From f1c29ed71806f39b55b1a2a926bb36926cea00f5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E9=93=81=E9=94=A4?= <developer@sunfounder.com>
Date: Tue, 11 Aug 2026 18:22:44 +0800
Subject: [PATCH] fix(example): J-key voice command ack protocol to stop stale
 repeats

- Edge-triggered voice commands: only execute on new command (None/'' -> command),
  so repeated identical commands (e.g. consecutive "forward") trigger again
- Ack protocol with App: device returns J:1 on receipt, executes the action,
  then returns J:0 when done so the App clears the pending command
- Fixes: voice command repeating the last recognition result forever
- Bump version to 0.0.4, add CHANGELOG and README notes
---
 CHANGELOG.md                     | 13 +++++++++++++
 README.md                        | 10 ++++++++++
 examples/picarx_control.py       | 20 ++++++++++++++------
 sunfounder_controller/version.py |  2 +-
 4 files changed, 38 insertions(+), 7 deletions(-)
 create mode 100644 CHANGELOG.md

diff --git a/CHANGELOG.md b/CHANGELOG.md
new file mode 100644
index 0000000..6d19d7c
--- /dev/null
+++ b/CHANGELOG.md
@@ -0,0 +1,13 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+## [0.0.4] - 2026-08-11
+
+- Fix voice control (J key) repeating the last recognition result in `picarx_control.py`
+- Add J-key ack protocol: device returns `1` on receipt (ack), then `0` when the action completes, so the App clears the pending command and repeated identical commands (e.g. consecutive "forward") trigger again
+- Edge-triggered voice command execution (empty/None -> command)
+
+## [0.0.2] - 2020-06-12
+
+- New Release
diff --git a/README.md b/README.md
index 58b53dc..e1b3137 100644
--- a/README.md
+++ b/README.md
@@ -10,6 +10,16 @@
     - set(key='A_region', value=None)    
         send value
 
+## Voice control (J key)
+
+In `picarx_control.py`, the J key uses an ack protocol with the App:
+
+1. Device receives a voice command (`J`) → sends `J: 1` (ack, action in progress)
+2. Device executes the action (~0.3s, adjustable via `ack_ts` threshold)
+3. Device sends `J: 0` (action done) → App clears the pending command
+
+This prevents the last voice command from repeating forever and allows repeated identical commands to trigger again (edge-triggered).
+
 
 
 Quick Links:
diff --git a/examples/picarx_control.py b/examples/picarx_control.py
index bd0d228..2fa6a39 100644
--- a/examples/picarx_control.py
+++ b/examples/picarx_control.py
@@ -3,6 +3,7 @@
 from robot_hat import utils, Music
 from vilib import Vilib
 import os
+import time
 from time import sleep
 
 utils.reset_mcu()
@@ -85,6 +86,7 @@ def main():
     Vilib.camera_start(vflip=False,hflip=False)
     Vilib.display(local=False, web=True)
     speak = None
+    ack_ts = 0
     while True:
         # sleep(0.2)
 
@@ -101,12 +103,18 @@ def main():
         # sc.set("L", [0,distance])
         sc.set("F", distance)
 
-        # if sc.get('J') == True:
-        #     horn()
-
-        # print(sc.get('J'), type(sc.get('J')), speak)
-        if sc.get('J') != None:
-            speak=sc.get('J')
+        # ---- J-key voice protocol: receive → ack(1) → execute → done(0, App clears) ----
+        j = sc.get('J')
+        if j not in (None, ''):              # voice command present
+            if j != speak:                   # edge-trigger: only run on new command (repeat allowed)
+                speak = j
+                sc.set("J", 1)              # ① ack: tell App we're handling it
+                ack_ts = time.time()
+        else:
+            if speak is not None and time.time() - ack_ts > 0.3:   # ② ack(1) sent long enough for App to receive
+                sc.set("J", 0)              # ③ done: App clears the send value
+                speak = None                 # ④ reset, ready for next command
+        # ----
         if speak == "forward":
             px.forward(speed)
         elif speak == "backward":
diff --git a/sunfounder_controller/version.py b/sunfounder_controller/version.py
index a0235ce..221ce5d 100644
--- a/sunfounder_controller/version.py
+++ b/sunfounder_controller/version.py
@@ -1 +1 @@
-__version__ = "0.0.2"
\ No newline at end of file
+__version__ = "0.0.4"
\ No newline at end of file