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[fix] tmp

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jieshoudaxue
2023-09-22 15:26:31 +08:00
parent aa0daa890e
commit 83b5d8b0b9
8 changed files with 416 additions and 18 deletions
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robot_voice/CMakeLists.txt
+30 -16
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@@ -12,6 +12,7 @@ find_package(catkin REQUIRED COMPONENTS
rospy
std_msgs
geometry_msgs
message_generation
)
## System dependencies are found with CMake's conventions
@@ -55,11 +56,10 @@ find_package(catkin REQUIRED COMPONENTS
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
add_service_files(
FILES
StringToVoice.srv
)
## Generate actions in the 'action' folder
# add_action_files(
@@ -69,10 +69,10 @@ find_package(catkin REQUIRED COMPONENTS
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
@@ -106,7 +106,7 @@ find_package(catkin REQUIRED COMPONENTS
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES robot_voice
# CATKIN_DEPENDS roscpp rospy std_msgs
CATKIN_DEPENDS message_runtime roscpp rospy std_msgs
# DEPENDS system_lib
)
@@ -134,11 +134,14 @@ include_directories(
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(voice_controller
src/voice_controller.cpp
add_executable(voice_to_string
src/voice_to_string.cpp
ifly/speech_recognizer.c
ifly/linuxrec.c)
add_executable(robot_controller src/robot_controller.cpp)
add_executable(string_to_voice src/string_to_voice.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
@@ -155,10 +158,21 @@ add_executable(voice_controller
# ${catkin_LIBRARIES}
# )
target_link_libraries(voice_controller
${catkin_LIBRARIES}
libmsc.so -ldl -lpthread -lm -lrt -lasound
)
target_link_libraries(voice_to_string
${catkin_LIBRARIES}
libmsc.so -ldl -lpthread -lm -lrt -lasound
)
add_dependencies(robot_controller ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(robot_controller
${catkin_LIBRARIES}
)
add_dependencies(string_to_voice ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(string_to_voice
${catkin_LIBRARIES}
libmsc.so -ldl -pthread
)
#############
## Install ##
robot_voice/package.xml
+7 -1
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@@ -53,15 +53,21 @@
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>message_runtime</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>message_generation</build_export_depend>
<build_export_depend>message_runtime</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>message_generation</exec_depend>
<exec_depend>message_runtime</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
robot_voice/src/ifly_spark.cpp
View File
robot_voice/src/robot_controller.cpp
View File
robot_voice/src/string_to_voice.cpp
+208
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@@ -0,0 +1,208 @@
#include <ros/ros.h>
#include <stdio.h>
#include <signal.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include "ifly/qisr.h"
#include "ifly/qtts.h"
#include "ifly/msp_cmn.h"
#include "ifly/formats.h"
#include "ifly/msp_errors.h"
#include "ifly/speech_recognizer.h"
#include <robot_voice/StringToVoice.h>
class Helper {
public:
static void SignalHandler(int signal) {
ROS_INFO("\nCaught signal %d. Exiting gracefully...\n", signal);
exit(0);
}
};
class VoiceResponse {
public:
VoiceResponse() {
ROS_INFO("voice Response Constructor");
}
~VoiceResponse() {
ROS_INFO("voice Response Destructor ");
}
int ProcessTxt(std::string& txt) {
int ret = -1;
FILE* fp = NULL;
const char* sessionID = NULL;
unsigned int audio_len = 0;
int synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA;
WavePcmHdr_t wav_hdr = {
{ 'R', 'I', 'F', 'F' },
0,
{'W', 'A', 'V', 'E'},
{'f', 'm', 't', ' '},
16,
1,
1,
16000,
32000,
2,
16,
{'d', 'a', 't', 'a'},
0
};
const char* src_text = txt.c_str();
const char* des_path = filename_.c_str();
const char* params = session_begin_params_.c_str();
if (NULL == src_text || NULL == des_path) {
ROS_ERROR("params is error!");
return ret;
}
fp = fopen(des_path, "wb");
if (NULL == fp) {
ROS_ERROR("open %s error", des_path);
return ret;
}
/* 开始合成 */
sessionID = QTTSSessionBegin(params, &ret);
if (MSP_SUCCESS != ret) {
ROS_ERROR("QTTSSessionBegin failed, error code: %d", ret);
fclose(fp);
return ret;
}
ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL);
if (MSP_SUCCESS != ret) {
ROS_ERROR("QTTSTextPut failed, error code: %d",ret);
QTTSSessionEnd(sessionID, "TextPutError");
fclose(fp);
return ret;
}
printf("正在合成 ...\n");
fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头，使用采样率为16000
while (1) {
/* 获取合成音频 */
const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret);
if (MSP_SUCCESS != ret) {
break;
}
if (NULL != data) {
fwrite(data, audio_len, 1, fp);
wav_hdr.data_size += audio_len; //计算data_size大小
}
if (MSP_TTS_FLAG_DATA_END == synth_status) {
break;
}
printf(">");
usleep(150*1000); //防止频繁占用CPU
}
printf("\n");
if (MSP_SUCCESS != ret) {
ROS_ERROR("QTTSAudioGet failed, error code: %d",ret);
QTTSSessionEnd(sessionID, "AudioGetError");
fclose(fp);
return ret;
}
/* 修正wav文件头数据的大小 */
wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8);
/* 将修正过的数据写回文件头部,音频文件为wav格式 */
fseek(fp, 4, 0);
fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值
fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置
fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值
fclose(fp);
fp = NULL;
/* 合成完毕 */
ret = QTTSSessionEnd(sessionID, "Normal");
if (MSP_SUCCESS != ret) {
ROS_ERROR("QTTSSessionEnd failed, error code: %d", ret);
return ret;
}
fp = popen(play_cmd_.c_str(),"r");
if (fp == NULL) {
ROS_ERROR("play /tmp/tts_sample.wav failed");
return -1;
}
pclose(fp);
return 0;
}
bool Speeking(robot_voice::StringToVoice::Request &req, robot_voice::StringToVoice::Response &resp) {
int ret = -1;
ret = ProcessTxt(req.data);
if (MSP_SUCCESS != ret) {
ROS_ERROR("AnswerVoice failed, error code: %d", ret);
resp.success = false;
return false;
} else {
resp.success = true;
}
return resp.success;
}
void Start(ros::NodeHandle& nh) {
server_ = nh.advertiseService("str2voice", &VoiceResponse::Speeking, this);
ROS_INFO("voice Response Start");
}
private:
ros::ServiceServer server_;
const std::string session_begin_params_ =
"voice_name = xiaoyan, text_encoding = utf8, "
"sample_rate = 16000, speed = 50, volume = 50, "
"pitch = 50, rdn = 2";
const std::string filename_ = "/tmp/tts_sample.wav"; //合成的语音文件名称
const std::string play_cmd_ = "play /tmp/tts_sample.wav";
/* wav音频头部格式 */
typedef struct WavePcmHdr {
char riff[4]; // = "RIFF"
int size_8; // = FileSize - 8
char wave[4]; // = "WAVE"
char fmt[4]; // = "fmt "
int fmt_size; // = 下一个结构体的大小 : 16
short int format_tag; // = PCM : 1
short int channels; // = 通道数 : 1
int samples_per_sec; // = 采样率 : 8000 | 6000 | 11025 | 16000
int avg_bytes_per_sec; // = 每秒字节数 : samples_per_sec * bits_per_sample / 8
short int block_align; // = 每采样点字节数 : wBitsPerSample / 8
short int bits_per_sample; // = 量化比特数: 8 | 16
char data[4]; // = "data";
int data_size; // = 纯数据长度 : FileSize - 44
} WavePcmHdr_t;
};
int main(int argc, char ** argv) {
ros::init(argc, argv, "string_to_voice");
ros::NodeHandle nh;
if (signal(SIGINT, Helper::SignalHandler) == SIG_ERR) {
return -1;
}
VoiceResponse vr;
vr.Start(nh);
ros::spin();
return 0;
}
robot_voice/src/voice_controller.cpp
-1
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@@ -1,4 +1,3 @@
#include <ros/ros.h>
#include <stdio.h>
#include <signal.h>
#include <stdlib.h>
robot_voice/src/voice_to_string.cpp
+168
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@@ -0,0 +1,168 @@
#include <ros/ros.h>
#include <stdio.h>
#include <signal.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include "ifly/qisr.h"
#include "ifly/qtts.h"
#include "ifly/msp_cmn.h"
#include "ifly/formats.h"
#include "ifly/msp_errors.h"
#include "ifly/speech_recognizer.h"
#include <std_msgs/String.h>
class Helper {
public:
static void SignalHandler(int signal) {
ROS_INFO("\nCaught signal %d. Exiting gracefully...\n", signal);
exit(0);
}
};
class VoiceDetector {
public:
VoiceDetector() {
ROS_INFO("voice detector Constructor");
}
~VoiceDetector() {
ROS_INFO("voice detector Destructor ");
}
int Init() {
int ret = MSP_SUCCESS;
ret = MSPLogin(NULL, NULL, login_params_.c_str());
if (MSP_SUCCESS != ret) {
ROS_ERROR("MSPLogin failed , Error code %d", ret);
MSPLogout(); // Logout...
return -1;
}
ROS_INFO("MSP Login for update, waiting for seconds...");
return 0;
}
static void JoinTxt(const char *result, char is_last) {
if (result) {
std::string slice_txt = result;
VoiceDetector::voice_txt_ += slice_txt;
}
if (is_last) {
printf("voice txt : %s\n", VoiceDetector::voice_txt_.c_str());
}
}
static void InitSpeech() {
VoiceDetector::voice_txt_ = "";
printf("Start Listening...\n");
}
static void EndSpeech(int reason) {
if (reason == END_REASON_VAD_DETECT) {
printf("\nSpeaking done \n");
} else {
printf("\nRecognizer error %d\n", reason);
}
}
int SpeechOnce() {
int ret;
int i = 0;
struct speech_rec iat;
struct speech_rec_notifier recnotifier = {
JoinTxt,
InitSpeech,
EndSpeech
};
ret = sr_init(&iat, session_begin_params_.c_str(), SR_MIC, &recnotifier);
if (ret) {
ROS_ERROR("speech recognizer init failed");
return -1;
}
ret = sr_start_listening(&iat);
if (ret) {
printf("start listen failed %d\n", ret);
}
/* demo 15 seconds recording */
sleep(15);
ret = sr_stop_listening(&iat);
if (ret) {
printf("stop listening failed %d\n", ret);
}
sr_uninit(&iat);
return 0;
}
static std::string get_voice_txt_() {
return voice_txt_;
}
private:
const std::string login_params_ = "appid = bb839ccf, work_dir = .";
const std::string session_begin_params_ =
"sub = iat, domain = iat, language = zh_cn, "
"accent = mandarin, sample_rate = 16000, "
"result_type = plain, result_encoding = utf8";
const uint32_t BufferSize = 4096;
uint64_t g_buffersize = BufferSize;
static std::string voice_txt_;
};
std::string VoiceDetector::voice_txt_ = "";
int main(int argc, char* argv[]) {
int ret = 0;
ros::init(argc, argv, "voice_to_string");
ros::NodeHandle nh;
ros::Publisher str_pub_ = nh.advertise<std_msgs::String>("/human/chatter", 1000);
if (signal(SIGINT, Helper::SignalHandler) == SIG_ERR) {
return -1;
}
VoiceDetector vd;
ret = vd.Init();
if (ret < 0) {
return -1;
}
while (1) {
ret = vd.SpeechOnce();
if (ret < 0) {
return -1;
}
std::string voice_txt = VoiceDetector::get_voice_txt_();
if (voice_txt == "") {
continue;
} else if (voice_txt.find("结束") != std::string::npos) {
break;
}
std_msgs::String msg;
msg.data = voice_txt;
str_pub_.publish(msg);
}
ros::spin();
return 0;
}
robot_voice/srv/StringToVoice.srv
+3
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@@ -0,0 +1,3 @@
string data
---
bool success