Added default main generator helper, updated all python nodes

Author: Purg

ros/angel_system_nodes/angel_system_nodes/activity_classification/activity_classifier_tcn.py

@@ -5,24 +5,19 @@
 """
 import json
 from heapq import heappush, heappop
-import logging
 from pathlib import Path
 from threading import Condition, Event, Lock, Thread
 from typing import Callable
 from typing import Dict
 from typing import List
 from typing import Optional
-from typing import Tuple
 
 import kwcoco
 from builtin_interfaces.msg import Time
 import numpy as np
 import numpy.typing as npt
-import rclpy
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
-import rclpy.logging
 from rclpy.node import Node
-from rclpy.executors import MultiThreadedExecutor
 import torch
 
 from angel_system.activity_classification.tcn_hpl.predict import (
@@ -39,7 +34,7 @@
     ObjectDetection2dSet,
     ActivityDetection,
 )
-from angel_utils import declare_and_get_parameters, RateTracker
+from angel_utils import declare_and_get_parameters, make_default_main, RateTracker
 from angel_utils.activity_classification import InputWindow, InputBuffer
 from angel_utils.conversion import time_to_int
 from angel_utils.object_detection import max_labels_and_confs
@@ -683,40 +678,16 @@ def _save_results(self):
 
     def destroy_node(self):
         log = self.get_logger()
+        log.info("Stopping node runtime")
+        self.rt_stop()
         with SimpleTimer("Shutting down runtime thread...", log.info):
             self._rt_active.clear()  # make RT active flag "False"
             self._rt_thread.join()
         self._save_results()
         super().destroy_node()
 
 
-def main():
-    logging.basicConfig(
-        format="[%(levelname)s] [%(asctime)s] [%(name)s.%(funcName)s]: %(message)s"
-    )
-    logging.getLogger().setLevel(logging.INFO)
-
-    rclpy.init()
-    log = rclpy.logging.get_logger("main")
-
-    activity_classifier = ActivityClassifierTCN()
-
-    executor = MultiThreadedExecutor(num_threads=4)
-    executor.add_node(activity_classifier)
-    try:
-        executor.spin()
-    except KeyboardInterrupt:
-        log.info("Keyboard interrupt, shutting down.\n")
-    finally:
-        log.info("Stopping node runtime")
-        activity_classifier.rt_stop()
-
-        # Destroy the node explicitly
-        # (optional - otherwise it will be done automatically
-        # when the garbage collector destroys the node object)
-        activity_classifier.destroy_node()
-
-        rclpy.shutdown()
+main = make_default_main(ActivityClassifierTCN, multithreaded_executor=4)
 
 
 if __name__ == "__main__":

ros/angel_system_nodes/angel_system_nodes/annotation_event_monitor.py

@@ -2,10 +2,10 @@
 from threading import Lock
 
 from pynput import keyboard
-import rclpy
 from rclpy.node import Node
 
 from angel_msgs.msg import AnnotationEvent
+from angel_utils import make_default_main
 
 
 class AnnotationEventMonitor(Node):
@@ -90,23 +90,16 @@ def on_press(self, key):
                 self._publisher.publish(msg)
 
 
-def main():
-    rclpy.init()
-
-    event_monitor = AnnotationEventMonitor()
-
-    keyboard_t = threading.Thread(target=event_monitor.monitor_keypress)
+def init_kb_thread(node):
+    """
+    Initialize the
+    """
+    keyboard_t = threading.Thread(target=node.monitor_keypress)
     keyboard_t.daemon = True
     keyboard_t.start()
 
-    rclpy.spin(event_monitor)
-
-    # Destroy the node explicitly
-    # (optional - otherwise it will be done automatically
-    # when the garbage collector destroys the node object)
-    event_monitor.destroy_node()
 
-    rclpy.shutdown()
+main = make_default_main(AnnotationEventMonitor, pre_spin_callback=init_kb_thread)
 
 
 if __name__ == "__main__":

ros/angel_system_nodes/angel_system_nodes/audio/asr.py

@@ -12,6 +12,7 @@
 import simpleaudio as sa
 
 from angel_msgs.msg import HeadsetAudioData, Utterance
+from angel_utils import make_default_main
 
 
 AUDIO_TOPIC = "audio_topic"
@@ -215,12 +216,7 @@ def asr_server_request_thread(self, audio_data, num_channels, sample_rate):
                     self._publisher.publish(utterance_msg)
 
 
-def main():
-    rclpy.init()
-    asr = ASR()
-    rclpy.spin(asr)
-    asr.destroy_node()
-    rclpy.shutdown()
+main = make_default_main(ASR)
 
 
 if __name__ == "__main__":

ros/angel_system_nodes/angel_system_nodes/audio/audio_player.py

@@ -1,11 +1,11 @@
 import threading
-import time
 
 import simpleaudio as sa
 
-import rclpy
 from rclpy.node import Node
+
 from angel_msgs.msg import HeadsetAudioData
+from angel_utils import make_default_main
 
 
 class AudioPlayer(Node):
@@ -101,18 +101,7 @@ def audio_playback_thread(self, audio_data, num_channels, sample_rate):
             audio_player_object.wait_done()
 
 
-def main():
-    rclpy.init()
-
-    audio_player = AudioPlayer()
-
-    rclpy.spin(audio_player)
-
-    # Destroy the node explicitly
-    # (optional - otherwise it will be done automatically
-    # when the garbage collector destroys the node object)
-    audio_player.destroy_node()
-    rclpy.shutdown()
+main = make_default_main(AudioPlayer)
 
 
 if __name__ == "__main__":

ros/angel_system_nodes/angel_system_nodes/audio/emotion/base_emotion_detector.py

@@ -1,12 +1,13 @@
 import queue
-import rclpy
 from rclpy.node import Node
 from termcolor import colored
 import threading
 from vaderSentiment.vaderSentiment import SentimentIntensityAnalyzer
 
 from angel_msgs.msg import InterpretedAudioUserEmotion, InterpretedAudioUserIntent
 from angel_utils import declare_and_get_parameters
+from angel_utils import make_default_main
+
 
 IN_EXPECT_USER_INTENT_TOPIC = "expect_user_intent_topic"
 IN_INTERP_USER_INTENT_TOPIC = "interp_user_intent_topic"
@@ -156,12 +157,7 @@ def _apply_filter(self, msg):
         return msg
 
 
-def main():
-    rclpy.init()
-    emotion_detector = BaseEmotionDetector()
-    rclpy.spin(emotion_detector)
-    emotion_detector.destroy_node()
-    rclpy.shutdown()
+main = make_default_main(BaseEmotionDetector)
 
 
 if __name__ == "__main__":

ros/angel_system_nodes/angel_system_nodes/audio/emotion/gpt_emotion_detector.py

@@ -3,12 +3,12 @@
 from langchain.chat_models import ChatOpenAI
 import openai
 import os
-import rclpy
 
-from ros.angel_system_nodes.angel_system_nodes.audio.emotion.base_emotion_detector import (
+from angel_system_nodes.audio.emotion.base_emotion_detector import (
     BaseEmotionDetector,
     LABEL_MAPPINGS,
 )
+from angel_utils import make_default_main
 
 openai.organization = os.getenv("OPENAI_ORG_ID")
 openai.api_key = os.getenv("OPENAI_API_KEY")
@@ -90,12 +90,7 @@ def get_inference(self, msg):
         return (self.chain.run(utterance=msg.utterance_text), 0.5)
 
 
-def main():
-    rclpy.init()
-    emotion_detector = GptEmotionDetector()
-    rclpy.spin(emotion_detector)
-    emotion_detector.destroy_node()
-    rclpy.shutdown()
+main = make_default_main(GptEmotionDetector)
 
 
 if __name__ == "__main__":

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

@@ -1,11 +1,11 @@
 import queue
-import rclpy
 from rclpy.node import Node
 from termcolor import colored
 import threading
 
 from angel_msgs.msg import InterpretedAudioUserIntent, Utterance
 from angel_utils import declare_and_get_parameters
+from angel_utils import make_default_main
 
 NEXT_STEP_KEYPHRASES = ["skip", "next", "next step"]
 PREV_STEP_KEYPHRASES = ["previous", "previous step", "last step", "go back"]
@@ -152,12 +152,7 @@ def _contains_phrase(self, utterance, phrases):
         return False
 
 
-def main():
-    rclpy.init()
-    intent_detector = BaseIntentDetector()
-    rclpy.spin(intent_detector)
-    intent_detector.destroy_node()
-    rclpy.shutdown()
+main = make_default_main(BaseIntentDetector)
 
 
 if __name__ == "__main__":

ros/angel_system_nodes/angel_system_nodes/audio/intent/gpt_intent_detector.py

@@ -1,15 +1,16 @@
 from langchain import PromptTemplate, FewShotPromptTemplate
 from langchain.chains import LLMChain
 from langchain.chat_models import ChatOpenAI
-from langchain.llms import OpenAI
 import openai
 import os
 import rclpy
 
-from ros.angel_system_nodes.angel_system_nodes.audio.intent.base_intent_detector import (
+from angel_system_nodes.audio.intent.base_intent_detector import (
     BaseIntentDetector,
     INTENT_LABELS,
 )
+from angel_utils import make_default_main
+
 
 openai.organization = os.getenv("OPENAI_ORG_ID")
 openai.api_key = os.getenv("OPENAI_API_KEY")
@@ -91,12 +92,7 @@ def detect_intents(self, msg):
         return self.chain.run(utterance=msg), 0.5
 
 
-def main():
-    rclpy.init()
-    intent_detector = GptIntentDetector()
-    rclpy.spin(intent_detector)
-    intent_detector.destroy_node()
-    rclpy.shutdown()
+main = make_default_main(GptIntentDetector)
 
 
 if __name__ == "__main__":

ros/angel_system_nodes/angel_system_nodes/audio/intent/intent_detector.py

@@ -2,6 +2,8 @@
 from rclpy.node import Node
 
 from angel_msgs.msg import InterpretedAudioUserIntent, Utterance
+from angel_utils import make_default_main
+
 
 # Please refer to labels defined in
 # https://docs.google.com/document/d/1uuvSL5de3LVM9c0tKpRKYazDxckffRHf7IAcabSw9UA .
@@ -118,15 +120,7 @@ def contains_phrase(self, utterance, phrases):
         return False
 
 
-def main():
-    rclpy.init()
-
-    intentDetector = IntentDetector()
-
-    rclpy.spin(intentDetector)
-
-    intentDetector.destroy_node()
-    rclpy.shutdown()
+main = make_default_main(IntentDetector)
 
 
 if __name__ == "__main__":

ros/angel_system_nodes/angel_system_nodes/audio/intent/intent_to_command.py

@@ -6,6 +6,7 @@
     InterpretedAudioUserIntent,
     SystemCommands,
 )
+from angel_utils import make_default_main
 
 
 # Parameter name constants
@@ -113,18 +114,7 @@ def intent_callback(self, intent: InterpretedAudioUserIntent) -> None:
         self._sys_cmd_publisher.publish(sys_cmd_msg)
 
 
-def main():
-    rclpy.init()
-
-    node = IntentToCommand()
-    rclpy.spin(node)
-
-    # Destroy the node explicitly
-    # (optional - otherwise it will be done automatically
-    # when the garbage collector destroys the node object)
-    node.destroy_node()
-
-    rclpy.shutdown()
+main = make_default_main(IntentToCommand)
 
 
 if __name__ == "__main__":

ros/angel_system_nodes/angel_system_nodes/audio/question_answerer.py

@@ -2,14 +2,15 @@
 import openai
 import os
 import queue
-import rclpy
 from rclpy.node import Node
 import requests
 from termcolor import colored
 import threading
 
 from angel_msgs.msg import InterpretedAudioUserEmotion, SystemTextResponse
 from angel_utils import declare_and_get_parameters
+from angel_utils import make_default_main
+
 
 openai.organization = os.getenv("OPENAI_ORG_ID")
 openai.api_key = os.getenv("OPENAI_API_KEY")
@@ -153,12 +154,7 @@ def _apply_filter(self, msg):
         return msg
 
 
-def main():
-    rclpy.init()
-    question_answerer = QuestionAnswerer()
-    rclpy.spin(question_answerer)
-    question_answerer.destroy_node()
-    rclpy.shutdown()
+main = make_default_main(QuestionAnswerer)
 
 
 if __name__ == "__main__":