ROS结合科大讯飞语音简单控制机器人
这是科大讯飞的语音ＳＤＫ包做了一点修改，加上自己的语音控制代码
代码１：iat_publish.cpp
/*
* 语音听写(iFly Auto Transform)技术能够实时地将语音转换成对应的文字。
*/
#include
#include
#include
#include
#include "robot_voice/qisr.h"
#include "robot_voice/msp_cmn.h"
#include "robot_voice/msp_errors.h"
#include "robot_voice/speech_recognizer.h"
#include
#include "ros/ros.h"
#include "std_msgs/String.h"
#define FRAME_LEN 640
#define BUFFER_SIZE 4096
int wakeupFlag = 1 ;
int resultFlag = 0 ;
static void show_result(char *string, char is_over)
{
resultFlag=1;
printf("\rResult: [ %s ]", string);
if(is_over)
putchar('\n');
}
static char *g_result = NULL;
static unsigned int g_buffersize = BUFFER_SIZE;
void on_result(const char *result, char is_last)
{
if (result) {
size_t left = g_buffersize - 1 - strlen(g_result);
size_t size = strlen(result);
if (left < size) {
g_result = (char*)realloc(g_result, g_buffersize + BUFFER_SIZE);
if (g_result)
g_buffersize += BUFFER_SIZE;
else {
printf("mem alloc failed\n");
return;
}
}
strncat(g_result, result, size);
show_result(g_result, is_last);
}
}
void on_speech_begin()
{
if (g_result)
{
free(g_result);
}
g_result = (char*)malloc(BUFFER_SIZE);
g_buffersize = BUFFER_SIZE;
memset(g_result, 0, g_buffersize);
printf("Start Listening...\n");
}
void on_speech_end(int reason)
{
if (reason == END_REASON_VAD_DETECT)
printf("\nSpeaking done \n");
else
printf("\nRecognizer error %d\n", reason);
}
/* 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 10 seconds recording */
while(i++ < 3)
sleep(1);
errcode = sr_stop_listening(&iat);
if (errcode) {
printf("stop listening failed %d\n", errcode);
}
sr_uninit(&iat);
}
/* main thread: start/stop record ; query the result of recgonization.
* record thread: record callback(data write)
* helper thread: ui(keystroke detection)
*/
void WakeUp(const std_msgs::String::ConstPtr& msg)
{
printf("waking up\r\n");
sleep(10000);
wakeupFlag=1;
}
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
ROS_INFO("Sleeping...");
int count=0;
while(ros::ok())
{
// 语音识别唤醒
if (wakeupFlag){
ROS_INFO("Wakeup...");
int ret = MSP_SUCCESS;
const char* login_params = "appid = 593ff61d, work_dir = .";
const char* session_begin_params =
"sub = iat, domain = iat, language = zh_cn, "
"accent = mandarin, sample_rate = 16000, "
"result_type = plain, result_encoding = utf8";
ret = MSPLogin(NULL, NULL, login_params);
if(MSP_SUCCESS != ret){
MSPLogout();
printf("MSPLogin failed , Error code %d.\n",ret);
}
printf("Demo recognizing the speech from microphone\n");
printf("Speak in 10 seconds\n");
demo_mic(session_begin_params);
printf("10 sec passed\n");
wakeupFlag=1;
MSPLogout();
}
// 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;
}
代码２：sub_word
#include
#include
#include
#include
#include
#include
using namespace std;
ros::Publisher pub;
geometry_msgs::Twist vel_cmd;
pthread_t pth_[5];
void* vel_ctr(void* arg)
{
while(true)
{
pub.publish(vel_cmd);
ros::spinOnce();
sleep(1);
}
return 0;
}
void callback(const std_msgs::String::ConstPtr& msg)
{
cout<<"好的："<
string str2 = "向前。";
string str3 = "后退。";
string str4 = "左转。";
string str5 = "右转。";
string str6 = "停止。";
if(str1 == str2)
{
cout<<"11111"<
vel_cmd.angular.z = 0;
pthread_create(&pth_[0],NULL,vel_ctr,NULL);
}
if(str1 == str3)
{
vel_cmd.linear.x = -1;
vel_cmd.angular.z = 0;
pthread_create(&pth_[1],NULL,vel_ctr,NULL);
}
if(str1 == str4)
{
vel_cmd.linear.x = 0;
vel_cmd.angular.z = 1;
pthread_create(&pth_[2],NULL,vel_ctr,NULL);
}
if(str1 == str5)
{
vel_cmd.linear.x = 0;
vel_cmd.angular.z = -1;
pthread_create(&pth_[3],NULL,vel_ctr,NULL);
}
if(str1 == str6)
{
vel_cmd.linear.x = 0;
vel_cmd.angular.z = 0;
pthread_create(&pth_[0],NULL,vel_ctr,NULL);
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "sub_word");
ros::NodeHandle n;
pub = n.advertise
ros::Subscriber sub = n.subscribe("voiceWords",10,callback);
cout<<"您好！你可以语音控制啦！"<
}