#! /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'

IMITATE = 'repeat'
KILL = 'kill'
REVIVE = 'go'
STOP = 'stop'

voc_state = {
    'idle': [IMITATE, KILL],
    'imitate': [STOP, KILL],
    'killed': [REVIVE]
}

_inform_controller = inform_controller_factory('speech')


def done_cb(_, result):
    global in_progress, state
    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'):
        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


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'

        else:
            if not in_progress:
                in_progress = True
                client.send_goal(RequestSpeechGoal(voc_state[state]),
                                 done_cb)
        rospy.Rate(4).sleep()