HEY JIBO!

V3.1/build/opt/jibo/Jibo/Skills/@be/be/node_modules/jibo-embodied-dialog/lib/jibo-embodied-dialog.js

@@ -371,6 +371,7 @@ try {
 catch (e) {
 }
 const WIN = 'Jibo Embodied Dialog';
+let hjModeToken = null;
 class TunableDebug {
     static setup(embodied) {
         if (tunable) {
@@ -392,6 +393,49 @@ class TunableDebug {
             Tunable.getButtonField('Disable once', WIN).events.change.on(() => {
                 embodied.listen.disableOnce();
             });
+
+            Tunable.getButtonField('Reset hotword mode', WIN).events.change.on(() => {
+                try {
+                    const jibo = embodied && embodied.listen && embodied.listen._jibo;
+                    if (jibo && jibo.jetstream && typeof jibo.jetstream.resetHotwordMode === 'function') {
+                        jibo.jetstream.resetHotwordMode().catch(() => { });
+                    }
+                }
+                catch (e) {
+                    // ignore
+                }
+            });
+
+            Tunable.getButtonField('Enable HJ only', WIN).events.change.on(() => {
+                try {
+                    const jibo = embodied && embodied.listen && embodied.listen._jibo;
+                    const mode = jibo && jibo.jetstream && jibo.jetstream.types && jibo.jetstream.types.HotwordListenMode;
+                    if (!jibo || !jibo.jetstream || !mode || typeof jibo.jetstream.setHotwordMode !== 'function') {
+                        return;
+                    }
+                    if (hjModeToken && typeof hjModeToken.release === 'function') {
+                        hjModeToken.release().catch(() => { });
+                        hjModeToken = null;
+                    }
+                    hjModeToken = jibo.jetstream.setHotwordMode(mode.HJ_Only);
+                    if (hjModeToken && hjModeToken.activated) {
+                        hjModeToken.activated.catch(() => { });
+                    }
+                }
+                catch (e) {
+                    // ignore
+                }
+            });
+
+            Tunable.getButtonField('Simulate Hey Jibo', WIN).events.change.on(() => {
+                try {
+                    embodied.listen.eventsIn.hjHeard.emit();
+                    process.nextTick(() => embodied.listen.eventsIn.oriented.emit());
+                }
+                catch (e) {
+                    // ignore
+                }
+            });
         }
     }
 }
@@ -639,6 +683,7 @@ const logs = require("../log");
 const log = logs.listenLog;
 const USE_CENTER_ROBOT = false;
 const TIMEOUT = 3000;
+const ENGAGE_HJ_FAILSAFE_TIMEOUT_MS = 6000;
 const ANIM_CLEAR_TIMEOUT = 'ANIM_CLEAR_TIMEOUT';
 class EmbodiedListen extends jibo_state_machine_1.StateMachine {
     constructor(_ed) {
@@ -820,9 +865,28 @@ class EmbodiedListen extends jibo_state_machine_1.StateMachine {
                     switch (this._ambientMode) {
                         case Types_1.AmbientListenMode.NORMAL:
                         case Types_1.AmbientListenMode.NO_BODY:
-                            Utils_1.Utils.setLED(this._jibo, Assets_1.Led.OFF);
+                            Utils_1.Utils.setLED(this._jibo, Assets_1.Led.LISTENING);
                             break;
                     }
+
+                    // Immediate feedback: play perceptual eye transition/pose.
+                    try {
+                        const seePerson = !!(this._jibo && this._jibo.lps && this._jibo.lps.identity && this._jibo.lps.identity.getVisibleFaces && (this._jibo.lps.identity.getVisibleFaces().size > 0));
+                        const transitionAnim = Assets_1.AnimSelector.getPerceptualEyeTransition(seePerson, Assets_1.EyeTransitionStyle.POP, Assets_1.EyeTransitionDirection.TO, false);
+                        const poseAnim = Assets_1.AnimSelector.getPerceptualEyePose(seePerson, true);
+                        const animConfig = {
+                            cache: jibo_cai_utils_1.CacheUtils.GlobalCacheName,
+                            dofs: this.DOFS_EYE_AND_OVERLAY_MINUS_EYE_TRANSLATE,
+                        };
+                        const animOptions = {
+                            ownerInformation: EmbodiedListen.HJ_OWNER_INFORMATION,
+                        };
+                        this._addAnimToQueue(transitionAnim, animConfig, animOptions);
+                        this._addAnimToQueue(poseAnim, animConfig, animOptions);
+                    }
+                    catch (e) {
+                        // ignore
+                    }
                 }
             };
             this._nonHjExpression.addInternalTransition('ES Dispatch Done', this._engage);
@@ -855,9 +919,24 @@ class EmbodiedListen extends jibo_state_machine_1.StateMachine {
             this._engage.addTypedEventTransition(this.eventsIn.cloudFinished, this._offExpression);
             this._engage.addTypedEventTransition(this.eventsIn.hjHeard, this._hjExpression);
             let nextBlinkTime = -1;
+            let engageFailsafe = null;
             this._engage.onEntry = () => {
                 log.debug('Entering Engage');
                 nextBlinkTime = Date.now() + 2000;
+                if (engageFailsafe) {
+                    clearTimeout(engageFailsafe);
+                }
+                engageFailsafe = setTimeout(() => {
+                    try {
+                        if (this.current === this._engage) {
+                            Utils_1.Utils.setLED(this._jibo, Assets_1.Led.OFF);
+                            this._engage.transitionTo(this._idle);
+                        }
+                    }
+                    catch (e) {
+                        // ignore
+                    }
+                }, ENGAGE_HJ_FAILSAFE_TIMEOUT_MS);
                 switch (this._ambientMode) {
                     case Types_1.AmbientListenMode.NORMAL:
                         break;
@@ -872,6 +951,10 @@ class EmbodiedListen extends jibo_state_machine_1.StateMachine {
                 }
             };
             this._engage.onExit = () => {
+                if (engageFailsafe) {
+                    clearTimeout(engageFailsafe);
+                    engageFailsafe = null;
+                }
                 switch (this._ambientMode) {
                     case Types_1.AmbientListenMode.NORMAL:
                         break;