ROS语音交互（三）科大讯飞语音在ROS平台下使用

以上节tts语音输出为例

下载sdk链接：http://www.xfyun.cn/sdk/dispatcher

1、下载SDK，解压；

2、在ROS工作空间下创建一个Package；

  catkin_create_pkg tts_voice roscpp rospy std_msgs

3、将SDK文件夹中的头文件，即下载的SDK文件夹中include文件夹下的 .h文件拷贝至tts_voice/include/下；

4、将SDK文件夹中sample/tts_sample中的xf_tts.cpp文件拷贝至tts_voice/src/下；

5、将SDK文件夹中libs/x64/libmsc.so文件拷贝至/user/libs/下；

6、打开CMakelist，

1）修改include_directories为：即包括拷贝的头文件所在的include目录

include_directories(
                                     ${catkin_INCLUDE_DIRS}
                                     include
                                     )

2）添加：

　　add_executable(tts_voice_node src/xf_tts.cpp)

target_link_libraries(tts_voice_node
   ${catkin_LIBRARIES} -lmsc -lrt -ldl -lpthread
 )

# 生成可执行文件
     #
添加链接库，其中动态链接库路径按实际修改

CmakeLists.txt

cmake_minimum_required(VERSION 2.8.)
project(tts_voice)

## 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
)
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES tts_voice
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
   include
)

## Declare a C++ executable
 add_executable(tts_voice_node src/xf_tts.cpp)

## Specify libraries to link a library or executable target against
 target_link_libraries(tts_voice_node
   ${catkin_LIBRARIES} -lmsc -lrt -ldl -lpthread
 )

xf_tts.cpp源文件

/*
* 语音合成（Text To Speech，TTS）技术能够自动将任意文字实时转换为连续的
* 自然语音，是一种能够在任何时间、任何地点，向任何人提供语音信息服务的
* 高效便捷手段，非常符合信息时代海量数据、动态更新和个性化查询的需求。
*/
#include <ros/ros.h>
#include "std_msgs/String.h"

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>

#include "qtts.h"
#include "msp_cmn.h"
#include "msp_errors.h"

const char* FileName = "/home/cam/Music/voice.wav";
const char* PlayPath = "play /home/cam/Music/voice.wav";

/* wav音频头部格式 */
typedef struct _wave_pcm_hdr
{
    char            riff[];                // = "RIFF"
    int        size_8;                 // = FileSize - 8
    char            wave[];                // = "WAVE"
    char            fmt[];                 // = "fmt "
    int        fmt_size;        // = 下一个结构体的大小 : 16

    short int       format_tag;             // = PCM : 1
    short int       channels;               // = 通道数 : 1
    int        samples_per_sec;        // = 采样率 : 8000 | 6000 | 11025 | 16000
    int        avg_bytes_per_sec;      // = 每秒字节数 : samples_per_sec * bits_per_sample / 8
    short int       block_align;            // = 每采样点字节数 : wBitsPerSample / 8
    short int       bits_per_sample;        // = 量化比特数: 8 | 16

    char            data[];                // = "data";
    int        data_size;              // = 纯数据长度 : FileSize - 44
} wave_pcm_hdr;

/* 默认wav音频头部数据 */
wave_pcm_hdr default_wav_hdr =
{
    { 'R', 'I', 'F', 'F' },
    ,
    {'W', 'A', 'V', 'E'},
    {'f', 'm', 't', ' '},
    ,
    ,
    ,
    ,
    ,
    ,
    ,
    {'d', 'a', 't', 'a'},

};
/* 文本合成 */
int text_to_speech(const char* src_text, const char* des_path, const char* params)
{
    int          ret          = -;
    FILE*        fp           = NULL;
    const char*  sessionID    = NULL;
    unsigned int audio_len    = ;
    wave_pcm_hdr wav_hdr      = default_wav_hdr;
    int          synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA;

    if (NULL == src_text || NULL == des_path)
    {
        printf("params is error!\n");
        return ret;
    }
    fp = fopen(des_path, "wb");
    if (NULL == fp)
    {
        printf("open %s error.\n", des_path);
        return ret;
    }
    /* 开始合成 */
    sessionID = QTTSSessionBegin(params, &ret);
    if (MSP_SUCCESS != ret)
    {
        printf("QTTSSessionBegin failed, error code: %d.\n", ret);
        fclose(fp);
        return ret;
    }
    ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL);
    if (MSP_SUCCESS != ret)
    {
        printf("QTTSTextPut failed, error code: %d.\n",ret);
        QTTSSessionEnd(sessionID, "TextPutError");
        fclose(fp);
        return ret;
    }
    printf("正在合成 ...\n");
    fwrite(&wav_hdr, sizeof(wav_hdr) ,, fp); //添加wav音频头，使用采样率为16000
    while ()
    {
        /* 获取合成音频 */
        const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret);
        if (MSP_SUCCESS != ret)
            break;
        if (NULL != data)
        {
            fwrite(data, audio_len, , fp);
            wav_hdr.data_size += audio_len; //计算data_size大小
        }
        if (MSP_TTS_FLAG_DATA_END == synth_status)
            break;
        printf(">");
        usleep(*); //防止频繁占用CPU
    }//合成状态synth_status取值请参阅《讯飞语音云API文档》
    printf("\n");
    if (MSP_SUCCESS != ret)
    {
        printf("QTTSAudioGet failed, error code: %d.\n",ret);
        QTTSSessionEnd(sessionID, "AudioGetError");
        fclose(fp);
        return ret;
    }
    /* 修正wav文件头数据的大小 */
    wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - );

    /* 将修正过的数据写回文件头部,音频文件为wav格式 */
    fseek(fp, , );
    fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), , fp); //写入size_8的值
    fseek(fp, , ); //将文件指针偏移到存储data_size值的位置
    fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), , fp); //写入data_size的值
    fclose(fp);
    fp = NULL;
    /* 合成完毕 */
    ret = QTTSSessionEnd(sessionID, "Normal");
    if (MSP_SUCCESS != ret)
    {
        printf("QTTSSessionEnd failed, error code: %d.\n",ret);
    }

    return ret;
}

/**
*   将文本发送到讯飞服务器，获取语音文件文件
**/
int makeTextToWav(const char* text, const char* filename)
{
    int         ret                  = MSP_SUCCESS;
    const char* login_params         = "appid = 57f49f64, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动
    /*
    * rdn:           合成音频数字发音方式
    * volume:        合成音频的音量
    * pitch:         合成音频的音调
    * speed:         合成音频对应的语速
    * voice_name:    合成发音人
    * sample_rate:   合成音频采样率
    * text_encoding: 合成文本编码格式
    *
    * 详细参数说明请参阅《讯飞语音云MSC--API文档》
    */
    const char* session_begin_params = "voice_name = xiaowanzi, text_encoding = utf8, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 0";
//    const char* filename             = "tts_sample.wav"; //合成的语音文件名称
//    const char* text                 = "我是小丸子，今年126岁了，我的车牌号是12365，今年是2016年12月20号"; //合成文本

    /* 用户登录 */
    ret = MSPLogin(NULL, NULL, login_params);//第一个参数是用户名，第二个参数是密码，第三个参数是登录参数，用户名和密码可在http://open.voicecloud.cn注册获取
    if (MSP_SUCCESS != ret)
    {
        printf("MSPLogin failed, error code: %d.\n", ret);
        goto exit ;//登录失败，退出登录
    }
    /* 文本合成 */
    printf("开始合成 ...\n");
    ret = text_to_speech(text, filename, session_begin_params);
    if (MSP_SUCCESS != ret)
    {
        printf("text_to_speech failed, error code: %d.\n", ret);
    }
    printf("合成完毕\n");

exit:

    MSPLogout(); //退出登录
    return ;
}

/**
* play the wav file
**/
void PlayWav()
{
    system(PlayPath);
}
/**
 *接受/voice/xf_tts_topic话题的字符串的回调函数
 */
void TTSCallback(const std_msgs::String::ConstPtr &msg)
{
    std::cout<<"get topic text: " << msg->data.c_str();
    makeTextToWav(msg->data.c_str(), FileName);
    PlayWav();
}

int main(int argc, char* argv[])
{
    const char* start = "宝宝启动成功了";
    makeTextToWav(start,FileName);
    PlayWav();

    ros::init(argc, argv,"xf_tts_node");
    ros::NodeHandle n;
    ros::Subscriber sub = n.subscribe("/voice/xf_tts_topic",,TTSCallback);

    ros::spin();

    return ;
}

到~/catkin_ws编译

cam@cam-Aspire-V3-572G:~/catkin_ws$ catkin_make -j4

运行

￥ roscore
$ rosrun tts_voice tts_voice_node 

启动播放  "宝宝启动成功了"

通过话题播放

 rostopic pub  /voice/xf_tts_topic std_msgs/String "　韩联社预计，鉴于黄教坚持现有外交政策，“萨德”部署相关工作可能提速。本月早些时候，一些政府消息人士透露，
由于总统朴槿惠遭弹劾，国内政 局不确定性增加，韩国国防部决定加快“萨德”的相关部署工作，最快可能在明年5月完成部署。根据消息人士的说法，为了能尽早完成部署工作，
韩国国防部甚至考虑省略掉环境影响评估的环节。"

使用时需要把

const char* login_params         = "appid = 57f49f64, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动

appid改为自己的帐号

如果play播放音频出错，是因为没有安装sox

执行安装即可

sudo apt-get install sox