从语音合成到语音识别：Gravity TTS模块与RDK X5 AI开发板实战测评

unsigned char cmd3[] = {0xFD, 0x00, 0x0B, 0x01, 0x00, 0x31, 0x20, 0x32, 0x20, 0x33, 0x20, 0x34, 0x20, 0x35};unsigned char cmd5[] = {0xFD, 0x00, 0x0C, 0x01, 0x03, 0x11, 0x62, 0x31, 0x72, 0x60, 0x4F, 0x2D, 0x4E, 0xFD, 0x56};void hal_entry(void){int i=0;err = R_SCI_UART_Open(&g_uart9_ctrl, &g_uart9_cfg);assert(FSP_SUCCESS == err);err = R_SCI_UART_Read(&g_uart9_ctrl, uart_rx_buffer, 1);assert(FSP_SUCCESS == err);_write(cmd3,14);while(1){      if(uart_receive_complete_flag)      {          uart_receive_complete_flag = false;          if(uart_rx_buffer[0] == 0x41 )          {               if(i==0)               {                      _write(cmd5,15);               }               else               {                      _write(cmd3,14);               }               i=(i+1)%2;          }          err = R_SCI_UART_Read(&g_uart9_ctrl, uart_rx_buffer, 1);          assert(FSP_SUCCESS == err);      }            R_BSP_SoftwareDelay (3000, BSP_DELAY_UNITS_MILLISECONDS);}}

# 1. 更新软件源sudo apt update# 2. 一键安装语音包sudo apt install tros-humble-sensevoice-ros2

#!/usr/bin/env python3import rclpyfrom rclpy.node import Nodefrom rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSDurabilityPolicy
# 导入 /audio_smart 的消息类型try:    from audio_msg.msg import SmartAudioData    MSG_TYPE = SmartAudioData    HAS_MSG = Trueexcept ImportError:    print("Warning: audio_msg not found, using fallback")    from rclpy.msg import Any    MSG_TYPE = Any    HAS_MSG = False
# 板载 ACT LED 的控制路径LED_BRIGHTNESS_PATH = "/sys/class/leds/ACT/brightness"
def set_led(state):    """state: True 熄灭, False 点亮"""    with open(LED_BRIGHTNESS_PATH, 'w') as f:        f.write('0' if state else '1')
class VoiceLEDControl(Node):    def __init__(self):        super().__init__('voice_led_control')        self.get_logger().info("使用 ACT LED 进行控制")
        # 设置与 /audio_smart 匹配的 QoS        qos = QoSProfile(            depth=10,            reliability=QoSReliabilityPolicy.RELIABLE,            durability=QoSDurabilityPolicy.VOLATILE        )
        self.sub = self.create_subscription(            MSG_TYPE,            '/audio_smart',            self.callback,            qos        )        self.get_logger().info("已订阅 /audio_smart，等待语音命令...")
    def callback(self, msg):        if HAS_MSG:            cmd = msg.cmd_word        else:            cmd = getattr(msg, 'cmd_word', str(msg))
        self.get_logger().info(f"收到命令: {cmd}")
        if cmd == "开灯":            set_led(True)            self.get_logger().info("ACT LED 已点亮")        elif cmd == "关灯":            set_led(False)            self.get_logger().info("ACT LED 已熄灭")
def main(args=None):    rclpy.init(args=args)    node = VoiceLEDControl()    try:        rclpy.spin(node)    except KeyboardInterrupt:        node.get_logger().info("用户中断，退出")    except Exception as e:        node.get_logger().error(f"错误: {e}")    finally:        node.destroy_node()        rclpy.shutdown()
if __name__ == '__main__':    main()

source /opt/tros/humble/setup.bash          # 配置ROS2环境变量[reference:8]ros2 run sensevoice_ros2 sensevoice_ros2 --ros-args -p micphone_name:=plughw:1,0    # 运行SenseVoice节点

source /opt/ros/humble/setup.bashros2 topic list

sudo nano /opt/tros/humble/lib/sensevoice_ros2/config/cmd_word.json

source /opt/ros/humble/setup.bashpython3 led.py