ros语音交互（四）移植科大讯飞语音识别到ros

/*
* xf_asr_node
* xf_asr.cpp
* 语音听写(iFly Auto Transform)技术能够实时地将语音转换成对应的文字。
*/

#include<ros/ros.h>
#include<std_msgs/String.h>
#include<std_msgs/Int32.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include "qisr.h"
#include "msp_cmn.h"
#include "msp_errors.h"
#include "speech_recognizer.h"

#define FRAME_LEN	640
#define	BUFFER_SIZE	4096
#define ASRFLAG     1

using namespace std;

bool flag = false;
bool recorder_Flag = true;
string result = "";

/* Upload User words */
static int upload_userwords()
{
	char*			userwords	=	NULL;
	size_t			len			=	0;
	size_t			read_len	=	0;
	FILE*			fp			=	NULL;
	int				ret			=	-1;

	fp = fopen("userwords.txt", "rb");
	if (NULL == fp)
	{
		printf("\nopen [userwords.txt] failed! \n");
		goto upload_exit;
	}

	fseek(fp, 0, SEEK_END);
	len = ftell(fp);
	fseek(fp, 0, SEEK_SET);

	userwords = (char*)malloc(len + 1);
	if (NULL == userwords)
	{
		printf("\nout of memory! \n");
		goto upload_exit;
	}

	read_len = fread((void*)userwords, 1, len, fp);
	if (read_len != len)
	{
		printf("\nread [userwords.txt] failed!\n");
		goto upload_exit;
	}
	userwords[len] = ‘\0‘;

	MSPUploadData("userwords", userwords, len, "sub = uup, dtt = userword", &ret); //é?′?ó??§′ê±í
	if (MSP_SUCCESS != ret)
	{
		printf("\nMSPUploadData failed ! errorCode: %d \n", ret);
		goto upload_exit;
	}

upload_exit:
	if (NULL != fp)
	{
		fclose(fp);
		fp = NULL;
	}
	if (NULL != userwords)
	{
		free(userwords);
		userwords = NULL;
	}

	return ret;
}


static void show_result(char *str, char is_over)
{
	printf("\rResult: [ %s ]", str);
	if(is_over)
		putchar(‘\n‘);
    string s(str);
    result = s;
    flag = true;                        //设置发布话题为真
}

static char *g_result = NULL;
static unsigned int g_buffersize = BUFFER_SIZE;

void on_result(const char *result, char is_last)
{
	if (result) {
		size_t left = g_buffersize - 1 - strlen(g_result);
		size_t size = strlen(result);
		if (left < size) {
			g_result = (char*)realloc(g_result, g_buffersize + BUFFER_SIZE);
			if (g_result)
				g_buffersize += BUFFER_SIZE;
			else {
				printf("mem alloc failed\n");
				return;
			}
		}
		strncat(g_result, result, size);
		show_result(g_result, is_last);
	}
}
void on_speech_begin()
{
	if (g_result)
	{
		free(g_result);
	}
	g_result = (char*)malloc(BUFFER_SIZE);
	g_buffersize = BUFFER_SIZE;
	memset(g_result, 0, g_buffersize);

	printf("Start Listening...\n");
}
void on_speech_end(int reason)
{
	if (reason == END_REASON_VAD_DETECT)
	{
	 	printf("\nSpeaking done \n");
		recorder_Flag = false;
	}
	else
		printf("\nRecognizer error %d\n", reason);
}

/* demo recognize the audio from microphone */
static void demo_mic(const char* session_begin_params)
{
	int errcode;
	int i = 0;

	struct speech_rec iat;

	struct speech_rec_notifier recnotifier = {
		on_result,
		on_speech_begin,
		on_speech_end
	};

	errcode = sr_init(&iat, session_begin_params, SR_MIC, &recnotifier);
	if (errcode) {
		printf("speech recognizer init failed\n");
		return;
	}
	errcode = sr_start_listening(&iat);
	if (errcode) {
		printf("start listen failed %d\n", errcode);
	}
	/* demo 15 seconds recording */
	while(recorder_Flag)
	{
	   sleep(1);
	}
	errcode = sr_stop_listening(&iat);
	if (errcode) {
		printf("stop listening failed %d\n", errcode);
	}

	sr_uninit(&iat);
}

/*
*    打开麦克风 录音 发送到服务器
*/
void asrProcess()
{
	int ret = MSP_SUCCESS;
	int upload_on =	1; /* whether upload the user word */
	/* login params, please do keep the appid correct */
	const char* login_params = "appid = 57f49f64, work_dir = .";

	/*
	* See "iFlytek MSC Reference Manual"
	*/
	const char* session_begin_params =
		"sub = iat, domain = iat, language = zh_cn, "
		"accent = mandarin, sample_rate = 16000, "
		"result_type = plain, result_encoding = utf8";

	/* Login first. the 1st arg is username, the 2nd arg is password
	 * just set them as NULL. the 3rd arg is login paramertes
	 * */
	ret = MSPLogin(NULL, NULL, login_params);
	if (MSP_SUCCESS != ret)	{
		printf("MSPLogin failed , Error code %d.\n",ret);
		goto exit; // login fail, exit the program
	}

/*
	if (upload_on)
	{
		printf("Uploading the user words ...\n");
		ret = upload_userwords();
		if (MSP_SUCCESS != ret)
			goto exit;
		printf("Uploaded successfully\n");
	}
*/

		demo_mic(session_begin_params);

exit:
	MSPLogout(); // Logout...
}

/*
*   根据发布的话题来修改录音标志
*/
void asrCallBack(const std_msgs::Int32::ConstPtr &msg)
{

        ROS_INFO_STREAM("Topic is Subscriber");
        if(msg->data == ASRFLAG)
        {
           asrProcess();
        }
}

/* main thread: start/stop record ; query the result of recgonization.
 * record thread: record callback(data write)
 * helper thread: ui(keystroke detection)
 */
int main(int argc, char* argv[])
{
    ros::init(argc, argv, "xf_asr_node");
    ros::NodeHandle nd;

    ros::Subscriber sub = nd.subscribe("/voice/xf_asr_topic", 1, asrCallBack);
    ros::Publisher pub = nd.advertise<std_msgs::String>("/voice/tuling_arv_topic", 3);

    ros::Rate loop_rate(10);

    while(ros::ok())
    {
        if(flag)
        {
            std_msgs::String msg;
            msg.data = result;
            pub.publish(msg);
            flag = false;
            recorder_Flag = true;
        }

      ros::spinOnce();
      loop_rate.sleep();
    }


	return 0;
}

 add_executable(xf_asr_node src/xf_asr.cpp src/speech_recognizer.cpp src/linuxrec.cpp)
 target_link_libraries(xf_asr_node  ${catkin_LIBRARIES} -lmsc -lrt -ldl -lpthread -lasound)

$ rosrun tts_voice tts_voice_node
$ rosrun  tts_voice tuling_arv_node
$ rosrun tts_voice xf_asr_node
$ rostopic pub -1  /voice/xf_asr_topic std_msgs/Int32 1