From 011167e1d23af85666330a8936c2398f95b65e80 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Sat, 27 Aug 2022 13:02:04 +0900
Subject: [PATCH] [jsk_robot_startup] add launch file for smach_to_mail

---
 .../launch/smach_to_mail.launch               | 27 +++++++++++++++++
 .../scripts/smach_to_mail.py                  | 30 +++++++++----------
 2 files changed, 42 insertions(+), 15 deletions(-)
 create mode 100644 jsk_robot_common/jsk_robot_startup/launch/smach_to_mail.launch

diff --git a/jsk_robot_common/jsk_robot_startup/launch/smach_to_mail.launch b/jsk_robot_common/jsk_robot_startup/launch/smach_to_mail.launch
new file mode 100644
index 00000000000..3e309799248
--- /dev/null
+++ b/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>
diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
index a055155b8b4..57779c32550 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
+++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
@@ -29,6 +29,9 @@ 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(
@@ -47,20 +50,14 @@ def __init__(self):
             self.sender_address = self.email_info['sender_address']
             self.receiver_address = self.email_info['receiver_address']
         else:
-            if rospy.has_param("~sender_address"):
+            if self.use_mail:
                 self.sender_address = rospy.get_param("~sender_address")
-            else:
-                rospy.logerr("Please set rosparam {}/sender_address".format(
-                    rospy.get_name()))
-            if rospy.has_param("~receiver_address"):
                 self.receiver_address = rospy.get_param("~receiver_address")
-            else:
-                rospy.logerr("Please set rosparam {}/receiver_address".format(
-                        rospy.get_name()))
-        self.gchat_ac = actionlib.SimpleActionClient("/google_chat_ros/send", SendMessageAction)
-        self.chat_space = rospy.get_param("~google_chat_space", "spaces/AAAARE9CrfA") # default: fetch threaded space
-        self.gchat_image_dir = rospy.get_param("~google_chat_tmp_image_dir", "/tmp")
-        self._gchat_thread = None
+        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):
         '''
@@ -142,9 +139,12 @@ 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])
-                self._send_google_chat(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):