more documentation

script/speech_server.py

@@ -1,4 +1,10 @@
 #! /usr/bin/env python
+"""A module for speech detection.
+
+ROS Node: `speech_server`
+Provides `request_speech` action
+
+"""
 import os
 
 import rospy
@@ -13,6 +19,7 @@ almem = None
 
 
 def request_speech(goal):
+    """Handle the request for speech detection."""
     rospy.loginfo('SPEECH SERVER: NEW GOAL: {}'.format(goal))
     if not speech_detector.start_speech(goal.vocabulary):
         sas.set_succeeded(RequestSpeechResult(word=''))
@@ -33,6 +40,7 @@ def request_speech(goal):
 
 
 class SpeechDetectorModule(ALModule):
+    """ALModule for accessing the NAO's speech recognition."""
 
     def __init__(self, name):
         ALModule.__init__(self, name)
@@ -52,6 +60,7 @@ class SpeechDetectorModule(ALModule):
         return almem.getData('ALSpeechRecognition/Status')
 
     def start_speech(self, voc, resume=False):
+        """Start recognizing the given vocabulary."""
         if self._busy != resume:
             return False
         if not resume:
@@ -63,14 +72,17 @@ class SpeechDetectorModule(ALModule):
         return True
 
     def have_word(self):
+        """Check if something was recognized."""
         return self.recognized is not None
 
     def get_recognized_and_erase(self):
+        """Retrieve the recognized word and erase it from the variable."""
         result = self.recognized
         self.recognized = None
         return result
 
     def stop_speech(self, pause=False):
+        """Stop detecting or just pause detection."""
         if not self._busy:
             return
         self.asr.pause(True)
@@ -79,6 +91,7 @@ class SpeechDetectorModule(ALModule):
             self._busy = False
 
     def on_word_recognized(self, *_args):
+        """Callback for word recognized event."""
         word, conf = almem.getData('WordRecognized')
         if conf > 0.4:
             self.stop_speech(pause=True)