ros+科大迅飞语音包+图灵机器人（二）在ros上使用科大迅飞

• 在工作空间catkin_ws下创建一个包

• $ cd catkin_ws/src/

• $ catkin_create_pkg voice_system std_msgs rospy roscpp

• 把科大迅飞包里的代码复制到你创建的包里,并重命名为xf_tts.cpp

• $ cd SoftWare/samples/tts_sample/
• $ cp tts_sample.c ~/catkin_ws/src/voice_system/src/
• $ cd catkin_ws/src/voice_system/src/
• $ mv tts_sample.c xf_tts.cpp

• 到SoftWare/include目录下把include拷贝到voice_system包下

• $ cd SoftWare/include
• $ cp * ~/catkin_ws/src/voice_system/include

• 修改xf_tts.cpp文件（注意要把appid改为自己的appid,gtts.h等路径要改为自己该文件的路径）

• xf_tts.cpp的代码如下

• /*
  * 语音合成（Text To Speech，TTS）技术能够自动将任意文字实时转换为连续的
  * 自然语音，是一种能够在任何时间、任何地点，向任何人提供语音信息服务的
  * 高效便捷手段，非常符合信息时代海量数据、动态更新和个性化查询的需求。
  */
  
  #include <stdlib.h>
  #include <stdio.h>
  #include <unistd.h>
  #include <errno.h>
  #include <ros/ros.h>
  #include <std_msgs/String.h>
  #include "/home/fan/SoftWare/include/qtts.h"
  #include "/home/fan/SoftWare/include/msp_cmn.h"
  #include "/home/fan/SoftWare/include/msp_errors.h"
  const char* fileName="/home/fan/music/voice.wav";
  const char* playPath="play /home/fan/music/voice.wav";
  
  typedef int SR_DWORD;
  typedef short int SR_WORD ;
  
  /* wav音频头部格式 */
  typedef struct _wave_pcm_hdr
  {
  	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 
  } wave_pcm_hdr;
  
  /* 默认wav音频头部数据 */
  wave_pcm_hdr default_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  
  };
  /* 文本合成 */
  int text_to_speech(const char* src_text, const char* des_path, const char* params)
  {
  	int          ret          = -1;
  	FILE*        fp           = NULL;
  	const char*  sessionID    = NULL;
  	unsigned int audio_len    = 0;
  	wave_pcm_hdr wav_hdr      = default_wav_hdr;
  	int          synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA;
  
  	if (NULL == src_text || NULL == des_path)
  	{
  		printf("params is error!\n");
  		return ret;
  	}
  	fp = fopen(des_path, "wb");
  	if (NULL == fp)
  	{
  		printf("open %s error.\n", des_path);
  		return ret;
  	}
  	/* 开始合成 */
  	sessionID = QTTSSessionBegin(params, &ret);
  	if (MSP_SUCCESS != ret)
  	{
  		printf("QTTSSessionBegin failed, error code: %d.\n", ret);
  		fclose(fp);
  		return ret;
  	}
  	ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL);
  	if (MSP_SUCCESS != ret)
  	{
  		printf("QTTSTextPut failed, error code: %d.\n",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("\n");
  	if (MSP_SUCCESS != ret)
  	{
  		printf("QTTSAudioGet failed, error code: %d.\n",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)
  	{
  		printf("QTTSSessionEnd failed, error code: %d.\n",ret);
  	}
  
  	return ret;
  }
  int makeTextToWav(const char* text, const char* filename){
  int         ret                  = MSP_SUCCESS;
  	const char* login_params         = "appid = 5b090780, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动
  	/*
  	* rdn:           合成音频数字发音方式
  	* volume:        合成音频的音量
  	* pitch:         合成音频的音调
  	* speed:         合成音频对应的语速
  
  	* voice_name:    合成发音人
  	* sample_rate:   合成音频采样率
  	* text_encoding: 合成文本编码格式
  	*
  
  	*/
  	const char* session_begin_params = "engine_type = local,voice_name=xiaofeng, text_encoding = UTF8, tts_res_path = fo|res/tts/xiaofeng.jet;fo|res/tts/common.jet, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 0";
  	
  	/* 用户登录 */
  	ret = MSPLogin(NULL, NULL, login_params); //第一个参数是用户名，第二个参数是密码，第三个参数是登录参数，用户名和密码可在http://www.xfyun.cn注册获取
  	if (MSP_SUCCESS != ret)
  	{
  		printf("MSPLogin failed, error code: %d.\n", ret);
  		
  	}
          else{
  	printf("开始合成 ...\n");
  	ret = text_to_speech(text,filename, session_begin_params);
  	if (MSP_SUCCESS != ret)
  	{
  		printf("text_to_speech failed, error code: %d.\n", ret);
  	}
  	printf("合成完毕\n");
          }
          MSPLogout();
     	return 0;
  
  }
  void playWav()
  {
  	system(playPath);
      
  }
  void topicCallBack(const std_msgs::String::ConstPtr& msg)
  {
  	std::cout<<"get topic text:" << msg->data.c_str();
  	makeTextToWav(msg->data.c_str(),fileName);
  	playWav();	
  }
  
  int main(int argc, char* argv[])
  {	const char* start= "科大迅飞在线语音合成模块启动";
  	makeTextToWav(start,fileName);
  	playWav();
  
  	ros::init(argc,argv, "xf_tts_node");	
          ros::NodeHandle n;
          ros::Subscriber sub = n.subscribe("/voice/xf_tts_topic", 3,topicCallBack);
  	ros::spin();
  	return 0;
  } 

• 在CMakeList文件的“include_directories”后加入“include”，在文件末尾加入

• add_executable(xf_tts_node src/xf_tts.cpp)
  target_link_libraries(xf_tts_node ${catkin_LIBRARIES}   -lmsc -lrt -ldl -lpthread)

• CMakeList代码

• cmake_minimum_required(VERSION 2.8.3)
  project(voice_system)
  
  
  find_package(catkin REQUIRED COMPONENTS
    roscpp
    rospy
    std_msgs
  )
  
  
  include_directories(
     include
    ${catkin_INCLUDE_DIRS}
    
  )
  
  
  add_executable(xf_tts_node src/xf_tts.cpp)
  target_link_libraries(xf_tts_node ${catkin_LIBRARIES}   -lmsc -lrt -ldl -lpthread)
  
  
  
  

• 在此时到catkin_ws下进行编译
• $ catkin_make
• 编译完后，roscore一下，重新打开窗口到catkin_ws下运行xf_tts_node节点
• $ cd catkin_ws
• $ rosrun voice_system xf_tts_node
• 此时，你能听到，“科大迅飞语音模块启动”的声音“

• 重新打开一个命令窗口，在catkin_ws下发布一个话题
• $ cd catkin_ws
• $ rostopic pub /voice/xf_tts_topic std_msgs/String 你好
• 此时，你会听到”你好的声音“

• 证明ros上运行科大迅飞语音模块成功

• 以下是我在实现过程中遇到的的一些错误

• 在运行节点时一定要在工作空间catkin_ws下运行，否则会出现10102错误，如果在工作空间下运行还是出现该错误，可以参考https://blog.csdn.net/jack0596_cn/article/details/78663396
• 10102错误显示如下

该文章主要是对自己学习的一些总结，方便以后学习，也对学习该方面的人提供一些帮助，如有问题请指出。

同时该文章也借鉴了ros小课堂的一些内容。