Apply code formatting to audio nodes

ros/angel_system_nodes/angel_system_nodes/audio/asr.py

@@ -106,8 +106,9 @@ def __init__(self):
         self.subscription = self.create_subscription(
             HeadsetAudioData, self._audio_topic, self.listener_callback, 1
         )
-        self._publisher = self.create_publisher(DialogueUtterance,
-                                                self._utterances_topic, 1)
+        self._publisher = self.create_publisher(
+            DialogueUtterance, self._utterances_topic, 1
+        )
 
         self.audio_stream = []
         self.t = threading.Thread()
@@ -204,18 +205,15 @@ def asr_server_request_thread(self, audio_data, num_channels, sample_rate):
             if response:
                 response_text = json.loads(response.text)["text"]
                 self.log.info("Complete ASR text is:\n" + f'"{response_text}"')
-                self._publish_response(response_text,
-                                       self._is_sentence_tokenize_mode)
+                self._publish_response(response_text, self._is_sentence_tokenize_mode)
 
     def _publish_response(self, response_text: str, tokenize_sentences: bool):
         if tokenize_sentences:
             for sentence in sent_tokenize(response_text):
-                self._publisher.publish(
-                            self._construct_dialogue_utterance(sentence))
+                self._publisher.publish(self._construct_dialogue_utterance(sentence))
         else:
-            self._publisher.publish(
-                        self._construct_dialogue_utterance(response_text))
-
+            self._publisher.publish(self._construct_dialogue_utterance(response_text))
+
     def _construct_dialogue_utterance(self, msg_text: str) -> DialogueUtterance:
         msg = DialogueUtterance()
         msg.header.frame_id = "ASR"
@@ -225,7 +223,6 @@ def _construct_dialogue_utterance(self, msg_text: str) -> DialogueUtterance:
         return msg
 
 
-
 main = make_default_main(ASR)
 
 

ros/angel_system_nodes/angel_system_nodes/audio/dialogue_utterance_processing.py

@@ -1,8 +1,9 @@
 from angel_msgs.msg import DialogueUtterance
 
-def copy_dialogue_utterance(msg: DialogueUtterance,
-                            node_name,
-                            copy_time) -> DialogueUtterance:
+
+def copy_dialogue_utterance(
+    msg: DialogueUtterance, node_name, copy_time
+) -> DialogueUtterance:
     msg = DialogueUtterance()
     msg.header.frame_id = node_name
     msg.utterance_text = msg.utterance_text

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

@@ -53,9 +53,7 @@ def __init__(self):
             self.emotion_detection_callback,
             1,
         )
-        self._publication = self.create_publisher(
-            DialogueUtterance, self._out_topic, 1
-        )
+        self._publication = self.create_publisher(DialogueUtterance, self._out_topic, 1)
 
         self.message_queue = queue.Queue()
         self.handler_thread = threading.Thread(target=self.process_message_queue)
@@ -119,8 +117,10 @@ def process_message(self, msg: DialogueUtterance):
         """
         classification, confidence_score = self.get_inference(msg)
         pub_msg = dialogue_utterance_processing.copy_dialogue_utterance(
-            msg, node_name="Emotion Detection",
-            copy_time=self.get_clock().now().to_msg())
+            msg,
+            node_name="Emotion Detection",
+            copy_time=self.get_clock().now().to_msg(),
+        )
         # Overwrite the user emotion with the latest classification information.
         pub_msg.emotion = classification
         pub_msg.emotion_confidence_score = confidence_score

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

@@ -110,30 +110,27 @@ def _tiebreak_intents(intents, confidences):
 
         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)
 
-    def publish_message(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())
+            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)

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

@@ -13,7 +13,6 @@
 from angel_utils import declare_and_get_parameters, make_default_main
 
 
-
 openai.organization = os.getenv("OPENAI_ORG_ID")
 openai.api_key = os.getenv("OPENAI_API_KEY")
 
@@ -28,6 +27,7 @@
 
 PARAM_TIMEOUT = "timeout"
 
+
 class GptIntentDetector(BaseIntentDetector):
     def __init__(self):
         super().__init__()
@@ -100,7 +100,7 @@ def detect_intents(self, msg: DialogueUtterance):
         Detects the user intent via langchain execution of GPT.
         """
         intent = self.chain.run(utterance=msg.utterance_text)
-        return intent.split('[eos]')[0], 0.5
+        return intent.split("[eos]")[0], 0.5
 
 
 main = make_default_main(GptIntentDetector)