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!!
语音交互功能框图:
![在这里插入图片描述](https://i-blog.csdnimg.cn/blog_migrate/8d5cd579ff8ebfad2b4a41e8bdab7bb4.png)
/* main thread: start/stop record ; query the result of recgonization.
* record thread: record callback(data write)
* helper thread: ui(keystroke detection)
*/
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;
}
WakeUp()函数:
void WakeUp(const std_msgs::String::ConstPtr& msg)
{
printf("waking up\r\n");
usleep(700*1000);
wakeupFlag=1;
}
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);
}
demo_file()函数:
/* demo send audio data from a file */
static void demo_file(const char* audio_file, const char* session_begin_params)
{
int errcode = 0;
FILE* f_pcm = NULL;
char* p_pcm = NULL;
unsigned long pcm_count = 0;
unsigned long pcm_size = 0;
unsigned long read_size = 0;
struct speech_rec iat;
struct speech_rec_notifier recnotifier = {
on_result,
on_speech_begin,
on_speech_end
};
if (NULL == audio_file)
goto iat_exit;
f_pcm = fopen(audio_file, "rb");
if (NULL == f_pcm)
{
printf("\nopen [%s] failed! \n", audio_file);
goto iat_exit;
}
fseek(f_pcm, 0, SEEK_END);
pcm_size = ftell(f_pcm);
fseek(f_pcm, 0, SEEK_SET);
p_pcm = (char *)malloc(pcm_size);
if (NULL == p_pcm)
{
printf("\nout of memory! \n");
goto iat_exit;
}
read_size = fread((void *)p_pcm, 1, pcm_size, f_pcm);
if (read_size != pcm_size)
{
printf("\nread [%s] error!\n", audio_file);
goto iat_exit;
}
errcode = sr_init(&iat, session_begin_params, SR_USER, &recnotifier);
if (errcode) {
printf("speech recognizer init failed : %d\n", errcode);
goto iat_exit;
}
errcode = sr_start_listening(&iat);
if (errcode) {
printf("\nsr_start_listening failed! error code:%d\n", errcode);
goto iat_exit;
}
while (1)
{
unsigned int len = 10 * FRAME_LEN; /* 200ms audio */
int ret = 0;
if (pcm_size < 2 * len)
len = pcm_size;
if (len <= 0)
break;
ret = sr_write_audio_data(&iat, &p_pcm[pcm_count], len);
if (0 != ret)
{
printf("\nwrite audio data failed! error code:%d\n", ret);
goto iat_exit;
}
pcm_count += (long)len;
pcm_size -= (long)len;
}
errcode = sr_stop_listening(&iat);
if (errcode) {
printf("\nsr_stop_listening failed! error code:%d \n", errcode);
goto iat_exit;
}
iat_exit:
if (NULL != f_pcm)
{
fclose(f_pcm);
f_pcm = NULL;
}
if (NULL != p_pcm)
{
free(p_pcm);
p_pcm = NULL;
}
sr_stop_listening(&iat);
sr_uninit(&iat);
}