99 lines
3.1 KiB
Python
99 lines
3.1 KiB
Python
|
#!/usr/bin/env python3
|
|||
|
|
import rclpy
|
|||
|
|
from rclpy.node import Node
|
|||
|
|
from protocol.srv import AudioTextPlay
|
|||
|
|
from std_srvs.srv import SetBool
|
|||
|
|
import time
|
|||
|
|
import string
|
|||
|
|
|
|||
|
|
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(text,args=None):
|
|||
|
|
"""语音播放函数（供外部调用）"""
|
|||
|
|
rclpy.init()
|
|||
|
|
demo = AudioDemo()
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
# 步骤1: 启用语音功能
|
|||
|
|
if demo.enable_audio():
|
|||
|
|
# 步骤2: 播放语音
|
|||
|
|
demo.play_audio(text)
|
|||
|
|
|
|||
|
|
# 短暂延迟确保完成
|
|||
|
|
time.sleep(2)
|
|||
|
|
finally:
|
|||
|
|
demo.destroy_node()
|
|||
|
|
rclpy.shutdown()
|
|||
|
|
|
|||
|
|
# def main(text,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(text)
|
|||
|
|
|
|||
|
|
# # 短暂延迟确保完成
|
|||
|
|
# time.sleep(2)
|
|||
|
|
|
|||
|
|
# demo.destroy_node()
|
|||
|
|
# rclpy.shutdown()
|
|||
|
|
|
|||
|
|
# if __name__ == '__main__':
|
|||
|
|
# main('nihao')
|