/// <summary>Reads the entire language file</summary>
/// <param name="path">Full path</param>
/// <returns>New language file</returns>
/// <exception cref="Logic::ComException">COM Error</exception>
/// <exception cref="Logic::FileFormatException">Corrupt XML / Missing elements / missing attributes</exception>
/// <exception cref="Logic::InvalidValueException">Invalid languageID or pageID</exception>
/// <exception cref="Logic::IOException">An I/O error occurred</exception>
LanguageFile LanguageFileReader::ReadFile(Path path)
{
try
{
LanguageFile file(path);
// Parse document
LoadDocument();
// Get root (as node)
XmlNodePtr languageNode(Document->documentElement);
// Read fileID + language tag
file.ID = LanguageFilenameReader(path.FileName).FileID;
file.Language = ReadLanguageTag(languageNode);
// Read pages
for (int i = 0; i < languageNode->childNodes->length; i++)
{
XmlNodePtr n = languageNode->childNodes->item[i];
if (n->nodeType == Xml::NODE_ELEMENT)
file.Pages.Add( ReadPage(n) );
}
return file;
}
catch (_com_error& ex) {
throw ComException(HERE, ex);
}
}
bool LanguageActionAnalysis::mainNode()
{
if(getline(file,svector))
{
cout << svector << endl;
iCub->say("Any questions");
iquestion = languageNode();
}
else{
iCub->say("We have finish the interaction");
}
return 0;
}
int LanguageActionAnalysis::languageNode()
{
//iquestion = 3;
//return grammarNode();
sCurrentNode = "nodeQuestion";
sCurrentGrammarFile = nameGrammarNode;
ostringstream osError; // Error message
osError << "Error in LanguageActionAnalysis | "<< sCurrentNode << " :: ";
cout << endl << "In " << sCurrentNode << endl << endl;
Bottle bOutput;
bool fGetaReply = false;
Bottle bSpeechRecognized, //recceived FROM speech recog with transfer information (1/0 (bAnswer) ACK/NACK)
bMessenger, //to be send TO speech recog
bAnswer, //response from speech recog without transfer information, including raw sentence
bSemantic; // semantic information of the content of the recognition
bMessenger.addString("recogBottle");
bMessenger.addString("grammarXML");
bMessenger.addString(grammarToString(sCurrentGrammarFile).c_str());
while (!fGetaReply)
{
bSpeechRecognized.clear();
Port2SpeechRecog.write(bMessenger,bSpeechRecognized);
//e.g. : Reply from Speech Recog : 1 ("I want you to produce language" (INFORMATION (type produce))) ACK
cout << "Reply from Speech Recog : " << bSpeechRecognized.toString() << endl;
if (bSpeechRecognized.toString() == "NACK" || bSpeechRecognized.size() != 3)
{
osError << "Check " << sCurrentGrammarFile;
bOutput.addString(osError.str());
cout << osError.str() << endl;
//return bOutput;
}
if (bSpeechRecognized.get(0).toString() == "0")
{
osError << "Grammar not recognized";
bOutput.addString(osError.str());
cout << osError.str() << endl;
//return bOutput;
}
// bAnswer is the result of the regognition system (first element is the raw sentence, 2nd is the list of semantic element)
bAnswer = *bSpeechRecognized.get(1).asList();
if (bAnswer.toString() != "" && !bAnswer.isNull())
{
fGetaReply = true;
}
}
if (bAnswer.get(0).asString() == "stop")
{
iCurrentInstance = -1;
osError.str("");
osError << " | STOP called";
bOutput.addString(osError.str());
cout << osError.str() << endl;
//return bOutput;
}
bAnswer = *bSpeechRecognized.get(1).asList();
if (bAnswer.get(0).asString() == "next")
{
return mainNode();
}
if (bAnswer.get(0).asString() == "what happened")
{
iquestion = 1;
return grammarNode();
}
else if (bAnswer.get(1).asList()->get(0).asString() == "whoagent")
{
cout << "bAnswer.get(0).asString() : " << bAnswer.get(1).asList()->get(0).asString() << endl;
cout << "here " << bAnswer.get(1).asString() << endl;
iquestion = 2;
bSemantic = *bAnswer.get(1).asList()->get(1).asList();
sagent = bSemantic.check("agent", Value("none")).asString();
return grammarNode();
}
else if (bAnswer.get(0).asString() == "how did that happen")
{
iquestion = 3;
return grammarNode();
}
else if (bAnswer.get(0).asString() == "no")
{
iCub->say("go ahead");
}
return languageNode();
}
bool LanguageActionAnalysis::grammarNode()
{
int id = svector.find(";");
int idf = svector.size();
string sforce = svector.substr(6, id -7); // => sforce= "push(Ag1,object)"
string sresult = svector.substr(id +8,idf-1-(id +8)); // => sresult= "move(object)"
string sverb, sagent1, sagent2, sobject;
//force<give(Ag1,Ag2,object)>;result<received(Ag2,object)>
if(iquestion == 1) // => Case "What happened" => Result part !!
{
int i = sresult.find("(");
int iend = sresult.size();
sverb = sresult.substr(0,i); // => "move"
cout << "sverb : " << sverb << endl;
sresult = sresult.substr(i+1,iend-(i+1)-1); // => "object"
cout << "sresult : " << sresult << endl;
list<int> lposElements = nbCaracters(sresult);
int nb = lposElements.size();
if (nb == 0){ // "object"
sobject=sresult;
sanswer = "The " + sobject + " " + sverb;
iCub->say(sanswer,true);
cout << sanswer << endl;
}
else if(nb == 1) // "Ag2,object"
{
list<int>::iterator it;
for(it=lposElements.begin(); it!=lposElements.end(); ++it)
{
sagent1=sresult.substr(0,*it);
cout << "sagent1 : " << sagent1 << endl;
sobject=sresult.substr(*it+1,lposElements.size()-(*it+1));
cout << "sobject : " << sobject << endl;
}
sanswer = sagent1 + " " + sverb + " the " + sobject;
iCub->say(sanswer,true);
cout << sanswer << endl;
}
}
else if(iquestion == 2) // "what did Anne do ?" => active form
{
int i = sforce.find("(");
int iend = sforce.size();
sverb = sforce.substr(0,i); // => "result"
sforce = sforce.substr(i+1,iend-(i+1)-1); // => "Ag2,object"
list<int> lposElements = nbCaracters(sforce);
int nb = lposElements.size();
if (nb == 0){ // "object"
sobject=sforce;
}
else if(nb == 1) // "Ag2,object"
{
list<int>::iterator it;
int cpt=0;
int tab[lposElements.size()];
for(it=lposElements.begin(); it!=lposElements.end(); ++it)
{
tab[cpt]=*it;
cpt++;
}
cout << tab << endl;
sagent1=sforce.substr(0,tab[0]);
sobject=sforce.substr(tab[0]+1,sforce.size()-sforce.size()-tab[0]+1);
//sagent1 = sagent.c_str();
sanswer = sagent1 + " " + sverb + "s the " + sobject;
iCub->say(sanswer,true);
cout << sanswer << endl;
}
else if(nb == 2) // "Ag1,Ag2,object"
{
list<int>::iterator it;
int cpt=0;
int tab[lposElements.size()];
for(it=lposElements.begin(); it!=lposElements.end(); ++it)
{
tab[cpt]=*it;
cpt++;
cout << tab << endl;
}
sagent1=sforce.substr(0,tab[0]);
sagent2=sforce.substr(tab[0]+1,tab[1]-(tab[0]+1));
sobject=sforce.substr(tab[1]+1,sforce.size()-tab[1]+1);
//sagent1 = sagent.c_str();
sanswer = sagent1 + " " + sverb + "s the " + sobject + " to " + sagent2;
iCub->say(sanswer,true);
cout << sanswer << endl;
}
}
else if(iquestion == 3) // "how did that happen" => passive form
{
int i = sforce.find("(");
int iend = sforce.size();
string sverb = sforce.substr(0,i); // => "result"
sforce = sforce.substr(i+1,iend-(i+1)-1); // => "Ag2,object"
list<int> lposElements = nbCaracters(sforce);
int nb = lposElements.size();
if (nb == 0){ // "object"
string object=sforce;
}
else if(nb == 1) // "Ag2,object"
{
list<int>::iterator it;
int cpt=0;
int tab[lposElements.size()];
for(it=lposElements.begin(); it!=lposElements.end(); ++it)
{
tab[cpt]=*it;
cpt++;
}
cout << tab << endl;
sagent1=sforce.substr(0,tab[0]);
sobject=sforce.substr(tab[0]+1,sforce.size()-sforce.size()-tab[0]+1);
sanswer = "The " + sobject + " has been " + sverb + " by " + sagent1;
cout << "sanswer : " << endl;
iCub->say(sanswer,true);
cout << sanswer << endl;
}
else if(nb == 2) // "Ag2,object"
{
list<int>::iterator it;
int cpt=0;
int tab[lposElements.size()];
for(it=lposElements.begin(); it!=lposElements.end(); ++it)
{
tab[cpt]=*it;
cpt++;
cout << tab << endl;
}
sagent1=sforce.substr(0,tab[0]);
sagent2=sforce.substr(tab[0]+1,tab[1]-(tab[0]+1));
sobject=sforce.substr(tab[1]+1,sforce.size()-tab[1]+1);
sanswer = "The " + sobject + " has been " + sverb + "ed by " + sagent1 + " to " +sagent2;
cout << "sanswer : " << endl;
iCub->say(sanswer,true);
cout << sanswer << endl;
}
}
cout << "##############################################################" << endl;
return languageNode();
}
