說明：代碼部分是基于古月居前輩的例程，在此對胡老師表示感謝！！

語音識別與輸出功能框圖:

main()函數：

int main(int argc, char* argv[]) {// 初始化ROSros::init(argc, argv, "voiceRecognition");ros::NodeHandle n;ros::Rate loop_rate(10);// 聲明Publisher和Subscriber// 訂閱喚醒語音識別的信號ros::Subscriber wakeUpSub = n.subscribe("voiceWakeup", 1000, WakeUp); // 訂閱喚醒語音識別的信號 ros::Publisher voiceWordsPub = n.advertise<std_msgs::String>("voiceWords", 1000); ROS_INFO("Sleeping...");int count=0;int ret = MSP_SUCCESS;/* login params, please do keep the appid correct */const char* login_params = "appid = 594a7b46, work_dir = .";int aud_src = 0; /* from mic or file *//** See "iFlytek MSC Reference Manual"*/const char* session_begin_params ="sub = iat, domain = iat, language = zh_cn, ""accent = mandarin, sample_rate = 16000, ""result_type = plain, result_encoding = utf8";/* Login first. the 1st arg is username, the 2nd arg is password* just set them as NULL. the 3rd arg is login paramertes * */ret = MSPLogin(NULL, NULL, login_params);if (MSP_SUCCESS != ret) {printf("MSPLogin failed , Error code %d.\n",ret);goto exit; // login fail, exit the program}while(ros::ok()){// 語音識別喚醒 if(wakeupFlag){ROS_INFO("Wakeup...");printf("Demo recognizing the speech from microphone\n");printf("Speak in 8 seconds\n");demo_mic(session_begin_params);printf("8 sec passed\n");wakeupFlag=0;}// 語音識別完成if(resultFlag){resultFlag=0;std_msgs::String msg;msg.data = g_result;voiceWordsPub.publish(msg);}ros::spinOnce();loop_rate.sleep();count++;} exit:MSPLogout(); // Logout...return 0; }

demo_mic()函數

/* demo recognize the audio from microphone */ static void demo_mic(const char* session_begin_params) {int errcode;int i = 0;struct speech_rec iat;struct speech_rec_notifier recnotifier = {on_result,on_speech_begin,on_speech_end};errcode = sr_init(&iat, session_begin_params, SR_MIC, &recnotifier);if (errcode) {printf("speech recognizer init failed\n");return;}errcode = sr_start_listening(&iat);if (errcode) {printf("start listen failed %d\n", errcode);}/* demo 8 seconds recording */while(i++ < 8)sleep(1);errcode = sr_stop_listening(&iat);if (errcode) {printf("stop listening failed %d\n", errcode);}sr_uninit(&iat); }

總結

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