ROS小课堂语音交互系统学习笔记（2）

*ROS语音交互系统之利用讯飞TTS改造ROS节点

1.创建xf_tts_node节点
2.订阅/voice/xf_tt_topic话题
3.将收到的文本输入进行语音合成wav文件
4.通过system函数调用play命令，播放wav文件。
具体参考视频：https://v.youku.com/v_show/id_XMTgxNjI4NjQxMg==.html?spm=a2hzp.8253876.0.0&f=28515827
其中vim src/voice_system/src/xf_tts.cpp里面的文件如下：
/*

• 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 <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <ros/ros.h>
#include <std_msgs/String.h>
#include “qtts.h”
#include “msp_cmn.h”
#include “msp_errors.h”

const char* fileName = “/home/nanorobot/音乐/voice.wav”;
const char* playPath = “play /home/nanorobot/音乐/voice.wav”;
/* 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(">");
	usleep(150*1000); //防止频繁占用CPU
}
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;

}
void makeTextToWav(const char* text,const char* filename)
{
int ret = MSP_SUCCESS;
const char* login_params = “appid = 5d2eedd8, 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 = “voice_name = xiaoyan, text_encoding = utf8, 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{

    /* 文本合成 */
    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();

}

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 = “科大讯飞在线语音合成模块启动”;
makeTextToWav(start,fileName);
playWav();
ros::init(argc,argv,“xf_tts_node”);//创建一个节点
ros::NodeHandle nd;//先声明一个nodehandle
ros::Subscriber sub = nd.subscribe("/voice/xf_tts_topic",3,topicCallBack);//nodehandle来订阅一个话题
ros::spin();//让它循环起来
return 0;
}
注意：如果找不到播放音乐的文件，要具体和自己文件夹对应，一般是/home/linux用户名/音乐/voice.wav
本人实现如下图所示：

以上仅为个人情况，希望对大家有帮助！