99 lines
3.1 KiB
Python
Executable File
99 lines
3.1 KiB
Python
Executable File
#!/usr/bin/env python3
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import rclpy
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from rclpy.node import Node
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from protocol.srv import AudioTextPlay
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from std_srvs.srv import SetBool
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import time
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import string
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class AudioDemo(Node):
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def __init__(self):
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super().__init__('audio_demo')
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# 创建音频播放服务客户端
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self.audio_play_client = self.create_client(
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AudioTextPlay,
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'/mi_desktop_48_b0_2d_7b_05_1d/speech_text_play'
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)
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# 创建语音开关服务客户端
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self.audio_switch_client = self.create_client(
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SetBool,
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'/mi_desktop_48_b0_2d_7b_05_1d/audio_action_set'
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)
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# 等待服务可用
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while not self.audio_play_client.wait_for_service(timeout_sec=1.0):
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self.get_logger().info('语音播放服务不可用，等待中...')
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while not self.audio_switch_client.wait_for_service(timeout_sec=1.0):
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self.get_logger().info('语音开关服务不可用，等待中...')
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def enable_audio(self):
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"""启用语音功能"""
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req = SetBool.Request()
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req.data = True # 开启语音功能
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future = self.audio_switch_client.call_async(req)
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rclpy.spin_until_future_complete(self, future)
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if future.result().success:
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self.get_logger().info('语音功能已启用')
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return True
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else:
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self.get_logger().error(f'启用语音失败: {future.result().message}')
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return False
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def play_audio(self, text):
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"""播放指定文本的语音"""
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req = AudioTextPlay.Request()
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req.module_name = "demo_script" # 播放者名称
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req.is_online = True # 使用在线TTS
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req.text = text # 要播放的文本
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# 注意：由于我们使用在线播放，speech字段可以留空
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# 根据服务定义，speech字段是AudioPlay类型，但在线播放不需要它
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future = self.audio_play_client.call_async(req)
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rclpy.spin_until_future_complete(self, future)
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response = future.result()
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if response.status == 0:
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self.get_logger().info('语音播放完成')
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else:
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self.get_logger().error('语音播放失败')
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def speak(text,args=None):
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"""语音播放函数（供外部调用）"""
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rclpy.init()
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demo = AudioDemo()
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try:
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# 步骤1: 启用语音功能
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if demo.enable_audio():
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# 步骤2: 播放语音
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demo.play_audio(text)
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# 短暂延迟确保完成
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time.sleep(2)
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finally:
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demo.destroy_node()
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rclpy.shutdown()
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# def main(text,args=None):
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# rclpy.init(args=args)
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# demo = AudioDemo()
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# # 步骤1: 启用语音功能
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# if demo.enable_audio():
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# # 步骤2: 播放语音
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# demo.play_audio(text)
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# # 短暂延迟确保完成
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# time.sleep(2)
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# demo.destroy_node()
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# rclpy.shutdown()
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# if __name__ == '__main__':
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# main('nihao') |