续 ROS应用 —— Ubuntu16.04下 科大讯飞SDK的下载与测试（1）

前提：

已经创建了工作空间，这里假设工作空间为 catkin_ws ；

libmsc.so已经复制到系统下；

 

1. 建立一个功能包

• 创建功能包： cd ~/catkin_ws/src ; catkin_create_pkg robot_voice std_msgs rospy roscpp
• 编译整个工作空间： cd ~/catkin_ws ; catkin_make

注：此处可参照 ROS整理 —— 工作空间&功能包&覆盖机制（2）；若没有设置环境变量，要设置下。

2. 将之前下载的科大讯飞SDK里的 iat_online_record_sample 功能包下的 .c 和 .h 文件复制到 robot_voice/src 下；

这里SDK下载的文件为 Linux_iat1218_5c6e7f8d；

3. 更改 iat_online_record_sample.c 中的代码，具体如下，并重命名为 iat_publish.cpp；

注：更改appid号为你自己的，

/*
* 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 <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"
#include <iconv.h>

#include "ros/ros.h"
#include "std_msgs/String.h"

#define FRAME_LEN   640 
#define BUFFER_SIZE 4096

int wakeupFlag   = 0 ;
int resultFlag   = 0 ;

static void show_result(char *string, char is_over)
{
    resultFlag=1;   
    printf("\rResult: [ %s ]", string);
    if(is_over)
        putchar('\n');
}

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

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

void on_speech_begin()
{
    if (g_result)
    {
        free(g_result);
    }
    g_result = (char*)malloc(BUFFER_SIZE);
    g_buffersize = BUFFER_SIZE;
    memset(g_result, 0, g_buffersize);

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

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

    struct speech_rec iat;

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

    errcode = sr_init(&iat, session_begin_params, SR_MIC, &recnotifier);
    if (errcode) {
        printf("speech recognizer init failed\n");
        return;
    }
    errcode = sr_start_listening(&iat);
    if (errcode) {
        printf("start listen failed %d\n", errcode);
    }
    /* demo 10 seconds recording */
    while(i++ < 10)
        sleep(1);
    errcode = sr_stop_listening(&iat);
    if (errcode) {
        printf("stop listening failed %d\n", errcode);
    }

    sr_uninit(&iat);
}


/* main thread: start/stop record ; query the result of recgonization.
 * record thread: record callback(data write)
 * helper thread: ui(keystroke detection)
 */

void WakeUp(const std_msgs::String::ConstPtr& msg)
{
    printf("waking up\r\n");
    usleep(700*1000);
    wakeupFlag=1;
}

int main(int argc, char* argv[])
{
    // 初始化ROS
    ros::init(argc, argv, "voiceRecognition");
    ros::NodeHandle n;
    ros::Rate loop_rate(10);

    // 声明Publisher和Subscriber
    // 订阅唤醒语音识别的信号
    ros::Subscriber wakeUpSub = n.subscribe("voiceWakeup", 1000, WakeUp);   
    // 订阅唤醒语音识别的信号    
    ros::Publisher voiceWordsPub = n.advertise<std_msgs::String>("voiceWords", 1000);  

    ROS_INFO("Sleeping...");
    int count=0;
    while(ros::ok())
    {
        // 语音识别唤醒
        if (wakeupFlag){
            ROS_INFO("Wakeup...");
            int ret = MSP_SUCCESS;
            const char* login_params = "appid = 5c6e7f8d, work_dir = .";

            const char* session_begin_params =
                "sub = iat, domain = iat, language = zh_cn, "
                "accent = mandarin, sample_rate = 16000, "
                "result_type = plain, result_encoding = utf8";

            ret = MSPLogin(NULL, NULL, login_params);
            if(MSP_SUCCESS != ret){
                MSPLogout();
                printf("MSPLogin failed , Error code %d.\n",ret);
            }

            printf("Demo recognizing the speech from microphone\n");
            printf("Speak in 10 seconds\n");

            demo_mic(session_begin_params);

            printf("10 sec passed\n");
        
            wakeupFlag=0;
            MSPLogout();
        }

        // 语音识别完成
        if(resultFlag){
            resultFlag=0;
            std_msgs::String msg;
            msg.data = g_result;
            voiceWordsPub.publish(msg);
        }

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

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

    return 0;
}

4. 直接将Linux_iat1218_5c6e7f8d/include 下的.h文件复制到 robot_voice/include 下； ( 可删除 robot_voice/include 下 的robot_voice )

5. 在CMakeLists.txt下添加编译规则，如下：

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)
add_executable(iat_publish src/iat_publish.cpp src/speech_recognizer.c src/linuxrec.c)
target_link_libraries(iat_publish ${catkin_LIBRARIES} libmsc.so -ldl -lpthread -lm -lrt -lasound)

6. 运行

// 终端1：启动管理器节点
roscore
// 终端2：运行可执行文件(订阅voiceWakeup话题，发布voiceWords话题)
rosrun robot_voice iat_publish
// 终端3：voiceWords话题是识别数据
rostopic echo /voiceWords
// 终端4：voiceWakeup话题是唤醒功能，每发一次就可以录音一次
rostopic pub /voiceWakeup  std_msgs/String  "data: 'anny string'"

发布唤醒信号后就可以，可以看到 “Start Listening...” ，这是对麦克风说话，在线识别后结果会显示出来。

不清楚的地方可以参考之前的博客；

或者参考：https://zhuanlan.zhihu.com/p/35986985

                  https://www.ncnynl.com/archives/201702/1287.html