more stable implementation of speech stuff

script/controller.py

@@ -51,7 +51,7 @@ def handle_request(r):
 
     elif module == 'speech':
         if message == 'recognize':
-            if STATE in ('idle', 'imitate'):
+            if STATE in ('idle', 'imitate', 'dead'):
                 permission = True
         elif message == 'imitate':
             if STATE == 'idle':
@@ -61,6 +61,13 @@ def handle_request(r):
             if STATE == 'imitate':
                 STATE = 'idle'
                 permission = True
+        elif message == 'kill':
+            STATE = 'dead'
+            permission = True
+        elif message == 'revive':
+            if STATE == 'dead':
+                STATE = 'idle'
+                permission = True
 
     rospy.logdebug(
         'GOT REQUEST FROM %s TO %s.\nPERMISSION: %s.\nSTATE IS NOW: %s.' % (