科大迅飞接在ros上进行语音识别遇到的问题，科大迅飞10102错误

[椰壳猪]

想把科大迅飞接在ros上进行语音识别，我是按着优酷上的ros小课堂上的教程来做的，编译没有问题，但运行节点时显示10102错误如下，也没声音，在网上查了一下说是文件找不到。不知道怎么解决，以下是我cpp和cmake的代码。
错误如下：
fan@fan-virtual-machine:~$ rosrun voice_system xf_tts_node
开始合成 ...
正在合成 ...

QTTSAudioGet failed, error code: 10102.
text_to_speech failed, error code: 10102.
合成完毕

/home/fan/音乐/voice.wav:

 File Size: 44        
  Encoding: Signed PCM    
  Channels: 1 @ 16-bit   
Samplerate: 16000Hz      
Replaygain: off         
  Duration: unknown      

In:0.00% 00:00:00.00 [00:00:00.00] Out:0     [      |      ]        Clip:0    
Done.

xf_tts.cpp代码：

/*
* 语音合成（Text To Speech，TTS）技术能够自动将任意文字实时转换为连续的
* 自然语音，是一种能够在任何时间、任何地点，向任何人提供语音信息服务的
* 高效便捷手段，非常符合信息时代海量数据、动态更新和个性化查询的需求。
*/

#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <errno.h>
#include <ros/ros.h>
#include <std_msgs/String.h>
#include "/home/fan/catkin_ws/src/voice_system/include/qtts.h"
#include "/home/fan/catkin_ws/src/voice_system/include/msp_cmn.h"
#include "/home/fan/catkin_ws/src/voice_system/include/msp_errors.h"
const char* fileName="/home/fan/音乐/voice.wav";
const char* playPath="play /home/fan/音乐/voice.wav";

typedef int SR_DWORD;
typedef short int SR_WORD ;

/* wav音频头部格式 */
typedef struct _wave_pcm_hdr
{
	char            riff[4];                // = "RIFF"
	int				size_8;                 // = FileSize - 8
	char            wave[4];                // = "WAVE"
	char            fmt[4];                 // = "fmt "
	int				fmt_size;				// = 下一个结构体的大小 : 16

	short int       format_tag;             // = PCM : 1
	short int       channels;               // = 通道数 : 1
	int				samples_per_sec;        // = 采样率 : 8000 | 6000 | 11025 | 16000
	int				avg_bytes_per_sec;      // = 每秒字节数 : samples_per_sec * bits_per_sample / 8
	short int       block_align;            // = 每采样点字节数 : wBitsPerSample / 8
	short int       bits_per_sample;        // = 量化比特数: 8 | 16

	char            data[4];                // = "data";
	int				data_size;              // = 纯数据长度 : FileSize - 44 
} wave_pcm_hdr;

/* 默认wav音频头部数据 */
wave_pcm_hdr default_wav_hdr = 
{
	{ 'R', 'I', 'F', 'F' },
	0,
	{'W', 'A', 'V', 'E'},
	{'f', 'm', 't', ' '},
	16,
	1,
	1,
	16000,
	32000,
	2,
	16,
	{'d', 'a', 't', 'a'},
	0  
};
/* 文本合成 */
int text_to_speech(const char* src_text, const char* des_path, const char* params)
{
	int          ret          = -1;
	FILE*        fp           = NULL;
	const char*  sessionID    = NULL;
	unsigned int audio_len    = 0;
	wave_pcm_hdr wav_hdr      = default_wav_hdr;
	int          synth_status = MSP_TTS_FLAG_STILL_HAVE_DATA;

	if (NULL == src_text || NULL == des_path)
	{
		printf("params is error!\n");
		return ret;
	}
	fp = fopen(des_path, "wb");
	if (NULL == fp)
	{
		printf("open %s error.\n", des_path);
		return ret;
	}
	/* 开始合成 */
	sessionID = QTTSSessionBegin(params, &ret);
	if (MSP_SUCCESS != ret)
	{
		printf("QTTSSessionBegin failed, error code: %d.\n", ret);
		fclose(fp);
		return ret;
	}
	ret = QTTSTextPut(sessionID, src_text, (unsigned int)strlen(src_text), NULL);
	if (MSP_SUCCESS != ret)
	{
		printf("QTTSTextPut failed, error code: %d.\n",ret);
		QTTSSessionEnd(sessionID, "TextPutError");
		fclose(fp);
		return ret;
	}
	printf("正在合成 ...\n");
	fwrite(&wav_hdr, sizeof(wav_hdr) ,1, fp); //添加wav音频头，使用采样率为16000
	while (1) 
	{
		/* 获取合成音频 */
		const void* data = QTTSAudioGet(sessionID, &audio_len, &synth_status, &ret);
		if (MSP_SUCCESS != ret)
			break;
		if (NULL != data)
		{
			fwrite(data, audio_len, 1, fp);
		    wav_hdr.data_size += audio_len; //计算data_size大小
		}
		if (MSP_TTS_FLAG_DATA_END == synth_status)
			break;
	}
	printf("\n");
	if (MSP_SUCCESS != ret)
	{
		printf("QTTSAudioGet failed, error code: %d.\n",ret);
		QTTSSessionEnd(sessionID, "AudioGetError");
		fclose(fp);
		return ret;
	}
	/* 修正wav文件头数据的大小 */
	wav_hdr.size_8 += wav_hdr.data_size + (sizeof(wav_hdr) - 8);
	
	/* 将修正过的数据写回文件头部,音频文件为wav格式 */
	fseek(fp, 4, 0);
	fwrite(&wav_hdr.size_8,sizeof(wav_hdr.size_8), 1, fp); //写入size_8的值
	fseek(fp, 40, 0); //将文件指针偏移到存储data_size值的位置
	fwrite(&wav_hdr.data_size,sizeof(wav_hdr.data_size), 1, fp); //写入data_size的值
	fclose(fp);
	fp = NULL;
	/* 合成完毕 */
	ret = QTTSSessionEnd(sessionID, "Normal");
	if (MSP_SUCCESS != ret)
	{
		printf("QTTSSessionEnd failed, error code: %d.\n",ret);
	}

	return ret;
}
int makeTextToWav(const char* text, const char* filename){
int         ret                  = MSP_SUCCESS;
	const char* login_params         = "appid = 5b090780, work_dir = .";//登录参数,appid与msc库绑定,请勿随意改动
	/*
	* rdn:           合成音频数字发音方式
	* volume:        合成音频的音量
	* pitch:         合成音频的音调
	* speed:         合成音频对应的语速

	* voice_name:    合成发音人
	* sample_rate:   合成音频采样率
	* text_encoding: 合成文本编码格式
	*

	*/
	const char* session_begin_params = "engine_type = local,voice_name=xiaofeng, text_encoding = UTF8, tts_res_path = fo|res/tts/xiaofeng.jet;fo|res/tts/common.jet, sample_rate = 16000, speed = 50, volume = 50, pitch = 50, rdn = 0";
	
	/* 用户登录 */
	ret = MSPLogin(NULL, NULL, login_params); //第一个参数是用户名，第二个参数是密码，第三个参数是登录参数，用户名和密码可在http://www.xfyun.cn注册获取
	if (MSP_SUCCESS != ret)
	{
		printf("MSPLogin failed, error code: %d.\n", ret);
		
	}
        else{
	printf("开始合成 ...\n");
	ret = text_to_speech(text,filename, session_begin_params);
	if (MSP_SUCCESS != ret)
	{
		printf("text_to_speech failed, error code: %d.\n", ret);
	}
	printf("合成完毕\n");
        }
        MSPLogout();
   	return 0;

}
void playWav()
{
	system(playPath);
    
}
void topicCallBack(const std_msgs::String::ConstPtr& msg)
{
	std::cout<<"get topic text:" << msg->data.c_str();
	makeTextToWav(msg->data.c_str(),fileName);
	playWav();	
}

int main(int argc, char* argv[])
{	const char* start= "科大迅飞在线语音合成模块启动";
	makeTextToWav(start,fileName);
	playWav();

	ros::init(argc,argv, "xf_tts_node");	
        ros::NodeHandle nd;
        ros::Subscriber sub = nd.subscribe("/voice/xf_tts_topic", 3,topicCallBack);
	ros::spin();
	return 0;
}

CMakeLists代码：

cmake_minimum_required(VERSION 2.8.3)
project(voice_system)


find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
)


include_directories(
   include
  ${catkin_INCLUDE_DIRS}
  
)



add_executable(xf_tts_node src/xf_tts.cpp)
target_link_libraries(xf_tts_node ${catkin_LIBRARIES} -lmsc -lrt -ldl -lpthread)

弄了好久没解决求大神帮忙，谢谢

[weixin_41787943]

https://blog.csdn.net/zhouge94/article/details/52077997 这个博客可以提供参考，你是没有建立自己的语音库 sudo mkdir /Robot $ sudo chown zhouge /Robot/ 然后将你下载的语音sdk中的libmsc.so放到/Robot/voice/lib/文件夹下 将bin目录和lib/inc目录都放到/Robot/voice/文件夹下， 安装mpalyer播放器 创建/Robot/voice/wav和/Robot/cmd文件夹，前者用来保存临时音频文件，后者用来保存管道通信文件。 $ sudo apt-get install mplayer $ mkdir /Robot/voice/wav $ mkdir /Robot/cmd 至此你的/Robot文件夹应该有cmd和voice两个文件夹，voice下应该有bin inc lib wav四个文件夹 然后我们把语音库放到系统库文件夹/usr/lib/ $ sudo cp /Robot/voice/lib/libmsc.so /usr/lib/ --------------------- 作者：zhouge94 来源：CSDN 原文：https://blog.csdn.net/zhouge94/article/details/52077997 版权声明：本文为博主原创文章，转载请附上博文链接！

[lucasliao]

文件找不到，就是文件找不到啊。你往你写好的那个文件路径，放下对应的.wav文件就行了