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tue-robotics · May 7, 2022 · d8d9d1b · d8d9d1b
1 parent 63a33af
commit d8d9d1b
Showing 1 changed file with 24 additions and 12 deletions.
diff --git a/src/hmi_picovoice/server.py b/src/hmi_picovoice/server.py
@@ -12,25 +12,33 @@
 
 
 class Server(AbstractHMIServer):
-    def __init__(self, name: str, context_url: str, require_endpoint: bool, rate: float):
+    def __init__(
+        self, name: str, context_url: str, require_endpoint: bool, rate: float
+    ):
         super(Server, self).__init__(name)
 
         self._context_url = context_url
         self._require_endpoint = require_endpoint
         self._rate = rate
 
-        self._intent_client = actionlib.SimpleActionClient("get_intent", GetIntentAction)
+        self._intent_client = actionlib.SimpleActionClient(
+            "get_intent", GetIntentAction
+        )
         rospy.loginfo(f"Waiting for {self._intent_client.action_client.ns} ..")
         self._intent_client.wait_for_server()
 
-        rospy.loginfo(f"Server initialized (context_url={context_url}, require_endpoint={require_endpoint})")
+        rospy.loginfo(
+            f"Server initialized (context_url={context_url}, require_endpoint={require_endpoint})"
+        )
 
     def _determine_answer(self, description, grammar, target, is_preempt_requested):
-        self._intent_client.send_goal(GetIntentGoal(
-            context_url=self._context_url,
-            require_endpoint=self._require_endpoint,
-            intents=[grammar]
-        ))
+        self._intent_client.send_goal(
+            GetIntentGoal(
+                context_url=self._context_url,
+                require_endpoint=self._require_endpoint,
+                intents=[grammar],
+            )
+        )
 
         r = rospy.Rate(self._rate)
         while not rospy.is_shutdown():
@@ -41,9 +49,13 @@ def _determine_answer(self, description, grammar, target, is_preempt_requested):
 
             result = self._intent_client.get_result()
             if result is not None:
-                return HMIResult(
-                    semantics={kv.key: kv.value for kv in result.slots},
-                    sentence=result.intent
-                ) if result.is_understood else None
+                return (
+                    HMIResult(
+                        semantics={kv.key: kv.value for kv in result.slots},
+                        sentence=result.intent,
+                    )
+                    if result.is_understood
+                    else None
+                )
 
             r.sleep()