8.9 Voice

8.9.1 ASR Speech Recognition

• Description: Voice recognition interface, applicable to Walker Tienkung·Voice & Vision and Walker Tienkung·Embodied Intelligence.

• Receiving Method: topic

• Topic Name: /xunfei/aiui_msg

• Data Type: std_msgs::msg::String

• Data Format: JSON

  {
    "type": "aiui_event",
    "content": {
      "eventType": 1,
      "info": {
        "data": [
          {
            "params": { "sub": "iat" },
            "content": [{ "dte": "utf8", "dtf": "json", "cnt_id": "0" } ]
          }
        ]
      },
      "result": {
        "text": {
          "bg": 0, "sn": 1, "ws": [
            {"bg": 0,"cw": [{"w": "叫","sc": 0}]},
            {"bg": 0,"cw": [{"w": "什么","sc": 0}]},
            {"bg": 0,"cw": [{"w": "名字","sc": 0}]}
          ],
          "ls": false, "ed": 0
        }
      }
    }
  }

First start the iFLYTEK service on the orin board at 192.168.41.2, using tmux:

. ~/voice_ws/install/setup.bash
ros2 launch xunfei_dev_socket xunfei_dev_all.launch.py

After starting the service, stand in front of Walker Tienkung and speak. The output of ros2 topic echo /xunfei/aiui_msg may not show the complete text. You can use Python code to try, reference code as follows (for reference only):

#!/usr/bin/env python3
from datetime import datetime
import glob
import json
import os
import rclpy
from rclpy.node import Node
from std_msgs.msg import String

MAX_FILES = 100
SAVE_DIR = 'json_data'

class ASRMonitor(Node):
    def __init__(self):
        super().__init__('asr_monitor')
        self.topic_name = '/xunfei/aiui_msg'
        self.subscription = self.create_subscription(
            String,
            self.topic_name,
            self.msgs_callback,
            10
        )
        
        os.makedirs(SAVE_DIR, exist_ok=True)
        self.get_logger().info(f"Subscribed to topic: {self.topic_name}")

    def msgs_callback(self, msg: String):
        json_data = None
        try:
            json_data = json.loads(msg.data)
        except json.JSONDecodeError:
            self.get_logger().warn("Received invalid JSON. Skipping.")
            return

        # If saved here, all messages will be saved, which is unnecessary
        # self.try_save_json_file(json_data)

        self.cleanup_old_files()

        self.try_parse_and_print(json_data)

    def try_save_json_file(self, json_data):
        try:
            os.makedirs(SAVE_DIR,exist_ok=True)
            timestamp = datetime.now().strftime('%H%M%S%f')[:-3]  # Hour minute second + millisecond (3 digits)
            filename = f"{timestamp}.json"
            filepath = os.path.join(SAVE_DIR, filename)
            with open(filepath, 'w', encoding='utf-8') as f:
                json.dump(json_data, f, ensure_ascii=False, indent=2)
            self.get_logger().info(f"Saved JSON to {filepath}")
        except Exception as e:
            self.get_logger().error(f"Failed to write JSON file: {e}")
        
    def try_parse_and_print(self, json_data):
        if not json_data:
            return
        if "content" not in json_data or "result" not in json_data.get("content"):
            return
        
        result = json_data.get("content").get("result")
        if not result:
            return
        
        if "cbm_meta" not in result:
            return
        

        if not result.get("cbm_meta"):
            return
        cbm_meta = result.get("cbm_meta")        
        if "text" not in cbm_meta:
            return
        
        text_data = json.loads(cbm_meta.get("text"))
        if not text_data:
            return
        key = next(iter(text_data))
        if key not in result:
            return
        result_text = result.get(key).get("text")        
        try:
            res_data = json.loads(result_text)
            print(json.dumps(res_data, indent=2, ensure_ascii=False))

        except json.JSONDecodeError:
            self.get_logger().info(f"content.result.{key}.text: ")
            print(result_text)

        self.try_save_json_file(json_data)

        if result_text:
            print("-" * 20 + "\r\n")

    def cleanup_old_files(self):
        files = sorted(
            glob.glob(os.path.join(SAVE_DIR, '*.json')),
            key=os.path.getmtime
        )
        if len(files) > MAX_FILES:
            to_delete = files[:len(files) - MAX_FILES]
            for f in to_delete:
                try:
                    os.remove(f)
                    self.get_logger().info(f"Deleted old file: {f}")
                except Exception as e:
                    self.get_logger().warn(f"Failed to delete {f}: {e}")

def main(args=None):
    rclpy.init(args=args)
    node = ASRMonitor()
    try:
        rclpy.spin(node)
    except KeyboardInterrupt:
        pass
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

8.9.2 Voice Playback

• Description: Voice playback interface, applicable to Walker Tienkung·Voice & Vision and Walker Tienkung·Embodied Intelligence.
• Receiving Method: topic
• Topic Name: /xunfei/tts_play
• Data Type: std_msgs::msg::String
• Data Format: JSON

1. Start Playback

   {
     "file": "path/to/audio/file.mp3"
   }

2. Stop Playback

   {
     "cmd": "stop"
   }

3. Continuous Playback

   {
     "cmd": "append",
     "file": "path/to/audio/file.mp3"
   }

• Example Commands

  . ~/voice_ws/install/setup.bash
  ros2 launch xunfei_dev_socket xunfei_dev_all.launch.py
  # You can try to play the following .mp3 audio files. Please ensure these files exist before playing. You can also obtain audio files yourself for playback. Note that the file path here is the path on the orin board, which means the audio files need to be placed on the orin board. They cannot be played if placed on the x86 main control board.
  ros2 topic pub /xunfei/tts_play std_msgs/msg/String "{data: '{\"file\": \"/home/nvidia/data/speech/chenggong.mp3\"}'}"
  ros2 topic pub /xunfei/tts_play std_msgs/msg/String "{data: '{\"file\": \"/home/nvidia/data/speech/guzhang.mp3\"}'}"
  ros2 topic pub /xunfei/tts_play std_msgs/msg/String "{data: '{\"file\": \"/home/nvidia/data/speech/didianliang.wav\"}'}"
  ros2 topic pub /xunfei/tts_play std_msgs/msg/String "{data: '{\"file\": \"/home/nvidia/data/speech/kaishichongdian.mp3\"}'}"
  ros2 topic pub /xunfei/tts_play std_msgs/msg/String "{data: '{\"file\": \"/home/nvidia/data/speech/anjianyin.mp3\"}'}"