一、引言
在这篇博客中,我将详细介绍如何在旭日X3派环境中使用讯飞语音SDK进行机器人语音合成。
以下为具体系统架构图,通过构建语音合成节点接受ros话题,将话题内容合成为语音文件。主要难点在于讯飞并不直接提供linux ARM的SDK和相关支持,并且程序的编译需要诸多.so
.so
.so
.s
.so
动态链接库文件和较为复杂的编译流程。讯飞提供了x64和x86环境下的编译脚本64bit_make.sh,Makefile。我们可以将其转换为CMakeLists.txt使源码编译为ros节点。
系统架构图
二、语音合成功能实现
注册并登录讯飞开放平台下载linux 语音合成SDK:讯飞开放平台-以语音交互为核心的人工智能开放平台 (xfyun.cn)
《SDK目录结构一览》
-
- bin:
- doc:
- include:
- libs:
- x86/libmsc.so(32位动态库)
- x64/libmsc.so(64位动态库)
- samples:
- tts_offline_sample(离线语音合成示例)
(注意这个文件结构,之后创建ROS节点时仍需相同文件结构)
讯飞语音合成主要API调用流程如下图所示:
然后按照图示流程进行C语言编程:
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <errno.h>
#include "../../include/qtts.h"
#include "../../include/msp_cmn.h"
#include "../../include/msp_errors.h"
typedef int SR_DWORD;
typedef short int SR_WORD ;
/* wav音频头部格式 */
typedef struct _wave_pcm_hdr
{
char riff[4]; // = "RIFF"
int size_8; // = FileSize - 8
char wave[4]; // = "WAVE"
char fmt[4]; // = "fmt "
int fmt_size; // = 下一个结构体的大小 : 16
short int format_tag; // = PCM : 1
short int channels; // = 通道数 : 1
int samples_per_sec; // = 采样率 : 8000 | 6000 | 11025 | 16000
int avg_bytes_per_sec; // = 每秒字节数 : samples_per_sec * bits_per_sample / 8
short int block_align; // = 每采样点字节数 : wBitsPerSample / 8
short int bits_per_sample; // = 量化比特数: 8 | 16
char data[4]; // = "data";
int data_size; // = 纯数据长度 : FileSize - 44
} wave_pcm_hdr;
/* 默认wav音频头部数据 */
wave_pcm_hdr default_wav_hdr =
{
{ 'R', 'I', 'F', 'F' },
0,
{'W', 'A', 'V', 'E'},
{'f', 'm', 't', ' '},
16,
1,
1,
16000,
32000,
2,
16,
{'d', 'a', 't', 'a'},
0
};
/* 文本合成 */
int text_to_speech(const char* src_text, const char* des_path, const char* params)
{
int ret = -1;
FILE* fp = NULL;
const char* sessionID = NULL;
unsigned int audio_len = 0;
wave_pcm_hdr wav_hdr = default_wav_hdr;
int synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA;
if (NULL == src_text || NULL == des_path)
{
printf("params is error!\n");
return ret;
}
fp = fopen(des_path, "wb");
if (NULL == fp)
{
printf("open %s error.\n", des_path);
return ret;
}
/* 开始合成 */
sessionID = QTTSSessionBegin(params, &ret);
if (MSP_SUCCESS != ret)
{
printf("QTTSSessionBegin failed, error code: %d.\n", ret);
fclose(fp);
return ret;
}
ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL);
if (MSP_SUCCESS != ret)
{
printf("QTTSTextPut failed, error code: %d.\n",ret);
QTTSSessionEnd(sessionID, "TextPutError");
fclose(fp);
return ret;
}
printf("正在合成 ...\n");
fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头,使用采样率为16000
while (1)
{
/* 获取合成音频 */
const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret);
if (MSP_SUCCESS != ret)
break;
if (NULL != data)
{
fwrite(data, audio_len, 1, fp);
wav_hdr.data_size += audio_len; //计算data_size大小
}
if (MSP_TTS_FLAG_DATA_END == synth_status)
break;
}
printf("\n");
if (MSP_SUCCESS != ret)
{
printf("QTTSAudioGet failed, error code: %d.\n",ret);
QTTSSessionEnd(sessionID, "AudioGetError");
fclose(fp);
return ret;
}
/* 修正wav文件头数据的大小 */
wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8);
/* 将修正过的数据写回文件头部,音频文件为wav格式 */
fseek(fp, 4, 0);
fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值
fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置
fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值
fclose(fp);
fp = NULL;
/* 合成完毕 */
ret = QTTSSessionEnd(sessionID, "Normal");
if (MSP_SUCCESS != ret)
{
printf("QTTSSessionEnd failed, error code: %d.\n",ret);
}
return ret;
}
int main(int argc, char* argv[])
{
int ret = MSP_SUCCESS;
const char* login_params = "appid = bc29f759, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动
/*
* rdn: 合成音频数字发音方式
* volume: 合成音频的音量
* pitch: 合成音频的音调
* speed: 合成音频对应的语速
* voice_name: 合成发音人
* sample_rate: 合成音频采样率
* text_encoding: 合成文本编码格式
*
*/
const char* session_begin_params = "engine_type = local,voice_name=xiaoyan, text_encoding = UTF8, tts_res_path = fo|res/tts/xiaoyan.jet;fo|res/tts/common.jet, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 2";
const char* filename = "tts_sample.wav"; //合成的语音文件名称
const char* text = "原神启动"; //合成文本
/* 用户登录 */
ret = MSPLogin(NULL, NULL, login_params); //第一个参数是用户名,第二个参数是密码,第三个参数是登录参数,用户名和密码可在http://www.xfyun.cn注册获取
if (MSP_SUCCESS != ret)
{
printf("MSPLogin failed, error code: %d.\n", ret);
goto exit ;//登录失败,退出登录
}
printf("\n###########################################################################\n");
printf("## 语音合成开始(Text To Speech,TTS)##\n");
printf("###########################################################################\n\n");
/* 文本合成 */
printf("开始合成 ...\n");
ret = text_to_speech(text, filename, session_begin_params);
if (MSP_SUCCESS != ret)
{
printf("text_to_speech failed, error code: %d.\n", ret);
}
printf("合成完毕\n");
exit:
printf("按任意键退出 ...\n");
getchar();
MSPLogout(); //退出登录
return 0;
}
#include <stdlib.h> #include <stdio.h> #include <unistd.h> #include <errno.h> #include "../../include/qtts.h" #include "../../include/msp_cmn.h" #include "../../include/msp_errors.h" typedef int SR_DWORD; typedef short int SR_WORD ; /* wav音频头部格式 */ typedef struct _wave_pcm_hdr { char riff[4]; // = "RIFF" int size_8; // = FileSize - 8 char wave[4]; // = "WAVE" char fmt[4]; // = "fmt " int fmt_size; // = 下一个结构体的大小 : 16 short int format_tag; // = PCM : 1 short int channels; // = 通道数 : 1 int samples_per_sec; // = 采样率 : 8000 | 6000 | 11025 | 16000 int avg_bytes_per_sec; // = 每秒字节数 : samples_per_sec * bits_per_sample / 8 short int block_align; // = 每采样点字节数 : wBitsPerSample / 8 short int bits_per_sample; // = 量化比特数: 8 | 16 char data[4]; // = "data"; int data_size; // = 纯数据长度 : FileSize - 44 } wave_pcm_hdr; /* 默认wav音频头部数据 */ wave_pcm_hdr default_wav_hdr = { { 'R', 'I', 'F', 'F' }, 0, {'W', 'A', 'V', 'E'}, {'f', 'm', 't', ' '}, 16, 1, 1, 16000, 32000, 2, 16, {'d', 'a', 't', 'a'}, 0 }; /* 文本合成 */ int text_to_speech(const char* src_text, const char* des_path, const char* params) { int ret = -1; FILE* fp = NULL; const char* sessionID = NULL; unsigned int audio_len = 0; wave_pcm_hdr wav_hdr = default_wav_hdr; int synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA; if (NULL == src_text || NULL == des_path) { printf("params is error!\n"); return ret; } fp = fopen(des_path, "wb"); if (NULL == fp) { printf("open %s error.\n", des_path); return ret; } /* 开始合成 */ sessionID = QTTSSessionBegin(params, &ret); if (MSP_SUCCESS != ret) { printf("QTTSSessionBegin failed, error code: %d.\n", ret); fclose(fp); return ret; } ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL); if (MSP_SUCCESS != ret) { printf("QTTSTextPut failed, error code: %d.\n",ret); QTTSSessionEnd(sessionID, "TextPutError"); fclose(fp); return ret; } printf("正在合成 ...\n"); fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头,使用采样率为16000 while (1) { /* 获取合成音频 */ const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret); if (MSP_SUCCESS != ret) break; if (NULL != data) { fwrite(data, audio_len, 1, fp); wav_hdr.data_size += audio_len; //计算data_size大小 } if (MSP_TTS_FLAG_DATA_END == synth_status) break; } printf("\n"); if (MSP_SUCCESS != ret) { printf("QTTSAudioGet failed, error code: %d.\n",ret); QTTSSessionEnd(sessionID, "AudioGetError"); fclose(fp); return ret; } /* 修正wav文件头数据的大小 */ wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8); /* 将修正过的数据写回文件头部,音频文件为wav格式 */ fseek(fp, 4, 0); fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值 fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置 fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值 fclose(fp); fp = NULL; /* 合成完毕 */ ret = QTTSSessionEnd(sessionID, "Normal"); if (MSP_SUCCESS != ret) { printf("QTTSSessionEnd failed, error code: %d.\n",ret); } return ret; } int main(int argc, char* argv[]) { int ret = MSP_SUCCESS; const char* login_params = "appid = bc29f759, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动 /* * rdn: 合成音频数字发音方式 * volume: 合成音频的音量 * pitch: 合成音频的音调 * speed: 合成音频对应的语速 * voice_name: 合成发音人 * sample_rate: 合成音频采样率 * text_encoding: 合成文本编码格式 * */ const char* session_begin_params = "engine_type = local,voice_name=xiaoyan, text_encoding = UTF8, tts_res_path = fo|res/tts/xiaoyan.jet;fo|res/tts/common.jet, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 2"; const char* filename = "tts_sample.wav"; //合成的语音文件名称 const char* text = "原神启动"; //合成文本 /* 用户登录 */ ret = MSPLogin(NULL, NULL, login_params); //第一个参数是用户名,第二个参数是密码,第三个参数是登录参数,用户名和密码可在http://www.xfyun.cn注册获取 if (MSP_SUCCESS != ret) { printf("MSPLogin failed, error code: %d.\n", ret); goto exit ;//登录失败,退出登录 } printf("\n###########################################################################\n"); printf("## 语音合成开始(Text To Speech,TTS)##\n"); printf("###########################################################################\n\n"); /* 文本合成 */ printf("开始合成 ...\n"); ret = text_to_speech(text, filename, session_begin_params); if (MSP_SUCCESS != ret) { printf("text_to_speech failed, error code: %d.\n", ret); } printf("合成完毕\n"); exit: printf("按任意键退出 ...\n"); getchar(); MSPLogout(); //退出登录 return 0; }
#include <stdlib.h> #include <stdio.h> #include <unistd.h> #include <errno.h> #include "../../include/qtts.h" #include "../../include/msp_cmn.h" #include "../../include/msp_errors.h" typedef int SR_DWORD; typedef short int SR_WORD ; /* wav音频头部格式 */ typedef struct _wave_pcm_hdr { char riff[4]; // = "RIFF" int size_8; // = FileSize - 8 char wave[4]; // = "WAVE" char fmt[4]; // = "fmt " int fmt_size; // = 下一个结构体的大小 : 16 short int format_tag; // = PCM : 1 short int channels; // = 通道数 : 1 int samples_per_sec; // = 采样率 : 8000 | 6000 | 11025 | 16000 int avg_bytes_per_sec; // = 每秒字节数 : samples_per_sec * bits_per_sample / 8 short int block_align; // = 每采样点字节数 : wBitsPerSample / 8 short int bits_per_sample; // = 量化比特数: 8 | 16 char data[4]; // = "data"; int data_size; // = 纯数据长度 : FileSize - 44 } wave_pcm_hdr; /* 默认wav音频头部数据 */ wave_pcm_hdr default_wav_hdr = { { 'R', 'I', 'F', 'F' }, 0, {'W', 'A', 'V', 'E'}, {'f', 'm', 't', ' '}, 16, 1, 1, 16000, 32000, 2, 16, {'d', 'a', 't', 'a'}, 0 }; /* 文本合成 */ int text_to_speech(const char* src_text, const char* des_path, const char* params) { int ret = -1; FILE* fp = NULL; const char* sessionID = NULL; unsigned int audio_len = 0; wave_pcm_hdr wav_hdr = default_wav_hdr; int synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA; if (NULL == src_text || NULL == des_path) { printf("params is error!\n"); return ret; } fp = fopen(des_path, "wb"); if (NULL == fp) { printf("open %s error.\n", des_path); return ret; } /* 开始合成 */ sessionID = QTTSSessionBegin(params, &ret); if (MSP_SUCCESS != ret) { printf("QTTSSessionBegin failed, error code: %d.\n", ret); fclose(fp); return ret; } ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL); if (MSP_SUCCESS != ret) { printf("QTTSTextPut failed, error code: %d.\n",ret); QTTSSessionEnd(sessionID, "TextPutError"); fclose(fp); return ret; } printf("正在合成 ...\n"); fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头,使用采样率为16000 while (1) { /* 获取合成音频 */ const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret); if (MSP_SUCCESS != ret) break; if (NULL != data) { fwrite(data, audio_len, 1, fp); wav_hdr.data_size += audio_len; //计算data_size大小 } if (MSP_TTS_FLAG_DATA_END == synth_status) break; } printf("\n"); if (MSP_SUCCESS != ret) { printf("QTTSAudioGet failed, error code: %d.\n",ret); QTTSSessionEnd(sessionID, "AudioGetError"); fclose(fp); return ret; } /* 修正wav文件头数据的大小 */ wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8); /* 将修正过的数据写回文件头部,音频文件为wav格式 */ fseek(fp, 4, 0); fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值 fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置 fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值 fclose(fp); fp = NULL; /* 合成完毕 */ ret = QTTSSessionEnd(sessionID, "Normal"); if (MSP_SUCCESS != ret) { printf("QTTSSessionEnd failed, error code: %d.\n",ret); } return ret; } int main(int argc, char* argv[]) { int ret = MSP_SUCCESS; const char* login_params = "appid = bc29f759, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动 /* * rdn: 合成音频数字发音方式 * volume: 合成音频的音量 * pitch: 合成音频的音调 * speed: 合成音频对应的语速 * voice_name: 合成发音人 * sample_rate: 合成音频采样率 * text_encoding: 合成文本编码格式 * */ const char* session_begin_params = "engine_type = local,voice_name=xiaoyan, text_encoding = UTF8, tts_res_path = fo|res/tts/xiaoyan.jet;fo|res/tts/common.jet, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 2"; const char* filename = "tts_sample.wav"; //合成的语音文件名称 const char* text = "原神启动"; //合成文本 /* 用户登录 */ ret = MSPLogin(NULL, NULL, login_params); //第一个参数是用户名,第二个参数是密码,第三个参数是登录参数,用户名和密码可在http://www.xfyun.cn注册获取 if (MSP_SUCCESS != ret) { printf("MSPLogin failed, error code: %d.\n", ret); goto exit ;//登录失败,退出登录 } printf("\n###########################################################################\n"); printf("## 语音合成开始(Text To Speech,TTS)##\n"); printf("###########################################################################\n\n"); /* 文本合成 */ printf("开始合成 ...\n"); ret = text_to_speech(text, filename, session_begin_params); if (MSP_SUCCESS != ret) { printf("text_to_speech failed, error code: %d.\n", ret); } printf("合成完毕\n"); exit: printf("按任意键退出 ...\n"); getchar(); MSPLogout(); //退出登录 return 0; }
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在libs目录下解压(arm64 .so文件)压缩包——有需要的评论区留下你的邮箱地址
打开simple目录下的Makefile将其修改为:
#common makefile header
DIR_INC = ../../include
DIR_BIN = ../../bin
DIR_LIB = ../../libs
TARGET = tts_offline_sample
BIN_TARGET = $(DIR_BIN)/$(TARGET)
CROSS_COMPILE =
CFLAGS = -g -Wall -I$(DIR_INC)
ifdef LINUX64
LDFLAGS := -L$(DIR_LIB)/arm64
else
LDFLAGS := -L$(DIR_LIB)/arm32
endif
LDFLAGS += -lmsc -lrt -ldl -lpthread -lstdc++
OBJECTS := $(patsubst %.c,%.o,$(wildcard *.c))
$(BIN_TARGET) : $(OBJECTS)
$(CROSS_COMPILE)gcc $(CFLAGS) $^ -o $@ $(LDFLAGS)
%.o : %.c
$(CROSS_COMPILE)gcc -c $(CFLAGS) $< -o $@
clean:
@rm -f *.o $(BIN_TARGET)
.PHONY:clean
#common makefile foot
#common makefile header DIR_INC = ../../include DIR_BIN = ../../bin DIR_LIB = ../../libs TARGET = tts_offline_sample BIN_TARGET = $(DIR_BIN)/$(TARGET) CROSS_COMPILE = CFLAGS = -g -Wall -I$(DIR_INC) ifdef LINUX64 LDFLAGS := -L$(DIR_LIB)/arm64 else LDFLAGS := -L$(DIR_LIB)/arm32 endif LDFLAGS += -lmsc -lrt -ldl -lpthread -lstdc++ OBJECTS := $(patsubst %.c,%.o,$(wildcard *.c)) $(BIN_TARGET) : $(OBJECTS) $(CROSS_COMPILE)gcc $(CFLAGS) $^ -o $@ $(LDFLAGS) %.o : %.c $(CROSS_COMPILE)gcc -c $(CFLAGS) $< -o $@ clean: @rm -f *.o $(BIN_TARGET) .PHONY:clean #common makefile foot
修改64bit_make.sh
#编译64位可执行文件
make clean;make LINUX64=1
#设置libmsc.so库搜索路径
export LD_LIBRARY_PATH=$(pwd)/../../libs/arm64/
#编译64位可执行文件 make clean;make LINUX64=1 #设置libmsc.so库搜索路径 export LD_LIBRARY_PATH=$(pwd)/../../libs/arm64/
运行64bit_make.sh,编译生成程序在bin目录下
运行语音合成程序
生成的wav音频文件同样在bin目录下
三、ROS节点建立
这里我们建立一个功能包:包名:yuyin,节点名:yuyin_node
文件结构:
在yuyin/src新建tts_offline_sample.c文件
tts_offline_sample.c代码:
/*
* 语音合成(Text To Speech,TTS)技术能够自动将任意文字实时转换为连续的
* 自然语音,是一种能够在任何时间、任何地点,向任何人提供语音信息服务的
* 高效便捷手段,非常符合信息时代海量数据、动态更新和个性化查询的需求。
*/
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <errno.h>
#include <cstring>
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "../include/qtts.h"
#include "../include/msp_cmn.h"
#include "../include/msp_errors.h"
typedef int SR_DWORD;
typedef short int SR_WORD ;
/* wav音频头部格式 */
typedef struct _wave_pcm_hdr
{
char riff[4]; // = "RIFF"
int size_8; // = FileSize - 8
char wave[4]; // = "WAVE"
char fmt[4]; // = "fmt "
int fmt_size; // = 下一个结构体的大小 : 16
short int format_tag; // = PCM : 1
short int channels; // = 通道数 : 1
int samples_per_sec; // = 采样率 : 8000 | 6000 | 11025 | 16000
int avg_bytes_per_sec; // = 每秒字节数 : samples_per_sec * bits_per_sample / 8
short int block_align; // = 每采样点字节数 : wBitsPerSample / 8
short int bits_per_sample; // = 量化比特数: 8 | 16
char data[4]; // = "data";
int data_size; // = 纯数据长度 : FileSize - 44
} wave_pcm_hdr;
/* 默认wav音频头部数据 */
wave_pcm_hdr default_wav_hdr =
{
{ 'R', 'I', 'F', 'F' },
0,
{'W', 'A', 'V', 'E'},
{'f', 'm', 't', ' '},
16,
1,
1,
16000,
32000,
2,
16,
{'d', 'a', 't', 'a'},
0
};
/* 文本合成 */
int text_to_speech(const char* src_text, const char* des_path, const char* params)
{
int ret = -1;
FILE* fp = NULL;
const char* sessionID = NULL;
unsigned int audio_len = 0;
wave_pcm_hdr wav_hdr = default_wav_hdr;
int synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA;
if (NULL == src_text || NULL == des_path)
{
printf("params is error!\n");
return ret;
}
fp = fopen(des_path, "wb");
if (NULL == fp)
{
printf("open %s error.\n", des_path);
return ret;
}
/* 开始合成 */
sessionID = QTTSSessionBegin(params, &ret);
if (MSP_SUCCESS != ret)
{
printf("QTTSSessionBegin failed, error code: %d.\n", ret);
fclose(fp);
return ret;
}
ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL);
if (MSP_SUCCESS != ret)
{
printf("QTTSTextPut failed, error code: %d.\n",ret);
QTTSSessionEnd(sessionID, "TextPutError");
fclose(fp);
return ret;
}
printf("正在合成 ...\n");
fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头,使用采样率为16000
while (1)
{
/* 获取合成音频 */
const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret);
if (MSP_SUCCESS != ret)
break;
if (NULL != data)
{
fwrite(data, audio_len, 1, fp);
wav_hdr.data_size += audio_len; //计算data_size大小
}
if (MSP_TTS_FLAG_DATA_END == synth_status)
break;
}
printf("\n");
if (MSP_SUCCESS != ret)
{
printf("QTTSAudioGet failed, error code: %d.\n",ret);
QTTSSessionEnd(sessionID, "AudioGetError");
fclose(fp);
return ret;
}
/* 修正wav文件头数据的大小 */
wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8);
/* 将修正过的数据写回文件头部,音频文件为wav格式 */
fseek(fp, 4, 0);
fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值
fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置
fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值
fclose(fp);
fp = NULL;
/* 合成完毕 */
ret = QTTSSessionEnd(sessionID, "Normal");
if (MSP_SUCCESS != ret)
{
printf("QTTSSessionEnd failed, error code: %d.\n",ret);
}
return ret;
}
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I received: [%s]", msg->data.c_str());
int ret = MSP_SUCCESS;
const char* login_params = "appid = bc29f759, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动
const char* session_begin_params = "engine_type = local,voice_name=xiaoyan, text_encoding = UTF8, tts_res_path = fo|res/tts/xiaoyan.jet;fo|res/tts/common.jet, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 2";
const char* filename = "tts_sample.wav"; //合成的语音文件名称
const char* text = msg->data.c_str(); //合成文本
/* 用户登录 */
ret = MSPLogin(NULL, NULL, login_params); //第一个参数是用户名,第二个参数是密码,第三个参数是登录参数,用户名和密码可在http://www.xfyun.cn注册获取
if (MSP_SUCCESS != ret)
{
printf("MSPLogin failed, error code: %d.\n", ret);
//goto exit ;//登录失败,退出登录
}
printf("开始合成 ...\n");
ret = text_to_speech(text, filename, session_begin_params);
if (MSP_SUCCESS != ret)
{
printf("text_to_speech failed, error code: %d.\n", ret);
}
printf("合成完毕\n");
}
int main(int argc, char* argv[])
{
// 初始化ROS节点
ros::init(argc, argv, "listener");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Subscriber,订阅名为'tts'的话题,注册回调函数chatterCallback
ros::Subscriber sub = n.subscribe("tts", 1000, chatterCallback);
// 循环等待回调函数
ros::spin();
return 0;
}
/* * 语音合成(Text To Speech,TTS)技术能够自动将任意文字实时转换为连续的 * 自然语音,是一种能够在任何时间、任何地点,向任何人提供语音信息服务的 * 高效便捷手段,非常符合信息时代海量数据、动态更新和个性化查询的需求。 */ #include <stdlib.h> #include <stdio.h> #include <unistd.h> #include <errno.h> #include <cstring> #include "ros/ros.h" #include "std_msgs/String.h" #include "../include/qtts.h" #include "../include/msp_cmn.h" #include "../include/msp_errors.h" typedef int SR_DWORD; typedef short int SR_WORD ; /* wav音频头部格式 */ typedef struct _wave_pcm_hdr { char riff[4]; // = "RIFF" int size_8; // = FileSize - 8 char wave[4]; // = "WAVE" char fmt[4]; // = "fmt " int fmt_size; // = 下一个结构体的大小 : 16 short int format_tag; // = PCM : 1 short int channels; // = 通道数 : 1 int samples_per_sec; // = 采样率 : 8000 | 6000 | 11025 | 16000 int avg_bytes_per_sec; // = 每秒字节数 : samples_per_sec * bits_per_sample / 8 short int block_align; // = 每采样点字节数 : wBitsPerSample / 8 short int bits_per_sample; // = 量化比特数: 8 | 16 char data[4]; // = "data"; int data_size; // = 纯数据长度 : FileSize - 44 } wave_pcm_hdr; /* 默认wav音频头部数据 */ wave_pcm_hdr default_wav_hdr = { { 'R', 'I', 'F', 'F' }, 0, {'W', 'A', 'V', 'E'}, {'f', 'm', 't', ' '}, 16, 1, 1, 16000, 32000, 2, 16, {'d', 'a', 't', 'a'}, 0 }; /* 文本合成 */ int text_to_speech(const char* src_text, const char* des_path, const char* params) { int ret = -1; FILE* fp = NULL; const char* sessionID = NULL; unsigned int audio_len = 0; wave_pcm_hdr wav_hdr = default_wav_hdr; int synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA; if (NULL == src_text || NULL == des_path) { printf("params is error!\n"); return ret; } fp = fopen(des_path, "wb"); if (NULL == fp) { printf("open %s error.\n", des_path); return ret; } /* 开始合成 */ sessionID = QTTSSessionBegin(params, &ret); if (MSP_SUCCESS != ret) { printf("QTTSSessionBegin failed, error code: %d.\n", ret); fclose(fp); return ret; } ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL); if (MSP_SUCCESS != ret) { printf("QTTSTextPut failed, error code: %d.\n",ret); QTTSSessionEnd(sessionID, "TextPutError"); fclose(fp); return ret; } printf("正在合成 ...\n"); fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头,使用采样率为16000 while (1) { /* 获取合成音频 */ const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret); if (MSP_SUCCESS != ret) break; if (NULL != data) { fwrite(data, audio_len, 1, fp); wav_hdr.data_size += audio_len; //计算data_size大小 } if (MSP_TTS_FLAG_DATA_END == synth_status) break; } printf("\n"); if (MSP_SUCCESS != ret) { printf("QTTSAudioGet failed, error code: %d.\n",ret); QTTSSessionEnd(sessionID, "AudioGetError"); fclose(fp); return ret; } /* 修正wav文件头数据的大小 */ wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8); /* 将修正过的数据写回文件头部,音频文件为wav格式 */ fseek(fp, 4, 0); fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值 fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置 fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值 fclose(fp); fp = NULL; /* 合成完毕 */ ret = QTTSSessionEnd(sessionID, "Normal"); if (MSP_SUCCESS != ret) { printf("QTTSSessionEnd failed, error code: %d.\n",ret); } return ret; } void chatterCallback(const std_msgs::String::ConstPtr& msg) { ROS_INFO("I received: [%s]", msg->data.c_str()); int ret = MSP_SUCCESS; const char* login_params = "appid = bc29f759, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动 const char* session_begin_params = "engine_type = local,voice_name=xiaoyan, text_encoding = UTF8, tts_res_path = fo|res/tts/xiaoyan.jet;fo|res/tts/common.jet, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 2"; const char* filename = "tts_sample.wav"; //合成的语音文件名称 const char* text = msg->data.c_str(); //合成文本 /* 用户登录 */ ret = MSPLogin(NULL, NULL, login_params); //第一个参数是用户名,第二个参数是密码,第三个参数是登录参数,用户名和密码可在http://www.xfyun.cn注册获取 if (MSP_SUCCESS != ret) { printf("MSPLogin failed, error code: %d.\n", ret); //goto exit ;//登录失败,退出登录 } printf("开始合成 ...\n"); ret = text_to_speech(text, filename, session_begin_params); if (MSP_SUCCESS != ret) { printf("text_to_speech failed, error code: %d.\n", ret); } printf("合成完毕\n"); } int main(int argc, char* argv[]) { // 初始化ROS节点 ros::init(argc, argv, "listener"); // 创建节点句柄 ros::NodeHandle n; // 创建一个Subscriber,订阅名为'tts'的话题,注册回调函数chatterCallback ros::Subscriber sub = n.subscribe("tts", 1000, chatterCallback); // 循环等待回调函数 ros::spin(); return 0; }
/* * 语音合成(Text To Speech,TTS)技术能够自动将任意文字实时转换为连续的 * 自然语音,是一种能够在任何时间、任何地点,向任何人提供语音信息服务的 * 高效便捷手段,非常符合信息时代海量数据、动态更新和个性化查询的需求。 */ #include <stdlib.h> #include <stdio.h> #include <unistd.h> #include <errno.h> #include <cstring> #include "ros/ros.h" #include "std_msgs/String.h" #include "../include/qtts.h" #include "../include/msp_cmn.h" #include "../include/msp_errors.h" typedef int SR_DWORD; typedef short int SR_WORD ; /* wav音频头部格式 */ typedef struct _wave_pcm_hdr { char riff[4]; // = "RIFF" int size_8; // = FileSize - 8 char wave[4]; // = "WAVE" char fmt[4]; // = "fmt " int fmt_size; // = 下一个结构体的大小 : 16 short int format_tag; // = PCM : 1 short int channels; // = 通道数 : 1 int samples_per_sec; // = 采样率 : 8000 | 6000 | 11025 | 16000 int avg_bytes_per_sec; // = 每秒字节数 : samples_per_sec * bits_per_sample / 8 short int block_align; // = 每采样点字节数 : wBitsPerSample / 8 short int bits_per_sample; // = 量化比特数: 8 | 16 char data[4]; // = "data"; int data_size; // = 纯数据长度 : FileSize - 44 } wave_pcm_hdr; /* 默认wav音频头部数据 */ wave_pcm_hdr default_wav_hdr = { { 'R', 'I', 'F', 'F' }, 0, {'W', 'A', 'V', 'E'}, {'f', 'm', 't', ' '}, 16, 1, 1, 16000, 32000, 2, 16, {'d', 'a', 't', 'a'}, 0 }; /* 文本合成 */ int text_to_speech(const char* src_text, const char* des_path, const char* params) { int ret = -1; FILE* fp = NULL; const char* sessionID = NULL; unsigned int audio_len = 0; wave_pcm_hdr wav_hdr = default_wav_hdr; int synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA; if (NULL == src_text || NULL == des_path) { printf("params is error!\n"); return ret; } fp = fopen(des_path, "wb"); if (NULL == fp) { printf("open %s error.\n", des_path); return ret; } /* 开始合成 */ sessionID = QTTSSessionBegin(params, &ret); if (MSP_SUCCESS != ret) { printf("QTTSSessionBegin failed, error code: %d.\n", ret); fclose(fp); return ret; } ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL); if (MSP_SUCCESS != ret) { printf("QTTSTextPut failed, error code: %d.\n",ret); QTTSSessionEnd(sessionID, "TextPutError"); fclose(fp); return ret; } printf("正在合成 ...\n"); fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头,使用采样率为16000 while (1) { /* 获取合成音频 */ const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret); if (MSP_SUCCESS != ret) break; if (NULL != data) { fwrite(data, audio_len, 1, fp); wav_hdr.data_size += audio_len; //计算data_size大小 } if (MSP_TTS_FLAG_DATA_END == synth_status) break; } printf("\n"); if (MSP_SUCCESS != ret) { printf("QTTSAudioGet failed, error code: %d.\n",ret); QTTSSessionEnd(sessionID, "AudioGetError"); fclose(fp); return ret; } /* 修正wav文件头数据的大小 */ wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8); /* 将修正过的数据写回文件头部,音频文件为wav格式 */ fseek(fp, 4, 0); fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值 fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置 fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值 fclose(fp); fp = NULL; /* 合成完毕 */ ret = QTTSSessionEnd(sessionID, "Normal"); if (MSP_SUCCESS != ret) { printf("QTTSSessionEnd failed, error code: %d.\n",ret); } return ret; } void chatterCallback(const std_msgs::String::ConstPtr& msg) { ROS_INFO("I received: [%s]", msg->data.c_str()); int ret = MSP_SUCCESS; const char* login_params = "appid = bc29f759, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动 const char* session_begin_params = "engine_type = local,voice_name=xiaoyan, text_encoding = UTF8, tts_res_path = fo|res/tts/xiaoyan.jet;fo|res/tts/common.jet, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 2"; const char* filename = "tts_sample.wav"; //合成的语音文件名称 const char* text = msg->data.c_str(); //合成文本 /* 用户登录 */ ret = MSPLogin(NULL, NULL, login_params); //第一个参数是用户名,第二个参数是密码,第三个参数是登录参数,用户名和密码可在http://www.xfyun.cn注册获取 if (MSP_SUCCESS != ret) { printf("MSPLogin failed, error code: %d.\n", ret); //goto exit ;//登录失败,退出登录 } printf("开始合成 ...\n"); ret = text_to_speech(text, filename, session_begin_params); if (MSP_SUCCESS != ret) { printf("text_to_speech failed, error code: %d.\n", ret); } printf("合成完毕\n"); } int main(int argc, char* argv[]) { // 初始化ROS节点 ros::init(argc, argv, "listener"); // 创建节点句柄 ros::NodeHandle n; // 创建一个Subscriber,订阅名为'tts'的话题,注册回调函数chatterCallback ros::Subscriber sub = n.subscribe("tts", 1000, chatterCallback); // 循环等待回调函数 ros::spin(); return 0; }
复制
修改Cmake
cmake_minimum_required(VERSION 3.0.2)
project(yuyin)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
catkin_package()
include_directories(
../include # This is equivalent to your DIR_INC
${catkin_INCLUDE_DIRS}
)
link_directories(/home/test/src/yuyin/libs/arm64) # Add the path to your libraries
add_executable(${PROJECT_NAME}_node src/tts_offline_sample.cpp)
target_link_libraries(${PROJECT_NAME}_node
msc # These are equivalent to the libraries you specified in LDFLAGS
rt
dl
pthread
stdc++
${catkin_LIBRARIES}
)
install(TARGETS ${PROJECT_NAME}_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
编译测试一下:
大功告成!以后ROS也会大声喊原神,启动!
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