57 lines
1.4 KiB
Python
Executable File
57 lines
1.4 KiB
Python
Executable File
#! /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()
|
|
|