说明:代码部分是基于古月居前辈的例程,在此对胡老师表示感谢!!
语音识别与输出功能框图:
main()函数:
int main(int argc, char* argv[])
{
// 初始化ROS
ros::init(argc, argv, "voiceRecognition");
ros::NodeHandle n;
ros::Rate loop_rate(10);
// 声明Publisher和Subscriber
// 订阅唤醒语音识别的信号
ros::Subscriber wakeUpSub = n.subscribe("voiceWakeup", 1000, WakeUp);
// 订阅唤醒语音识别的信号
ros::Publisher voiceWordsPub = n.advertise<std_msgs::String>("voiceWords", 1000);
ROS_INFO("Sleeping...");
int count=0;
int ret = MSP_SUCCESS;
/* login params, please do keep the appid correct */
const char* login_params = "appid = 594a7b46, work_dir = .";
int aud_src = 0; /* from mic or file */
/*
* See "iFlytek MSC Reference Manual"
*/
const char* session_begin_params =
"sub = iat, domain = iat, language = zh_cn, "
"accent = mandarin, sample_rate = 16000, "
"result_type = plain, result_encoding = utf8";
/* Login first. the 1st arg is username, the 2nd arg is password
* just set them as NULL. the 3rd arg is login paramertes
* */
ret = MSPLogin(NULL, NULL, login_params);
if (MSP_SUCCESS != ret) {
printf("MSPLogin failed , Error code %d.\n",ret);
goto exit; // login fail, exit the program
}
while(ros::ok())
{
// 语音识别唤醒
if(wakeupFlag)
{
ROS_INFO("Wakeup...");
printf("Demo recognizing the speech from microphone\n");
printf("Speak in 8 seconds\n");
demo_mic(session_begin_params);
printf("8 sec passed\n");
wakeupFlag=0;
}
// 语音识别完成
if(resultFlag){
resultFlag=0;
std_msgs::String msg;
msg.data = g_result;
voiceWordsPub.publish(msg);
}
ros::spinOnce();
loop_rate.sleep();
count++;
}
exit:
MSPLogout(); // Logout...
return 0;
}
demo_mic()函数
/* demo recognize the audio from microphone */
static void demo_mic(const char* session_begin_params)
{
int errcode;
int i = 0;
struct speech_rec iat;
struct speech_rec_notifier recnotifier = {
on_result,
on_speech_begin,
on_speech_end
};
errcode = sr_init(&iat, session_begin_params, SR_MIC, &recnotifier);
if (errcode) {
printf("speech recognizer init failed\n");
return;
}
errcode = sr_start_listening(&iat);
if (errcode) {
printf("start listen failed %d\n", errcode);
}
/* demo 8 seconds recording */
while(i++ < 8)
sleep(1);
errcode = sr_stop_listening(&iat);
if (errcode) {
printf("stop listening failed %d\n", errcode);
}
sr_uninit(&iat);
}