did some work

script/speech_client.py

@@ -0,0 +1,56 @@
+#! /usr/bin/env python
+# import os
+# from time import sleep
+
+import rospy
+import actionlib
+# from naoqi import ALProxy
+
+from teleoperation.msg import RequestSpeechAction, RequestSpeechGoal
+from controller import inform_controller_factory
+
+
+in_progress = False
+state = 'idle'
+
+voc_state = {
+    'idle': 'start',
+    'imitate': 'stop'
+}
+
+_inform_controller = inform_controller_factory('speech')
+
+
+def done_cb(_, result):
+    global in_progress, state
+    rospy.loginfo(result)
+    if result.word == 'start' and _inform_controller('imitate'):
+        state = 'imitate'
+    elif result.word == 'stop' and _inform_controller('stop'):
+        state = 'idle'
+    in_progress = False
+
+
+if __name__ == '__main__':
+    rospy.init_node('speech_client')
+    client = actionlib.SimpleActionClient('speech_server',
+                                          RequestSpeechAction)
+    client.wait_for_server()
+    rospy.loginfo('SPEECH CLIENT: SERVER THERE')
+
+    rospy.on_shutdown(lambda: client.cancel_goal())
+
+    while not rospy.is_shutdown():
+        if not _inform_controller('recognize'):
+            if in_progress:
+                client.cancel_goal()
+                in_progress = False
+            state = 'idle'
+            continue
+
+        if not in_progress:
+            in_progress = True
+            client.send_goal(RequestSpeechGoal([voc_state[state]]),
+                             done_cb)
+        rospy.Rate(2).sleep()
+