#! /usr/bin/env python
# import os
# from time import sleep

import rospy
import actionlib
# from naoqi import ALProxy

from teleoperation.msg import RequestSpeechAction, RequestSpeechGoal
from controller import inform_controller_factory


in_progress = False
state = 'idle'

voc_state = {
    'idle': 'start',
    'imitate': 'stop'
}

_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'):
        state = 'imitate'
    elif result.word == 'stop' and _inform_controller('stop'):
        state = 'idle'
    in_progress = False


if __name__ == '__main__':
    rospy.init_node('speech_client')
    client = actionlib.SimpleActionClient('speech_server',
                                          RequestSpeechAction)
    client.wait_for_server()
    rospy.loginfo('SPEECH CLIENT: SERVER THERE')

    rospy.on_shutdown(lambda: client.cancel_goal())

    while not rospy.is_shutdown():
        if not _inform_controller('recognize'):
            if in_progress:
                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()