more stable implementation of speech stuff

script/speech_client.py

@@ -13,9 +13,15 @@ from controller import inform_controller_factory
 in_progress = False
 state = 'idle'
 
+IMITATE = 'repeat'
+KILL = 'kill'
+REVIVE = 'go'
+STOP = 'stop'
+
 voc_state = {
-    'idle': 'start',
-    'imitate': 'stop'
+    'idle': [IMITATE, KILL],
+    'imitate': [STOP, KILL],
+    'killed': [REVIVE]
 }
 
 _inform_controller = inform_controller_factory('speech')
@@ -23,10 +29,17 @@ _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'):
+    rospy.loginfo('SPEECH CLIENT: {}'.format(result))
+    if result is None:
+        in_progress = False
+        return
+    if result.word == IMITATE and _inform_controller('imitate'):
         state = 'imitate'
-    elif result.word == 'stop' and _inform_controller('stop'):
+    elif result.word == STOP and _inform_controller('stop'):
+        state = 'idle'
+    elif result.word == KILL and _inform_controller('kill'):
+        state = 'killed'
+    elif result.word == REVIVE and _inform_controller('revive'):
         state = 'idle'
     in_progress = False
 
@@ -46,11 +59,10 @@ if __name__ == '__main__':
                 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()
 
+        else:
+            if not in_progress:
+                in_progress = True
+                client.send_goal(RequestSpeechGoal(voc_state[state]),
+                                 done_cb)
+        rospy.Rate(4).sleep()