Fix Intent Detection Compiler Error

Author: derkmed

ros/angel_system_nodes/angel_system_nodes/audio/intent/base_intent_detector.py

@@ -95,7 +95,6 @@ def _tiebreak_intents(intents, confidences):
                 )
             return classification, score
 
-        intent, score = self.detect_intents(msg)
         lower_utterance = msg.utterance_text.lower()
         intents = []
         confidences = []
@@ -108,37 +107,39 @@ def _tiebreak_intents(intents, confidences):
         if self._contains_phrase(lower_utterance, QUESTION_KEYPHRASES):
             intents.append(INTENT_LABELS[2])
             confidences.append(0.5)
+
         if not intents:
             colored_utterance = colored(msg.utterance_text, "light_blue")
-            self.log.info(f'No intents detected for:\n>>> "{colored_utterance}":')
+            self.log.info(
+                f'No intents detected for:\n>>> "{colored_utterance}":')
             return None, -1.0
+        else:
+            classification, confidence = _tiebreak_intents(intents, confidences)
+            classification = colored(classification, "light_green")
+            self.publish_message(msg.utterance_text, classification, confidence)
 
-        classification, confidence = _tiebreak_intents(intents, confidences)
-        classification = colored(classification, "light_green")
-        
-        if intent:
-            self.publish_msg(msg.utterance_text, intent, score)
-
-    def publish_msg(self, msg: DialogueUtterance, intent: str, score: float):
+    def publish_message(self, msg: DialogueUtterance, intent: str,
+                        score: float):
         """
         Handles message publishing for an utterance with a detected intent.
         """
-        pub_msg = self.copy_dialogue_utterance(msg,
-                                               node_name="Intent Detection",
-                                               copy_time=self.get_clock().now().to_msg())
+        pub_msg = self.copy_dialogue_utterance(
+            msg, node_name="Intent Detection",
+            copy_time=self.get_clock().now().to_msg())
         # Overwrite the user intent with the latest classification information.
         pub_msg.intent = intent
         pub_msg.intent_confidence_score = score
 
         # Decide which intent topic to publish the message to.
         published_topic = None
-        if self._contains_phrase(pub_msg.utterance_text.lower(), OVERRIDE_KEYPHRASES):
+        if self._contains_phrase(pub_msg.utterance_text.lower(),
+                                 OVERRIDE_KEYPHRASES):
+            published_topic = PARAM_EXPECT_USER_INTENT_TOPIC
             pub_msg.intent_confidence_score = 1.0
             self._expected_publisher.publish(pub_msg)
-            published_topic = PARAM_EXPECT_USER_INTENT_TOPIC
         else:
-            self._interp_publisher.publish(pub_msg)
             published_topic = PARAM_INTERP_USER_INTENT_TOPIC
+            self._interp_publisher.publish(pub_msg)
 
         colored_utterance = colored(pub_msg.utterance_text, "light_blue")
         colored_intent = colored(pub_msg.intent, "light_green")