updated demo

NathanCorral · Aug 31, 2023 · b4828ae · b4828ae
1 parent 989514e
commit b4828ae
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Showing 2 changed files with 5 additions and 20 deletions.
diff --git a/whisper_demos/whisper_demos/whisper_on_key.py b/whisper_demos/whisper_demos/whisper_on_key.py
@@ -5,6  5,7 @@
 from rclpy.node import Node
 from rclpy.task import Future
 from whisper_msgs.action import Inference
 from whisper_msgs.action._inference import Inference_FeedbackMessage
 
 
 class WhisperOnKey(Node):
@@ -13,7  14,6 @@ def __init__(self, node_name: str) -> None:
 
         # whisper
         self.whisper_client = ActionClient(self, Inference, "/whisper/inference")
-        self.feedback = Inference.Feedback()
 
         while not self.whisper_client.wait_for_server(1):
             self.get_logger().warn(
@@ -28,7  28,7 @@ def __init__(self, node_name: str) -> None:
 
         self.get_logger().info(self.info_string())
 
-    def on_key(self, key) -> None:
     def on_key(self, key: Key) -> None:
         if key == Key.esc:
             self.key_listener.stop()
             rclpy.shutdown()
@@ -65,13  65,8 @@ def on_done(self, future: Future) -> None:
         result: Inference.Result = future.result().result
         self.get_logger().info(f"Result: {result.text}")
 
-    def on_feedback(self, feedback_msg) -> None:
-        prefix = ""
-        if feedback_msg.feedback.batch_idx != self.feedback.batch_idx:
-            prefix = "\n"
-        self.feedback = feedback_msg.feedback
-        # print(f"{prefix}{self.feedback.text}", end="\r")
-        self.get_logger().info(f"{self.feedback.text}")
     def on_feedback(self, feedback_msg: Inference_FeedbackMessage) -> None:
         self.get_logger().info(f"{feedback_msg.feedback.text}")
 
     def info_string(self) -> str:
         return (

diff --git a/whisper_server/src/inference_node.cpp b/whisper_server/src/inference_node.cpp
@@ -113,13  113,6 @@ void InferenceNode::on_inference_accepted_(const std::shared_ptr<GoalHandleInfer
 
   while (rclcpp::ok() &&
          node_ptr_->now() - loop_start_time < goal_handle->get_goal()->max_duration) {
-    // if (goal_handle->get_goal()->max_duration.sec != 0 && // run until goal is canceled
-    //     goal_handle->get_goal()->max_duration.nanosec != 0 &&
-    //     node_ptr_->now() - loop_start_time < goal_handle->get_goal()->max_duration) {
-    //   RCLCPP_INFO(node_ptr_->get_logger(), "Exiting inference on time limit.");
-    //   break;
-    // }
-
     // run inference
     auto text = inference_(batched_buffer_.dequeue());
 
@@ -128,14  121,11 @@ void InferenceNode::on_inference_accepted_(const std::shared_ptr<GoalHandleInfer
       result->text.push_back(feedback->text);
     }
     feedback->text = text;
     feedback->batch_idx = batched_buffer_.batch_idx();
     goal_handle->publish_feedback(feedback);
   }
   running_inference_ = false;
 
-  // goal_handle->canceled
-  // goal_handle->is_canceling
-  // goal_handle->publish_feedback
-
   goal_handle->succeed(result);
 }