diff --git a/doc/空巢老人看护系统测试报告.docx b/doc/空巢老人看护系统测试报告.docx index bed079f..74213f0 100644 Binary files a/doc/空巢老人看护系统测试报告.docx and b/doc/空巢老人看护系统测试报告.docx differ diff --git a/doc/空巢老人看护系统课程实践.pptx b/doc/空巢老人看护系统课程实践.pptx index f0175f1..6db28f3 100644 Binary files a/doc/空巢老人看护系统课程实践.pptx and b/doc/空巢老人看护系统课程实践.pptx differ diff --git a/src/Robot/xf_mic_asr_offline/scripts/get_photo.py~ b/src/Robot/xf_mic_asr_offline/scripts/get_photo.py~ deleted file mode 100644 index e69de29..0000000 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~ deleted file mode 100644 index bfa953b..0000000 --- a/src/Robot/xf_mic_asr_offline/scripts/go_to_specific_point_on_map.py~ +++ /dev/null @@ -1,124 +0,0 @@ -#!/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~ deleted file mode 100644 index 58bfc94..0000000 --- a/src/Robot/xf_mic_asr_offline/scripts/model.py~ +++ /dev/null @@ -1,6 +0,0 @@ -#!/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~ deleted file mode 100644 index 2c60ceb..0000000 --- a/src/Robot/xf_mic_asr_offline/scripts/pubresult.py~ +++ /dev/null @@ -1,27 +0,0 @@ -#!/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~ deleted file mode 100644 index 130b5e9..0000000 --- a/src/Robot/xf_mic_asr_offline/src/record.cpp~ +++ /dev/null @@ -1,56 +0,0 @@ -#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~ deleted file mode 100644 index bfd1785..0000000 --- a/src/Robot/xf_mic_asr_offline/src/refresh_mic.cpp~ +++ /dev/null @@ -1,289 +0,0 @@ -#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~ deleted file mode 100644 index 22596aa..0000000 --- a/src/Robot/xf_mic_asr_offline/src/voice_control.cpp~ +++ /dev/null @@ -1,1033 +0,0 @@ -/******************************************************* - 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; -}