diff --git a/src/Robot/xf_mic_asr_offline/CMakeLists.txt b/src/Robot/xf_mic_asr_offline/CMakeLists.txt index 6d52501..e319a26 100644 --- a/src/Robot/xf_mic_asr_offline/CMakeLists.txt +++ b/src/Robot/xf_mic_asr_offline/CMakeLists.txt @@ -17,7 +17,7 @@ find_package(catkin REQUIRED COMPONENTS ) link_directories( - lib/arm64 + lib/x64 ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) @@ -187,6 +187,14 @@ add_dependencies( target_link_libraries(voice_control ${catkin_LIBRARIES} offline_record_lib hid_lib rt dl pthread stdc++ ) +add_executable(record src/record.cpp) +add_dependencies( + record + ${xf_mic_package_EXPORTED_TARGETS} + xf_mic_asr_offline_gencpp +) +target_link_libraries(record ${catkin_LIBRARIES} offline_record_lib hid_lib rt dl pthread stdc++ ) + add_executable(call_recognition src/call_recognition.cpp) add_dependencies( call_recognition @@ -242,10 +250,14 @@ add_dependencies( target_link_libraries( refresh_mic ${catkin_LIBRARIES} + offline_record_lib hid_lib rt dl pthread stdc++ # -ldl -lpthread -lm -lrt -lasound ) - +install(PROGRAMS + scripts/go_to_specific_point_on_map.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) #add_executable(test # src/test.cpp diff --git a/src/Robot/xf_mic_asr_offline/CMakeLists.txt~ b/src/Robot/xf_mic_asr_offline/CMakeLists.txt~ new file mode 100644 index 0000000..286183d --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/CMakeLists.txt~ @@ -0,0 +1,324 @@ +cmake_minimum_required(VERSION 2.8.3) +project(xf_mic_asr_offline) +add_compile_options(-std=c++11) +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) +set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g ") +set (CMAKE_VERBOSE_MAKEFILE ON) +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + message_generation + tf +) + +link_directories( + lib/x64 +) +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +add_message_files( + FILES + Pcm_Msg.msg +) + +add_message_files( + FILES + position.msg +) + +## Generate services in the 'srv' folder +add_service_files( + FILES + Get_Offline_Result_srv.srv + Set_Major_Mic_srv.srv + Get_Major_Mic_srv.srv + Start_Record_srv.srv + Set_Awake_Word_srv.srv + Set_Led_On_srv.srv + Get_Awake_Angle_srv.srv +) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + std_msgs +) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + CATKIN_DEPENDS message_runtime +# INCLUDE_DIRS include +# LIBRARIES xf_mic_api +# CATKIN_DEPENDS roscpp rospy senor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other location +## Declare a C++ library +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/xf_mic_package_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + + +#include_directories( +# include +# ${catkin_INCLUDE_DIRS} +#) + +#add_executable(hid_test_auto src/hid_test_auto.cpp) +#add_dependencies( +# hid_test_auto +# ${xf_mic_package_EXPORTED_TARGETS} +# xf_mic_asr_offline_gencpp +#) +#target_link_libraries(hid_test_auto ${catkin_LIBRARIES} offline_record_lib hid_lib rt dl pthread stdc++ ) + + + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_executable(voice_control src/voice_control.cpp) +add_dependencies( + voice_control + ${xf_mic_package_EXPORTED_TARGETS} + xf_mic_asr_offline_gencpp +) +target_link_libraries(voice_control ${catkin_LIBRARIES} offline_record_lib hid_lib rt dl pthread stdc++ ) + + +add_executable(record src/record.cpp) +add_dependencies( + record + ${xf_mic_package_EXPORTED_TARGETS} + xf_mic_asr_offline_gencpp +) +target_link_libraries(record ${catkin_LIBRARIES} offline_record_lib hid_lib rt dl pthread stdc++ ) + +add_executable(call_recognition src/call_recognition.cpp) +add_dependencies( + call_recognition + ${xf_mic_package_EXPORTED_TARGETS} + xf_mic_asr_offline_gencpp +) +target_link_libraries( + call_recognition + ${catkin_LIBRARIES} +# offline_record_lib hid_lib rt dl pthread stdc++ +) + + + +add_executable(command_recognition + src/command_recognition.cpp +) +add_dependencies( + command_recognition + ${xf_mic_package_EXPORTED_TARGETS} + xf_mic_asr_offline_gencpp +) +target_link_libraries( + command_recognition + ${catkin_LIBRARIES} +# -ldl -lpthread -lm -lrt -lasound + ) + + + +add_executable(motion_control + src/motion_control.cpp +) +add_dependencies( + motion_control + ${xf_mic_package_EXPORTED_TARGETS} + xf_mic_asr_offline_gencpp +) +target_link_libraries( + motion_control + ${catkin_LIBRARIES} +# -ldl -lpthread -lm -lrt -lasound + ) + +add_executable(refresh_mic + src/refresh_mic.cpp +) +add_dependencies( + refresh_mic + ${xf_mic_package_EXPORTED_TARGETS} + xf_mic_asr_offline_gencpp +) +target_link_libraries( + refresh_mic + ${catkin_LIBRARIES} + offline_record_lib hid_lib rt dl pthread stdc++ + -ldl -lpthread -lm -lrt -lasound + ) + +install(PROGRAMS + scripts/go_to_specific_point_on_map.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +#add_executable(test +# src/test.cpp +#) + +#target_link_libraries( +# test +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_xf_mic_package.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/Robot/xf_mic_asr_offline/audio/change.py b/src/Robot/xf_mic_asr_offline/audio/change.py new file mode 100644 index 0000000..aa28d53 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/audio/change.py @@ -0,0 +1,31 @@ +# -*- coding: utf-8 -*- +""" +Created on Sat May 8 14:09:34 2021 + +@author: 59866 +""" + +import wave +import time +import os +def pcmToWav(in_file, out_file): + + in_file = open(in_file, 'rb') + out_file = wave.open(out_file, 'wb') + + #out_file.setnchannels(int(input("plese input channels [1/2]: "))) + #out_file.setframerate(int(input("plese input samplerate [32000]: "))) + out_file.setnchannels(1) + out_file.setframerate(16000) + out_file.setsampwidth(2) #16-bit + out_file.writeframesraw(in_file.read()) + + in_file.close() + out_file.close() + print('>>>>>complete recording, start to compare.....') + +if __name__ == '__main__': + #IN_FILE = input(r'input the file name: ') + IN_FILE = ("/home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.pcm") + OUT_FILE = ("/home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.wav") + pcmToWav(IN_FILE, OUT_FILE) diff --git a/src/Robot/xf_mic_asr_offline/audio/change.py~ b/src/Robot/xf_mic_asr_offline/audio/change.py~ new file mode 100644 index 0000000..aa28d53 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/audio/change.py~ @@ -0,0 +1,31 @@ +# -*- coding: utf-8 -*- +""" +Created on Sat May 8 14:09:34 2021 + +@author: 59866 +""" + +import wave +import time +import os +def pcmToWav(in_file, out_file): + + in_file = open(in_file, 'rb') + out_file = wave.open(out_file, 'wb') + + #out_file.setnchannels(int(input("plese input channels [1/2]: "))) + #out_file.setframerate(int(input("plese input samplerate [32000]: "))) + out_file.setnchannels(1) + out_file.setframerate(16000) + out_file.setsampwidth(2) #16-bit + out_file.writeframesraw(in_file.read()) + + in_file.close() + out_file.close() + print('>>>>>complete recording, start to compare.....') + +if __name__ == '__main__': + #IN_FILE = input(r'input the file name: ') + IN_FILE = ("/home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.pcm") + OUT_FILE = ("/home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.wav") + pcmToWav(IN_FILE, OUT_FILE) diff --git a/src/Robot/xf_mic_asr_offline/audio/vvui_deno.pcm b/src/Robot/xf_mic_asr_offline/audio/vvui_deno.pcm index 159fe4a..05e561e 100644 Binary files a/src/Robot/xf_mic_asr_offline/audio/vvui_deno.pcm and b/src/Robot/xf_mic_asr_offline/audio/vvui_deno.pcm differ diff --git a/src/Robot/xf_mic_asr_offline/audio/vvui_deno.wav b/src/Robot/xf_mic_asr_offline/audio/vvui_deno.wav new file mode 100644 index 0000000..008ac22 Binary files /dev/null and b/src/Robot/xf_mic_asr_offline/audio/vvui_deno.wav differ diff --git a/src/Robot/xf_mic_asr_offline/config/appid_params.yaml b/src/Robot/xf_mic_asr_offline/config/appid_params.yaml index 1b490b8..60c9b56 100644 --- a/src/Robot/xf_mic_asr_offline/config/appid_params.yaml +++ b/src/Robot/xf_mic_asr_offline/config/appid_params.yaml @@ -1,3 +1,3 @@ confidence: 18 seconds_per_order: 15 -appid: 5fa0b8b9 +appid: 7c6a4b39 diff --git a/src/Robot/xf_mic_asr_offline/config/appid_params.yaml~ b/src/Robot/xf_mic_asr_offline/config/appid_params.yaml~ new file mode 100644 index 0000000..1b490b8 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/config/appid_params.yaml~ @@ -0,0 +1,3 @@ +confidence: 18 +seconds_per_order: 15 +appid: 5fa0b8b9 diff --git a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/arlfaaaa.d b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/arlfaaaa.d index cf80492..0e9a8b8 100644 Binary files a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/arlfaaaa.d and b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/arlfaaaa.d differ diff --git a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/azcfaaaa.d 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differ diff --git a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/call_16K b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/call_16K index d60f1fe..6896aeb 100644 Binary files a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/call_16K and b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/call_16K differ diff --git a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/commit b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/commit new file mode 100644 index 0000000..715ad8c --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/commit @@ -0,0 +1 @@ +{"_16k":["call"],"_8k":[]} \ No newline at end of file diff --git a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/ddykzcaa.d b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/ddykzcaa.d index 06391df..370eec3 100644 Binary files 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a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/zhdfaaaa.d b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/zhdfaaaa.d index 9cfb36d..001ff19 100644 Binary files a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/zhdfaaaa.d and b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/GrmBuilld/temp/zhdfaaaa.d differ diff --git a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/common.jet b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/common.jet index efed0c3..4454fc1 100644 Binary files a/src/Robot/xf_mic_asr_offline/config/msc/res/asr/common.jet and b/src/Robot/xf_mic_asr_offline/config/msc/res/asr/common.jet differ diff --git a/src/Robot/xf_mic_asr_offline/include/user_interface.h b/src/Robot/xf_mic_asr_offline/include/user_interface.h index 9a5f44d..d63c4fe 100644 --- a/src/Robot/xf_mic_asr_offline/include/user_interface.h +++ b/src/Robot/xf_mic_asr_offline/include/user_interface.h @@ -10,7 +10,7 @@ /******麦克风基础功能参数******/ int PCM_MSG_LEN = 1024; //在录音时会发布音频流,单次发布大小为2048B bool save_pcm_local = true; //保存音频到本地. -int max_pcm_size = 10240000; //最大为10M,超过10M后自动删除,以节省空间. +int max_pcm_size = 1024000; //最大为10M,超过10M后自动删除,以节省空间. //录音文件保存的地址,最好设置为绝对地址 char *ORIGINAL_SOUND_PATH = (char*)"/audio/vvui_ori.pcm"; char *DENOISE_SOUND_PATH = (char*)"/audio/vvui_deno.pcm"; diff --git a/src/Robot/xf_mic_asr_offline/include/user_interface.h~ b/src/Robot/xf_mic_asr_offline/include/user_interface.h~ new file mode 100644 index 0000000..9a5f44d --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/include/user_interface.h~ @@ -0,0 +1,39 @@ +/* user_interface_h */ +#include +#include +#include +#include "asr_offline_record_sample.h" +/***************************参数配置区域，用户可通过修改这些词来进行 ********************************/ +#define whether_print_log 0 //是否打印log +#define TIMEOUT 10 //在客户端获取服务端结果时，超时时间 + +/******麦克风基础功能参数******/ +int PCM_MSG_LEN = 1024; //在录音时会发布音频流,单次发布大小为2048B +bool save_pcm_local = true; //保存音频到本地. +int max_pcm_size = 10240000; //最大为10M,超过10M后自动删除,以节省空间. +//录音文件保存的地址,最好设置为绝对地址 +char *ORIGINAL_SOUND_PATH = (char*)"/audio/vvui_ori.pcm"; +char *DENOISE_SOUND_PATH = (char*)"/audio/vvui_deno.pcm"; +//资源文件存储地址 +char *SYSTEM_PATH = (char*)"/tmp/system.tar"; +char *SYSTEM_CONFIG_PATH = (char*)"/tmp/config.txt"; + +//int whether_finised; +//struct speech_rec iat; +//UserData asr_data; + + +/******与离线命令词识别相关参数******/ +std::string source_path = ""; +std::string appid=""; +char *ASR_RES_PATH = (char*)"/config/msc/res/asr/common.jet"; //离线语法识别资源路径，重要，与麦克风及appid绑定 +char *GRM_BUILD_PATH = (char*)"/config/msc/res/asr/GrmBuilld"; //构建离线语法识别网络生成数据保存路径 +char *GRM_FILE = (char*)"/config/call.bnf"; //构建离线识别语法网络所用的语法文件，用户自修改文件 +char *LEX_NAME = (char*)"contact"; +char *APPID = (char*)" "; +//运行效果调试参数 +int confidence; +int time_per_order;//一次命令时长默认时长,如用户在接口中不进行设置,则默认为该值 +char awake_words[30] = "你好小微"; + + diff --git a/src/Robot/xf_mic_asr_offline/launch/test.launch b/src/Robot/xf_mic_asr_offline/launch/test.launch new file mode 100644 index 0000000..1da82c6 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/launch/test.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/src/Robot/xf_mic_asr_offline/launch/test.launch~ b/src/Robot/xf_mic_asr_offline/launch/test.launch~ new file mode 100644 index 0000000..1da82c6 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/launch/test.launch~ @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/src/Robot/xf_mic_asr_offline/scripts/get_photo.py b/src/Robot/xf_mic_asr_offline/scripts/get_photo.py new file mode 100644 index 0000000..04b0285 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/scripts/get_photo.py @@ -0,0 +1,60 @@ +import sys +import rospy +import cv2 +from std_msgs.msg import String +from sensor_msgs.msg import Image +from cv_bridge import CvBridge, CvBridgeError + +class TakePhoto: + def __init__(self): + + self.bridge = CvBridge() + self.image_received = False + + # Connect image topic + img_topic = "/camera/rgb/image_raw" + self.image_sub = rospy.Subscriber(img_topic, Image, self.callback) + + # Allow up to one second to connection + rospy.sleep(1) + + def callback(self, data): + + # Convert image to OpenCV format + try: + cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") + except CvBridgeError as e: + print(e) + + self.image_received = True + self.image = cv_image + + def take_picture(self, img_title): + if self.image_received: + # Save an image + cv2.imwrite(img_title, self.image) + return True + else: + return False + +if __name__ == '__main__': + + # Initialize + rospy.init_node('take_photo', anonymous=False) + camera = TakePhoto() #构造出TakePhoto类的一个对象， + + # Take a photo + + # Use '_image_title' parameter from command line + # Default value is 'photo.jpg' + img_title = rospy.get_param('~image_title', 'photo.jpg') #照片的名字默认为'photo.jpg' + + if camera.take_picture(img_title): #调用camera的成员函数take_picture， + # 如果拍照成功，打印日志"Saved image photo.jpg" + rospy.loginfo("Saved image " + img_title) + else: + # 如果拍照失败，打印日志"No images received" + rospy.loginfo("No images received") + + # Sleep to give the last log messages time to be sent + rospy.sleep(1) diff --git a/src/Robot/xf_mic_asr_offline/scripts/get_photo.py~ b/src/Robot/xf_mic_asr_offline/scripts/get_photo.py~ new file mode 100644 index 0000000..e69de29 diff --git a/src/Robot/xf_mic_asr_offline/scripts/go_to_specific_point_on_map.py b/src/Robot/xf_mic_asr_offline/scripts/go_to_specific_point_on_map.py new file mode 100644 index 0000000..119f250 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/scripts/go_to_specific_point_on_map.py @@ -0,0 +1,124 @@ +#!/usr/bin/env python +# -*- coding: UTF-8 -*- +# TurtleBot must have minimal.launch & amcl_demo.launch +# running prior to starting this script +# For simulation: launch gazebo world & amcl_demo prior to run this script + +import rospy +from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal +import actionlib +from actionlib_msgs.msg import * +from geometry_msgs.msg import Pose, Point, Quaternion +#定义消息的类型 +from std_msgs.msg import Int32 +from std_msgs.msg import String +import time +angle_of_wakeup = 0 +# 回调函数 +def callback(data): + angle_of_wakeup = data.data + rospy.loginfo(rospy.get_caller_id() + "I heard %d", data.data) + # 赋值角度 + rospy.loginfo(rospy.get_caller_id() + "I heard angle: %d", angle_of_wakeup) +# 定义订阅者节点 +def listener(): + rospy.Subscriber("/mic/awake/angle", Int32, callback) + return True + +class GoToPose(): + + def __init__(self): + self.goal_sent = False + + # What to do if shut down (e.g. Ctrl-C or failure) + rospy.on_shutdown(self.shutdown) + + # Tell the action client that we want to spin a thread by default + self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction) + rospy.loginfo("Wait for the action server to come up") + + # Allow up to 10 seconds for the action server to come up + self.move_base.wait_for_server(rospy.Duration(2)) + + def goto(self, pos, quat): + + # Send a goal + self.goal_sent = True + goal = MoveBaseGoal() + goal.target_pose.header.frame_id = 'map' + goal.target_pose.header.stamp = rospy.Time.now() + goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000), + Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4'])) + + # Start moving + self.move_base.send_goal(goal) + + # Allow TurtleBot up to 60 seconds to complete task + # Time to finish the navigation + # by lcp 2021/7/1 + success = self.move_base.wait_for_result(rospy.Duration(60)) + + state = self.move_base.get_state() + result = False + + if success and state == GoalStatus.SUCCEEDED: + # We made it! + result = True + else: + self.move_base.cancel_goal() + + self.goal_sent = False + return result + + def shutdown(self): + if self.goal_sent: + self.move_base.cancel_goal() + rospy.loginfo("Stop") + rospy.sleep(1) + +if __name__ == '__main__': + + try: + rospy.init_node('nav_test', anonymous=True) + #rospy.Subscriber("/mic/awake/angle", Int32, callback) + + rospy.sleep(1) + whether_stranger = False + while not rospy.is_shutdown() and whether_stranger == False: + data = rospy.wait_for_message("/mic/awake/angle", Int32, timeout=None) + print(data.data) + if data.data!=0: + angle_of_wakeup = data.data + whether_stranger = True; + break; + navigator = GoToPose() + + # Customize the following values so they are appropriate for your location + position_door = {'x': 1.33, 'y' : 3.3} + # position_window = {'x' : -0.8, 'y' : -0.12} + quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000} + + rospy.loginfo("Go to (%s, %s) pose", position_door['x'], position_door['y']) + success = navigator.goto(position_door, quaternion) + + # 发布小车是否到达的消息 + pub = rospy.Publisher('whether_reach', Int32, queue_size=10) + if success: + rospy.loginfo("Hooray, reached the desired pose") + while not rospy.is_shutdown(): + + pub.publish(1) + rospy.loginfo('yes') + else: + rospy.loginfo("The base failed to reach the desired pose") + while not rospy.is_shutdown(): + + pub.publish(1) + rospy.loginfo('no') + + # Sleep to give the last log messages time to be sent + + rospy.sleep(1) + + except rospy.ROSInterruptException: + rospy.loginfo("Ctrl-C caught. Quitting") diff --git a/src/Robot/xf_mic_asr_offline/scripts/go_to_specific_point_on_map.py~ b/src/Robot/xf_mic_asr_offline/scripts/go_to_specific_point_on_map.py~ new file mode 100644 index 0000000..bfa953b --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/scripts/go_to_specific_point_on_map.py~ @@ -0,0 +1,124 @@ +#!/usr/bin/env python +# -*- coding: UTF-8 -*- +# TurtleBot must have minimal.launch & amcl_demo.launch +# running prior to starting this script +# For simulation: launch gazebo world & amcl_demo prior to run this script + +import rospy +from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal +import actionlib +from actionlib_msgs.msg import * +from geometry_msgs.msg import Pose, Point, Quaternion +#定义消息的类型 +from std_msgs.msg import Int32 +from std_msgs.msg import String +import time +angle_of_wakeup = 0 +# 回调函数 +def callback(data): + angle_of_wakeup = data.data + rospy.loginfo(rospy.get_caller_id() + "I heard %d", data.data) + # 赋值角度 + rospy.loginfo(rospy.get_caller_id() + "I heard angle: %d", angle_of_wakeup) +# 定义订阅者节点 +def listener(): + rospy.Subscriber("/mic/awake/angle", Int32, callback) + return True + +class GoToPose(): + + def __init__(self): + self.goal_sent = False + + # What to do if shut down (e.g. Ctrl-C or failure) + rospy.on_shutdown(self.shutdown) + + # Tell the action client that we want to spin a thread by default + self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction) + rospy.loginfo("Wait for the action server to come up") + + # Allow up to 10 seconds for the action server to come up + self.move_base.wait_for_server(rospy.Duration(2)) + + def goto(self, pos, quat): + + # Send a goal + self.goal_sent = True + goal = MoveBaseGoal() + goal.target_pose.header.frame_id = 'map' + goal.target_pose.header.stamp = rospy.Time.now() + goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000), + Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4'])) + + # Start moving + self.move_base.send_goal(goal) + + # Allow TurtleBot up to 60 seconds to complete task + # Time to finish the navigation + # by lcp 2021/7/1 + success = self.move_base.wait_for_result(rospy.Duration(60)) + + state = self.move_base.get_state() + result = False + + if success and state == GoalStatus.SUCCEEDED: + # We made it! + result = True + else: + self.move_base.cancel_goal() + + self.goal_sent = False + return result + + def shutdown(self): + if self.goal_sent: + self.move_base.cancel_goal() + rospy.loginfo("Stop") + rospy.sleep(1) + +if __name__ == '__main__': + + try: + rospy.init_node('nav_test', anonymous=True) + #rospy.Subscriber("/mic/awake/angle", Int32, callback) + + rospy.sleep(1) + whether_stranger = False + while not rospy.is_shutdown() and whether_stranger == False: + data = rospy.wait_for_message("/mic/awake/angle", Int32, timeout=None) + print(data.data) + if data.data!=0: + angle_of_wakeup = data.data + whether_stranger = True; + break; + navigator = GoToPose() + + # Customize the following values so they are appropriate for your location + position_door = {'x': 1.33, 'y' : 3.3} + # position_window = {'x' : -0.8, 'y' : -0.12} + quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000} + + rospy.loginfo("Go to (%s, %s) pose", position_door['x'], position_door['y']) + success = navigator.goto(position_door, quaternion) + + # 发布小车是否到达的消息 + pub = rospy.Publisher('whether_reach', Int32, queue_size=10) + if success: + rospy.loginfo("Hooray, reached the desired pose") + while not rospy.is_shutdown(): + + pub.publish(1) + rospy.loginfo('yes') + else: + rospy.loginfo("The base failed to reach the desired pose") + while not rospy.is_shutdown(): + + pub.publish(0) + rospy.loginfo('no') + + # Sleep to give the last log messages time to be sent + + rospy.sleep(1) + + except rospy.ROSInterruptException: + rospy.loginfo("Ctrl-C caught. Quitting") diff --git a/src/Robot/xf_mic_asr_offline/scripts/model.py b/src/Robot/xf_mic_asr_offline/scripts/model.py new file mode 100644 index 0000000..faabef7 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/scripts/model.py @@ -0,0 +1,6 @@ +#!/usr/bin/env python +# -*- coding: UTF-8 -*- + +import os + +os.system("conda run python ~/Desktop/voiceprint-linux/infer_contrast.py") diff --git a/src/Robot/xf_mic_asr_offline/scripts/model.py~ b/src/Robot/xf_mic_asr_offline/scripts/model.py~ new file mode 100644 index 0000000..58bfc94 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/scripts/model.py~ @@ -0,0 +1,6 @@ +#!/usr/bin/env python +# -*- coding: UTF-8 -*- + +import os + +os.system("conda run -n base python ~/Desktop/voiceprint-linux/infer_contrast.py") diff --git a/src/Robot/xf_mic_asr_offline/scripts/pubresult.py b/src/Robot/xf_mic_asr_offline/scripts/pubresult.py new file mode 100644 index 0000000..322c8b2 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/scripts/pubresult.py @@ -0,0 +1,26 @@ +#!/usr/bin/env python +# -*- coding: UTF-8 -*- + +import rospy +from std_msgs.msg import String +resultstr = "no" +def talker(): + pub = rospy.Publisher('chatter', String, queue_size=10) + rospy.init_node('talker', anonymous=True) + rate = rospy.Rate(10) # 10hz + while not rospy.is_shutdown(): + rospy.loginfo(resultstr) + pub.publish(resultstr) + rate.sleep() + +if __name__ == '__main__': + try: + # 读取结果 + fresult = open("/home/turtlebot/myresult/result.txt") + resultstr = fresult.read(20) + talker() + print(resultstr) + fresult.close() + except rospy.ROSInterruptException: + pass + diff --git a/src/Robot/xf_mic_asr_offline/scripts/pubresult.py~ b/src/Robot/xf_mic_asr_offline/scripts/pubresult.py~ new file mode 100644 index 0000000..2c60ceb --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/scripts/pubresult.py~ @@ -0,0 +1,27 @@ +#!/usr/bin/env python +# -*- coding: UTF-8 -*- + +import rospy +from std_msgs.msg import String + +resultstr = "no" +def talker(): + pub = rospy.Publisher('chatter', String, queue_size=10) + rospy.init_node('talker', anonymous=True) + rate = rospy.Rate(10) # 10hz + while not rospy.is_shutdown(): + rospy.loginfo(resultstr) + pub.publish(resultstr) + rate.sleep() + +if __name__ == '__main__': + try: + # 读取结果 + fresult = open("/home/turtlebot/myresult/result.txt") + resultstr = fresult.read(20) + talker() + print(resultstr) + fresult.close() + except rospy.ROSInterruptException: + pass + diff --git a/src/Robot/xf_mic_asr_offline/src/record.cpp b/src/Robot/xf_mic_asr_offline/src/record.cpp index 848e475..a51eb4c 100644 --- a/src/Robot/xf_mic_asr_offline/src/record.cpp +++ b/src/Robot/xf_mic_asr_offline/src/record.cpp @@ -17,11 +17,37 @@ #include #include #include +bool record_symbol = false;//是否可以开始录音 +void chatterCallback(const std_msgs::Int32::ConstPtr& msg) +{ + ROS_INFO("I heard: [%d]", msg->data); + record_symbol = msg->data; +} -int main(int argc, char *argv[]){ - hid_open(); - start_to_record_denoised_sound(); - sleep(5); - finish_to_record_denoised_sound(); - return 0; -} \ No newline at end of file +int main(int argc, char **argv) +{ + ros::init(argc, argv, "start"); + ros::NodeHandle n; + ros::Subscriber sub = n.subscribe("whether_reach", 1, chatterCallback); + ros::spin(); + + //删除原有的音频 + system("rm ~/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.pcm"); + if (record_symbol){ + //开始录音 + int symbol_of_start = start_to_record_denoised_sound(); + //录音10s + sleep(10); + //停止录音 + int symbol_of_stop = finish_to_record_denoised_sound(); + } + //修改音频格式 + system("python ~/catkin_ws/src/xf_mic_asr_offline/audio/change.py"); + ros::waitForShutdown(); + //sleep(2); + system("python3 /home/turtlebot/mymodel/voiceprint/infer_contrast.py"); + printf("over!"); + //关闭麦克风 + hid_close(); + return 0; +} diff --git a/src/Robot/xf_mic_asr_offline/src/record.cpp~ b/src/Robot/xf_mic_asr_offline/src/record.cpp~ new file mode 100644 index 0000000..130b5e9 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/src/record.cpp~ @@ -0,0 +1,56 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +bool record_symbol = false; +void chatterCallback(const std_msgs::Int32::ConstPtr& msg) +{ + ROS_INFO("I heard: [%d]", msg->data); + record_symbol = msg->data; +} + +int main(int argc, char **argv) +{ + + ros::init(argc, argv, "start"); + + ros::NodeHandle n; + ros::Subscriber sub = n.subscribe("whether_reach", 1, chatterCallback); + + ros::spin(); + + //删除原有的音频 + system("rm ~/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.pcm"); + if (record_symbol){ + //开始录音 + int symbol_of_start = start_to_record_denoised_sound(); + //录音10s + sleep(10); + //停止录音 + int symbol_of_stop = finish_to_record_denoised_sound(); + } + //修改音频格式 + system("python ~/catkin_ws/src/xf_mic_asr_offline/audio/change.py"); + ros::waitForShutdown(); + //sleep(2); + system("python3 /home/turtlebot/mymodel/voiceprint/infer_contrast.py"); + printf("over!"); + //关闭麦克风 + hid_close(); + return 0; +} diff --git a/src/Robot/xf_mic_asr_offline/src/refresh_mic.cpp b/src/Robot/xf_mic_asr_offline/src/refresh_mic.cpp index 464caaa..bfd1785 100644 --- a/src/Robot/xf_mic_asr_offline/src/refresh_mic.cpp +++ b/src/Robot/xf_mic_asr_offline/src/refresh_mic.cpp @@ -1,10 +1,16 @@ -/************************************************************************** -ߣcaidx1 -ܣˢ -**************************************************************************/ #include +#include +#include "hidapi.h" +#include #include +#include #include +#include +#include +#include +#include +#include +#include #include #include #include @@ -12,6 +18,16 @@ #include #include + +#include +#include +#include + +#include +#include +#include + + double orientation_z; double orientation_w; double direction_r; @@ -20,11 +36,13 @@ double angle = 0; // double last_direction = 0; int awake_flag = 0; //ѱ־λ int last_mic=0; //ʷֵ + +int nav_reach = 0; //СǷ񵽴ָĵص + ros::ServiceClient Set_Major_Mic_client; //Ŀͻ ros::Publisher current_angle_pub; //嵱ǰСԻѽǶ - /************************************************************************** ܣѽǶsubص ڲѽǶֵawake_angle voice_control.cpp @@ -63,7 +81,18 @@ void awake_flag_Callback(std_msgs::Int8 msg) printf("awake_flag = %d\n",awake_flag); } - +/*** +ܣСﵼλñ־nav_reachص +ڲ'whether_reach'Ϣ Int8 +ֵ +***/ + +void reach_Callback(std_msgs::Int32 msg) +{ + nav_reach = msg.data; + printf("nav_reach = %d\n",nav_reach); + +} /************************************************************************** ܣС̬subص ڲPose turn_on_wheeltec_robot.launch @@ -128,6 +157,47 @@ void pose_callback(const geometry_msgs::PoseWithCovarianceStamped& msg) } } } +/*** +ʼ¼ +***/ +bool Record_Start(xf_mic_asr_offline::Start_Record_srv::Request &req, xf_mic_asr_offline::Start_Record_srv::Response &res) +{ + if (req.whether_start == 1) + { + ROS_INFO("got topic request,start to record ...\n"); + int ret1 = start_to_record_denoised_sound(); + if (ret1 == 0) + { + res.result = "ok"; + res.fail_reason = ""; + } + else + { + res.result = "fail"; + res.fail_reason = "mic_did_not_open_error"; + } + } + else if (req.whether_start == 0) + { + ROS_INFO("got topic request,stop to record ...\n"); + int ret2 = finish_to_record_denoised_sound(); + if (ret2 == 0) + { + res.result = "ok"; + res.fail_reason = ""; + } + else + { + res.result = "fail"; + res.fail_reason = "mic_did_not_open_error"; + } + } + return true; +} + + + + /************************************************************************** ܣ ڲ @@ -154,15 +224,63 @@ int main(int argc, char** argv) /***ͻ***/ Set_Major_Mic_client = node.serviceClient("xf_asr_offline_node/set_major_mic_srv"); - + /*srv󣬿¼ر¼*/ + ros::ServiceServer service_record_start = node.advertiseService("start_record_srv", Record_Start); + + /**СǷ񵽴ﵼλõĶ**/ + ros::Subscriber reach_sub = node.subscribe("whether_reach", 1, reach_Callback); + double rate2 = 5; //ˢƵ5Hz ros::Rate loopRate2(rate2); + /** + hid_device *handle = NULL; + //˷豸 + handle = hid_open(); + + if (!handle) + { + printf(">>>>>޷˷豸ӽв\n"); + return -1; + } + printf(">>>>>ɹ˷豸\n"); + protocol_proc_init(send_to_usb_device, recv_from_usb_device, business_proc_callback, err_proc); + + //ȡ˷״̬Ƿ + get_system_status(); + */ + + + while(ros::ok()) { - ros::spinOnce(); - loopRate2.sleep(); + ros::spinOnce(); + loopRate2.sleep(); + if(nav_reach){ + //ɾԭƵɾƵֻӲ + system("rm /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.pcm"); + // + system("python /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/scripts/get_photo.py"); + //Ƭƶǰ + system("cp -r /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/scripts/get_photo.py /home/turtlebot/Desktop/voiceproject-linux-2/media"); + //ʼ¼ + system("rosservice call xf_asr_offline_node/start_record_srv 1"); + //¼5s + sleep(5); + //¼ + system("rosservice call xf_asr_offline_node/start_record_srv 0"); + //޸Ƶʽ pcm~wav + system("python /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/change.py"); + printf("ɹתʽ\n"); + //ģ + //system("python /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/scripts/model.py"); + system("conda run -n base python /home/turtlebot/Desktop/voiceprint-linux/infer_contrast.py"); + printf("ɹģͣ\n"); + //÷ڵ + system("python /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/scripts/pubresult.py"); + break; + } //ros::spin(); } return 0; diff --git a/src/Robot/xf_mic_asr_offline/src/refresh_mic.cpp~ b/src/Robot/xf_mic_asr_offline/src/refresh_mic.cpp~ new file mode 100644 index 0000000..bfd1785 --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/src/refresh_mic.cpp~ @@ -0,0 +1,289 @@ +#include +#include +#include "hidapi.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +#include +#include +#include + +#include +#include +#include + + +double orientation_z; +double orientation_w; +double direction_r; +double direction; +double angle = 0; //ѽǶ +double last_direction = 0; +int awake_flag = 0; //ѱ־λ +int last_mic=0; //ʷֵ + +int nav_reach = 0; //СǷ񵽴ָĵص + +ros::ServiceClient Set_Major_Mic_client; //Ŀͻ +ros::Publisher current_angle_pub; //嵱ǰСԻѽǶ + + +/************************************************************************** +ܣѽǶsubص +ڲѽǶֵawake_angle voice_control.cpp + ֵ +**************************************************************************/ +void angle_Callback(std_msgs::Int32 msg) +{ + angle = msg.data; + + if(angle>=30 && angle<=90) //жϻʱ + last_mic = 1; + else if(angle>=90 && angle<=150) + last_mic = 2; + else if(angle>=150 && angle<=210) + last_mic = 3; + else if(angle>=210 && angle<=270) + last_mic = 4; + else if(angle>=270 && angle<=330) + last_mic = 5; + else + last_mic = 0; + printf("last_mic_init = %d-----\n",last_mic); + +} + + +/************************************************************************** +ܣѱ־subص +ڲѱ־λawake_flag_msg voice_control.cpp + ֵ +**************************************************************************/ +void awake_flag_Callback(std_msgs::Int8 msg) +{ + last_direction = direction; + awake_flag = msg.data; + printf("awake_flag = %d\n",awake_flag); + +} +/*** +ܣСﵼλñ־nav_reachص +ڲ'whether_reach'Ϣ Int8 +ֵ +***/ + +void reach_Callback(std_msgs::Int32 msg) +{ + nav_reach = msg.data; + printf("nav_reach = %d\n",nav_reach); + +} +/************************************************************************** +ܣС̬subص +ڲPose turn_on_wheeltec_robot.launch + ֵ +**************************************************************************/ +void pose_callback(const geometry_msgs::PoseWithCovarianceStamped& msg) +{ + orientation_z = msg.pose.pose.orientation.z; //ȡµ̼Ʒλֵ + orientation_w = msg.pose.pose.orientation.w; + + printf("z = %f-----\n",orientation_z); + printf("w = %f-----\n",orientation_w); + direction_r = atan2(2*(orientation_w*orientation_z),1-2*(pow(orientation_z,2.0))); + + direction = direction_r*180/3.1415926; + if(direction<0) + {direction+=360;} + + + + if(awake_flag) //ڻ״̬ˢ¼ + { + + //printf("direction = %f-----\n",direction); + + double dire_error = direction-last_direction; //㷽ֵƻɽǶ + //printf("dire_error = %f-----\n",dire_error); + angle+=dire_error; //ѽǶȸСתǶȸ + //printf("angle = %f-----\n",angle); + last_direction = direction; //ǰ滻ʷ + + if(angle > 360) //angle360С0 + angle-=360; + else if(angle < 0) + angle+=360; + + /*******嵱ǰСԻѽǶȻϢ*******/ + std_msgs::Int32 current_angle_msg; + current_angle_msg.data = int(angle); + current_angle_pub.publish(current_angle_msg); //⣬СѰԴ + + /********ͻϢ******/ + xf_mic_asr_offline::Set_Major_Mic_srv num; + if(angle>=30 && angle<=90) //ݽǶ趨 + num.request.mic_id = 1; + else if(angle>=90 && angle<=150) + num.request.mic_id = 2; + else if(angle>=150 && angle<=210) + num.request.mic_id = 3; + else if(angle>=210 && angle<=270) + num.request.mic_id = 4; + else if(angle>=270 && angle<=330) + num.request.mic_id = 5; + else + num.request.mic_id = 0; + + if(last_mic != num.request.mic_id) //㵱ǰֵʷֵȣˢ + { + Set_Major_Mic_client.call(num); + last_mic = num.request.mic_id; + + } + } +} +/*** +ʼ¼ +***/ +bool Record_Start(xf_mic_asr_offline::Start_Record_srv::Request &req, xf_mic_asr_offline::Start_Record_srv::Response &res) +{ + if (req.whether_start == 1) + { + ROS_INFO("got topic request,start to record ...\n"); + int ret1 = start_to_record_denoised_sound(); + if (ret1 == 0) + { + res.result = "ok"; + res.fail_reason = ""; + } + else + { + res.result = "fail"; + res.fail_reason = "mic_did_not_open_error"; + } + } + else if (req.whether_start == 0) + { + ROS_INFO("got topic request,stop to record ...\n"); + int ret2 = finish_to_record_denoised_sound(); + if (ret2 == 0) + { + res.result = "ok"; + res.fail_reason = ""; + } + else + { + res.result = "fail"; + res.fail_reason = "mic_did_not_open_error"; + } + } + return true; +} + + + + +/************************************************************************** +ܣ +ڲ + ֵ +**************************************************************************/ +int main(int argc, char** argv) +{ + + ros::init(argc, argv, "ref_mic"); //ʼROSڵ + + ros::NodeHandle node; // + + /***ǰѽǶȻⷢ***/ + current_angle_pub = node.advertise("current_angle",1); + + /***ѽǶȻⶩ***/ + ros::Subscriber angle_sub = node.subscribe("/mic/awake/angle", 1, angle_Callback); + + /***ѱ־λⶩ***/ + ros::Subscriber awake_flag_sub = node.subscribe("awake_flag", 1, awake_flag_Callback); + + /***С̬ⶩ***/ + ros::Subscriber pose_sub = node.subscribe("/robot_pose_ekf/odom_combined",1,pose_callback); + + /***ͻ***/ + Set_Major_Mic_client = node.serviceClient("xf_asr_offline_node/set_major_mic_srv"); + /*srv󣬿¼ر¼*/ + ros::ServiceServer service_record_start = node.advertiseService("start_record_srv", Record_Start); + + /**СǷ񵽴ﵼλõĶ**/ + ros::Subscriber reach_sub = node.subscribe("whether_reach", 1, reach_Callback); + + double rate2 = 5; //ˢƵ5Hz + ros::Rate loopRate2(rate2); + + /** + hid_device *handle = NULL; + //˷豸 + handle = hid_open(); + + if (!handle) + { + printf(">>>>>޷˷豸ӽв\n"); + return -1; + } + printf(">>>>>ɹ˷豸\n"); + protocol_proc_init(send_to_usb_device, recv_from_usb_device, business_proc_callback, err_proc); + + //ȡ˷״̬Ƿ + get_system_status(); + */ + + + + while(ros::ok()) + { + ros::spinOnce(); + loopRate2.sleep(); + + if(nav_reach){ + //ɾԭƵɾƵֻӲ + system("rm /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.pcm"); + // + system("python /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/scripts/get_photo.py"); + //Ƭƶǰ + system("cp -r /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/scripts/get_photo.py /home/turtlebot/Desktop/voiceproject-linux-2/media"); + //ʼ¼ + system("rosservice call xf_asr_offline_node/start_record_srv 1"); + //¼5s + sleep(5); + //¼ + system("rosservice call xf_asr_offline_node/start_record_srv 0"); + //޸Ƶʽ pcm~wav + system("python /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/change.py"); + printf("ɹתʽ\n"); + //ģ + //system("python /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/scripts/model.py"); + system("conda run -n base python /home/turtlebot/Desktop/voiceprint-linux/infer_contrast.py"); + printf("ɹģͣ\n"); + //÷ڵ + system("python /home/turtlebot/catkin_ws/src/xf_mic_asr_offline/scripts/pubresult.py"); + break; + } + //ros::spin(); + } + return 0; + +} + diff --git a/src/Robot/xf_mic_asr_offline/src/voice_control.cpp b/src/Robot/xf_mic_asr_offline/src/voice_control.cpp index 6066610..6952e00 100644 --- a/src/Robot/xf_mic_asr_offline/src/voice_control.cpp +++ b/src/Robot/xf_mic_asr_offline/src/voice_control.cpp @@ -52,6 +52,8 @@ bool Set_request_mic_id = false; bool Set_request_led_id = false; bool Set_request_awake_word = false; bool Get_request_awake_angle = false; +bool Start_record = false;//by lcp 5/15/2021 +int nav_reach = 0; using namespace std; extern UserData asr_data; @@ -59,7 +61,9 @@ extern int whether_finised ; extern char *whole_result; int write_first_data = 0; int set_led_id ; - +int stranger_wake_up; +int stranger_led; +int count_wakeup = 3; /*获取文件大小*/ int FileSize(const char *fname) { @@ -323,7 +327,17 @@ int business_proc_callback(business_msg_t businessMsg) { printf(">>>>>第%d个麦克风被唤醒\n", major_mic_id); printf(">>>>>唤醒角度为:%d\n", mic_angle); + //确定唤醒的角度 + stranger_wake_up = mic_angle; + stranger_led = major_mic_id; printf(">>>>>已点亮%d灯\n", led_id); + /** + * changed by lcp 6/22/2021 + * init for the start record signal; + */ + //ROS_INFO("if i can: %d\n" ,Start_record); + + Get_request_awake_angle = true; std_msgs::Int32 awake_angle; awake_angle.data = mic_angle; @@ -344,6 +358,7 @@ int business_proc_callback(business_msg_t businessMsg) whether_finised = 1; set_led_id = led_id; //printf("\n1111111111111111\n"); + } } } @@ -865,16 +880,36 @@ bool Get_Awake_Angle(xf_mic_asr_offline::Get_Awake_Angle_srv::Request &req, } return true; } - -/*程序入口*/ +void AngleCallback(const std_msgs::Int32::ConstPtr& msg) +{ + + ROS_INFO("I heard: [%d]\n", msg->data); + if (msg->data!=0){ + Start_record = true; + } + +} +/*** +函数功能：小车到达导航位置标志nav_reach回调函数 +入口参数：'whether_reach'话题消息 Int8 +返回值 ：无 +***/ + +void reach_Callback(std_msgs::Int32 msg) +{ + nav_reach = msg.data; + printf("nav_reach = %d\n",nav_reach); + +} +//主程序入口 int main(int argc, char *argv[]) { ros::init(argc, argv, "voice_control"); ros::NodeHandle ndHandle("~"); ndHandle.param("/confidence", confidence, 0);//离线命令词识别置信度阈值 ndHandle.param("/seconds_per_order", time_per_order, 3); //单次录制音频的时长 - ndHandle.param("source_path", source_path, std::string("/home/wheeltec/wheeltec_robot/src/vvui_ros-master/xf_mic_asr_offline")); - ndHandle.param("/appid", appid, std::string("5fa0b8b9"));//appid，需要更换为自己的 + ndHandle.param("source_path", source_path, std::string("/home/turtlebot/catkin_ws/src/xf_mic_asr_offline")); + ndHandle.param("/appid", appid, std::string("7c6a4b39"));//appid，需要更换为自己的 printf("-----confidence =%d\n",confidence); printf("-----time_per_order =%d\n",time_per_order); @@ -892,7 +927,9 @@ int main(int argc, char *argv[]) pub_awake_angle = ndHandle.advertise(awake_angle_topic, 1); /*　topic 发布主麦克风*/ major_mic_pub = ndHandle.advertise(major_mic_topic, 1); - + + /* subscribe 订阅 麦克风角度*/ + //ndHandle.subscribe("whether_reach", 1, reach_Callback); voice_words_pub = n.advertise(voice_words, 10); @@ -920,9 +957,11 @@ int main(int argc, char *argv[]) /*srv 获取当前唤醒角度*/ ros::ServiceServer service_get_awake_angle = ndHandle.advertiseService("get_awake_angle_srv", Get_Awake_Angle); + hid_device *handle = NULL; - handle = hid_open();//开启麦克风设备 + //开启麦克风设备 + handle = hid_open(); if (!handle) { @@ -931,7 +970,8 @@ int main(int argc, char *argv[]) } printf(">>>>>成功打开麦克风设备\n"); protocol_proc_init(send_to_usb_device, recv_from_usb_device, business_proc_callback, err_proc); - get_system_status();//获取麦克风状态，是否正常工作 + //获取麦克风状态，是否正常工作 + get_system_status(); @@ -946,7 +986,6 @@ int main(int argc, char *argv[]) Recognise_Result inital = initial_asr_paramers(jet_path, grammer_path, bnf_path, LEX_NAME); - sleep(1); if (!is_boot) { @@ -961,10 +1000,16 @@ int main(int argc, char *argv[]) } printf(">>>>>开机成功！\n"); set_awake_word(awake_words); - - + + char *my_awake_word = (char*)"翁程"; + ros::AsyncSpinner spinner(3); spinner.start(); + + set_major_mic_id(1); + + set_awake_word(my_awake_word); + if (major_mic_id>5 || major_mic_id<0) { printf(">>>>>未设置主麦，请唤醒或设置主麦\n"); @@ -974,8 +1019,15 @@ int main(int argc, char *argv[]) sleep(1); } printf(">>>>>设置主麦成功！\n"); - ros::waitForShutdown(); + + //int count_of_wakeup = 3;//唤醒的次数为3次 + + unsigned char key2[] = "angle"; + unsigned char key1[] = "beam"; + ros::waitForShutdown(); + printf("over!"); + //关闭麦克风 hid_close(); return 0; } diff --git a/src/Robot/xf_mic_asr_offline/src/voice_control.cpp~ b/src/Robot/xf_mic_asr_offline/src/voice_control.cpp~ new file mode 100644 index 0000000..22596aa --- /dev/null +++ b/src/Robot/xf_mic_asr_offline/src/voice_control.cpp~ @@ -0,0 +1,1033 @@ +/******************************************************* + This contents of this file may be used by anyone + for any reason without any conditions and may be + used as a starting point for your own applications + which use HIDAPI. +********************************************************/ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + + +ros::Publisher voice_words_pub; +ros::Publisher awake_flag_pub; + +ros::Publisher pub_pcm; +ros::Publisher pub_awake_angle; +ros::Subscriber sub_record_start; +ros::Subscriber sub_targrt_led_on; +ros::Subscriber sub_get_major_mic; + +ros::Publisher major_mic_pub; +ros::Publisher recognise_result_pub; +std::string awake_angle_topic = "/mic/awake/angle"; +std::string pcm_topic = "/mic/pcm/deno"; +std::string major_mic_topic = "/mic/major_mic"; + +std::string voice_words = "voice_words"; + +std::string awake_flag = "awake_flag"; + +int offline_recognise_switch = 0; //离线识别默认开关 +std::vector pcm_buf; //音频流缓冲区 + +bool Get_request_mic_id = false; +bool Set_request_mic_id = false; +bool Set_request_led_id = false; +bool Set_request_awake_word = false; +bool Get_request_awake_angle = false; +bool Start_record = false;//by lcp 5/15/2021 +int nav_reach = 0; +using namespace std; + +extern UserData asr_data; +extern int whether_finised ; +extern char *whole_result; +int write_first_data = 0; +int set_led_id ; +int stranger_wake_up; +int stranger_led; +int count_wakeup = 3; +/*获取文件大小*/ +int FileSize(const char *fname) +{ + struct stat statbuf; + if (stat(fname, &statbuf) == 0) + return statbuf.st_size; + return -1; +} +std::wstring s2ws(const std::string &str) +{ + using convert_typeX = std::codecvt_utf8; + std::wstring_convert converterX; + + return converterX.from_bytes(str); +} + +std::string ws2s(const std::wstring &wstr) +{ + using convert_typeX = std::codecvt_utf8; + std::wstring_convert converterX; + + return converterX.to_bytes(wstr); +} + +//判断是否是整数 +int isnumber(char *a, int count_need) +{ + int len = strlen(a); + if (len > count_need) + { + return -1; + } + int j = 0; + for (int i = 0; i < len; i++) + { + if (a[i] <= 57 && a[i] >= 48) + { + j++; + } + } + if (j == len) + { + return 0; + } + else + { + return -1; + } +} + + +//字符串与字符数组拼接 +char *join(std::string b, char *s2) +{ + char s1[600] = ""; + try + { + strcpy(s1, b.c_str()); + } + catch (...) + { + cout << ">>>>>join拷贝失败" << endl; + } + char *result = (char *)malloc(strlen(s1) + strlen(s2) + 1); + if (result == NULL) + exit(1); + + try + { + strcpy(result, s1); + strcat(result, s2); + } + catch (...) + { + cout << ">>>>>join拷贝失败" << endl; + } + return result; +} + +//麦克风通信回调函数 +int business_proc_callback(business_msg_t businessMsg) +{ + int res = 0; + char *fileName = join(source_path, DENOISE_SOUND_PATH); + char *fileName_ori = join(source_path, ORIGINAL_SOUND_PATH); + static int index = 0; + unsigned char buf[4096]; + //printf("business proc modId = %d, msgId = %d, size = %d", businessMsg.modId, businessMsg.msgId, businessMsg.length); + switch (businessMsg.modId) + { + case 0x01: + if (businessMsg.msgId == 0x01) + { + unsigned char key[] = "errcode"; + int status = whether_set_succeed(businessMsg.data, key); + if (status == 0) + { + //printf(">>>>>您已开启录音\n"); + } + } + else if (businessMsg.msgId == 0x02) + { + int len = PCM_MSG_LEN; + char *pcm_buffer = new char[len]; //在堆中创建空间 +#if whether_print_log + if (pcm_buffer == NULL) + { + cout << "buffer is null" << endl; + } + else + { + cout << "buffer alloced successfully" << endl; + } + //cout << "data size:" << businessMsg.length << "len:" << len << endl; +#endif + try + { + memcpy(pcm_buffer, businessMsg.data, len); + } + catch (...) + { + cout << ">>>>>拷贝失败" << endl; + } + if (businessMsg.length < len) + { + len = businessMsg.length; + cout << "businessMsg size is noenough" << endl; + } + if (save_pcm_local) + { + char *denoise_sound_path = join(source_path, DENOISE_SOUND_PATH); + if (-1 != FileSize(denoise_sound_path)) + { + int file_size = FileSize(denoise_sound_path); + if (file_size > max_pcm_size) //超出最大文件限制,将删除,以节省磁盘空间 + { + remove(denoise_sound_path); + } + } + get_denoised_sound(denoise_sound_path, businessMsg.data); + } + /*写入第一块音频*/ + // if(is_awake) + // { + if (write_first_data++ == 0) + { +#if whether_print_log + printf("***************write the first voice**********\n"); +#endif + demo_xf_mic(pcm_buffer, len, 1); + } + + else + { +#if whether_print_log + printf("***************write the middle voice**********\n"); +#endif + demo_xf_mic(pcm_buffer, len, 2); + } + } + else if (businessMsg.msgId == 0x03) + { + unsigned char key[] = "errcode"; + int status = whether_set_succeed(businessMsg.data, key); + if (status == 0) + { + //发布关闭前剩余的音频流 + xf_mic_asr_offline::Pcm_Msg pcm_data; + vector::iterator it; + for (it = pcm_buf.begin(); it != pcm_buf.end(); it++) + { + pcm_data.pcm_buf.push_back(*it); + } + pcm_data.length = pcm_buf.size(); + pub_pcm.publish(pcm_data); + pcm_buf.clear(); + //printf(">>>>>您已停止录音\n"); + } + } + else if (businessMsg.msgId == 0x04) + { + unsigned char key[] = "errcode"; + int status = whether_set_succeed(businessMsg.data, key); + if (status == 0) + { + printf(">>>>>开/关原始音频成功\n"); + } + } + else if (businessMsg.msgId == 0x05) + { + unsigned char key[] = "errcode"; + int status = whether_set_succeed(businessMsg.data, key); + if (status == 0) + { + //printf(">>>>>设置主麦克风成功\n"); + } + } + else if (businessMsg.msgId == 0x06) + { + get_original_sound(fileName_ori, businessMsg.data); + } + else if (businessMsg.msgId == 0x07) + { + unsigned char key2[] = "beam"; + try + { + int major_id = whether_set_succeed(businessMsg.data, key2); + major_mic_id = major_id; + Get_request_mic_id = true; + printf(">>>>>主麦克风id为%d号麦克风\n", major_mic_id); + } + catch (...) + { + Get_request_mic_id = false; + } + } + else if (businessMsg.msgId == 0x08) + { + unsigned char key[] = "errcode"; + int status = whether_set_succeed(businessMsg.data, key); + if (status == 0) + { + Set_request_mic_id = true; + //printf("\n>>>>>设置主麦克风成功\n"); + } + else + { + Set_request_mic_id = false; + } + } + else if (businessMsg.msgId == 0x09) + { + unsigned char key[] = "errcode"; + int status = whether_set_succeed(businessMsg.data, key); + if (status == 0) + { + Set_request_led_id = true; + //printf("\n>>>>>设置灯光成功\n"); + } + else + { + Set_request_led_id = false; + } + } + + break; + case 0x02: + if (businessMsg.msgId == 0x01) + { + unsigned char key1[] = "beam"; + unsigned char key2[] = "angle"; + major_mic_id = get_awake_mic_id(businessMsg.data, key1); + mic_angle = get_awake_mic_angle(businessMsg.data, key2); + if (major_mic_id <= 5 && major_mic_id >= 0 && mic_angle <= 360 && mic_angle >= 0) + { + if_awake = 1; + led_id = get_led_based_angle(mic_angle); + int ret1 = set_major_mic_id(major_mic_id); + int ret2 = set_target_led_on(led_id); + if (ret1 == 0 && ret2 == 0) + { + printf(">>>>>第%d个麦克风被唤醒\n", major_mic_id); + printf(">>>>>唤醒角度为:%d\n", mic_angle); + //确定唤醒的角度 + stranger_wake_up = mic_angle; + stranger_led = major_mic_id; + printf(">>>>>已点亮%d灯\n", led_id); + /** + * changed by lcp 6/22/2021 + * init for the start record signal; + */ + //ROS_INFO("if i can: %d\n" ,Start_record); + + + Get_request_awake_angle = true; + std_msgs::Int32 awake_angle; + awake_angle.data = mic_angle; + pub_awake_angle.publish(awake_angle); + + std_msgs::Int8 awake_flag_msg; + awake_flag_msg.data = 1; + awake_flag_pub.publish(awake_flag_msg); + + std_msgs::Int8 majormic; + majormic.data = major_mic_id; + major_mic_pub.publish(majormic); + + std_msgs::String msg; + msg.data = "小车唤醒"; + voice_words_pub.publish(msg); + + whether_finised = 1; + set_led_id = led_id; + //printf("\n1111111111111111\n"); + + } + } + } + else if (businessMsg.msgId == 0x08) + { + unsigned char key1[] = "errstring"; + int result = whether_set_awake_word(businessMsg.data, key1); + if (result==0) + { + Set_request_awake_word = true; + //printf("\n>>>>>唤醒词设置成功\n"); + } + else if (result==-2) + { + Set_request_awake_word = false; + printf("\n>>>>>唤醒词设置失败\n"); + + } + } + + + break; + case 0x03: + if (businessMsg.msgId == 0x01) + { + unsigned char key[] = "status"; + int status = whether_set_succeed(businessMsg.data, key); + char protocol_version[40]; + int ret = get_protocol_version(businessMsg.data,protocol_version); + printf(">>>>>麦克风%s,软件版本为:%s,协议版本为:%s\n", (status == 0 ? "正常工作" : "正在启动"),get_software_version(),protocol_version); + if (status == 1) + { + char *fileName = join(source_path,SYSTEM_CONFIG_PATH); + send_resource_info(fileName, 0); + } + else + { + is_boot = 1; + } + } + + break; + + case 0x04: + if (businessMsg.msgId == 0x01) + { + whether_set_resource_info(businessMsg.data); + } + else if (businessMsg.msgId == 0x03) //文件接收结果 + { + whether_set_resource_info(businessMsg.data); + } + else if (businessMsg.msgId == 0x04) //查看设备升级结果 + { + whether_upgrade_succeed(businessMsg.data); + } + else if (businessMsg.msgId == 0x05) //下发文件 + { + char *fileName_system_path = join(source_path, SYSTEM_PATH); + ; + send_resource(businessMsg.data, fileName_system_path, 1); + } + else if (businessMsg.msgId == 0x08) //获取升级配置文件 + { + printf("config.json: %s", businessMsg.data); + } + break; + + default: + break; + } + return 0; +} +/*用于显示离线命令词识别结果*/ +Effective_Result show_result(char *string) // +{ + Effective_Result current; + if (strlen(string) > 250) + { + char asr_result[32]; //识别到的关键字的结果 + char asr_confidence[3]; //识别到的关键字的置信度 + char *p1 = strstr(string, ""); + char *p2 = strstr(string, ""); + int n1 = p1 - string + 1; + int n2 = p2 - string + 1; + + char *p3 = strstr(string, ""); + char *p4 = strstr(string, ""); + int n3 = p3 - string + 1; + int n4 = p4 - string + 1; + for (int i = 0; i < 32; i++) + { + asr_result[i] = '\0'; + } + + strncpy(asr_confidence, string + n3 + strlen("") - 1, n4 - n3 - strlen("")); + asr_confidence[n4 - n3 - strlen("")] = '\0'; + int confidence_int = 0; + confidence_int = atoi(asr_confidence); + if (confidence_int >= confidence) + { + strncpy(asr_result, string + n1 + strlen("") - 1, n2 - n1 - strlen("")); + asr_result[n2 - n1 - strlen("")] = '\0'; //加上字符串结束符。 + } + else + { + strncpy(asr_result, "", 0); + } + + current.effective_confidence = confidence_int; + strcpy(current.effective_word, asr_result); + return current; + } + else + { + current.effective_confidence = 0; + strcpy(current.effective_word, " "); + return current; + } +} + +/*获取离线命令词识别结果*/ +bool Get_Offline_Recognise_Result(xf_mic_asr_offline::Get_Offline_Result_srv::Request &req, + xf_mic_asr_offline::Get_Offline_Result_srv::Response &res) +{ + offline_recognise_switch = req.offline_recognise_start; + if (offline_recognise_switch == 1) //如果是离线识别模式 + { + +/* + ROS_INFO("open the offline recognise mode ...\n"); + const char *file = join(source_path, DENOISE_SOUND_PATH); + remove(file); + start_to_record_denoised_sound(); + int time_per = time_per_order; + if (req.time_per_order > 0) + { + time_per = req.time_per_order; + } + while (time_per--) + { + sleep(1); + } + finish_to_record_denoised_sound(); + char *pcm_path = join(source_path, DENOISE_SOUND_PATH); + std::string transfom_pcm = pcm_path; + unsigned char *unsignend_pcm_path = (unsigned char *)transfom_pcm.c_str(); + std::string begin = "fo|"; + char *jet_path = join((begin + source_path), ASR_RES_PATH); + char *grammer_build_path = join(source_path, GRM_BUILD_PATH); + char *bnf_path = join(source_path, GRM_FILE); + + Recognise_Result result = deal_with(unsignend_pcm_path, jet_path, grammer_build_path, bnf_path, LEX_NAME); +*/ + + //start_to_record_denoised_sound(); + /*[1-2].开始创建一次语音识别了,首先传递了一些参数,作为QISRbegin()的输入]*/ + whether_finised = 0; + int ret = 0; + ret = create_asr_engine(&asr_data); + start_to_record_denoised_sound(); + set_target_led_on(set_led_id); + if (MSP_SUCCESS != ret) + { +#if whether_print_log + printf("[01]创建语音识别引擎失败！\n"); +#endif + } + + printf(">>>>>开始一次语音识别！\n"); + + + //获取当前时间 + clock_t start, finish; + double total_time; + start = clock(); + while (whether_finised != 1) + { + finish = clock(); + total_time = (double)(finish - start) / CLOCKS_PER_SEC/2; + if (total_time > req.time_per_order) + { + cout << "超出离线命令词最长识别时间\n" + << endl; + break; + } + } + finish_to_record_denoised_sound(); + set_target_led_on(99); + usleep(300000); + + + if (whole_result!="") + { + //printf(">>>>>全部返回结果:　[ %s ]\n", whole_result); + Effective_Result effective_ans = show_result(whole_result); + if (effective_ans.effective_confidence >= confidence) //如果大于置信度阈值则进行显示或者其他控制操作 + { + printf(">>>>>是否识别成功:　[ %s ]\n", "是"); + printf(">>>>>关键字的置信度: [ %d ]\n", effective_ans.effective_confidence); + printf(">>>>>关键字识别结果: [ %s ]\n", effective_ans.effective_word); + /*发布结果*/ + //control_jetbot(effective_ans.effective_word); + res.result = "ok"; + res.fail_reason = ""; + std::wstring wtxt = s2ws(effective_ans.effective_word); + std::string txt_uft8 = ws2s(wtxt); + res.text = txt_uft8; + + std_msgs::String msg; + msg.data = effective_ans.effective_word; + voice_words_pub.publish(msg); + + } + else + { + printf(">>>>>是否识别成功:　[ %s ]\n", "否"); + printf(">>>>>关键字的置信度: [ %d ]\n", effective_ans.effective_confidence); + printf(">>>>>关键字置信度较低，文本不予显示\n"); + res.result = "fail"; + res.fail_reason = "low_confidence error or 11212_license_expired_error"; + res.text = " "; + } + } + else + { + res.result = "fail"; + res.fail_reason = "no_valid_sound error"; + res.text = " "; + printf(">>>>>未能检测到有效声音,请重试\n"); + } + whole_result = ""; + /*[1-3]语音识别结束]*/ + delete_asr_engine(); + write_first_data = 0; + //is_awake = 0; + + } + printf(" \n"); + printf(" \n"); + //ROS_INFO("close the offline recognise mode ...\n"); + return true; +} +/* +content:获取麦克风音频,if msg==1,开启录音并实时发布，若msg==0,关闭录音 +data :20200407 PM +*/ +bool Record_Start(xf_mic_asr_offline::Start_Record_srv::Request &req, xf_mic_asr_offline::Start_Record_srv::Response &res) +{ + if (req.whether_start == 1) + { + ROS_INFO("got topic request,start to record ...\n"); + int ret1 = start_to_record_denoised_sound(); + if (ret1 == 0) + { + res.result = "ok"; + res.fail_reason = ""; + } + else + { + res.result = "fail"; + res.fail_reason = "mic_did_not_open_error"; + } + } + else if (req.whether_start == 0) + { + ROS_INFO("got topic request,stop to record ...\n"); + int ret2 = finish_to_record_denoised_sound(); + if (ret2 == 0) + { + res.result = "ok"; + res.fail_reason = ""; + } + else + { + res.result = "fail"; + res.fail_reason = "mic_did_not_open_error"; + } + } + return true; +} + +/* +content:设置麦克风唤醒词4-6汉字 +data :20200407 PM +*/ +bool Set_Awake_Word(xf_mic_asr_offline::Set_Awake_Word_srv::Request &req, + xf_mic_asr_offline::Set_Awake_Word_srv::Response &res) +{ + ROS_INFO("got request,start to correct awake word ...\n"); + if (strlen(req.awake_word.c_str()) >= 12 && strlen(req.awake_word.c_str()) <= 18) //4-6个汉字 + { + Set_request_awake_word = false; + int ret = set_awake_word(const_cast(req.awake_word.c_str())); + if (ret == -3) + { + res.result = "fail"; + res.fail_reason = "mic_did_not_open_error"; + return true; + } + clock_t startTime, endTime; + startTime = clock(); //计时开始 + while (!Set_request_awake_word) + { + endTime = clock(); //计时开始 + if ((double)(endTime - startTime) / CLOCKS_PER_SEC > TIMEOUT) //等待时间大于5秒 + { + res.result = "fail"; + res.fail_reason = "timeout_error"; + Set_request_awake_word = false; + return true; + } + } + Set_request_awake_word = false; + res.result = "ok"; + res.fail_reason = ""; + } + else + { + ROS_INFO("got request,stop to correct awake word...\n"); + res.result = "fail"; + res.fail_reason = "invalid_awake word"; + } + return true; +} + +/* +content:设置灯亮,输入参数为0-11.99表示灯光关闭 +data :20200407 PM +*/ +bool Set_Led_On(xf_mic_asr_offline::Set_Led_On_srv::Request &req, + xf_mic_asr_offline::Set_Led_On_srv::Response &res) +{ + ROS_INFO("got topic request,start to make the target led on ...\n"); + char str[256] = {0}; + sprintf(str, "%d", req.led_id); + int ret1 = isnumber(str, 2); + if (ret1 == 0) + { + if (req.led_id >= 0 && req.led_id <= 11 || req.led_id == 99) + { + int ret2 = set_target_led_on(req.led_id); + if (ret2 == 0) + { + clock_t startTime, endTime; + startTime = clock(); //计时开始 + while (!Set_request_led_id) + { + endTime = clock(); //计时开始 + if ((double)(endTime - startTime) / CLOCKS_PER_SEC > TIMEOUT) //等待时间大于5秒 + { + res.result = "fail"; + res.fail_reason = "timeout_error"; + Set_request_led_id = false; + return true; + } + } + Set_request_led_id = false; + res.result = "ok"; + res.fail_reason = ""; + } + else if (ret1 == -3) + { + res.result = "fail"; + res.fail_reason = "mic_did_not_open_error"; + } + } + else + { + res.result = "fail"; + res.fail_reason = "incorrect_led_id_error"; + } + } + else + { + res.result = "fail"; + res.fail_reason = "incorrect_led_id_error"; + } + return true; +} + +/* +content:设置主麦克风,麦克风共6个,输入参数为0-5. +data :20200407 PM +*/ +bool Set_Major_Mic(xf_mic_asr_offline::Set_Major_Mic_srv::Request &req, + xf_mic_asr_offline::Set_Major_Mic_srv::Response &res) +{ + ROS_INFO("got topic request,start to make the target led on ...\n"); + char str[256] = {0}; + sprintf(str, "%d", req.mic_id); + int ret1 = isnumber(str, 1); + if (ret1 == 0) + { + if (req.mic_id >= 0 && req.mic_id <= 5) + { + int led_id = get_led_based_mic_id(req.mic_id); + if (led_id == -3) + { + res.result = "fail"; + res.fail_reason = "mic_did_not_open_error"; + } + else if (led_id == -2) + { + res.result = "fail"; + res.fail_reason = "incorrect_mic_id_error"; + } + else + { + int ret2 = set_major_mic_id(req.mic_id); + //if (whether_finised == 0) + //{ + int ret3 = set_target_led_on(led_id); + //} + + if (ret2 != -3 && ret2 != -2 && ret3 != -3 && ret3 != -2) + { + clock_t startTime, endTime; + startTime = clock(); //计时开始 + while (!Set_request_mic_id && !Set_request_led_id) + { + endTime = clock(); //计时开始 + if ((double)(endTime - startTime) / CLOCKS_PER_SEC > TIMEOUT) //等待时间大于5秒 + { + res.result = "fail"; + res.fail_reason = "timeout_error"; + Set_request_mic_id = false; + return true; + } + } + Set_request_mic_id = false; + + res.result = "ok"; + res.fail_reason = ""; + + set_led_id = led_id; + //printf("led_id= %d\n",led_id); + //printf("mic_id= %d\n",major_mic_id); + + } + else if(ret2 == -3 || ret3 == -3) + { + res.result = "fail"; + res.fail_reason = "mic_did_not_open_error"; + } + } + } + else + { + res.result = "fail"; + res.fail_reason = "incorrect_mic_id_error"; + } + } + else + { + res.result = "fail"; + res.fail_reason = "incorrect_mic_id_error"; + } + return true; +} + + +/* +content:获取主麦克风编号,当请求1时,调用该接口. +*/ +bool Get_Major_Mic(xf_mic_asr_offline::Get_Major_Mic_srv::Request &req, + xf_mic_asr_offline::Get_Major_Mic_srv::Response &res) +{ + if (req.get_major_id == 1) + { + ROS_INFO("got request,start to get the major mic id ...\n"); + Get_request_mic_id = false; + get_major_mic_id(); + clock_t startTime, endTime; + startTime = clock(); //计时开始 + while (!Get_request_mic_id) + { + endTime = clock(); //计时开始 + if ((double)(endTime - startTime) / CLOCKS_PER_SEC > TIMEOUT) //等待时间大于5秒 + { + res.result = "fail"; + res.fail_reason = "timeout_error"; + Get_request_mic_id = false; + return true; + } + } + res.result = "ok"; + res.mic_id = major_mic_id; + Get_request_mic_id = false; + } + return true; +} + + +/* +content:获取主麦克风编号,当请求1时,调用该接口. +*/ +bool Get_Awake_Angle(xf_mic_asr_offline::Get_Awake_Angle_srv::Request &req, + xf_mic_asr_offline::Get_Awake_Angle_srv::Response &res) +{ + if (req.get_awake_angle == 1) + { + ROS_INFO("got request,start to get the major awake angle ...\n"); + clock_t startTime, endTime; + startTime = clock(); //计时开始 + while (!Get_request_awake_angle) + { + endTime = clock(); //计时开始 + if ((double)(endTime - startTime) / CLOCKS_PER_SEC > TIMEOUT) //等待时间大于5秒 + { + res.result = "fail"; + res.fail_reason = "timeout_error"; + Get_request_awake_angle = false; + return true; + } + } + res.result = "ok"; + res.awake_angle = mic_angle; + } + return true; +} +void AngleCallback(const std_msgs::Int32::ConstPtr& msg) +{ + + ROS_INFO("I heard: [%d]\n", msg->data); + if (msg->data!=0){ + Start_record = true; + } + +} +/*** +函数功能：小车到达导航位置标志nav_reach回调函数 +入口参数：'whether_reach'话题消息 Int8 +返回值 ：无 +***/ + +void reach_Callback(std_msgs::Int32 msg) +{ + nav_reach = msg.data; + printf("nav_reach = %d\n",nav_reach); + +} +//主程序入口 +int main(int argc, char *argv[]) +{ + ros::init(argc, argv, "voice_control"); + ros::NodeHandle ndHandle("~"); + ndHandle.param("/confidence", confidence, 0);//离线命令词识别置信度阈值 + ndHandle.param("/seconds_per_order", time_per_order, 3); //单次录制音频的时长 + ndHandle.param("source_path", source_path, std::string("/home/turtlebot/catkin_ws/src/xf_mic_asr_offline")); + ndHandle.param("/appid", appid, std::string("7c6a4b39"));//appid，需要更换为自己的 + + printf("-----confidence =%d\n",confidence); + printf("-----time_per_order =%d\n",time_per_order); + + cout<<"source_path="<(voice_words, 10); + + awake_flag_pub = n.advertise(awake_flag, 1); + + + /*srv　接收请求，开启录音或关闭录音*/ + ros::ServiceServer service_record_start = ndHandle.advertiseService("start_record_srv", Record_Start); + + /*srv　接收请求，返回离线命令词识别结果*/ + ros::ServiceServer service_get_wav_list = ndHandle.advertiseService("get_offline_recognise_result_srv", Get_Offline_Recognise_Result); + + /*srv 设置主麦克风*/ + ros::ServiceServer service_set_major_mic = ndHandle.advertiseService("set_major_mic_srv", Set_Major_Mic); + + /*srv 获取主麦克风*/ + ros::ServiceServer service_get_major_mic = ndHandle.advertiseService("get_major_mic_srv", Get_Major_Mic); + + /*srv 设置主麦克风*/ + ros::ServiceServer service_set_led_on = ndHandle.advertiseService("set_target_led_on_srv", Set_Led_On); + + /*srv 修改唤醒词*/ + ros::ServiceServer service_set_awake_word = ndHandle.advertiseService("set_awake_word_srv", Set_Awake_Word); + + /*srv 获取当前唤醒角度*/ + ros::ServiceServer service_get_awake_angle = ndHandle.advertiseService("get_awake_angle_srv", Get_Awake_Angle); + + + + hid_device *handle = NULL; + //开启麦克风设备 + handle = hid_open(); + + if (!handle) + { + printf(">>>>>无法打开麦克风设备，尝试重新连接进行测试\n"); + return -1; + } + printf(">>>>>成功打开麦克风设备\n"); + protocol_proc_init(send_to_usb_device, recv_from_usb_device, business_proc_callback, err_proc); + //获取麦克风状态，是否正常工作 + get_system_status(); + + + + std::string begin = "fo|"; + //std::string quit_begin = source_path; + char *jet_path = join((begin + source_path), ASR_RES_PATH); + char *grammer_path = join(source_path, GRM_BUILD_PATH); + char *bnf_path = join(source_path, GRM_FILE); + //IN_PCM = join(source_path, IN_PCM); + //[1-1] 通用登录及语法构建 + + Recognise_Result inital = initial_asr_paramers(jet_path, grammer_path, bnf_path, LEX_NAME); + + + sleep(1); + if (!is_boot) + { + printf(">>>>>开机中，请稍等！\n"); + } + while (!is_boot) + { + if (is_reboot) + { + break; + } + } + printf(">>>>>开机成功！\n"); + set_awake_word(awake_words); + + char *my_awake_word = (char*)"启动"; + + ros::AsyncSpinner spinner(3); + spinner.start(); + + set_major_mic_id(1); + + set_awake_word(my_awake_word); + + if (major_mic_id>5 || major_mic_id<0) + { + printf(">>>>>未设置主麦，请唤醒或设置主麦\n"); + } + while (major_mic_id>5 || major_mic_id<0) + { + sleep(1); + } + printf(">>>>>设置主麦成功！\n"); + + //int count_of_wakeup = 3;//唤醒的次数为3次 + + unsigned char key2[] = "angle"; + unsigned char key1[] = "beam"; + + ros::waitForShutdown(); + printf("over!"); + //关闭麦克风 + hid_close(); + return 0; +}