more stable implementation of speech stuff

script/speech_server.py

@@ -10,7 +10,6 @@ from teleoperation.msg import RequestSpeechAction, RequestSpeechResult
 
 speech_broker = None
 almem = None
-r = False
 
 
 def request_speech(goal):
@@ -18,7 +17,9 @@ def request_speech(goal):
         sas.set_succeeded(RequestSpeechResult(word=''))
         return
 
-    while not sas.is_preempt_requested() and not speech_detector.have_word():
+    while (not sas.is_preempt_requested() and
+           not speech_detector.have_word() and
+           not rospy.is_shutdown()):
         rospy.Rate(10).sleep()
 
     if speech_detector.have_word():
@@ -40,16 +41,24 @@ class SpeechDetectorModule(ALModule):
         self.asr = ALProxy('ALSpeechRecognition')
         self.tts = ALProxy('ALTextToSpeech')
         self.asr.setLanguage('English')
-        self.running = False
+        almem.subscribeToEvent("WordRecognized",
+                               "speech_detector",
+                               "on_word_recognized")
+        self.asr.pause(True)
+        self._busy = False
 
-    def start_speech(self, voc):
-        if self.running:
+    def get_status(self):
+        print(almem.getData('ALSpeechRecognition/Status'))
+
+    def start_speech(self, voc, resume=False):
+        if self._busy != resume:
             return False
-        self.voc = voc
-        self.asr.setVocabulary(voc, False)
-        self.asr.subscribe(self.subid)
+        if not resume:
+            self.voc = voc
+            self.asr.setVocabulary(voc, False)
+            self.asr.subscribe(self.subid)
         self.asr.pause(False)
-        self.running = True
+        self._busy = True
         return True
 
     def have_word(self):
@@ -60,23 +69,26 @@ class SpeechDetectorModule(ALModule):
         self.recognized = None
         return result
 
-    def stop_speech(self):
-        if not self.running:
+    def stop_speech(self, pause=False):
+        if not self._busy:
             return
-        self.asr.unsubscribe(self.subid)
         self.asr.pause(True)
-        self.running = False
+        if not pause:
+            self.asr.unsubscribe(self.subid)
+            self._busy = False
 
     def on_word_recognized(self, *_args):
         word, conf = almem.getData('WordRecognized')
+        print(word, conf)
         if conf > 0.4:
-            self.stop_speech()
+            self.stop_speech(pause=True)
             self.tts.say(word)
             self.recognized = word
-        else:
             self.stop_speech()
+        else:
+            self.stop_speech(pause=True)
             self.tts.say('I didn\'t understand. Please repeat')
-            self.start_speech(self.voc)
+            self.start_speech(self.voc, resume=True)
 
 
 
@@ -84,21 +96,16 @@ if __name__ == '__main__':
     rospy.init_node('speech_server')
     speech_broker = ALBroker('speech_broker', '0.0.0.0', 0,
                              os.environ['NAO_IP'], 9559)
-    speech_detector = SpeechDetectorModule('speech_detector')
     almem = ALProxy('ALMemory')
-    almem.subscribeToEvent("WordRecognized",
-                           "speech_detector",
-                           "on_word_recognized")
-    speech_detector.asr.pause(True)
+    speech_detector = SpeechDetectorModule('speech_detector')
     sas = actionlib.SimpleActionServer('speech_server', RequestSpeechAction,
                                        execute_cb=request_speech,
                                        auto_start=False)
     sas.start()
 
     while not rospy.is_shutdown():
-        rospy.Rate(4).sleep()
-
-    if speech_detector.running:
-        speech_detector.stop_speech()
+        rospy.Rate(1).sleep()
+    while sas.is_active():
+        pass
 
     speech_broker.shutdown()