代码补充
This commit is contained in:
“jiawei”
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from openai import OpenAI
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import time
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import sys
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import queue # 新增：用于缓存实时文本片段
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import threading # 新增：用于并行处理语音播放
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# 原代码7. 火山方舟API调用完整逻辑
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class ArkAPIController:
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def __init__(self, ark_api_key, ark_model_id, tts_controller, feedback_text):
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# 接收调度脚本传入的TTS实例和反馈文本，保持原逻辑
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self.ARK_API_KEY = ark_api_key
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self.ARK_MODEL_ID = ark_model_id
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self.tts_controller = tts_controller
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self.FEEDBACK_TEXT = feedback_text
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self.chat_context = [] # 聊天上下文由模块内部维护（与原逻辑一致）
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self.MAX_CONTEXT_LEN = 10
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# 新增：实时语音播放队列与线程
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self.speech_queue = queue.Queue() # 缓存待播放的文本片段
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self.speech_thread = threading.Thread(target=self._process_speech_queue, daemon=True)
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self.speech_thread.start() # 启动语音播放线程
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# 新增：处理语音队列的函数（循环从队列取片段并播放）
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def _process_speech_queue(self):
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"""持续从队列中获取文本片段并调用TTS播放"""
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while True:
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text = self.speech_queue.get() # 阻塞等待队列消息
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if text is None: # 退出信号
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break
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self.tts_controller.speak(text) # 播放片段
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self.speech_queue.task_done() # 标记任务完成
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def call_ark_api(self, content_type: str, content: dict):
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# 播放操作反馈（同步执行）
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self.tts_controller.speak(self.FEEDBACK_TEXT[content_type])
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client = OpenAI(
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base_url="https://ark.cn-beijing.volces.com/api/v3",
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api_key=self.ARK_API_KEY
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)
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try:
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messages = []
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if content_type == "chat":
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messages.extend(self.chat_context[-self.MAX_CONTEXT_LEN*2:])
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messages.append({"role": "user", "content": [{"type": "text", "text": content["prompt"]}]})
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elif content_type == "image_recog":
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messages.append({
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"role": "user",
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"content": [
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{"type": "image_url", "image_url": {"url": f"data:image/jpeg;base64,{content['image_base64']}"}},
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{"type": "text", "text": content["prompt"]}
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]
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})
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response = client.chat.completions.create(
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model=self.ARK_MODEL_ID,
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messages=messages,
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max_tokens=300,
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temperature=0.7 if content_type == "chat" else 0.3,
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stream=True
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)
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full_response = ""
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current_speech_chunk = "" # 缓存当前待播放的片段
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print("\n" + "="*50)
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print("🤖 回应：", end="", flush=True)
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for chunk in response:
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if chunk.choices and chunk.choices[0].delta.content:
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char = chunk.choices[0].delta.content
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full_response += char
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current_speech_chunk += char # 累加片段
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print(char, end="", flush=True)
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time.sleep(0.05)
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# 关键逻辑：当片段包含标点或达到一定长度时，推送到语音队列
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if any(punct in current_speech_chunk for punct in [".", "。", "!", "！", "?", "？", ",", "，", ";", "；"]):
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self.speech_queue.put(current_speech_chunk) # 推送片段到队列
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current_speech_chunk = "" # 重置片段缓存
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# 处理最后剩余的片段（如果有）
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if current_speech_chunk:
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self.speech_queue.put(current_speech_chunk)
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print("\n" + "="*50 + "\n")
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# 等待所有语音片段播放完成
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self.speech_queue.join()
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# 维护聊天上下文（原有逻辑）
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if content_type == "chat" and full_response.strip():
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self.chat_context.append({"role": "user", "content": [{"type": "text", "text": content["prompt"]}]})
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self.chat_context.append({"role": "assistant", "content": [{"type": "text", "text": full_response}]})
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return full_response
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except Exception as e:
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error_msg = f"❌ API调用失败：{str(e)}"
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print(f"\n" + "="*50)
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print(error_msg)
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print("="*50 + "\n")
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self.tts_controller.speak(self.FEEDBACK_TEXT["api_error"])
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return error_msg
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import io
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import base64
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from PIL import Image
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from picamera2 import Picamera2
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import sys
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# 原代码6. 摄像头模块完整逻辑
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class CameraModule:
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def __init__(self):
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try:
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self.camera = Picamera2()
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cam_config = self.camera.create_still_configuration(main={"size": (320, 240)})
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self.camera.configure(cam_config)
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self.camera.start()
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print("📷 摄像头模块初始化成功")
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except Exception as e:
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print(f"❌ 摄像头失败：{str(e)}")
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self.camera = None
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def capture_base64(self):
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if not self.camera:
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return None
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try:
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img_array = self.camera.capture_array()
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img_byte = io.BytesIO()
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Image.fromarray(img_array).save(img_byte, format="JPEG", quality=80)
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return base64.b64encode(img_byte.getvalue()).decode("utf-8")
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except Exception as e:
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print(f"❌ 拍摄失败：{str(e)}")
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return None
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import signal
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import sys
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import time
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import re
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import subprocess
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import queue
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# 导入所有模块
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from tts_module import BaiduOnlineTTS
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from volume_module import VolumeController, detect_audio_control
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from motion_module import RobotMotionController
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from camera_module import CameraModule
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from ark_api_module import ArkAPIController
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from voice_recog_module import VoiceRecogController
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# -------------------- 1. 基础配置（完全保留原代码1. 基础配置） --------------------
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# 1.1 项目路径与运动模型
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PROJECT_ROOT = "/home/duckpi/open_duck_mini_ws/OPEN_DUCK_MINI/Open_Duck_Mini_Runtime-2"
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sys.path.append(PROJECT_ROOT)
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ONNX_MODEL_PATH = "/home/duckpi/open_duck_mini_ws/OPEN_DUCK_MINI/Open_Duck_Mini-2/BEST_WALK_ONNX_2.onnx"
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# 1.2 火山方舟API配置
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ARK_API_KEY = "390d517c-129a-41c1-bf3d-458048007b69"
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ARK_MODEL_ID = "doubao-seed-1-6-250615"
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# 1.3 语音识别与唤醒词配置
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APPID = "1ff50710"
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ACCESS_KEY_ID = "a4f43e95ee0a9518d11befac8d31f1d4"
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ACCESS_KEY_SECRET = "YzQ4NTRhZjc2ZTM4MDA1YjM2MmIyNDEy"
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ACCESS_KEY = "e0EQQBoH0HIVU9KrXsmB7CMlVci+GAs2x0Ejtrdp8CTtZmf25rCLaQ=="
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WAKEUP_WORD_PATH = "/home/duckpi/open_duck_mini_ws/OPEN_DUCK_MINI/resources/xiaohuangya_zh_raspberry-pi_v3_0_0.ppn"
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MODEL_PATH = "/home/duckpi/open_duck_mini_ws/OPEN_DUCK_MINI/resources/porcupine_params_zh.pv"
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# 1.4 百度在线TTS配置
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BAIDU_TTS_API_KEY = "TnwYZPPvElNushOzfL6vBlUI"
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BAIDU_TTS_SECRET_KEY = "55HeI8VNUMNlkW3t2QRwVtrjumpxjfxk"
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# 1.5 语音反馈文本配置
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FEEDBACK_TEXT = {
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"wakeup": "你好呀，有什么吩咐",
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"move_forward": "好的，我正在前进",
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"move_backward": "好的，我正在后退",
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"turn_left": "好的，我正在左转",
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"turn_right": "好的，我正在右转",
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"image_recog": "好的，我来识别一下",
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"chat": "好的，我来想想",
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"volume_increase": "音量已增大",
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"volume_decrease": "音量已减小",
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"volume_max": "已调至最大音量",
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"volume_min": "已调至最小音量",
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"unknown": "抱歉，没听懂，请再说一次",
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"api_error": "抱歉，处理请求时出错了"
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}
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# 1.6 音频参数
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VOLUME_STEP = 10
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MIN_VOLUME = 0
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MAX_VOLUME = 100
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CURRENT_VOLUME = 40
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AUDIO_CONTROL_NAME = None
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# 1.7 麦克风与扬声器参数（模块内部已定义，此处保留用于一致性）
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SAMPLE_RATE = 16000
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CHANNELS = 1
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SAMPLE_FORMAT = "int16"
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AUDIO_ENCODE = "pcm_s16le"
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LANG = "autodialect"
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INTERACTION_TIMEOUT = 30
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# -------------------- 2. 全局状态变量（完全保留原代码2. 全局状态变量，用列表传引用） --------------------
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audio_q = queue.Queue()
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last_audio_time = [time.time()] # 列表传引用，供模块修改
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current_text = [""] # 列表传引用，供模块修改
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final_result = [""] # 列表传引用，供模块修改
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is_processing = [False] # 列表传引用，供模块修改
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last_command_time = [time.time()]# 列表传引用，供模块修改
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feedback_playing = False # TTS模块使用的全局变量
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# -------------------- 8. 指令解析与执行（完全保留原代码8. 指令解析与执行） --------------------
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def parse_voice_command(command_text: str):
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command_text = command_text.strip().lower()
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if not command_text:
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return ("unknown", {})
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# 运动指令
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motion_rules = [
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{"keywords": ["前进", "往前走", "向前走"], "action": "move_forward"},
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{"keywords": ["后退", "往后走", "向后退"], "action": "move_backward"},
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{"keywords": ["左转", "向左转", "往左转"], "action": "turn_left"},
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{"keywords": ["右转", "向右转", "往右转"], "action": "turn_right"},
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]
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for rule in motion_rules:
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if any(keyword in command_text for keyword in rule["keywords"]):
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number_match = re.search(r"(\d{1,2})", command_text)
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seconds = int(number_match.group(1)) if number_match else 2
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return ("motion", {"action": rule["action"], "seconds": seconds})
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# 图像识别指令
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image_keywords = ["是什么", "这是什么", "识别", "看这个", "这东西", "这物体", "辨认"]
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if any(keyword in command_text for keyword in image_keywords):
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prompt = f"请简洁描述图片中的物体，1-2句话说明：{command_text}"
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return ("image_recog", {"prompt": prompt})
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# 闲聊指令
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chat_keywords = [
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"什么", "怎么", "为什么", "哪里", "多少", "如何", "吗", "呢", "吧",
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"你好", "哈喽", "嗨", "今天", "天气", "时间", "故事", "笑话", "知识"
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]
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exclude_keywords = ["前进", "后退", "左转", "右转", "识别", "音量", "增大", "减小"]
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if len(command_text) >= 2 and any(k in command_text for k in chat_keywords) and not any(k in command_text for k in exclude_keywords):
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return ("chat", {"prompt": command_text})
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# 音量控制指令
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if any(keyword in command_text for keyword in ["增大音量", "声音大一点", "调大音量"]):
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return ("volume", {"action": "increase"})
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elif any(keyword in command_text for keyword in ["减小音量", "声音小一点", "调小音量"]):
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return ("volume", {"action": "decrease"})
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elif any(keyword in command_text for keyword in ["最大音量", "声音最大"]):
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return ("volume", {"action": "max"})
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elif any(keyword in command_text for keyword in ["最小音量", "声音最小", "静音"]):
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return ("volume", {"action": "min"})
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# 未知指令
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return ("unknown", {})
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def execute_command(command_type: str, params: dict, motion_controller, ark_api_controller, volume_controller):
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global is_processing, feedback_playing
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if is_processing[0]:
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tts_controller.speak(FEEDBACK_TEXT["unknown"])
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print("⚠️ 已有指令处理中，请稍后再说")
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return
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is_processing[0] = True
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try:
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if command_type == "motion":
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motion_controller.execute_motion(params["action"], params["seconds"])
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elif command_type == "image_recog":
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print(f"\n🔍 触发图像识别，正在拍摄...")
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image_base64 = camera_module.capture_base64()
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if not image_base64:
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tts_controller.speak(FEEDBACK_TEXT["unknown"])
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print("\n" + "="*50)
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print("❌ 图像采集失败，无法识别")
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print("="*50 + "\n")
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return
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ark_api_controller.call_ark_api("image_recog", {"image_base64": image_base64, "prompt": params["prompt"]})
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elif command_type == "chat":
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print(f"\n💬 触发闲聊，正在思考...")
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ark_api_controller.call_ark_api("chat", {"prompt": params["prompt"]})
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elif command_type == "volume":
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volume_action = params["action"]
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if volume_action == "increase":
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success = volume_controller.adjust_volume(is_increase=True)
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if success:
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tts_controller.speak(FEEDBACK_TEXT["volume_increase"])
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elif volume_action == "decrease":
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success = volume_controller.adjust_volume(is_increase=False)
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if success:
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tts_controller.speak(FEEDBACK_TEXT["volume_decrease"])
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elif volume_action == "max":
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success = volume_controller.set_system_volume(MAX_VOLUME)
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if success:
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tts_controller.speak(FEEDBACK_TEXT["volume_max"])
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elif volume_action == "min":
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success = volume_controller.set_system_volume(MIN_VOLUME)
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if success:
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tts_controller.speak(FEEDBACK_TEXT["volume_min"])
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elif command_type == "unknown":
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tts_controller.speak(FEEDBACK_TEXT["unknown"])
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print("\n" + "="*50)
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print(f"❌ 未识别到有效指令，支持：")
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print(f" - 运动：前进3秒、左转2秒 | - 图像识别：这是什么")
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print(f" - 闲聊：今天天气怎么样 | - 音量：增大音量、减小音量")
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print("="*50 + "\n")
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finally:
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is_processing[0] = False
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# -------------------- 11. 主循环（完全保留原代码11. 主循环逻辑） --------------------
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def main():
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global tts_controller, camera_module, AUDIO_CONTROL_NAME, feedback_playing
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# 初始化各模块（按原代码顺序）
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# 1. 初始化TTS
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try:
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tts_controller = BaiduOnlineTTS(BAIDU_TTS_API_KEY, BAIDU_TTS_SECRET_KEY)
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except Exception as e:
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print(f"❌ TTS初始化失败: {str(e)}")
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sys.exit(1)
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# 2. 初始化音量控制
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AUDIO_CONTROL_NAME = detect_audio_control()
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volume_controller = VolumeController(
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audio_control_name=AUDIO_CONTROL_NAME,
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current_volume=CURRENT_VOLUME,
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volume_step=VOLUME_STEP,
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min_volume=MIN_VOLUME,
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max_volume=MAX_VOLUME
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)
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# 3. 初始化运动控制
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motion_controller = RobotMotionController(
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onnx_model_path=ONNX_MODEL_PATH,
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tts_controller=tts_controller,
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feedback_text=FEEDBACK_TEXT
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)
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# 4. 初始化摄像头
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camera_module = CameraModule()
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# 5. 初始化API控制器
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ark_api_controller = ArkAPIController(
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ark_api_key=ARK_API_KEY,
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ark_model_id=ARK_MODEL_ID,
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tts_controller=tts_controller,
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feedback_text=FEEDBACK_TEXT
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)
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# 6. 初始化语音识别
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voice_recog_controller = VoiceRecogController(
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access_key=ACCESS_KEY,
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wakeup_word_path=WAKEUP_WORD_PATH,
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model_path=MODEL_PATH,
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appid=APPID,
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access_key_id=ACCESS_KEY_ID,
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access_key_secret=ACCESS_KEY_SECRET,
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tts_controller=tts_controller,
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feedback_text=FEEDBACK_TEXT
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)
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# 中断处理（完全保留原逻辑）
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def handle_interrupt(signum, frame):
|
||||
print("\n🛑 收到退出信号，正在清理资源...")
|
||||
# 停止机器人运动
|
||||
if 'motion_controller' in globals() and hasattr(motion_controller, 'rl_walk'):
|
||||
motion_controller.rl_walk.last_commands = [0.0, 0.0, 0.0]
|
||||
# 停止TTS播放
|
||||
global feedback_playing
|
||||
feedback_playing = False
|
||||
# 停止摄像头与麦克风
|
||||
if 'camera_module' in globals() and camera_module.camera:
|
||||
camera_module.camera.stop()
|
||||
if hasattr(voice_recog_controller, 'stream') and voice_recog_controller.stream and voice_recog_controller.stream.active:
|
||||
voice_recog_controller.stream.stop()
|
||||
# 关闭TTS资源
|
||||
tts_controller.close()
|
||||
print("✅ 所有资源清理完成，程序退出")
|
||||
sys.exit(0)
|
||||
|
||||
signal.signal(signal.SIGINT, handle_interrupt)
|
||||
|
||||
# 强制测试一次语音输出（原逻辑）
|
||||
print("\n🔍 正在测试语音输出...")
|
||||
tts_controller.speak("系统初始化完成,等待语音唤醒")
|
||||
|
||||
# 主循环（原逻辑）
|
||||
while True:
|
||||
if voice_recog_controller.wakeup_listener():
|
||||
# 定义指令执行回调函数（关键修复）
|
||||
def execute_callback(command_text):
|
||||
command_type, params = parse_voice_command(command_text)
|
||||
execute_command(command_type, params, motion_controller, ark_api_controller, volume_controller)
|
||||
|
||||
# 启动WebSocket时传入回调函数
|
||||
voice_recog_controller.start_websocket(
|
||||
current_text=current_text,
|
||||
final_result=final_result,
|
||||
last_audio_time=last_audio_time,
|
||||
is_processing=is_processing,
|
||||
last_command_time=last_command_time,
|
||||
execute_callback=execute_callback # 传入回调
|
||||
)
|
||||
# 重置状态
|
||||
last_audio_time[0] = time.time()
|
||||
last_command_time[0] = time.time()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# # 确保ffmpeg已安装（原逻辑）
|
||||
# try:
|
||||
# subprocess.run(["ffmpeg", "--version"], capture_output=True, check=True)
|
||||
# except:
|
||||
# print("⚠️ 未检测到ffmpeg，正在尝试安装...")
|
||||
# subprocess.run(["sudo", "apt-get", "install", "-y", "ffmpeg"], check=True)
|
||||
|
||||
main()
|
||||
@ -0,0 +1,59 @@
|
||||
import sys
|
||||
import time
|
||||
import threading
|
||||
|
||||
# 原代码5. 运动控制模块完整逻辑（保留原路径导入）
|
||||
PROJECT_ROOT = "/home/duckpi/open_duck_mini_ws/OPEN_DUCK_MINI/Open_Duck_Mini_Runtime-2"
|
||||
sys.path.append(PROJECT_ROOT)
|
||||
from v2_rl_walk_mujoco import RLWalk
|
||||
|
||||
class RobotMotionController:
|
||||
def __init__(self, onnx_model_path, tts_controller, feedback_text):
|
||||
# 接收调度脚本传入的TTS实例和反馈文本，保持原逻辑调用
|
||||
self.tts_controller = tts_controller
|
||||
self.FEEDBACK_TEXT = feedback_text
|
||||
try:
|
||||
self.rl_walk = RLWalk(
|
||||
onnx_model_path=onnx_model_path,
|
||||
cutoff_frequency=40,
|
||||
pid=[30, 0, 0]
|
||||
)
|
||||
self.walk_thread = threading.Thread(target=self.rl_walk.run, daemon=True)
|
||||
self.walk_thread.start()
|
||||
time.sleep(1)
|
||||
print("🤖 运动控制模块初始化成功")
|
||||
except Exception as e:
|
||||
print(f"❌ 运动控制失败：{str(e)}")
|
||||
sys.exit(1)
|
||||
|
||||
def execute_motion(self, action_name: str, seconds: int):
|
||||
# 全局变量由调度脚本传入，保留原逻辑
|
||||
global is_processing
|
||||
is_processing = True
|
||||
try:
|
||||
# 播放反馈（同步执行确保声音输出）
|
||||
self.tts_controller.speak(self.FEEDBACK_TEXT[action_name])
|
||||
|
||||
# 执行运动
|
||||
seconds = max(2, min(seconds, 5))
|
||||
if action_name == "move_forward":
|
||||
print(f"\n🚶 前进{seconds}秒...")
|
||||
self.rl_walk.last_commands[0] = 0.17
|
||||
elif action_name == "move_backward":
|
||||
print(f"\n🚶 后退{seconds}秒...")
|
||||
self.rl_walk.last_commands[0] = -0.17
|
||||
elif action_name == "turn_left":
|
||||
print(f"\n🔄 左转{seconds}秒...")
|
||||
self.rl_walk.last_commands[2] = 1.1
|
||||
elif action_name == "turn_right":
|
||||
print(f"\n🔄 右转{seconds}秒...")
|
||||
self.rl_walk.last_commands[2] = -1.1
|
||||
|
||||
time.sleep(seconds)
|
||||
self.rl_walk.last_commands = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
|
||||
print(f"✅ 运动完成")
|
||||
except Exception as e:
|
||||
print(f"❌ 运动执行失败：{str(e)}")
|
||||
self.rl_walk.last_commands = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
|
||||
finally:
|
||||
is_processing = False
|
||||
173
tts_module.py
173
tts_module.py
@ -0,0 +1,173 @@
|
||||
import pyaudio
|
||||
import wave
|
||||
import tempfile
|
||||
import os
|
||||
import requests
|
||||
import time
|
||||
import sys
|
||||
|
||||
# 原代码3. 百度在线TTS模块完整逻辑
|
||||
class BaiduOnlineTTS:
|
||||
def __init__(self, api_key, secret_key):
|
||||
"""初始化百度在线TTS"""
|
||||
self.api_key = api_key
|
||||
self.secret_key = secret_key
|
||||
self.access_token = None
|
||||
self.token_expires = 0
|
||||
|
||||
# 初始化音频播放器
|
||||
self.audio_player = pyaudio.PyAudio()
|
||||
|
||||
# TTS配置参数
|
||||
self.default_options = {
|
||||
'vol': 5, # 音量(0-15)
|
||||
'spd': 5, # 语速(0-9)
|
||||
'pit': 5, # 音调(0-9)
|
||||
'per': 0 # 发音人(0:女,1:男,3:情感女,4:情感男)
|
||||
}
|
||||
|
||||
# 获取初始访问令牌
|
||||
if not self._get_access_token():
|
||||
raise Exception("无法获取百度API访问令牌，请检查密钥是否正确")
|
||||
|
||||
def _get_access_token(self):
|
||||
"""获取百度API访问令牌"""
|
||||
# 检查令牌是否仍然有效
|
||||
if self.access_token and time.time() < self.token_expires - 300:
|
||||
return True
|
||||
|
||||
try:
|
||||
url = f"https://aip.baidubce.com/oauth/2.0/token?grant_type=client_credentials&client_id={self.api_key}&client_secret={self.secret_key}"
|
||||
response = requests.get(url)
|
||||
result = response.json()
|
||||
|
||||
if "access_token" in result:
|
||||
self.access_token = result["access_token"]
|
||||
self.token_expires = time.time() + result["expires_in"]
|
||||
print("✅ 成功获取百度API访问令牌")
|
||||
return True
|
||||
else:
|
||||
print(f"❌ 获取令牌失败: {result}")
|
||||
return False
|
||||
except Exception as e:
|
||||
print(f"❌ 获取令牌时发生错误: {str(e)}")
|
||||
return False
|
||||
|
||||
def text_to_speech(self, text, options=None, save_path=None):
|
||||
"""将文本转换为语音"""
|
||||
# 确保令牌有效
|
||||
if not self._get_access_token():
|
||||
return None
|
||||
|
||||
# 合并配置参数
|
||||
params = self.default_options.copy()
|
||||
if options:
|
||||
params.update(options)
|
||||
|
||||
try:
|
||||
# 对文本进行URL编码
|
||||
encoded_text = requests.utils.quote(text)
|
||||
url = f"https://tsn.baidu.com/text2audio?tex={encoded_text}&lan=zh&cuid=baidu-tts-python&ctp=1&tok={self.access_token}"
|
||||
|
||||
# 添加合成参数
|
||||
for key, value in params.items():
|
||||
url += f"&{key}={value}"
|
||||
|
||||
# 发送请求
|
||||
response = requests.get(url)
|
||||
|
||||
# 检查响应是否为音频数据
|
||||
if response.headers.get("Content-Type", "").startswith("audio/"):
|
||||
# 保存文件(如果需要)
|
||||
if save_path:
|
||||
with open(save_path, "wb") as f:
|
||||
f.write(response.content)
|
||||
print(f"✅ 音频已保存至: {save_path}")
|
||||
|
||||
return response.content
|
||||
else:
|
||||
# 解析错误信息
|
||||
try:
|
||||
error = response.json()
|
||||
print(f"❌ 语音合成失败: {error.get('err_msg', '未知错误')}")
|
||||
except:
|
||||
print(f"❌ 语音合成失败，响应内容: {response.text}")
|
||||
return None
|
||||
|
||||
except Exception as e:
|
||||
print(f"❌ 语音合成时发生错误: {str(e)}")
|
||||
return None
|
||||
|
||||
def speak(self, text, options=None):
|
||||
"""直接播放文本转换的语音"""
|
||||
# 全局变量由调度脚本传入，此处保留原逻辑调用
|
||||
from main_scheduler import feedback_playing
|
||||
if feedback_playing:
|
||||
return False
|
||||
|
||||
feedback_playing = True
|
||||
|
||||
# 限制文本长度(百度API有长度限制)
|
||||
if len(text) > 1024:
|
||||
print("⚠️ 文本过长，将截断为1024字符")
|
||||
text = text[:1024]
|
||||
|
||||
# 获取音频数据
|
||||
audio_data = self.text_to_speech(text, options)
|
||||
if not audio_data:
|
||||
feedback_playing = False
|
||||
return False
|
||||
|
||||
try:
|
||||
# 创建临时MP3文件
|
||||
with tempfile.NamedTemporaryFile(suffix=".mp3", delete=False) as temp_file:
|
||||
temp_file.write(audio_data)
|
||||
temp_filename = temp_file.name
|
||||
|
||||
# 转换为WAV格式(适配pyaudio)
|
||||
from pydub import AudioSegment
|
||||
audio = AudioSegment.from_mp3(temp_filename)
|
||||
with tempfile.NamedTemporaryFile(suffix=".wav", delete=False) as wav_file:
|
||||
audio.export(wav_file.name, format="wav")
|
||||
wav_filename = wav_file.name
|
||||
|
||||
# 播放WAV文件
|
||||
wf = wave.open(wav_filename, 'rb')
|
||||
stream = self.audio_player.open(
|
||||
format=self.audio_player.get_format_from_width(wf.getsampwidth()),
|
||||
channels=wf.getnchannels(),
|
||||
rate=wf.getframerate(),
|
||||
output=True
|
||||
)
|
||||
|
||||
# 播放音频
|
||||
chunk = 1024
|
||||
data = wf.readframes(chunk)
|
||||
while data and feedback_playing:
|
||||
stream.write(data)
|
||||
data = wf.readframes(chunk)
|
||||
|
||||
# 清理资源
|
||||
stream.stop_stream()
|
||||
stream.close()
|
||||
wf.close()
|
||||
|
||||
print(f"✅ 语音播放完成: {text[:20]}...")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
print(f"❌ 播放语音时发生错误: {str(e)}")
|
||||
return False
|
||||
|
||||
finally:
|
||||
# 删除临时文件
|
||||
if 'temp_filename' in locals() and os.path.exists(temp_filename):
|
||||
os.remove(temp_filename)
|
||||
if 'wav_filename' in locals() and os.path.exists(wav_filename):
|
||||
os.remove(wav_filename)
|
||||
feedback_playing = False
|
||||
|
||||
def close(self):
|
||||
"""释放资源"""
|
||||
self.audio_player.terminate()
|
||||
print("✅ TTS资源已释放")
|
||||
@ -0,0 +1,226 @@
|
||||
import sounddevice as sd
|
||||
import pvporcupine
|
||||
import struct
|
||||
import websocket
|
||||
import threading
|
||||
import hmac
|
||||
import hashlib
|
||||
import base64
|
||||
import json
|
||||
import time
|
||||
import urllib.parse
|
||||
import uuid
|
||||
import queue
|
||||
import sys
|
||||
|
||||
# 原代码9. 音频采集与WebSocket + 10. 唤醒词监听完整逻辑
|
||||
class VoiceRecogController:
|
||||
def __init__(self, access_key, wakeup_word_path, model_path, appid, access_key_id, access_key_secret, tts_controller, feedback_text):
|
||||
# 接收调度脚本传入的参数，保持原逻辑
|
||||
self.ACCESS_KEY = access_key
|
||||
self.WAKEUP_WORD_PATH = wakeup_word_path
|
||||
self.MODEL_PATH = model_path
|
||||
self.APPID = appid
|
||||
self.ACCESS_KEY_ID = access_key_id
|
||||
self.ACCESS_KEY_SECRET = access_key_secret
|
||||
self.tts_controller = tts_controller
|
||||
self.FEEDBACK_TEXT = feedback_text
|
||||
self.SAMPLE_RATE = 16000
|
||||
self.CHANNELS = 1
|
||||
self.SAMPLE_FORMAT = "int16"
|
||||
self.INTERACTION_TIMEOUT = 30
|
||||
self.audio_q = queue.Queue()
|
||||
self.stream = None # 麦克风流后续初始化
|
||||
|
||||
def wakeup_listener(self):
|
||||
"""原代码10. 唤醒词监听"""
|
||||
try:
|
||||
porcupine = pvporcupine.create(
|
||||
access_key=self.ACCESS_KEY,
|
||||
keyword_paths=[self.WAKEUP_WORD_PATH],
|
||||
model_path=self.MODEL_PATH
|
||||
)
|
||||
print(f"\n🎯 唤醒词引擎就绪（采样率：{porcupine.sample_rate}）")
|
||||
|
||||
wakeup_mic = sd.RawInputStream(
|
||||
samplerate=porcupine.sample_rate,
|
||||
blocksize=porcupine.frame_length,
|
||||
dtype="int16",
|
||||
channels=1
|
||||
)
|
||||
|
||||
print("📢 等待唤醒词「小黄鸭」（按Ctrl+C退出）")
|
||||
with wakeup_mic:
|
||||
while True:
|
||||
pcm_data, _ = wakeup_mic.read(porcupine.frame_length)
|
||||
pcm_unpacked = struct.unpack_from("h" * porcupine.frame_length, pcm_data)
|
||||
if porcupine.process(pcm_unpacked) >= 0:
|
||||
print("🚀 检测到唤醒词「小黄鸭」！")
|
||||
# 播放唤醒反馈（同步执行）
|
||||
self.tts_controller.speak(self.FEEDBACK_TEXT["wakeup"])
|
||||
porcupine.delete()
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"\n❌ 唤醒词监听失败：{str(e)}")
|
||||
print(" 排查：1. 唤醒词文件路径 2. 麦克风连接 3. PicoVoice Key有效性")
|
||||
sys.exit(1)
|
||||
|
||||
def _audio_callback(self, indata, frames, t, status):
|
||||
"""原代码9. 音频采集回调"""
|
||||
if status:
|
||||
print(f"⚠️ 音频异常：{status}")
|
||||
self.audio_q.put(bytes(indata))
|
||||
|
||||
def _create_ws_url(self):
|
||||
"""原代码9. 创建WebSocket URL"""
|
||||
try:
|
||||
host = "office-api-ast-dx.iflyaisol.com"
|
||||
path = "/ast/communicate/v1"
|
||||
utc = time.strftime("%Y-%m-%dT%H:%M:%S", time.gmtime()) + "+0000"
|
||||
session_uuid = str(uuid.uuid4())
|
||||
|
||||
params = {
|
||||
"accessKeyId": self.ACCESS_KEY_ID,
|
||||
"appId": self.APPID,
|
||||
"samplerate": self.SAMPLE_RATE,
|
||||
"audio_encode": "pcm_s16le",
|
||||
"lang": "autodialect",
|
||||
"uuid": session_uuid,
|
||||
"utc": utc,
|
||||
}
|
||||
|
||||
sorted_params = sorted(params.items(), key=lambda x: x[0])
|
||||
base_string = "&".join(
|
||||
f"{urllib.parse.quote_plus(str(k))}={urllib.parse.quote_plus(str(v))}"
|
||||
for k, v in sorted_params
|
||||
)
|
||||
signature = hmac.new(
|
||||
self.ACCESS_KEY_SECRET.encode("utf-8"),
|
||||
base_string.encode("utf-8"),
|
||||
hashlib.sha1
|
||||
).digest()
|
||||
signature = base64.b64encode(signature).decode("utf-8")
|
||||
|
||||
query = base_string + "&signature=" + urllib.parse.quote_plus(signature)
|
||||
return f"wss://{host}{path}?{query}", session_uuid
|
||||
except Exception as e:
|
||||
print(f"❌ WebSocket URL生成失败：{str(e)}")
|
||||
return None, None
|
||||
|
||||
def _on_message(self, ws, message, current_text, last_audio_time):
|
||||
"""原代码9. WebSocket消息处理（接收全局变量引用）"""
|
||||
try:
|
||||
data = json.loads(message)
|
||||
if data.get("msg_type") == "result" and "cn" in data.get("data", {}):
|
||||
words = [
|
||||
cw.get("w", "")
|
||||
for rt in data["data"]["cn"].get("st", {}).get("rt", [])
|
||||
for ws_item in rt.get("ws", [])
|
||||
for cw in ws_item.get("cw", [])
|
||||
]
|
||||
if words:
|
||||
current_text[0] = "".join(words) # 用列表传引用，修改全局变量
|
||||
last_audio_time[0] = time.time()
|
||||
print(f"🎧 识别中：{current_text[0]}", end="\r")
|
||||
except Exception as e:
|
||||
print(f"\n❌ 语音识别消息处理错误：{str(e)}")
|
||||
|
||||
def _on_error(self, ws, error, is_processing):
|
||||
"""原代码9. WebSocket错误处理"""
|
||||
if not is_processing[0]:
|
||||
print(f"\n❌ WebSocket连接错误：{str(error)}")
|
||||
|
||||
def _on_close(self, ws, close_status_code, close_msg, current_text, final_result, stream):
|
||||
"""原代码9. WebSocket关闭处理"""
|
||||
print(f"\n🔌 WebSocket连接关闭 | 状态码：{close_status_code}")
|
||||
if stream and stream.active:
|
||||
stream.stop()
|
||||
current_text[0] = ""
|
||||
final_result[0] = ""
|
||||
|
||||
def _on_open(self, ws, stream, current_text, final_result, last_audio_time, is_processing, last_command_time, execute_callback):
|
||||
"""新增 execute_callback 参数，用于接收指令执行函数"""
|
||||
def send_audio_and_handle():
|
||||
print("\n🎤 指令已就绪！支持：")
|
||||
print(" - 运动：前进3秒、左转2秒 | - 图像识别：这是什么")
|
||||
print(" - 闲聊：今天天气怎么样 | - 音量：增大音量、减小音量\n")
|
||||
stream.start()
|
||||
current_text[0] = ""
|
||||
final_result[0] = ""
|
||||
last_command_time[0] = time.time()
|
||||
|
||||
while True:
|
||||
try:
|
||||
# 1. 处理音频队列（避免堆积）
|
||||
while self.audio_q.qsize() > 5:
|
||||
self.audio_q.get_nowait()
|
||||
# 2. 发送音频数据（若队列有数据）
|
||||
audio_data = self.audio_q.get(timeout=0.5)
|
||||
ws.send(audio_data, websocket.ABNF.OPCODE_BINARY)
|
||||
|
||||
# 3. 指令识别与执行：有文本且2秒内无新音频时执行
|
||||
if current_text[0] and (time.time() - last_audio_time[0]) > 2:
|
||||
final_result[0] = current_text[0].strip()
|
||||
if len(final_result[0]) > 0: # 确保指令有效
|
||||
print(f"\n⏹ 最终指令：{final_result[0]}")
|
||||
# 调用回调函数执行指令（关键修复：直接在这里执行）
|
||||
execute_callback(final_result[0])
|
||||
last_command_time[0] = time.time() # 更新最后操作时间
|
||||
current_text[0] = "" # 执行后清空，避免重复识别
|
||||
final_result[0] = ""
|
||||
time.sleep(1) # 等待指令执行完成
|
||||
|
||||
# 4. 超时检测：30秒无操作则关闭连接
|
||||
if time.time() - last_command_time[0] > self.INTERACTION_TIMEOUT:
|
||||
print(f"\n⌛ {self.INTERACTION_TIMEOUT}秒无操作，关闭连接")
|
||||
self.tts_controller.speak(self.FEEDBACK_TEXT.get("wakeup_timeout", "长时间没操作，我先休息啦"))
|
||||
time.sleep(1)
|
||||
ws.send("close", websocket.ABNF.OPCODE_TEXT)
|
||||
break
|
||||
|
||||
except queue.Empty:
|
||||
# 队列为空时，检测超时
|
||||
if time.time() - last_command_time[0] > self.INTERACTION_TIMEOUT:
|
||||
print(f"\n⌛ {self.INTERACTION_TIMEOUT}秒无操作，关闭连接")
|
||||
self.tts_controller.speak(self.FEEDBACK_TEXT.get("wakeup_timeout", "长时间没操作，我先休息啦"))
|
||||
time.sleep(1)
|
||||
ws.send("close", websocket.ABNF.OPCODE_TEXT)
|
||||
break
|
||||
continue # 继续循环等待音频
|
||||
except Exception as e:
|
||||
print(f"\n❌ 音频发送错误：{str(e)}")
|
||||
break
|
||||
|
||||
audio_thread = threading.Thread(target=send_audio_and_handle, daemon=True)
|
||||
audio_thread.start()
|
||||
|
||||
def start_websocket(self, current_text, final_result, last_audio_time, is_processing, last_command_time, execute_callback):
|
||||
"""新增 execute_callback 参数，用于传递指令执行函数"""
|
||||
self.stream = sd.RawInputStream(
|
||||
samplerate=self.SAMPLE_RATE,
|
||||
channels=self.CHANNELS,
|
||||
dtype=self.SAMPLE_FORMAT,
|
||||
callback=self._audio_callback,
|
||||
)
|
||||
|
||||
ws_url, session_id = self._create_ws_url()
|
||||
if not ws_url:
|
||||
print("⚠️ 无法生成语音识别连接，3秒后重新监听...")
|
||||
time.sleep(3)
|
||||
return
|
||||
|
||||
try:
|
||||
print(f"🔄 连接语音识别服务（会话ID：{session_id[:8]}...）")
|
||||
# 绑定WebSocket回调时传入 execute_callback
|
||||
ws = websocket.WebSocketApp(
|
||||
ws_url,
|
||||
on_open=lambda ws: self._on_open(ws, self.stream, current_text, final_result, last_audio_time, is_processing, last_command_time, execute_callback),
|
||||
on_message=lambda ws, msg: self._on_message(ws, msg, current_text, last_audio_time),
|
||||
on_error=lambda ws, err: self._on_error(ws, err, is_processing),
|
||||
on_close=lambda ws, status, msg: self._on_close(ws, status, msg, current_text, final_result, self.stream)
|
||||
)
|
||||
ws.run_forever(ping_interval=10, ping_timeout=5)
|
||||
except Exception as e:
|
||||
print(f"❌ 语音识别连接失败：{str(e)}")
|
||||
print("⚠️ 3秒后重新监听唤醒词...")
|
||||
time.sleep(3)
|
||||
@ -0,0 +1,93 @@
|
||||
import subprocess
|
||||
import re
|
||||
import sys
|
||||
|
||||
# 原代码4. 音频控制项自动检测与音量控制完整逻辑
|
||||
def detect_audio_control():
|
||||
"""自动检测可用的音频播放控制项"""
|
||||
try:
|
||||
result = subprocess.run(["amixer", "controls"], capture_output=True, text=True)
|
||||
playback_controls = []
|
||||
|
||||
# 优先查找常见的音频控制项
|
||||
priority_names = ["Master", "Speaker", "Headphone", "Audio", "Sound"]
|
||||
|
||||
for name in priority_names:
|
||||
if name in result.stdout:
|
||||
print(f"✅ 自动检测到音频控制项：{name}")
|
||||
return name
|
||||
|
||||
# 如果没有找到优先项，从所有控制项中提取
|
||||
for line in result.stdout.splitlines():
|
||||
if "Playback" in line:
|
||||
match = re.search(r"'([^']+)'", line)
|
||||
if match:
|
||||
playback_controls.append(match.group(1))
|
||||
|
||||
if playback_controls:
|
||||
print(f"✅ 找到音频控制项：{playback_controls[0]}")
|
||||
return playback_controls[0]
|
||||
else:
|
||||
print("⚠️ 未检测到音频控制项，将尝试不指定控制项调节音量")
|
||||
return None
|
||||
except Exception as e:
|
||||
print(f"❌ 音频控制检测失败：{str(e)}")
|
||||
return None
|
||||
|
||||
class VolumeController:
|
||||
def __init__(self, audio_control_name, current_volume, volume_step, min_volume, max_volume):
|
||||
# 接收调度脚本传入的全局参数，保持原逻辑
|
||||
self.available = True
|
||||
self.AUDIO_CONTROL_NAME = audio_control_name
|
||||
self.CURRENT_VOLUME = current_volume
|
||||
self.VOLUME_STEP = volume_step
|
||||
self.MIN_VOLUME = min_volume
|
||||
self.MAX_VOLUME = max_volume
|
||||
|
||||
try:
|
||||
# 强制取消静音并设置初始音量
|
||||
self.set_system_volume(self.CURRENT_VOLUME)
|
||||
current_volume = self.get_system_volume()
|
||||
if current_volume is not None:
|
||||
self.CURRENT_VOLUME = current_volume
|
||||
print(f"🔊 音量控制初始化成功（当前音量：{self.CURRENT_VOLUME}%）")
|
||||
else:
|
||||
print(f"⚠️ 无法获取当前音量，但已尝试设置为{self.CURRENT_VOLUME}%")
|
||||
except Exception as e:
|
||||
self.available = False
|
||||
print(f"❌ 音量控制失败：{str(e)}")
|
||||
|
||||
def get_system_volume(self):
|
||||
try:
|
||||
# 根据检测到的控制项获取音量
|
||||
cmd = ["amixer", "get"]
|
||||
if self.AUDIO_CONTROL_NAME:
|
||||
cmd.append(self.AUDIO_CONTROL_NAME)
|
||||
|
||||
result = subprocess.run(cmd, capture_output=True, text=True)
|
||||
volume_match = re.search(r"(\d+)%", result.stdout)
|
||||
return int(volume_match.group(1)) if volume_match else None
|
||||
except Exception as e:
|
||||
print(f"❌ 获取音量失败：{str(e)}")
|
||||
return None
|
||||
|
||||
def set_system_volume(self, target_volume: int):
|
||||
target_volume = max(self.MIN_VOLUME, min(self.MAX_VOLUME, target_volume))
|
||||
try:
|
||||
# 根据检测到的控制项设置音量
|
||||
cmd = ["amixer", "set"]
|
||||
if self.AUDIO_CONTROL_NAME:
|
||||
cmd.append(self.AUDIO_CONTROL_NAME)
|
||||
cmd.extend([f"{target_volume}%", "unmute"]) # 强制取消静音
|
||||
|
||||
subprocess.run(cmd, capture_output=True)
|
||||
self.CURRENT_VOLUME = target_volume
|
||||
print(f"🔊 音量已调整至：{self.CURRENT_VOLUME}%")
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"❌ 调整音量失败：{str(e)}")
|
||||
return False
|
||||
|
||||
def adjust_volume(self, is_increase: bool):
|
||||
target_volume = self.CURRENT_VOLUME + self.VOLUME_STEP if is_increase else self.CURRENT_VOLUME - self.VOLUME_STEP
|
||||
return self.set_system_volume(target_volume)
|
||||
Loading…
x
Reference in New Issue
Block a user