catkin_create_pkg tts_voice roscpp rospy std_msgs

cmake_minimum_required(VERSION 2.8.3)
project(tts_voice)## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTSroscpprospystd_msgs
)
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES tts_voice
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)###########
## Build ##
############# Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(${catkin_INCLUDE_DIRS}include
)

## Declare a C++ executableadd_executable(tts_voice_node src/xf_tts.cpp)

## Specify libraries to link a library or executable target againsttarget_link_libraries(tts_voice_node${catkin_LIBRARIES} -lmsc -lrt -ldl -lpthread)

/*
* 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 <ros/ros.h>
#include "std_msgs/String.h"#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>#include "qtts.h"
#include "msp_cmn.h"
#include "msp_errors.h"const char* FileName = "/home/cam/Music/voice.wav";
const char* PlayPath = "play /home/cam/Music/voice.wav";/* wav音频头部格式 */
typedef struct _wave_pcm_hdr
{char            riff[4];                // = "RIFF"int        size_8;                 // = FileSize - 8char            wave[4];                // = "WAVE"char            fmt[4];                 // = "fmt "int        fmt_size;        // = 下一个结构体的大小 : 16short int       format_tag;             // = PCM : 1short int       channels;               // = 通道数 : 1int        samples_per_sec;        // = 采样率 : 8000 | 6000 | 11025 | 16000int        avg_bytes_per_sec;      // = 每秒字节数 : samples_per_sec * bits_per_sample / 8short int       block_align;            // = 每采样点字节数 : wBitsPerSample / 8short int       bits_per_sample;        // = 量化比特数: 8 | 16char            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16000while (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(">");usleep(15*1000); //防止频繁占用CPU}//合成状态synth_status取值请参阅《讯飞语音云API文档》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;
}/**
*   将文本发送到讯飞服务器，获取语音文件文件
**/
int makeTextToWav(const char* text, const char* filename)
{int         ret                  = MSP_SUCCESS;const char* login_params         = "appid = 57f49f64, 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** 详细参数说明请参阅《讯飞语音云MSC--API文档》*/const char* session_begin_params = "voice_name = xiaowanzi, text_encoding = utf8, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 0";
//    const char* filename             = "tts_sample.wav"; //合成的语音文件名称
//    const char* text                 = "我是小丸子，今年126岁了，我的车牌号是12365，今年是2016年12月20号"; //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://open.voicecloud.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
    }/* 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:MSPLogout(); //退出登录return 0;
}/**
* play the wav file
**/
void PlayWav()
{system(PlayPath);
}
/***接受/voice/xf_tts_topic话题的字符串的回调函数*/
void TTSCallback(const std_msgs::String::ConstPtr &msg)
{std::cout<<"get topic text: " << msg->data.c_str();makeTextToWav(msg->data.c_str(), FileName);PlayWav();
}int main(int argc, char* argv[])
{const char* start = "宝宝启动成功了";makeTextToWav(start,FileName);PlayWav();ros::init(argc, argv,"xf_tts_node");ros::NodeHandle n;ros::Subscriber sub = n.subscribe("/voice/xf_tts_topic",3,TTSCallback);ros::spin();return 0;
}

cam@cam-Aspire-V3-572G:~/catkin_ws$ catkin_make -j4

￥ roscore$ rosrun tts_voice tts_voice_node 

 rostopic pub  /voice/xf_tts_topic std_msgs/String "　韩联社预计，鉴于黄教坚持现有外交政策，“萨德”部署相关工作可能提速。本月早些时候，一些政府消息人士透露，由于总统朴槿惠遭弹劾，国内政 局不确定性增加，韩国国防部决定加快“萨德”的相关部署工作，最快可能在明年5月完成部署。根据消息人士的说法，为了能尽早完成部署工作，韩国国防部甚至考虑省略掉环境影响评估的环节。"

const char* login_params         = "appid = 57f49f64, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动

sudo apt-get install sox