Feature: public topic /speaker_done. fixes #6

app/src/main/java/cn/ac/iscas/xlab/droidfacedog/PostImageForRecognitionAsync.java

@@ -195,6 +195,7 @@ protected void onPostExecute(Integer result) {
         } else {
             activity.prepareGreetingTTS();
         }
+
         Log.w(XLAB, "activity.startPlayTTS();");
         activity.startPlayTTS();
     }

app/src/main/java/cn/ac/iscas/xlab/droidfacedog/RosBridgeCommunicateThread.java

@@ -0,0 +1,100 @@
+package cn.ac.iscas.xlab.droidfacedog;
+
+import android.os.HandlerThread;
+import android.util.Log;
+
+import com.jilk.ros.rosbridge.ROSBridgeClient;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Timer;
+import java.util.TimerTask;
+
+/**
+ * Created by lazyparser on 4/3/17.
+ */
+
+public final class RosBridgeCommunicateThread<T> extends HandlerThread {
+
+    private static final String TAG = "RosThread";
+    public static final int DEFAULT_FREQ;
+    public static final int DEFAULT_DELAY;
+
+    static {
+        DEFAULT_DELAY = 1000; // 1000ms = delay 1s
+        DEFAULT_FREQ = 1000; // 100ms = 10Hz
+    }
+
+    private boolean mSpeakerDone;
+    private Timer timer;
+    private ROSBridgeClient mRosClient;
+
+    public RosBridgeCommunicateThread(ROSBridgeClient rosClient) {
+        super(TAG);
+        timer = new Timer();
+        mSpeakerDone = false;
+        mRosClient = rosClient;
+    }
+
+    public boolean publishTopic(String topic, String init, int freq) {
+        // TODO: Stub
+        return true;
+    }
+
+    public boolean publishTopic(final String topic, final boolean init, int freq) {
+        // TODO: stub
+
+        return true;
+    }
+
+    public boolean beginPublishTopicSpeakerDone() {
+        final String topic = "/speaker_done";
+        // Spec: Advertise before publish
+        // https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md
+        //        { "op": "advertise",
+        //                (optional) "id": <string>,
+        //                "topic": <string>,
+        //                "type": <string>
+        //        }
+
+        // unadvertise the topic for debug convenience.
+        final String msgUnadvertise = "{\"op\": \"unadvertise\", \"topic\": \"" +
+                topic + "\"}";
+        mRosClient.send(msgUnadvertise);
+        Log.d(TAG, "ROS SEND " + msgUnadvertise);
+
+        try {
+            // sleep 3 sec for server delay.
+            sleep(3000);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
+
+        final String msgAdvertise = "{\"op\": \"advertise\", \"topic\": \"" +
+                topic + "\", \"type\": \"std_msgs/Bool\"}";
+        mRosClient.send(msgAdvertise);
+        Log.d(TAG, "ROS SEND " + msgAdvertise);
+
+        TimerTask timerTask = new TimerTask() {
+            @Override
+            public void run() {
+                // TODO: spent tooooooo much time on this string. Should be more efficient.
+                String msg = "{\"op\":\"publish\"," +
+                        "\"topic\":\"" + topic + "\"," +
+                        "\"msg\":{\"data\":" +
+                        (mSpeakerDone?"true":"false") +
+                        "}}";
+
+                mRosClient.send(msg);
+                Log.w(TAG,"ros send json: " + msg);
+            }
+        };
+
+        timer.schedule(timerTask, DEFAULT_DELAY, DEFAULT_FREQ);
+        return true;
+    }
+
+    public void updateSpeakerState(boolean state) {
+        mSpeakerDone = state;
+    }
+}

app/src/main/java/cn/ac/iscas/xlab/droidfacedog/XBotFace.java

@@ -266,12 +266,20 @@ public void onError(Exception ex) {
                 Log.d(TAG,"ROS communication error");
             }
         });
+
+        RosBridgeCommunicateThread thread = new RosBridgeCommunicateThread<PublishEvent>(client);
+        thread.start();
+        thread.getLooper();
+        ((XbotApplication)getApplication()).setRosThread(thread);
+        Log.i(TAG, "Background RosBridgeCommunicateThread thread started");
+        thread.beginPublishTopicSpeakerDone();
     }
 
     public void startPlayTTS() {
         if (isPlayingTTS)
             return;
         isPlayingTTS = true;
+        ((XbotApplication)getApplication()).getRosThread().updateSpeakerState(true);
         playNext();
     }
     private void loadTTS(final XBotFace xbotface) {
@@ -407,6 +415,9 @@ protected void onDestroy() {
         super.onDestroy();
 //        releaseSounds();
         resetData();
+        isPlayingTTS = false;
+        ((XbotApplication)getApplication()).getRosThread().updateSpeakerState(false);
+
         for (int i = 0; i < ttsList.size(); ++i) {
             MediaPlayer mp = ttsList.get(i);
             mp.stop();
@@ -481,6 +492,7 @@ public void surfaceChanged(SurfaceHolder surfaceHolder, int format, int width, i
     private void playNext() {
         if (ttsQueue.isEmpty()) {
             isPlayingTTS = false;
+            ((XbotApplication)getApplication()).getRosThread().updateSpeakerState(false);
             return;
         }
         MediaPlayer mp = ttsQueue.poll();

app/src/main/java/cn/ac/iscas/xlab/droidfacedog/XbotApplication.java

@@ -13,6 +13,16 @@ public class XbotApplication extends Application {
     private static final String TAG = "XBotApplication";
     ROSBridgeClient rosClient;
 
+    public RosBridgeCommunicateThread<PublishEvent> getRosThread() {
+        return mRosThread;
+    }
+
+    public void setRosThread(RosBridgeCommunicateThread<PublishEvent> rosThread) {
+        mRosThread = rosThread;
+    }
+
+    RosBridgeCommunicateThread<PublishEvent> mRosThread;
+
     public XbotApplication() {
         Log.d(TAG, "XbotApplication Instance has been created.");
     }
@@ -21,6 +31,10 @@ public XbotApplication() {
     public void onTerminate() {
         if(rosClient != null)
             rosClient.disconnect();
+        Log.i(TAG, "ROSBridge client destroyed");
+        if (mRosThread != null)
+            mRosThread.quit();
+        Log.i(TAG, "Background RosBridgeCommunicateThread thread destroyed");
         super.onTerminate();
     }