AudioClient

example/g1/audio/g1_audio_client_example.cpp

@@ -1,25 +1,203 @@
-
-#include <cmath>  // for generate wave
+#include <fstream>
 #include <iostream>
 #include <unitree/common/time/time_tool.hpp>
+#include <unitree/idl/ros2/String_.hpp>
+#include <unitree/robot/channel/channel_subscriber.hpp>
 #include <unitree/robot/g1/audio/g1_audio_client.hpp>
 
-const int SAMPLE_RATE = 16000;   // 16K sample rate
-const int DURATION = 5;          // time S
-const float FREQUENCY = 440.0f;  // HZ
+#define AUDIO_FILE_PATH "../example/g1/audio/test.wav"
+#define AUDIO_SUBSCRIBE_TOPIC "rt/audio_msg"
+
+// wave reader start
+struct WaveHeader {
+  void SeekToDataChunk(std::istream &is) {
+    while (is && subchunk2_id != 0x61746164) {
+      is.seekg(subchunk2_size, std::istream::cur);
+      is.read(reinterpret_cast<char *>(&subchunk2_id), sizeof(int32_t));
+      is.read(reinterpret_cast<char *>(&subchunk2_size), sizeof(int32_t));
+    }
+  }
+
+  int32_t chunk_id;
+  int32_t chunk_size;
+  int32_t format;
+  int32_t subchunk1_id;
+  int32_t subchunk1_size;
+  int16_t audio_format;
+  int16_t num_channels;
+  int32_t sample_rate;
+  int32_t byte_rate;
+  int16_t block_align;
+  int16_t bits_per_sample;
+  int32_t subchunk2_id;    // a tag of this chunk
+  int32_t subchunk2_size;  // size of subchunk2
+};
+
+static_assert(sizeof(WaveHeader) == 44);
+
+std::vector<uint8_t> ReadWaveImpl(std::istream &is, int32_t *sampling_rate,
+                                  int8_t *channelCount, bool *is_ok) {
+  WaveHeader header{};
+  is.read(reinterpret_cast<char *>(&header.chunk_id), sizeof(header.chunk_id));
+
+  //                        F F I R
+  if (header.chunk_id != 0x46464952) {
+    printf("Expected chunk_id RIFF. Given: 0x%08x\n", header.chunk_id);
+    *is_ok = false;
+    return {};
+  }
+
+  is.read(reinterpret_cast<char *>(&header.chunk_size),
+          sizeof(header.chunk_size));
+
+  is.read(reinterpret_cast<char *>(&header.format), sizeof(header.format));
+
+  //                      E V A W
+  if (header.format != 0x45564157) {
+    printf("Expected format WAVE. Given: 0x%08x\n", header.format);
+    *is_ok = false;
+    return {};
+  }
+
+  is.read(reinterpret_cast<char *>(&header.subchunk1_id),
+          sizeof(header.subchunk1_id));
+
+  is.read(reinterpret_cast<char *>(&header.subchunk1_size),
+          sizeof(header.subchunk1_size));
+
+  if (header.subchunk1_id == 0x4b4e554a) {
+    // skip junk padding
+    is.seekg(header.subchunk1_size, std::istream::cur);
+
+    is.read(reinterpret_cast<char *>(&header.subchunk1_id),
+            sizeof(header.subchunk1_id));
+
+    is.read(reinterpret_cast<char *>(&header.subchunk1_size),
+            sizeof(header.subchunk1_size));
+  }
+
+  if (header.subchunk1_id != 0x20746d66) {
+    printf("Expected subchunk1_id 0x20746d66. Given: 0x%08x\n",
+           header.subchunk1_id);
+    *is_ok = false;
+    return {};
+  }
+
+  if (header.subchunk1_size != 16 &&
+      header.subchunk1_size != 18) {  // 16 for PCM
+    printf("Expected subchunk1_size 16. Given: %d\n", header.subchunk1_size);
+    *is_ok = false;
+    return {};
+  }
+
+  is.read(reinterpret_cast<char *>(&header.audio_format),
+          sizeof(header.audio_format));
+
+  if (header.audio_format != 1) {  // 1 for PCM
+    printf("Expected audio_format 1. Given: %d\n", header.audio_format);
+    *is_ok = false;
+    return {};
+  }
+
+  is.read(reinterpret_cast<char *>(&header.num_channels),
+          sizeof(header.num_channels));
+
+  *channelCount = (int8_t)header.num_channels;
+
+  is.read(reinterpret_cast<char *>(&header.sample_rate),
+          sizeof(header.sample_rate));
 
-void generateSineWave(std::vector<uint8_t> &audioData) {
-  int numSamples = SAMPLE_RATE * DURATION;
+  is.read(reinterpret_cast<char *>(&header.byte_rate),
+          sizeof(header.byte_rate));
 
-  for (int i = 0; i < numSamples; ++i) {
-    float time = i / float(SAMPLE_RATE);
-    float value = sin(2 * M_PI * FREQUENCY * time);
-    int16_t int16Value = static_cast<int16_t>(value * 32767);
-    uint8_t lowByte = static_cast<uint8_t>(int16Value & 0xFF);
-    uint8_t highByte = static_cast<uint8_t>((int16Value >> 8) & 0xFF);
-    audioData.push_back(lowByte);
-    audioData.push_back(highByte);
+  is.read(reinterpret_cast<char *>(&header.block_align),
+          sizeof(header.block_align));
+
+  is.read(reinterpret_cast<char *>(&header.bits_per_sample),
+          sizeof(header.bits_per_sample));
+
+  if (header.byte_rate !=
+      (header.sample_rate * header.num_channels * header.bits_per_sample / 8)) {
+    printf("Incorrect byte rate: %d. Expected: %d", header.byte_rate,
+           (header.sample_rate * header.num_channels * header.bits_per_sample /
+            8));
+    *is_ok = false;
+    return {};
+  }
+
+  if (header.block_align !=
+      (header.num_channels * header.bits_per_sample / 8)) {
+    printf("Incorrect block align: %d. Expected: %d\n", header.block_align,
+           (header.num_channels * header.bits_per_sample / 8));
+    *is_ok = false;
+    return {};
+  }
+
+  if (header.bits_per_sample != 16) {  // we support only 16 bits per sample
+    printf("Expected bits_per_sample 16. Given: %d\n", header.bits_per_sample);
+    *is_ok = false;
+    return {};
+  }
+
+  if (header.subchunk1_size == 18) {
+    int16_t extra_size = -1;
+    is.read(reinterpret_cast<char *>(&extra_size), sizeof(int16_t));
+    if (extra_size != 0) {
+      printf(
+          "Extra size should be 0 for wave from NAudio. Current extra size "
+          "%d\n",
+          extra_size);
+      *is_ok = false;
+      return {};
+    }
+  }
+
+  is.read(reinterpret_cast<char *>(&header.subchunk2_id),
+          sizeof(header.subchunk2_id));
+
+  is.read(reinterpret_cast<char *>(&header.subchunk2_size),
+          sizeof(header.subchunk2_size));
+
+  header.SeekToDataChunk(is);
+  if (!is) {
+    *is_ok = false;
+    return {};
+  }
+
+  *sampling_rate = header.sample_rate;
+
+  // header.subchunk2_size contains the number of bytes in the data.
+  // As we assume each sample contains two bytes, so it is divided by 2 here
+  std::vector<int16_t> samples(header.subchunk2_size / 2);
+
+  is.read(reinterpret_cast<char *>(samples.data()), header.subchunk2_size);
+  if (!is) {
+    *is_ok = false;
+    return {};
+  }
+
+  std::vector<uint8_t> ans(samples.size() * 2);
+  for (int32_t i = 0; i != static_cast<int32_t>(samples.size()); ++i) {
+    ans[i * 2] = samples[i] & 0xFF;
+    ans[i * 2 + 1] = (samples[i] >> 8) & 0xFF;
   }
+
+  *is_ok = true;
+  return ans;
+}
+
+std::vector<uint8_t> ReadWave(const std::string &filename,
+                              int32_t *sampling_rate, int8_t *channelCount,
+                              bool *is_ok) {
+  std::ifstream is(filename, std::ifstream::binary);
+  auto samples = ReadWaveImpl(is, sampling_rate, channelCount, is_ok);
+  return samples;
+}
+// wave reader end
+
+void asr_handler(const void *msg) {
+  std_msgs::msg::dds_::String_ *resMsg = (std_msgs::msg::dds_::String_ *)msg;
+  std::cout << "asr_handler callback" << resMsg->data() << std::endl;
 }
 
 int main(int argc, char const *argv[]) {
@@ -36,6 +214,11 @@ int main(int argc, char const *argv[]) {
   client.Init();
   client.SetTimeout(10.0f);
 
+  /*ASR message Example*/
+  unitree::robot::ChannelSubscriber<std_msgs::msg::dds_::String_> subscriber(
+      AUDIO_SUBSCRIBE_TOPIC);
+  subscriber.InitChannel(asr_handler);
+
   /*TTS Example*/
   int32_t ret;
   ret = client.TtsMaker("你好。我是宇树科技的机器人G1。例程启动成功",
@@ -52,15 +235,27 @@ int main(int argc, char const *argv[]) {
   std::cout << "SetVolume to 60% , ret:" << ret << std::endl;
 
   /*Audio Play Example*/
-  std::vector<uint8_t> pcm;
-  generateSineWave(pcm);
-  client.PlayStream(
-      "example", std::to_string(unitree::common::GetCurrentTimeMillisecond()),
-      pcm);
-  std::cout << "start play" << std::endl;
-  unitree::common::Sleep(3);
-  std::cout << "stop play" << std::endl;
-  ret = client.PlayStop("example");
+  int32_t sample_rate = -1;
+  int8_t num_channels = 0;
+  bool filestate = false;
+  std::vector<uint8_t> pcm =
+      ReadWave(AUDIO_FILE_PATH, &sample_rate, &num_channels, &filestate);
+
+  std::cout << "sample_rate = " << sample_rate
+            << " num_channels =  " << std::to_string(num_channels)
+            << " filestate =" << filestate << std::endl;
+
+  if (filestate && sample_rate == 16000 && num_channels == 1) {
+    client.PlayStream(
+        "example", std::to_string(unitree::common::GetCurrentTimeMillisecond()),
+        pcm);
+    std::cout << "start play" << std::endl;
+    unitree::common::Sleep(3);
+    std::cout << "stop play" << std::endl;
+    ret = client.PlayStop("example");
+  } else {
+    std::cout << "audio file format error, please check!" << std::endl;
+  }
 
   /*LED Control Example*/
   client.LedControl(0, 255, 0);
@@ -69,6 +264,9 @@ int main(int argc, char const *argv[]) {
   unitree::common::Sleep(1);
   client.LedControl(0, 0, 255);
 
-  std::cout << "AudioClient test finish!" << std::endl;
+  std::cout << "AudioClient api test finish , asr start..." << std::endl;
+  while (1) {
+    sleep(1);  // wait for asr message
+  }
   return 0;
 }