From 5530f0bb434a1d0c3b60f054026e6f03265b3a7a Mon Sep 17 00:00:00 2001
From: jieshoudaxue <1641395022@qq.com>
Date: Tue, 10 Oct 2023 15:05:59 +0800
Subject: [PATCH] [fix] up it

---
 robot_voice/src/robot_controller.cpp | 15 +++++++++------
 robot_voice/src/voice_detector.cpp   |  7 +++++--
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/robot_voice/src/robot_controller.cpp b/robot_voice/src/robot_controller.cpp
index a650520..61e0b17 100644
--- a/robot_voice/src/robot_controller.cpp
+++ b/robot_voice/src/robot_controller.cpp
@@ -33,18 +33,21 @@ public:
 
     bool ok = client_.call(req, resp);
     if (ok) {
-      printf("send str2voice service success: %s\n", req.data.c_str());
-      geometry_msgs::Twist msg;
-      msg.linear.x = linear_x;
-      msg.angular.z = angular_z;
-      cmd_pub_.publish(msg);
+      printf("send str2voice service success: %s, and pub cmd_vel\n", req.data.c_str());
+      for (int i = 0; i < 10; i ++) {
+        geometry_msgs::Twist msg;
+        msg.linear.x = linear_x;
+        msg.angular.z = angular_z;
+        cmd_pub_.publish(msg);
+        sleep(0.5);
+      }
     } else {
       ROS_ERROR("failed to send str2voice service");
     }
   }
 
   void ChatterCallbback(const std_msgs::String::ConstPtr &msg) {
-    ROS_INFO("i received: %s", msg->data.c_str());
+    printf("i received: %s\n", msg->data.c_str());
 
     int ret = -1;
     std::string voice_txt = msg->data;
diff --git a/robot_voice/src/voice_detector.cpp b/robot_voice/src/voice_detector.cpp
index 3b0f76f..a3ffc72 100644
--- a/robot_voice/src/voice_detector.cpp
+++ b/robot_voice/src/voice_detector.cpp
@@ -57,7 +57,7 @@ public:
   static void InitSpeech() {
     VoiceDetector::voice_txt_ = "";
 
-    printf("Start Listening...\n");
+    printf("clear cache, start Listening...\n");
   }
 
   static void EndSpeech(int reason) {
@@ -92,7 +92,7 @@ public:
     }
 
     /* demo 15 seconds recording */
-    sleep(15);
+    sleep(10);
 
     ret = sr_stop_listening(&iat);
     if (ret) {
@@ -148,6 +148,7 @@ int main(int argc, char* argv[]) {
 
     std::string voice_txt = VoiceDetector::get_voice_txt_();
     if (voice_txt == "") {
+      printf("voice_txt is empty\n");
       continue;
     } else if (voice_txt.find("结束") != std::string::npos) {
       break;
@@ -156,6 +157,8 @@ int main(int argc, char* argv[]) {
     std_msgs::String msg;
     msg.data = voice_txt;
     str_pub_.publish(msg);
+
+    sleep(10);
   }
 
   ros::spin();