantsToBeActivatedWhenCarryingObject = true; modifiers.wantsToBeActivatedWhenOnCharger = true; modifiers.wantsToBeActivatedWhenOffTreads = true; modifiers.behaviorAlwaysDelegates = true; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - bool BehaviorLeaveAMessage::WantsToBeActivatedBehavior() const { return true; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::OnBehaviorActivated() { _dVars = DynamicVariables(); // who are we recording this message for? auto& uic = GetBehaviorComp(); UserIntentPtr activeIntentPtr = uic.GetUserIntentIfActive( USER_INTENT( message_record ) ); DEV_ASSERT_MSG( activeIntentPtr != nullptr && ( activeIntentPtr->intent.GetTag() == USER_INTENT( message_record ) ), "BehaviorLeaveAMessage.OnBehaviorActivated.IncorrectIntent", "Expecting intent of type [message_record] but received type [%s]", activeIntentPtr ? UserIntentTagToString( activeIntentPtr->intent.GetTag() ) : "NULL"); // store the intended recipient to use either for recording or error response const UserIntent_RecordMessage& messageIntent = activeIntentPtr->intent.Get_message_record(); _dVars.messageRecipient = messageIntent.given_name; RecordMessageResult result = { .id = kInvalidVoiceMessageId, .error = EVoiceMessageError::InvalidMessage }; // we require a specified user to deliver the message to; this user is expected to be a known user that has been // enrolled to victor's knowledge base (via meet victor) if ( !_dVars.messageRecipient.empty() ) { // must have a enrolled user as the intended recipient VisionComponent& vision = GetBEI().GetVisionComponent(); if ( !DoesRequireKnownUser() || vision.IsNameTaken( _dVars.messageRecipient ) ) { VoiceMessageSystem& voicemail = GetBEI().GetMicComponent().GetVoiceMessageSystem(); // recording finished callback const auto onRecordingFinished = [this]() { if ( IsActivated() && ( kInvalidVoiceMessageId != _dVars.messageId ) ) { OnMessagedRecordingComplete(); } }; // start recording our message const uint32_t duration = _iVars.recordDuration * 1000.0f; result = voicemail.StartRecordingMessage( _dVars.messageRecipient, duration, onRecordingFinished ); if ( EVoiceMessageError::Success == result.error ) { PRINT_DEBUG( "Leaving a message for (%s)", Util::HidePersonallyIdentifiableInfo( _dVars.messageRecipient.c_str() ) ); _dVars.messageId = result.id; } } } // handle all error cases in case we add some in the future switch ( result.error ) { case EVoiceMessageError::Success: TransitionToRecordingMessage(); break; case EVoiceMessageError::MailboxFull: TransitionToMailboxFull(); break; case EVoiceMessageError::InvalidMessage: TransitionToInvalidRecipient(); break; case EVoiceMessageError::MessageAlreadyActive: DEV_ASSERT_MSG( false, "BehaviorLeaveAMessage.OnBehaviorActivated", "VoiceMessageSystem::StartRecordingMessage(...) return error that we did not handle [%d]", (int)result.error ); CancelSelf(); break; } } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::OnBehaviorDeactivated() { } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::BehaviorUpdate() { } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - bool BehaviorLeaveAMessage::DoesRequireKnownUser() const { return ( _iVars.requireKnownUser && kRequireKnownUser ); } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::PlayTextToSpeech( const std::string& ttsString, BehaviorSimpleCallback callback ) { PRINT_DEBUG( "TTS: %s", Anki::Util::RemovePII(ttsString).c_str()); // delegate to our tts behavior _iVars.ttsBehavior->SetTextToSay(ttsString); if ( _iVars.ttsBehavior->WantsToBeActivated() ) { DelegateIfInControl( _iVars.ttsBehavior.get(), callback ); } } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::TransitionToRecordingMessage() { DEV_ASSERT_MSG( _dVars.messageId != kInvalidVoiceMessageId, "BehaviorLeaveAMessage.TransitionToRecordingMessage", "Transitioning to recording message but message id is invalid" ); // play our recording animation here ... CompoundActionSequential* messageAnimation = new CompoundActionSequential(); messageAnimation->AddAction( new TriggerAnimationAction( AnimationTrigger::MessagingMessageGetIn ), true ); messageAnimation->AddAction( new ReselectingLoopAnimationAction( AnimationTrigger::MessagingMessageLoop ) ); DelegateIfInControl( messageAnimation ); } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::OnMessagedRecordingComplete() { PRINT_DEBUG( "Completed recording message id %d", (int)_dVars.messageId ); _dVars.messageId = kInvalidVoiceMessageId; // cancel our looping message animation CancelDelegates(); CompoundActionSequential* messageAnimation = new CompoundActionSequential(); messageAnimation->AddAction( new TriggerAnimationAction( AnimationTrigger::MessagingMessageGetOut ), true ); messageAnimation->AddAction( new TriggerAnimationAction( AnimationTrigger::MessagingMessageRecordReaction ) ); DelegateIfInControl( messageAnimation ); } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::TransitionToInvalidRecipient() { const auto & localeComponent = GetBEI().GetRobotInfo().GetLocaleComponent(); if ( _dVars.messageRecipient.empty() ) { // inform the user we didn't hear the name of the recipient const std::string & text = localeComponent.GetString(_iVars.ttsNoRecipientKey); PlayTextToSpeech(text); } else { // we don't know the recipient const std::string & text = localeComponent.GetString(_iVars.ttsUnknownRecipientKey, _dVars.messageRecipient); PlayTextToSpeech(text); } } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorLeaveAMessage::TransitionToMailboxFull() { // inform the user the mailbox is full const auto & localeComponent = GetBEI().GetRobotInfo().GetLocaleComponent(); const auto & text = localeComponent.GetString(_iVars.ttsMailboxFullKey); PlayTextToSpeech(text); } } // namespace Vector } // namespace Anki #undef PRINT_DEBUG #undef PRINT_INFO