/*

* xf_asr_node

* xf_asr.cpp

* 语音听写(iFly Auto Transform)技术能够实时地将语音转换成对应的文字。

*/

#include<ros/ros.h>

#include<std_msgs/String.h>

#include<std_msgs/Int32.h>

#include <stdlib.h>

#include <stdio.h>

#include <string.h>

#include <unistd.h>

#include "qisr.h"

#include "msp_cmn.h"

#include "msp_errors.h"

#include "speech_recognizer.h"

#define FRAME_LEN	640

#define	BUFFER_SIZE	4096

#define ASRFLAG     1

using namespace std;

bool flag = false;

bool recorder_Flag = true;

string result = "";

/* Upload User words */

static int upload_userwords()

{

	char*			userwords	=	NULL;

	size_t			len			=	0;

	size_t			read_len	=	0;

	FILE*			fp			=	NULL;

	int				ret			=	-1;

	fp = fopen("userwords.txt", "rb");

	if (NULL == fp)

	{

		printf("\nopen [userwords.txt] failed! \n");

		goto upload_exit;

	}

	fseek(fp, 0, SEEK_END);

	len = ftell(fp);

	fseek(fp, 0, SEEK_SET);

	userwords = (char*)malloc(len + 1);

	if (NULL == userwords)

	{

		printf("\nout of memory! \n");

		goto upload_exit;

	}

	read_len = fread((void*)userwords, 1, len, fp);

	if (read_len != len)

	{

		printf("\nread [userwords.txt] failed!\n");

		goto upload_exit;

	}

	userwords[len] = '\0';

	MSPUploadData("userwords", userwords, len, "sub = uup, dtt = userword", &ret); //ÉÏ´«Óû§´Ê±í

	if (MSP_SUCCESS != ret)

	{

		printf("\nMSPUploadData failed ! errorCode: %d \n", ret);

		goto upload_exit;

	}

upload_exit:

	if (NULL != fp)

	{

		fclose(fp);

		fp = NULL;

	}

	if (NULL != userwords)

	{

		free(userwords);

		userwords = NULL;

	}

	return ret;

}

static void show_result(char *str, char is_over)

{

	printf("\rResult: [ %s ]", str);

	if(is_over)

		putchar('\n');

    string s(str);

    result = s;

    flag = true;                        //设置发布话题为真

}

static char *g_result = NULL;

static unsigned int g_buffersize = BUFFER_SIZE;

void on_result(const char *result, char is_last)

{

	if (result) {

		size_t left = g_buffersize - 1 - strlen(g_result);

		size_t size = strlen(result);

		if (left < size) {

			g_result = (char*)realloc(g_result, g_buffersize + BUFFER_SIZE);

			if (g_result)

				g_buffersize += BUFFER_SIZE;

			else {

				printf("mem alloc failed\n");

				return;

			}

		}

		strncat(g_result, result, size);

		show_result(g_result, is_last);

	}

}

void on_speech_begin()

{

	if (g_result)

	{

		free(g_result);

	}

	g_result = (char*)malloc(BUFFER_SIZE);

	g_buffersize = BUFFER_SIZE;

	memset(g_result, 0, g_buffersize);

	printf("Start Listening...\n");

}

void on_speech_end(int reason)

{

	if (reason == END_REASON_VAD_DETECT)

	{

	 	printf("\nSpeaking done \n");

		recorder_Flag = false;

	}

	else

		printf("\nRecognizer error %d\n", reason);

}

/* demo recognize the audio from microphone */

static void demo_mic(const char* session_begin_params)

{

	int errcode;

	int i = 0;

	struct speech_rec iat;

	struct speech_rec_notifier recnotifier = {

		on_result,

		on_speech_begin,

		on_speech_end

	};

	errcode = sr_init(&iat, session_begin_params, SR_MIC, &recnotifier);

	if (errcode) {

		printf("speech recognizer init failed\n");

		return;

	}

	errcode = sr_start_listening(&iat);

	if (errcode) {

		printf("start listen failed %d\n", errcode);

	}

	/* demo 15 seconds recording */

	while(recorder_Flag)

	{

	   sleep(1);

	}

	errcode = sr_stop_listening(&iat);

	if (errcode) {

		printf("stop listening failed %d\n", errcode);

	}

	sr_uninit(&iat);

}

/*

*    打开麦克风 录音 发送到服务器

*/

void asrProcess()

{

	int ret = MSP_SUCCESS;

	int upload_on =	1; /* whether upload the user word */

	/* login params, please do keep the appid correct */

	const char* login_params = "appid = 57f49f64, work_dir = .";

	/*

	* See "iFlytek MSC Reference Manual"

	*/

	const char* session_begin_params =

		"sub = iat, domain = iat, language = zh_cn, "

		"accent = mandarin, sample_rate = 16000, "

		"result_type = plain, result_encoding = utf8";

	/* Login first. the 1st arg is username, the 2nd arg is password

	 * just set them as NULL. the 3rd arg is login paramertes

	 * */

	ret = MSPLogin(NULL, NULL, login_params);

	if (MSP_SUCCESS != ret)	{

		printf("MSPLogin failed , Error code %d.\n",ret);

		goto exit; // login fail, exit the program

	}

/*

	if (upload_on)

	{

		printf("Uploading the user words ...\n");

		ret = upload_userwords();

		if (MSP_SUCCESS != ret)

			goto exit;

		printf("Uploaded successfully\n");

	}

*/

		demo_mic(session_begin_params);

exit:

	MSPLogout(); // Logout...

}

/*

*   根据发布的话题来修改录音标志

*/

void asrCallBack(const std_msgs::Int32::ConstPtr &msg)

{

        ROS_INFO_STREAM("Topic is Subscriber");

        if(msg->data == ASRFLAG)

        {

           asrProcess();

        }

}

/* main thread: start/stop record ; query the result of recgonization.

 * record thread: record callback(data write)

 * helper thread: ui(keystroke detection)

 */

int main(int argc, char* argv[])

{

    ros::init(argc, argv, "xf_asr_node");

    ros::NodeHandle nd;

    ros::Subscriber sub = nd.subscribe("/voice/xf_asr_topic", 1, asrCallBack);

    ros::Publisher pub = nd.advertise<std_msgs::String>("/voice/tuling_arv_topic", 3);

    ros::Rate loop_rate(10);

    while(ros::ok())

    {

        if(flag)

        {

            std_msgs::String msg;

            msg.data = result;

            pub.publish(msg);

            flag = false;

            recorder_Flag = true;

        }

      ros::spinOnce();

      loop_rate.sleep();

    }

	return 0;

}

 add_executable(xf_asr_node src/xf_asr.cpp src/speech_recognizer.cpp src/linuxrec.cpp)

 target_link_libraries(xf_asr_node  ${catkin_LIBRARIES} -lmsc -lrt -ldl -lpthread -lasound)

$ rosrun tts_voice tts_voice_node

$ rosrun  tts_voice tuling_arv_node

$ rosrun tts_voice xf_asr_node

$ rostopic pub -1  /voice/xf_asr_topic std_msgs/Int32 1