1.AR.Drone的JAVA API搭建
AR.Drone的java api其实就是一个socket链接和命令发送的模块。
AR.Drone的命令格式如下：
UI_BIT:
00010001010101000000000000000000
| | | | | || | ||||+--0: Button turn to left
| | | | | || | |||+---1: Button altitude down (ah - ab)
| | | | | || | ||+----2: Button turn to right
| | | | | || | |+-----3: Button altitude up (ah - ab)
| | | | | || | +------4: Button - z-axis (r1 - l1)
| | | | | || +--------6: Button + z-axis (r1 - l1)
| | | | | |+----------8: Button emergency reset all
| | | | | +-----------9: Button Takeoff / Landing
| | | | +-------------------18: y-axis trim +1 (Trim increase at +/- 1??/s)
| | | +---------------------20: x-axis trim +1 (Trim increase at +/- 1??/s)
| | +-----------------------22: z-axis trim +1 (Trim increase at +/- 1??/s)
| +-------------------------24: x-axis +1
+-----------------------------28: y-axis +1
AT*REF=<sequence>,<UI>
AT*PCMD=<sequence>,<enable>,<pitch>,<roll>,<gaz>,<yaw>
(float)0.05 = (int)1028443341 (float)-0.05 = (int)-1119040307
(float)0.1 = (int)1036831949 (float)-0.1 = (int)-1110651699
(float)0.2 = (int)1045220557 (float)-0.2 = (int)-1102263091
(float)0.5 = (int)1056964608 (float)-0.5 = (int)-1090519040
AT*ANIM=<sequence>,<animation>,<duration>
AT*CONFIG=<sequence>,\"<name>\",\"<value>\"
########## 命令模式 ############
Usage: java ARDrone <IP> <AT command>
altitude max2m: java ARDrone 192.168.1.1 AT*CONFIG=1,\"control:altitude_max\",\"2000\"
Takeoff: java ARDrone 192.168.1.1 AT*REF=1,290718208
Landing: java ARDrone 192.168.1.1 AT*REF=1,290717696
Hovering: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,0,0,0
gaz 0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,0,1036831949,0
gaz -0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,0,-1110651699,0
pitch 0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,1036831949,0,0,0
pitch -0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,-1110651699,0,0,0
yaw 0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,0,0,1036831949
yaw -0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,0,0,-1110651699
roll 0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,1036831949,0,0
roll -0.1: java ARDrone 192.168.1.1 AT*PCMD=1,1,0,-1110651699,0,0
pitch -30 deg: java ARDrone 192.168.1.1 AT*ANIM=1,0,1000
pitch 30 deg: java ARDrone 192.168.1.1 AT*ANIM=1,1,1000
Emergency java ARDrone 192.168.1.1 AT*REF=1,290717952
/*
* public void send_pcmd(int enable, float pitch, float roll, float gaz,
* float yaw) throws Exception { System.out.println("Speed: " + speed);
* send_at_cmd("AT*SEQ=" + get_seq()); send_at_cmd("AT*RADGP=" +
* (short)(pitch*25000) + ", " + (short)(roll*25000) + ", " +
* (short)(gaz*25000) + ", " + (short)(yaw*25000)); }
*/
public synchronized void send_at_cmd(String at_cmd) throws Exception {
at_cmd_last = at_cmd;
byte[] buf_snd = (at_cmd + "\r").getBytes();
final DatagramPacket packet_snd = new DatagramPacket(buf_snd, buf_snd.length,
inet_addr, ARDrone.AT_PORT);
new Thread() {
public void run() {
try {
socket_at.send(packet_snd);
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}.start();
}
然后指令包装成实体指令，比如起飞。
public void takeoff() {
try {
ardrone.send_at_cmd("AT*REF="
+ ardrone.get_seq()
+ ",290718208");
} catch (Exception e) {
e.printStackTrace();
}
}
具体代码看工程文件。
2.与科大讯飞语音识别集成
集成前把 mainfest.xml文件里加几个权限配置
<uses-permission android:name="android.permission.INTERNET" />
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
<uses-permission android:name="android.permission.RECORD_AUDIO" />
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
<uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
<uses-permission android:name="android.permission.CHANGE_NETWORK_STATE" />
<uses-permission android:name="android.permission.READ_PHONE_STATE" />
<uses-permission android:name="android.permission.READ_CONTACTS" />
<uses-permission android:name="android.permission.MOUNT_UNMOUNT_FILESYSTEMS"/>
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
<uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
<uses-permission android:name="android.permission.WRITE_SETTINGS" />主要是网络，话筒，sd卡读写权限。
然后到
科大讯飞SDK下载离线命令词识别的安卓sdk。
然后把sdk的demo里的AsrDemo复制到工程里。
import com.iflytek.cloud.ErrorCode;
import com.iflytek.cloud.GrammarListener;
import com.iflytek.cloud.InitListener;
import com.iflytek.cloud.LexiconListener;
import com.iflytek.cloud.RecognizerListener;
import com.iflytek.cloud.RecognizerResult;
import com.iflytek.cloud.SpeechConstant;
import com.iflytek.cloud.SpeechError;
import com.iflytek.cloud.SpeechRecognizer;
import com.iflytek.cloud.SpeechUtility;
import com.iflytek.cloud.util.ContactManager;
import com.iflytek.cloud.util.ContactManager.ContactListener;
import com.iflytek.cloud.util.ResourceUtil;
import com.iflytek.cloud.util.ResourceUtil.RESOURCE_TYPE;
import com.android.ardronepilot.speech.util.FucUtil;
import com.android.ardronepilot.speech.util.JsonParser;
import com.android.ardronepilot.speech.util.XmlParser;
然后主要问题是语法命令配置和按语法词典识别语音命令了。
如下代码段是命令监听部分：
/**
* 识别监听器。
*/
private RecognizerListener mRecognizerListener = new RecognizerListener() {
int isConn = 0;
@Override
public void onVolumeChanged(int volume, byte[] data) {
showTip("当前正在说话，音量大小：" + volume);
Log.d(TAG, "返回音频数据："+data.length);
}
@Override
public void onResult(final RecognizerResult result, boolean isLast) {
if (null != result && !TextUtils.isEmpty(result.getResultString())) {
Log.d(TAG, "recognizer result：" + result.getResultString());
String text = "";
if (mResultType.equals("json")) {
text = JsonParser.parseGrammarResult(result.getResultString(), mEngineType).trim();
} else if (mResultType.equals("xml")) {
text = XmlParser.parseNluResult(result.getResultString()).trim();
}
if(text.equals("连接")&&isConn==0){
new Thread() {
public void run() {
try {
drone = new ARDroneAPI();
isConn = 1;
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} catch (Exception e) {
e.printStackTrace();
}
}
}.start();
} else if (text.equals("断开")&&isConn==1) {
drone.disbleEmergency();
isConn=0;
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("起飞")&&isConn==1) {
mStarted = true;
drone.takeoff();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("降落")&&isConn==1) {
drone.landing();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("上")&&isConn==1) {
drone.up();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("下")&&isConn==1) {
drone.down();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("左")&&isConn==1) {
drone.rotatel();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("右")&&isConn==1) {
drone.rotater();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("前")&&isConn==1) {
drone.goForward();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("后")&&isConn==1) {
drone.goBackward();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("悬浮")&&isConn==1) {
drone.hovering();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if(isConn==0) {
Toast.makeText(getApplicationContext(), "请说连接命令", Toast.LENGTH_SHORT).show();
}else{
Toast.makeText(getApplicationContext(), "无法匹配命令词，请重新发送命令", Toast.LENGTH_SHORT).show();
}
// 显示
//((EditText) findViewById(R.id.isr_text)).setText(text);
} else {
Log.d(TAG, "recognizer result : null");
}
}
这个两个文件是安卓工程目录的asset文件夹下的离线语法词典和云端语法词典。离线语法词典格式如下：
#BNF+IAT 1.0 UTF-8;
!grammar call;
!slot <command>;
!start <commandStart>;
<commandStart>:<command>;
<command>:连接|断开|起飞|降落|上|下|右|左|前|后|悬浮;
云端语法词典格式如下：
#BNF+IAT 1.0 UTF-8;
!grammar call;
!slot <command>;
!start <commandStart>;
<commandStart>:<command>;
<command>:连接|断开|起飞|降落|上|下|右|左|前|后|悬浮;#ABNF 1.0 UTF-8;
language zh-CN;
mode voice;
root $main;
$main = $command;
$command = 连接|断开|起飞|降落|上|下|右|左|前|后|悬浮;3.AsrDemoActivty代码
package com.android.ardronepilot;
import android.annotation.SuppressLint;
import android.app.Activity;
import android.content.Context;
import android.content.SharedPreferences;
import android.content.SharedPreferences.Editor;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.location.Location;
import android.location.LocationListener;
import android.location.LocationManager;
import android.os.Bundle;
import android.os.Environment;
import android.text.TextUtils;
import android.util.Log;
import android.view.View;
import android.view.View.OnClickListener;
import android.view.Window;
import android.widget.EditText;
import android.widget.RadioGroup;
import android.widget.RadioGroup.OnCheckedChangeListener;
import android.widget.TextView;
import android.widget.Toast;
import com.iflytek.cloud.ErrorCode;
import com.iflytek.cloud.GrammarListener;
import com.iflytek.cloud.InitListener;
import com.iflytek.cloud.LexiconListener;
import com.iflytek.cloud.RecognizerListener;
import com.iflytek.cloud.RecognizerResult;
import com.iflytek.cloud.SpeechConstant;
import com.iflytek.cloud.SpeechError;
import com.iflytek.cloud.SpeechRecognizer;
import com.iflytek.cloud.SpeechUtility;
import com.iflytek.cloud.util.ContactManager;
import com.iflytek.cloud.util.ContactManager.ContactListener;
import com.iflytek.cloud.util.ResourceUtil;
import com.iflytek.cloud.util.ResourceUtil.RESOURCE_TYPE;
import com.android.ardronepilot.speech.util.FucUtil;
import com.android.ardronepilot.speech.util.JsonParser;
import com.android.ardronepilot.speech.util.XmlParser;
public class AsrDemo extends Activity implements OnClickListener,LocationListener,SensorEventListener {
private ARDroneAPI drone;
private LocationManager mLocationManager;
private SensorManager mSensorManager;
private Location mCurrentLocation;
private Location mTargetLocation;
private boolean mStarted = false;
private double mOrientation;
private int isConn = 0;
private static String TAG = AsrDemo.class.getSimpleName();
// 语音识别对象
private SpeechRecognizer mAsr;
private Toast mToast;
// 缓存
private SharedPreferences mSharedPreferences;
// 本地语法文件
private String mLocalGrammar = null;
// 本地词典
private String mLocalLexicon = null;
// 云端语法文件
private String mCloudGrammar = null;
// 本地语法构建路径
private String grmPath = Environment.getExternalStorageDirectory().getAbsolutePath() + "/pilot/test";
// 返回结果格式，支持：xml,json
private String mResultType = "json";
private final String KEY_GRAMMAR_ABNF_ID = "grammar_abnf_id";
private final String GRAMMAR_TYPE_ABNF = "abnf";
private final String GRAMMAR_TYPE_BNF = "bnf";
private String mEngineType = "cloud";
@SuppressLint("ShowToast")
public void onCreate(Bundle savedInstanceState)
{
super.onCreate(savedInstanceState);
this.requestWindowFeature(Window.FEATURE_NO_TITLE);
setContentView(R.layout.isrdemo);
initLayout();
StringBuffer param = new StringBuffer();
param.append("appid=59223c87");
param.append(",");
// 设置使用v5+
param.append(SpeechConstant.ENGINE_MODE+"="+SpeechConstant.MODE_MSC);
SpeechUtility.createUtility(AsrDemo.this, param.toString());
// 初始化识别对象
mAsr = SpeechRecognizer.createRecognizer(this, mInitListener);
// 初始化语法、命令词
mLocalLexicon = "连接\n断开\n起飞\n降落\n上\n下\n右\n左\n前\n后\n悬浮\n";
mLocalGrammar = FucUtil.readFile(this,"call.bnf", "utf-8");
mCloudGrammar = FucUtil.readFile(this,"grammar_sample.abnf","utf-8");
// 获取联系人，本地更新词典时使用
mSharedPreferences = getSharedPreferences(getPackageName(), MODE_PRIVATE);
mToast = Toast.makeText(this,"",Toast.LENGTH_SHORT);
mTargetLocation = new Location("target");
mTargetLocation.setLatitude(1.0);
mTargetLocation.setLongitude(1.0);
mCurrentLocation = new Location("cr");
mCurrentLocation.setLatitude(1.0);
mCurrentLocation.setLongitude(1.0);
}
/**
* 初始化Layout。
*/
private void initLayout(){
findViewById(R.id.isr_recognize).setOnClickListener(this);
findViewById(R.id.isr_grammar).setOnClickListener(this);
findViewById(R.id.isr_lexcion).setOnClickListener(this);
findViewById(R.id.isr_stop).setOnClickListener(this);
findViewById(R.id.isr_cancel).setOnClickListener(this);
//选择云端or本地
RadioGroup group = (RadioGroup)this.findViewById(R.id.radioGroup);
group.setOnCheckedChangeListener(new OnCheckedChangeListener() {
@Override
public void onCheckedChanged(RadioGroup group, int checkedId) {
if(checkedId == R.id.radioCloud)
{
((EditText)findViewById(R.id.isr_text)).setText(mCloudGrammar);
findViewById(R.id.isr_lexcion).setEnabled(false);
mEngineType = SpeechConstant.TYPE_CLOUD;
}else if(checkedId == R.id.radioLocal)
{
((EditText)findViewById(R.id.isr_text)).setText(mLocalGrammar);
findViewById(R.id.isr_lexcion).setEnabled(true);
mEngineType = SpeechConstant.TYPE_LOCAL;
}
}
});
}
String mContent;// 语法、词典临时变量
int ret = 0;// 函数调用返回值
@Override
public void onClick(View view) {
if( null == mAsr ){
// 创建单例失败，与 21001 错误为同样原因，参考 http://bbs.xfyun.cn/forum.php?mod=viewthread&tid=9688
this.showTip( "创建对象失败，请确认 libmsc.so 放置正确，\n 且有调用 createUtility 进行初始化" );
return;
}
if(null == mEngineType) {
showTip("请先选择识别引擎类型");
return;
}
switch(view.getId())
{
case R.id.isr_grammar:
showTip("上传预设关键词/语法文件");
// 本地-构建语法文件，生成语法id
if (mEngineType.equals(SpeechConstant.TYPE_LOCAL)) {
((EditText)findViewById(R.id.isr_text)).setText(mLocalGrammar);
mContent = new String(mLocalGrammar);
mAsr.setParameter(SpeechConstant.PARAMS, null);
// 设置文本编码格式
mAsr.setParameter(SpeechConstant.TEXT_ENCODING,"utf-8");
// 设置引擎类型
mAsr.setParameter(SpeechConstant.ENGINE_TYPE, mEngineType);
// 设置语法构建路径
mAsr.setParameter(ResourceUtil.GRM_BUILD_PATH, grmPath);
//使用8k音频的时候请解开注释
// mAsr.setParameter(SpeechConstant.SAMPLE_RATE, "8000");
// 设置资源路径
mAsr.setParameter(ResourceUtil.ASR_RES_PATH, getResourcePath());
ret = mAsr.buildGrammar(GRAMMAR_TYPE_BNF, mContent, grammarListener);
if(ret != ErrorCode.SUCCESS){
showTip("语法构建失败,错误码：" + ret);
}
}
// 在线-构建语法文件，生成语法id
else {
((EditText)findViewById(R.id.isr_text)).setText(mCloudGrammar);
mContent = new String(mCloudGrammar);
// 指定引擎类型
mAsr.setParameter(SpeechConstant.ENGINE_TYPE, mEngineType);
// 设置文本编码格式
mAsr.setParameter(SpeechConstant.TEXT_ENCODING,"utf-8");
ret = mAsr.buildGrammar(GRAMMAR_TYPE_ABNF, mContent, grammarListener);
if(ret != ErrorCode.SUCCESS)
showTip("语法构建失败,错误码：" + ret);
}
break;
// 本地-更新词典
case R.id.isr_lexcion:
((EditText)findViewById(R.id.isr_text)).setText(mLocalLexicon);
mContent = new String(mLocalLexicon);
mAsr.setParameter(SpeechConstant.PARAMS, null);
// 设置引擎类型
mAsr.setParameter(SpeechConstant.ENGINE_TYPE, SpeechConstant.TYPE_LOCAL);
// 设置资源路径
mAsr.setParameter(ResourceUtil.ASR_RES_PATH, getResourcePath());
//使用8k音频的时候请解开注释
// mAsr.setParameter(SpeechConstant.SAMPLE_RATE, "8000");
// 设置语法构建路径
mAsr.setParameter(ResourceUtil.GRM_BUILD_PATH, grmPath);
// 设置语法名称
mAsr.setParameter(SpeechConstant.GRAMMAR_LIST, "call");
// 设置文本编码格式
mAsr.setParameter(SpeechConstant.TEXT_ENCODING,"utf-8");
ret = mAsr.updateLexicon("contact", mContent, lexiconListener);
if(ret != ErrorCode.SUCCESS){
showTip("更新词典失败,错误码：" + ret);
}
break;
// 开始识别
case R.id.isr_recognize:
((EditText)findViewById(R.id.isr_text)).setText(null);// 清空显示内容
// 设置参数
if (!setParam()) {
showTip("请先构建语法。");
return;
};
ret = mAsr.startListening(mRecognizerListener);
if (ret != ErrorCode.SUCCESS) {
showTip("识别失败,错误码: " + ret);
}
break;
// 停止识别
case R.id.isr_stop:
mAsr.stopListening();
showTip("停止识别");
break;
// 取消识别
case R.id.isr_cancel:
mAsr.cancel();
showTip("取消识别");
break;
}
}
/**
* 初始化监听器。
*/
private InitListener mInitListener = new InitListener() {
@Override
public void onInit(int code) {
Log.d(TAG, "SpeechRecognizer init() code = " + code);
if (code != ErrorCode.SUCCESS) {
showTip("初始化失败,错误码："+code);
}
}
};
/**
* 更新词典监听器。
*/
private LexiconListener lexiconListener = new LexiconListener() {
@Override
public void onLexiconUpdated(String lexiconId, SpeechError error) {
if(error == null){
showTip("词典更新成功");
}else{
showTip("词典更新失败,错误码："+error.getErrorCode());
}
}
};
/**
* 构建语法监听器。
*/
private GrammarListener grammarListener = new GrammarListener() {
@Override
public void onBuildFinish(String grammarId, SpeechError error) {
if(error == null){
if (mEngineType.equals(SpeechConstant.TYPE_CLOUD)) {
Editor editor = mSharedPreferences.edit();
if(!TextUtils.isEmpty(grammarId))
editor.putString(KEY_GRAMMAR_ABNF_ID, grammarId);
editor.commit();
}
showTip("语法构建成功：" + grammarId);
}else{
showTip("语法构建失败,错误码：" + error.getErrorCode());
}
}
};
/**
* 识别监听器。
*/
private RecognizerListener mRecognizerListener = new RecognizerListener() {
int isConn = 0;
@Override
public void onVolumeChanged(int volume, byte[] data) {
showTip("当前正在说话，音量大小：" + volume);
Log.d(TAG, "返回音频数据："+data.length);
}
@Override
public void onResult(final RecognizerResult result, boolean isLast) {
if (null != result && !TextUtils.isEmpty(result.getResultString())) {
Log.d(TAG, "recognizer result：" + result.getResultString());
String text = "";
if (mResultType.equals("json")) {
text = JsonParser.parseGrammarResult(result.getResultString(), mEngineType).trim();
} else if (mResultType.equals("xml")) {
text = XmlParser.parseNluResult(result.getResultString()).trim();
}
if(text.equals("连接")&&isConn==0){
new Thread() {
public void run() {
try {
drone = new ARDroneAPI();
isConn = 1;
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} catch (Exception e) {
e.printStackTrace();
}
}
}.start();
} else if (text.equals("断开")&&isConn==1) {
drone.disbleEmergency();
isConn=0;
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("起飞")&&isConn==1) {
mStarted = true;
drone.takeoff();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("降落")&&isConn==1) {
drone.landing();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("上")&&isConn==1) {
drone.up();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("下")&&isConn==1) {
drone.down();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("左")&&isConn==1) {
drone.rotatel();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("右")&&isConn==1) {
drone.rotater();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("前")&&isConn==1) {
drone.goForward();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("后")&&isConn==1) {
drone.goBackward();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if (text.equals("悬浮")&&isConn==1) {
drone.hovering();
((EditText) findViewById(R.id.isr_text)).setText(drone.getStatus());
} else if(isConn==0) {
Toast.makeText(getApplicationContext(), "请说连接命令", Toast.LENGTH_SHORT).show();
}else{
Toast.makeText(getApplicationContext(), "无法匹配命令词，请重新发送命令", Toast.LENGTH_SHORT).show();
}
// 显示
//((EditText) findViewById(R.id.isr_text)).setText(text);
} else {
Log.d(TAG, "recognizer result : null");
}
}
@Override
public void onEndOfSpeech() {
// 此回调表示：检测到了语音的尾端点，已经进入识别过程，不再接受语音输入
showTip("结束说话");
}
@Override
public void onBeginOfSpeech() {
// 此回调表示：sdk内部录音机已经准备好了，用户可以开始语音输入
showTip("开始说话");
}
@Override
public void onError(SpeechError error) {
showTip("onError Code：" + error.getErrorCode());
}
@Override
public void onEvent(int eventType, int arg1, int arg2, Bundle obj) {
// 以下代码用于获取与云端的会话id，当业务出错时将会话id提供给技术支持人员，可用于查询会话日志，定位出错原因
// 若使用本地能力，会话id为null
// if (SpeechEvent.EVENT_SESSION_ID == eventType) {
// String sid = obj.getString(SpeechEvent.KEY_EVENT_SESSION_ID);
// Log.d(TAG, "session id =" + sid);
// }
}
};
private void showTip(final String str) {
runOnUiThread(new Runnable() {
@Override
public void run() {
mToast.setText(str);
mToast.show();
}
});
}
/**
* 参数设置
* @param
* @return
*/
public boolean setParam(){
boolean result = false;
// 清空参数
mAsr.setParameter(SpeechConstant.PARAMS, null);
// 设置识别引擎
mAsr.setParameter(SpeechConstant.ENGINE_TYPE, mEngineType);
if("cloud".equalsIgnoreCase(mEngineType))
{
String grammarId = mSharedPreferences.getString(KEY_GRAMMAR_ABNF_ID, null);
if(TextUtils.isEmpty(grammarId))
{
result = false;
}else {
// 设置返回结果格式
mAsr.setParameter(SpeechConstant.RESULT_TYPE, mResultType);
// 设置云端识别使用的语法id
mAsr.setParameter(SpeechConstant.CLOUD_GRAMMAR, grammarId);
result = true;
}
}
else
{
// 设置本地识别资源
mAsr.setParameter(ResourceUtil.ASR_RES_PATH, getResourcePath());
// 设置语法构建路径
mAsr.setParameter(ResourceUtil.GRM_BUILD_PATH, grmPath);
// 设置返回结果格式
mAsr.setParameter(SpeechConstant.RESULT_TYPE, mResultType);
// 设置本地识别使用语法id
mAsr.setParameter(SpeechConstant.LOCAL_GRAMMAR, "call");
// 设置识别的门限值
mAsr.setParameter(SpeechConstant.MIXED_THRESHOLD, "30");
// 使用8k音频的时候请解开注释
// mAsr.setParameter(SpeechConstant.SAMPLE_RATE, "8000");
result = true;
}
// 设置音频保存路径，保存音频格式支持pcm、wav，设置路径为sd卡请注意WRITE_EXTERNAL_STORAGE权限
// 注：AUDIO_FORMAT参数语记需要更新版本才能生效
mAsr.setParameter(SpeechConstant.AUDIO_FORMAT,"wav");
mAsr.setParameter(SpeechConstant.ASR_AUDIO_PATH, Environment.getExternalStorageDirectory()+"/msc/asr.wav");
return result;
}
//获取识别资源路径
private String getResourcePath(){
StringBuffer tempBuffer = new StringBuffer();
//识别通用资源
tempBuffer.append(ResourceUtil.generateResourcePath(this, RESOURCE_TYPE.assets, "asr/common.jet"));
//识别8k资源-使用8k的时候请解开注释
// tempBuffer.append(";");
// tempBuffer.append(ResourceUtil.generateResourcePath(this, RESOURCE_TYPE.assets, "asr/common_8k.jet"));
return tempBuffer.toString();
}
@Override
protected void onDestroy() {
super.onDestroy();
if( null != mAsr ){
// 退出时释放连接
mAsr.cancel();
mAsr.destroy();
}
}
private void setPilotState(String s){
TextView textview = (TextView) findViewById(R.id.statusBox);
textview.setText(s);
}
@Override
protected void onResume() {
super.onResume();
startSensors();
}
@Override
protected void onPause() {
stopSensors();
super.onPause();
}
public void stopSensors() {
if (mLocationManager != null) {
mLocationManager.removeUpdates(this);
mLocationManager = null;
}
if (mSensorManager != null) {
mSensorManager.unregisterListener(this);
mSensorManager = null;
}
}
public void startSensors() {
if (mLocationManager == null) {
mLocationManager = (LocationManager) getSystemService(Context.LOCATION_SERVICE);
if (mLocationManager != null) {
mLocationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER,
1000 /* minTime ms */,
1 /* minDistance in meters */,
this);
}
}
if (mSensorManager == null) {
mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
if (mSensorManager != null) {
mSensorManager.registerListener(this,
mSensorManager.getDefaultSensor(Sensor.TYPE_ORIENTATION)
, SensorManager.SENSOR_DELAY_NORMAL);
}
}
}
public void onLocationChanged(Location location) {
// TODO Auto-generated method stub
mCurrentLocation = location;
Log.d("Drone","Height="+mCurrentLocation.getAltitude());
}
public void onProviderDisabled(String provider) {
// TODO Auto-generated method stub
}
public void onProviderEnabled(String provider) {
// TODO Auto-generated method stub
}
public void onStatusChanged(String provider, int status, Bundle extras) {
// TODO Auto-generated method stub
}
public void onAccuracyChanged(Sensor sensor, int accuracy) {
// TODO Auto-generated method stub
}
public void onSensorChanged(SensorEvent event) {
mOrientation = event.values[0];
}
}
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