example_client.py

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#! /usr/bin/env python
from __future__ import print_function

import os
import signal
import sys
import threading
import time

import actionlib
import actionlib_msgs.msg as actionlib_msgs
import rospy

import gcloud_speech_msgs.msg as gcloud_speech_msgs

GoalStatus = actionlib_msgs.GoalStatus

def SpeechToTextSimpleExampleClient():
  def DoneCallback(state, result):
    print("\n\nDone, state {}, result:\n{}\n".format(state,result))


  def ActiveCallback():
    print("The goal is now active.\n")


  def FeedbackCallback(feedback):
    print("{}\n".format(feedback))


  global sigint_received
  sigint_received = False

  def SignalIntHandler(signal, frame):
    print("Received SIGINT.")
    global sigint_received
    sigint_received = True


  def DelayedExit(wait_time):
    time.sleep(wait_time)
    os._exit(0)


  signal.signal(signal.SIGINT, SignalIntHandler)

  client = actionlib.SimpleActionClient(
    "/cogrob/speech_to_text", gcloud_speech_msgs.SpeechToTextAction)
  client.wait_for_server()

  goal = gcloud_speech_msgs.SpeechToTextGoal()
  client.send_goal(goal, done_cb=DoneCallback, active_cb=ActiveCallback,
                   feedback_cb=FeedbackCallback)

  while client.get_state() in [GoalStatus.PENDING, GoalStatus.ACTIVE]:
    time.sleep(1)
    if sigint_received:
      break

  if sigint_received:
    # Waits for 1 seconds and force kill the program, in case the action server
    # is dead already (which is the case in our example launch file).
    exit_thread = threading.Thread(target=DelayedExit, args=(1, ))
    exit_thread.daemon = True
    exit_thread.start()

    client.cancel_goal()

  client.wait_for_result()


if __name__ == '__main__':
  try:
    rospy.init_node("gcloud_speech_example_client", anonymous=True)
    SpeechToTextSimpleExampleClient()
  except rospy.ROSInterruptException:
    print("Program interrupted before completion.", file=sys.stderr)