ROS学习笔记-ROS语音识别与语音输出[2]

说明：代码部分是基于古月居前辈的例程，在此对胡老师表示感谢！！

语音识别与输出功能框图:

main()函数：

int main(int argc, char* argv[])
{// 初始化ROSros::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;int ret = MSP_SUCCESS;/* login params, please do keep the appid correct */const char* login_params = "appid = 594a7b46, work_dir = .";int aud_src = 0; /* from mic or file *//** 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}while(ros::ok()){// 语音识别唤醒     if(wakeupFlag){ROS_INFO("Wakeup...");printf("Demo recognizing the speech from microphone\n");printf("Speak in 8 seconds\n");demo_mic(session_begin_params);printf("8 sec passed\n");wakeupFlag=0;}// 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;
}

demo_mic()函数

/* 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 8 seconds recording */while(i++ < 8)sleep(1);errcode = sr_stop_listening(&iat);if (errcode) {printf("stop listening failed %d\n", errcode);}sr_uninit(&iat);
}

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