Fixes an issue that memory keeps growing when there is no recognition…

… request. (#23)
CogRob · Sep 17, 2018 · d536a3d · d536a3d
1 parent 928b63c
commit d536a3d
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Showing 2 changed files with 14 additions and 3 deletions.
diff --git a/gcloud_speech/src/speech_to_text_action_handler.cc b/gcloud_speech/src/speech_to_text_action_handler.cc
@@ -19,6 +19,7 @@ SpeechToTextActionHandler::SpeechToTextActionHandler(
     SpeechToTextSimpleActionServer* simple_action_server) {
   recognizer_ = recognizer;
   simple_action_server_ = simple_action_server;
+  is_active_.store(false);
 }
 
 
@@ -30,16 +31,19 @@ void SpeechToTextActionHandler::AudioMsgCallback(
       DCHECK(false);
       return;
   }
-  std::unique_ptr<speech::AudioSample> audio_sample(
-      new speech::AudioSample(msg->data));
-  audio_queue_.push(std::move(audio_sample));
+  if (is_active_.load()) {
+    std::unique_ptr<speech::AudioSample> audio_sample(
+        new speech::AudioSample(msg->data));
+    audio_queue_.push(std::move(audio_sample));
+  }
 }
 
 void SpeechToTextActionHandler::ExecuteSpeechToTextAction(
     const gcloud_speech_msgs::SpeechToTextGoalConstPtr& goal) {
   audio_queue_.clear();
   result_queue_.clear();
   recognizer_->Stop();
+  is_active_.store(true);
 
   int max_audio_seconds = goal->listen_duration_sec;
   if (max_audio_seconds == 0) {
@@ -118,6 +122,7 @@ void SpeechToTextActionHandler::ExecuteSpeechToTextAction(
   } else {
     simple_action_server_->setSucceeded(result_msg);
   }
+  is_active_.store(false);
 }
 
 }  // namespace gcloud_speech
diff --git a/gcloud_speech/src/speech_to_text_action_handler.h b/gcloud_speech/src/speech_to_text_action_handler.h
@@ -1,6 +1,8 @@
 #ifndef SPEECH_TO_TEXT_ACTION_HANDLER_H_
 #define SPEECH_TO_TEXT_ACTION_HANDLER_H_
 
+#include <atomic>
+
 #include "actionlib/server/simple_action_server.h"
 #include "gcloud_speech_msgs/SpeechToTextAction.h"
 #include "gcloud_speech_msgs/RecognitionHypothesis.h"
@@ -36,6 +38,10 @@ class SpeechToTextActionHandler {
   // AudioMsgCallback function.
   cogrob::cloud::speech::AudioQueue audio_queue_;
 
+  // is_active_ indicates whether the action server is active. This handler will
+  // only record audio if the action server is active.
+  std::atomic_bool is_active_;
+
   // result_queue_ contains results from recognizer_.
   util::SimpleThreadSafeQueue<cogrob::cloud::speech::RecognitionResult>
       result_queue_;