From b4828ae39105fe61112c7676bef7fe98be041094 Mon Sep 17 00:00:00 2001
From: mhubii <m.huber_1994@hotmail.de>
Date: Thu, 31 Aug 2023 17:04:07 +0100
Subject: [PATCH] updated demo

---
 whisper_demos/whisper_demos/whisper_on_key.py | 13 ++++---------
 whisper_server/src/inference_node.cpp         | 12 +-----------
 2 files changed, 5 insertions(+), 20 deletions(-)

diff --git a/whisper_demos/whisper_demos/whisper_on_key.py b/whisper_demos/whisper_demos/whisper_on_key.py
index 2ebcc39..2d4312e 100644
--- 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
index 2790bd7..93b520b 100644
--- 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);
 }