Merge branch 'master' into feature/asynchronous-skills

armarx_speech/memory_stop_listener.py

@@ -11,6 +11,7 @@ from armarx_memory.segments.TextToSpeech import TextToSpeechWriter
 
 from armarx_speech.stop_hook import StopHook
 
+import Ice
 
 class MemoryStopListener:
     """
@@ -64,8 +65,20 @@ class MemoryStopListener:
 
 
     def fetch_updates(self, updated_ids: ty.List["MemoryID"]):
-        updated_ids = [updated_id for updated_id in updated_ids if "/text/" in str(updated_id)]
-        snapshots_dict = self.stt_reader.reader.query_snapshots(updated_ids)
+        updated_ids = [updated_id for updated_id in updated_ids if updated_id.entity_name == "text"]
+        try:
+            snapshots_dict = self.stt_reader.reader.query_snapshots(updated_ids)
+        except Ice.ConnectionRefusedException as e:
+            self.log.warning("Reconnecting SpeechToTextReader ...")
+            self.stt_reader = SpeechToTextReader.from_mns(self.mns)
+            try:
+                snapshots_dict = self.stt_reader.reader.query_snapshots(updated_ids)
+                self.log.info("SpeechToTextReader is OK.")
+            except Ice.ConnectionRefusedException as e:
+                # Give up
+                self.log.warning("Failed to reconnect SpeechToTextReader.")
+                return
+
         for snapshot in snapshots_dict.values():
             data = SpeechToText.from_aron_ice(snapshot.instances[0].data)
             for command in self.STOP_COMMANDS:
@@ -75,10 +88,22 @@ class MemoryStopListener:
                     break
 
     def say_stop(self):
-        self.tts_writer.commit(
-            entity_id=self.tts_writer.make_entity_name(self.name),
-            text="stopping",
-        )
+        try:
+            self.tts_writer.commit(
+                entity_id=self.tts_writer.make_entity_name(self.name),
+                text="stopping",
+            )
+        except Ice.ConnectionRefusedException as e:
+            self.mns = MemoryNameSystem.wait_for_mns(logger=self.log)
+            self.tts_writer = TextToSpeechWriter.from_mns(self.mns)
+            try:
+                self.tts_writer.commit(
+                    entity_id=self.tts_writer.make_entity_name(self.name),
+                    text="stopping",
+                )
+            except Ice.ConnectionRefusedException as e:
+                self.log.warning("Failed to reconnect SpeechToTextReader.")
+                return
 
     def send_stop(self):
         t_total_start = time.time()