From 9e4b9885bac668494e8756c3e1a956ea441a7da8 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Sat, 10 Jun 2023 17:12:24 +0900
Subject: [PATCH] 2023/06/09 change

---
 database_talker/scripts/hoge.py | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/database_talker/scripts/hoge.py b/database_talker/scripts/hoge.py
index e11b5a962b..34820e01f7 100644
--- a/database_talker/scripts/hoge.py
+++ b/database_talker/scripts/hoge.py
@@ -111,7 +111,7 @@ def make_reply(self, message, lang="en", startdate=datetime.datetime.now(JST)-da
             # sort based on similarity with 'query'
             chat_msgs_sorted = sorted(results, key=lambda x: x['similarity'], reverse=True)
 
-            rospy.logerr("chat_msgs_sorted: {}".format(chat_msgs_sorted))
+            #rospy.logerr("chat_msgs_sorted: {}".format(chat_msgs_sorted))
             if len(chat_msgs_sorted) == 0:
                 rospy.logwarn("no chat message was found")
             else:
@@ -195,6 +195,7 @@ def make_reply(self, message, lang="en", startdate=datetime.datetime.now(JST)-da
 
             # make prompt
             prompt = 'if you are a pet and someone tells you \"' + message + '\" when we went together, ' + \
+                     'and ' + 'you remembered that someone said "' + self.translate(text, dest="en").text + '" ' + \
                      'and ' + reaction + ' in your memory of that moment, what would you reply? '+ \
                      'Show only the reply in {lang}'.format(lang={'en': 'English', 'ja':'Japanese'}[lang])
             loop = 0
@@ -251,7 +252,7 @@ def write_image_with_annotation(self, filename, best_result, prompt, smach_state
         rospy.logwarn("save images to {}".format(filename))
 
 
-    def query_dialogflow(self, query, start_time, end_time, limit=30, threshold=0.0):
+    def query_dialogflow(self, query, start_time, end_time, limit=100, threshold=0.0):
         results = []
         for message_type, message_value in [('dialogflow_task_executive/DialogTextActionResult', 'msg.result.response.query'), 
                                             ('smach_msgs/SmachContainerStatus', 'msg.active_states[0].lower()'),
@@ -283,6 +284,8 @@ def query_dialogflow(self, query, start_time, end_time, limit=30, threshold=0.0)
                 msg = deserialise_message(msg)
                 meta = json.loads(meta.pairs[0].second)
                 timestamp = datetime.datetime.fromtimestamp(meta['timestamp']//1000000000, JST)
+                ### kei okada 2023/06/09
+                timestamp = datetime.datetime.fromtimestamp(meta['inserted_at']['$date']//1000, JST)
                 message = eval(message_value)
                 if len(messages) > 0:
                     message_translate = messages.pop(0).strip()
@@ -306,14 +309,25 @@ def query_dialogflow(self, query, start_time, end_time, limit=30, threshold=0.0)
                     if msg.result.response.action in ['make_reply', 'input.unknown']:
                         rospy.logwarn("Found dialogflow messages {}({}) at {} but skipping (action:{})".format(result['message'], result['message_translate'], result['timestamp'].strftime('%Y-%m-%d %H:%M:%S'), msg.result.response.action))
                     else:
-                        rospy.loginfo("Found dialogflow messages {}({}) ({}) at {} ({}:{:.2f})".format(result['message'], result['message_translate'], msg.result.response.action, result['timestamp'].strftime('%Y-%m-%d %H:%M:%S'), query, result['similarity']))
+                        query_info = "Found dialogflow messages {}({}) ({}) at {} ({}:{:.2f})".format(result['message'], result['message_translate'], msg.result.response.action, result['timestamp'].strftime('%Y-%m-%d %H:%M:%S'), query, result['similarity'])
                         if ( result['similarity'] > threshold):
+                            rospy.loginfo(query_info)
                             results.append(result)
                         else:
+                            rospy.logwarn(query_info)
                             rospy.logwarn("                    ... skipping (threshold: {:.2f})".format(threshold))
                 else:
                     result.update({'action': ''})
-                    rospy.loginfo("Found {} messages {}({}) at {} ({}:{:.2f})".format(message_type.split('/')[1], result['message'], result['message_translate'], result['timestamp'].strftime('%Y-%m-%d %H:%M:%S'), query, result['similarity']))
+                    if message_type == 'sound_play/SoundRequestActionGoal':
+                        if any([x in msg.goal_id.id for x in ['/dialogflow_client', 'nav_speak', 'move_base', 'audible_warning', 'tweet_client']]):
+                            # rospy.logwarn("Found {} messages {}({}) at {} ({}:{:.2f})".format(message_type.split('/')[1], result['message'], result['message_translate'], result['timestamp'].strftime('%Y-%m-%d %H:%M:%S'), query, result['similarity']))
+                            rospy.logwarn("                    ... skipping ({})".format(msg.goal_id.id))
+                            continue
+                        else:
+                            rospy.loginfo("Found {} messages {}({}) at {} ({}:{:.2f}) from {}".format(message_type.split('/')[1], result['message'], result['message_translate'], result['timestamp'].strftime('%Y-%m-%d %H:%M:%S'), query, result['similarity'], msg.goal_id.id))
+                    
+                    else:
+                        rospy.loginfo("Found {} messages {}({}) at {} ({}:{:.2f})".format(message_type.split('/')[1], result['message'], result['message_translate'], result['timestamp'].strftime('%Y-%m-%d %H:%M:%S'), query, result['similarity']))
                     
                     results.append(result)