221 lines
8.5 KiB
Python
Executable File
221 lines
8.5 KiB
Python
Executable File
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import String, Bool
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from protocol.srv import AudioTextPlay, AudioVolumeGet, AudioVolumeSet,AudioExecute
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from protocol.msg import AudioPlay, AudioStatus
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from std_srvs.srv import SetBool
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import time
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import threading
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class VoiceInteractionSystem(Node):
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def __init__(self):
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super().__init__('voice_interaction_system')
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# 机器狗状态：'preparing_pickup'（准备配货）或 'preparing_delivery'（准备卸货）
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self.current_state = 'preparing_pickup' # 初始状态设为准备配货
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# 创建服务客户端
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self.audio_play_client = self.create_client(AudioTextPlay, '/custom_namespace/speech_text_play')
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self.volume_get_client = self.create_client(AudioVolumeGet, '/custom_namespace/audio_volume_get')
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self.volume_set_client = self.create_client(AudioVolumeSet, '/custom_namespace/audio_volume_set')
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# 新增服务客户端：麦克风开关和语音控制开关
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self.mic_control_client = self.create_client(AudioExecute, '/custom_namespace/set_audio_state')
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self.voice_control_client = self.create_client(SetBool, '/custom_namespace/audio_action_set')
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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.volume_get_client.wait_for_service(timeout_sec=1.0):
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self.get_logger().info('音量获取服务不可用，等待中...')
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while not self.volume_set_client.wait_for_service(timeout_sec=1.0):
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self.get_logger().info('音量设置服务不可用，等待中...')
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while not self.mic_control_client.wait_for_service(timeout_sec=1.0):
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self.get_logger().info('麦克风控制服务不可用，等待中...')
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while not self.voice_control_client.wait_for_service(timeout_sec=1.0):
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self.get_logger().info('语音控制服务不可用，等待中...')
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# 创建订阅器，监听语音指令
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self.voice_command_sub = self.create_subscription(
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String,
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'/custom_namespace/asr_text', # 语音识别结果的主题
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self.voice_command_callback,
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10
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)
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# 创建状态发布器
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self.state_pub = self.create_publisher(String, 'task_state', 10)
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# 设置初始音量（确保语音清晰可听）
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self.set_volume(20)
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# 打开麦克风和语音控制
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self.enable_microphone(True)
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self.enable_voice_control(True)
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self.get_logger().info("语音交互系统已启动，当前状态：准备配货")
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# 播放欢迎提示
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self.play_voice_prompt("准备就绪，请开始配货任务")
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def enable_microphone(self, enable):
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"""打开/关闭麦克风"""
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req = AudioExecute.Request()
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req.client = "task_system"
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req.status = AudioStatus()
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req.status.state = AudioStatus.AUDIO_STATUS_NORMAL if enable else AudioStatus.AUDIO_STATUS_OFFMIC
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future = self.mic_control_client.call_async(req)
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rclpy.spin_until_future_complete(self, future)
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if future.result() and future.result().result:
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self.get_logger().info("麦克风已打开" if enable else "麦克风已关闭")
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else:
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self.get_logger().warn("麦克风控制失败")
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def enable_voice_control(self, enable):
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"""启用/禁用语音控制"""
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req = SetBool.Request()
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req.data = enable
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future = self.voice_control_client.call_async(req)
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rclpy.spin_until_future_complete(self, future)
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if future.result() and future.result().success:
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self.get_logger().info("语音控制已启用" if enable else "语音控制已禁用")
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else:
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self.get_logger().warn("语音控制设置失败")
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def set_volume(self, volume_level):
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"""设置语音音量"""
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req = AudioVolumeSet.Request()
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req.volume = volume_level
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future = self.volume_set_client.call_async(req)
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rclpy.spin_until_future_complete(self, future)
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if future.result() and future.result().success:
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self.get_logger().info(f"音量已设置为: {volume_level}")
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else:
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self.get_logger().warn("音量设置失败")
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def play_voice_prompt(self, text, online=True):
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"""播放语音提示"""
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req = AudioTextPlay.Request()
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req.module_name = "task_system"
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req.is_online = online
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req.text = text if online else ""
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# 如果是离线语音，设置对应的语音ID
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if not online:
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req.speech = AudioPlay()
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# 这里使用示例ID，实际应根据协议定义设置
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req.speech.play_id = 101 if "配货" in text else 102
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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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if future.result() and future.result().status == 0:
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self.get_logger().info(f"语音播放成功: '{text}'")
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else:
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self.get_logger().warn("语音播放失败")
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def voice_command_callback(self, msg):
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self.get_logger().info(f"收到语音指令: ")
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"""处理语音指令"""
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command = msg.data.lower()
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self.get_logger().info(f"收到语音指令: {command}")
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if "完成" in command or "结束" in command:
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if "配货" in command and self.current_state == 'preparing_pickup':
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self.handle_pickup_complete()
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elif "卸货" in command and self.current_state == 'preparing_delivery':
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self.handle_delivery_complete()
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else:
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self.play_voice_prompt("当前状态不支持此操作")
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elif "状态" in command:
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self.report_current_state()
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else:
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self.play_voice_prompt("未识别的指令，请重试")
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def handle_pickup_complete(self):
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"""处理配货完成"""
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self.play_voice_prompt("配货完成，开始运输")
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self.get_logger().info("配货完成，开始运输")
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# 更新状态
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self.current_state = 'in_transit'
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self.publish_state("in_transit")
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# 模拟运输过程
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threading.Thread(target=self.simulate_transport).start()
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def handle_delivery_complete(self):
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"""处理卸货完成"""
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self.play_voice_prompt("卸货完成，准备返回")
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self.get_logger().info("卸货完成，准备返回")
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# 更新状态
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self.current_state = 'returning'
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self.publish_state("returning")
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# 模拟返回过程
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threading.Thread(target=self.simulate_return).start()
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def simulate_transport(self):
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"""模拟运输过程"""
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time.sleep(5) # 模拟运输时间
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# 到达卸货点
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self.play_voice_prompt("已到达卸货点，请开始卸货")
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self.get_logger().info("已到达卸货点")
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# 更新状态
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self.current_state = 'preparing_delivery'
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self.publish_state("preparing_delivery")
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def simulate_return(self):
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"""模拟返回过程"""
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time.sleep(5) # 模拟返回时间
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# 返回配货点
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self.play_voice_prompt("已返回配货点，准备新的配货任务")
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self.get_logger().info("已返回配货点")
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# 更新状态
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self.current_state = 'preparing_pickup'
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self.publish_state("preparing_pickup")
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def report_current_state(self):
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"""报告当前状态"""
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states = {
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'preparing_pickup': "准备配货",
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'in_transit': "运输中",
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'preparing_delivery': "准备卸货",
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'returning': "返回中"
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}
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state_name = states.get(self.current_state, "未知状态")
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self.play_voice_prompt(f"当前状态: {state_name}")
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def publish_state(self, state):
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"""发布当前状态"""
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msg = String()
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msg.data = state
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self.state_pub.publish(msg)
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self.get_logger().info(f"状态更新: {state}")
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def main(args=None):
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rclpy.init(args=args)
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node = VoiceInteractionSystem()
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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pass
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finally:
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main() |