Adopt Google Chat ROS to smach_to_mail and adding launch file for it

jsk_robot_common/jsk_robot_startup/README.md

@@ -302,16 +302,28 @@ flowchart TB
 
   Tweet message with description and image
 
+* `/google_chat_ros/send/goal` (`google_chat_ros/SendMessageActionGoal`)
+
+  Send google chat message with description and image.
+
 ### Parameters
 
 * `~sender_address` (String)
-  
+
   Sender address
 
 * `~receiver_address` (String)
 
   Receiver address
 
+* `~google_chat_space` (String)
+
+  Receiver Google Chat space name
+
+* `~google_chat_tmp_image_dir` (String)
+
+  Directory where images are temporarily stored for google_chat_ros
+
 ## launch/safe_teleop.launch
 
 This launch file provides a set of nodes for safe teleoperation common to mobile robots. Robot-specific nodes such as `/joy`, `/teleop` or `/cable_warning` must be included in the teleop launch file for each robot, such as [safe_teleop.xml for PR2](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml) or [safe_teleop.xml for fetch](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml).

jsk_robot_common/jsk_robot_startup/launch/smach_to_mail.launch

@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <arg name="use_mail" default="true" />
+  <arg name="use_twitter" default="true" />
+  <arg name="use_google_chat" default="true" />
+  <arg name="email_sender_address" default="" />
+  <arg name="email_receiver_address" default="" />
+  <arg name="google_chat_space" default="" />
+  <arg name="namespace" default="smach_to_mail" />
+
+  <group if="$(arg use_mail)" ns="$(arg namespace)">
+    <param name="sender_address" value="$(arg email_sender_address)" />
+    <param name="receiver_address" value="$(arg email_reveiver_address)" />
+  </group>
+  <group if="$(arg use_google_chat)" ns="$(arg namespace)">
+    <param name="google_chat_space" value="$(arg google_chat_space)" />
+  </group>
+
+  <node name="$(arg namespace)" pkg="jsk_robot_startup" type="smach_to_mail.py" output="screen">
+    <rosparam subst_value="true">
+      use_mail: $(arg use_mail)
+      use_twitter: $(arg use_twitter)
+      use_google_chat: $(arg use_google_chat)
+    </rosparam>
+  </node>
+
+</launch>

jsk_robot_common/jsk_robot_startup/package.xml

@@ -24,6 +24,7 @@
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>gmapping</run_depend>
+  <run_depend>google_chat_ros</run_depend>
   <run_depend>jsk_recognition_msgs</run_depend>
   <run_depend version_gte="2.2.7">jsk_topic_tools</run_depend>
   <run_depend>message_runtime</run_depend>

jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python
 
+import actionlib
 import base64
 import cv2
 import datetime
@@ -8,6 +9,11 @@
 import sys
 
 from cv_bridge import CvBridge
+from google_chat_ros.msg import Card
+from google_chat_ros.msg import Section
+from google_chat_ros.msg import SendMessageAction
+from google_chat_ros.msg import SendMessageActionGoal
+from google_chat_ros.msg import WidgetMarkup
 from jsk_robot_startup.msg import Email
 from jsk_robot_startup.msg import EmailBody
 from sensor_msgs.msg import CompressedImage
@@ -21,6 +27,9 @@ def __init__(self):
         rospy.init_node('server_name')
         # it should be 'smach_to_mail', but 'server_name'
         # is the default name of smach_ros
+        self.use_mail = rospy.get_param("~use_mail", True)
+        self.use_twitter = rospy.get_param("~use_twitter", True)
+        self.use_google_chat = rospy.get_param("~use_google_chat", True)
         self.pub_email = rospy.Publisher("email", Email, queue_size=10)
         self.pub_twitter = rospy.Publisher("tweet", String, queue_size=10)
         rospy.Subscriber(
@@ -38,7 +47,11 @@ def __init__(self):
         else:
             rospy.logerr("Please set rosparam {}/receiver_address".format(
                     rospy.get_name()))
-
+        if self.use_google_chat:
+            self.gchat_ac = actionlib.SimpleActionClient("/google_chat_ros/send", SendMessageAction)
+            self.chat_space = rospy.get_param("~google_chat_space")
+            self.gchat_image_dir = rospy.get_param("~google_chat_tmp_image_dir", "/tmp")
+            self._gchat_thread = None
 
     def _status_cb(self, msg):
         '''
@@ -125,8 +138,12 @@ def _status_cb(self, msg):
                 for x in self.smach_state_list[caller_id]:
                     rospy.loginfo(" - At {}, Active state is {}{}".format(x['TIME'], x['STATE'],
                                   "({})".format(x['INFO']) if x['INFO'] else ''))
-                self._send_mail(self.smach_state_subject[caller_id], self.smach_state_list[caller_id])
-                self._send_twitter(self.smach_state_subject[caller_id], self.smach_state_list[caller_id])
+                if self.use_mail:
+                    self._send_mail(self.smach_state_subject[caller_id], self.smach_state_list[caller_id])
+                if self.use_twitter:
+                    self._send_twitter(self.smach_state_subject[caller_id], self.smach_state_list[caller_id])
+                if self.use_google_chat:
+                    self._send_google_chat(self.smach_state_subject[caller_id], self.smach_state_list[caller_id])
                 self.smach_state_list[caller_id] = None
 
     def _send_mail(self, subject, state_list):
@@ -205,6 +222,37 @@ def _send_twitter(self, subject, state_list):
         if len(text) > 1:
             self.pub_twitter.publish(String(text))
 
+    def _send_google_chat(self, subject, state_list):
+        self.gchat_ac.wait_for_server()
+        goal = SendMessageActionGoal()
+        if subject:
+            goal.goal.text = subject
+        card = Card()
+        for i, x in enumerate(state_list):
+            section = Section()
+            widget = WidgetMarkup()
+            if 'DESCRIPTION' in x:
+                text = x['DESCRIPTION']
+                section.header = text
+            if 'IMAGE' in x and x['IMAGE']:
+                path = os.path.join(self.gchat_image_dir, 'smach_gchat_{}.png'.format(i))
+                with open(path, "wb") as f:
+                    f.write(base64.b64decode(x['IMAGE']))
+                widget.image.localpath = path
+            if section.header and widget.image.localpath:
+                section.widgets.append(widget)
+                card.sections.append(section)
+        goal.goal.cards.append(card)
+        goal.goal.space = self.chat_space
+        if self._gchat_thread:
+            goal.goal.thread_name = self._gchat_thread
+        self.gchat_ac.send_goal(goal.goal)
+        self.gchat_ac.wait_for_result()
+        result = self.gchat_ac.get_result()
+        if not self._gchat_thread:
+            self._gchat_thread = result.message_result.thread_name
+        rospy.loginfo("Sending google chat messsage: {} to {} chat space".format(text, self.chat_space))
+        rospy.logdebug("Google Chat result: {}".format(self.gchat_ac.get_result()))
 
 if __name__ == '__main__':
     stm = SmachToMail()