From b8331565bd4de263aca3abf31531c34fbab04be9 Mon Sep 17 00:00:00 2001
From: Jake Wilkinson <realrobotshk@gmail.com>
Date: Sun, 9 Nov 2025 22:32:33 +0800
Subject: [PATCH] voice_to_text_node now posts to voice_to_text, and data json
 includes whether message is partial or full text

---
 .../voice_to_text_node/voice_to_text_node.py  | 29 +++++++++++--------
 1 file changed, 17 insertions(+), 12 deletions(-)

diff --git a/src/voice_to_text_node/voice_to_text_node/voice_to_text_node.py b/src/voice_to_text_node/voice_to_text_node/voice_to_text_node.py
index eb33196..9c7a8cc 100755
--- a/src/voice_to_text_node/voice_to_text_node/voice_to_text_node.py
+++ b/src/voice_to_text_node/voice_to_text_node/voice_to_text_node.py
@@ -29,27 +29,31 @@ latest_result = {"text": ""}
 class VoicePublisher(ThreadedNode):
     def __init__(self):
         super().__init__(package_name)
-        self.string_pub = self.create_publisher(String, package_name + '/test_topic', 10)
+        self.string_pub = self.create_publisher(String, package_name + '/voice_to_text', 10)
 
-        self.prev_partial = ""
-        self.prev_text = ""
+        self.prev_partial = None
+        self.prev_text = None
 
         self.speech_thread = threading.Thread(target=self.speech_loop, daemon=True)
         self.speech_thread.start()
 
     def publish_if_changed(self, key, new_value):
-        if key == "partial" and new_value != self.prev_partial:
-            self.prev_partial = new_value
-            self._publish(new_value)
-        elif key == "text" and new_value != self.prev_text:
-            self.prev_text = new_value
-            self._publish(new_value)
+        if key == "partial":
+            if new_value and new_value != self.prev_partial:
+                self.prev_partial = new_value
+                self._publish("partial", new_value)
+        elif key == "text":
+            if new_value != self.prev_text:
+                self.prev_text = new_value
+                self._publish("text", new_value)
 
-    def _publish(self, data):
+
+    def _publish(self, kind, value):
         msg = String()
-        msg.data = data
+        msg.data = json.dumps({"type": kind, "data": value})
         self.string_pub.publish(msg)
-        self.get_logger().info(f'Published: {data}')
+        self.get_logger().info(f'Published: {msg.data}')
+
 
     def speech_loop(self):
         model = Model(model_path)
@@ -82,6 +86,7 @@ class VoicePublisher(ThreadedNode):
 
 
 
+
 def main():
     rclpy.init()
     node = VoicePublisher()