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[dialogflow_task_executive] support non japanese languages in dialogflow_client #310

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knorth55 wants to merge 3 commits into from
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[dialogflow_task_executive] support non japanese languages in dialogflow_client #310

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d885322
support non japanese languages
knorth55 Dec 24, 2021
8370548
do not use utf-8 for result msg
knorth55 Dec 25, 2021
cdb78ad
Merge branch 'master' into support-non-japanese
knorth55 Dec 27, 2021
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21 changes: 16 additions & 5 deletions dialogflow_task_executive/node_scripts/dialogflow_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -166,9 +166,14 @@ def publish_result(self, result):
msg.header.stamp = rospy.Time.now()
if result.action is not 'input.unknown':
rospy.logwarn("Unknown action")
msg.query = result.query_text.encode("utf-8")
msg.action = result.action
msg.response = result.fulfillment_text.encode("utf-8")

if self.language == 'ja-JP':
msg.query = result.query_text.encode("utf-8")
msg.response = result.fulfillment_text.encode("utf-8")
else:
msg.query = result.query_text
msg.response = result.fulfillment_text
msg.fulfilled = result.all_required_params_present
msg.parameters = MessageToJson(result.parameters)
msg.speech_score = result.speech_recognition_confidence
Expand All @@ -181,9 +186,15 @@ def speak_result(self, result):
msg = SoundRequest(
command=SoundRequest.PLAY_ONCE,
sound=SoundRequest.SAY,
volume=1.0,
arg=result.fulfillment_text.encode('utf-8'),
arg2=self.language)
volume=1.0)

# for japanese or utf-8 languages
if self.language == 'ja-JP':
msg.arg = result.fulfillment_text.encode('utf-8')
msg.arg2 = self.language
else:
msg.arg = result.fulfillment_text

self.sound_action.send_goal_and_wait(
SoundRequestGoal(sound_request=msg),
rospy.Duration(10.0))
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