moved speech detection into controller

also the thing works quite good (as in demo-good)

script/controller.py

@@ -1,10 +1,44 @@
 #! /usr/bin/env python
 import rospy
+import actionlib
 
 from teleoperation.srv import InformController, InformControllerResponse
+from teleoperation.msg import RequestSpeechAction, RequestSpeechGoal
 
 
-STATE = 'idle'  # Also walk, imitate, fallen, recognizing
+STATE = 'dead'  # Also walk, imitate, fallen, idle
+speech_in_progress = False
+
+IMITATE = 'arms'
+KILL = 'kill'
+REVIVE = 'go'
+STOP = 'stop'
+
+voc_state = {
+    'idle': [IMITATE, KILL],
+    'imitate': [STOP, KILL],
+    'dead': [REVIVE]
+}
+
+
+def speech_done_cb(_, result):
+    global speech_in_progress, STATE
+    _state_old = STATE
+    rospy.loginfo('SPEECH: {}'.format(result))
+    if not result:
+        speech_in_progress = False
+        return
+    if result.word == IMITATE and STATE == 'idle':
+        STATE = 'imitate'
+    elif result.word == STOP and STATE == 'imitate':
+        STATE = 'idle'
+    elif result.word == KILL and STATE in ('idle', 'imitate'):
+        STATE = 'dead'
+    elif result.word == REVIVE and STATE == 'dead':
+        STATE = 'idle'
+    if _state_old != STATE:
+        rospy.loginfo('{} -> {}'.format(_state_old, STATE))
+    speech_in_progress = False
 
 
 def inform_controller_factory(who):
@@ -49,26 +83,6 @@ def handle_request(r):
             if STATE == 'imitate':
                 permission = True
 
-    elif module == 'speech':
-        if message == 'recognize':
-            if STATE in ('idle', 'imitate', 'dead'):
-                permission = True
-        elif message == 'imitate':
-            if STATE == 'idle':
-                STATE = 'imitate'
-                permission = True
-        elif message == 'stop':
-            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.' % (
             module, message, permission, STATE
@@ -80,6 +94,25 @@ def handle_request(r):
 
 
 if __name__ == '__main__':
+
     rospy.init_node('controller', log_level=rospy.INFO)
     ic = rospy.Service('inform_controller', InformController, handle_request)
-    rospy.spin()
+
+    client = actionlib.SimpleActionClient('speech_server',
+                                          RequestSpeechAction)
+    client.wait_for_server()
+    rospy.loginfo('SPEECH: SERVER THERE')
+
+    rospy.on_shutdown(lambda: speech_in_progress and client.cancel_goal())
+
+    while not rospy.is_shutdown():
+        if not STATE in ('idle', 'imitate', 'dead'):
+            if speech_in_progress:
+                client.cancel_goal()
+                speech_in_progress = False
+        else:
+            if not speech_in_progress:
+                speech_in_progress = True
+                client.send_goal(RequestSpeechGoal(voc_state[STATE]),
+                                 speech_done_cb)
+        rospy.Rate(10).sleep()