mi-task/test/demo_test/speech_demo.py

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from protocol.srv import AudioTextPlay
from std_srvs.srv import SetBool
import time

class AudioDemo(Node):
    def __init__(self):
        super().__init__('audio_demo')
        
        # 创建音频播放服务客户端
        self.audio_play_client = self.create_client(
            AudioTextPlay, 
            '/mi_desktop_48_b0_2d_7b_05_1d/speech_text_play'
        )
        
        # 创建语音开关服务客户端
        self.audio_switch_client = self.create_client(
            SetBool,
            '/mi_desktop_48_b0_2d_7b_05_1d/audio_action_set'
        )
        
        # 等待服务可用
        while not self.audio_play_client.wait_for_service(timeout_sec=1.0):
            self.get_logger().info('语音播放服务不可用，等待中...')
        while not self.audio_switch_client.wait_for_service(timeout_sec=1.0):
            self.get_logger().info('语音开关服务不可用，等待中...')

    def enable_audio(self):
        """启用语音功能"""
        req = SetBool.Request()
        req.data = True  # 开启语音功能
        
        future = self.audio_switch_client.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        
        if future.result().success:
            self.get_logger().info('语音功能已启用')
            return True
        else:
            self.get_logger().error(f'启用语音失败: {future.result().message}')
            return False

    def play_audio(self, text):
        """播放指定文本的语音"""
        req = AudioTextPlay.Request()
        req.module_name = "demo_script"  # 播放者名称
        req.is_online = True             # 使用在线TTS
        req.text = text                  # 要播放的文本
        
        # 注意：由于我们使用在线播放，speech字段可以留空
        # 根据服务定义，speech字段是AudioPlay类型，但在线播放不需要它
        
        future = self.audio_play_client.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        
        response = future.result()
        if response.status == 0:
            self.get_logger().info('语音播放完成')
        else:
            self.get_logger().error('语音播放失败')

def speak(string x):
    demo = AudioDemo()
        
        # 步骤1: 启用语音功能
        if demo.enable_audio():
            # 步骤2: 播放语音
            demo.play_audio(x)
            
            # 短暂延迟确保完成
            time.sleep(2)
    
    demo.destroy_node()
def main(args=None):
    rclpy.init(args=args)
    demo = AudioDemo()
    
    # 步骤1: 启用语音功能
    if demo.enable_audio():
        # 步骤2: 播放语音
        demo.play_audio("你好")
        
        # 短暂延迟确保完成
        time.sleep(2)
    
    demo.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()