#!/usr/bin/env?python
#coding=utf-8
import?rospy
from?std_msgs.msg?import?String
import?demjson
import?time?
import?os
import?sys
reload（sys）
sys.setdefaultencoding（‘utf8‘）

pub?=?rospy.Publisher（‘xfsaywords‘?String?queue_size=10）
pub_cmd?=?rospy.Publisher（‘/control_cmd‘?String?queue_size=10）
rospy.init_node（‘explainer‘）
rate?=?rospy.Rate（10）
rate.sleep（）
def?say（mystr）:
????rate.sleep（）
????pub.publish（mystr）
????print（“I?will?say:%s“%（mystr））
def?sendcmd（mycmd）:
????rate.sleep（）
????pub_cmd.publish（mycmd）
????print（“I?will?say:%s“%（mycmd））
def?callback（data）:
????s1=““
????openQAState?=?False
????openQACommend?=?‘‘?#存儲問答得到的命令

????MusicPalyCommed?=?‘‘
????MusicAvailable?=?False
????result=demjson.decode（data.data）
????print?data.data
????if（result.has_key（“service“））:
????????service=result[“service“]
????????if（service==“chat“）:
????????????s1?=?result[“answer“][“text“]
????????elif（service==“music“）:
????????????s1+=u“接下來播放“+\
????????????????????result[“data“][“result“][0][“singer“]+\
????????????????????u“的“+\
????????????????????result[“data“][“result“][0][“name“]
????????????MusicPlayCommend?=?‘echo?loadfile?‘+\
????????????????????result[“data“][“result“][0][“downloadUrl“]+\
????????????????????‘>/Robot/cmd/Mplayer_cmd‘
???????????#?print?MusicPlayCommend
????????????MusicAvailable?=?True
????????elif（service==“openQA“）:
????????????for?letter?in?result[“answer“][“text“]:
????????????????if（openQAState?==?True）:
????????????????????openQACommend?=?letter
????????????????????openQAState?=?False
????????????????if（letter?==?‘<‘）:
????????????????????openQAState?=?True
????????????for?letter?in?result[“answer“][“text“]:
????????????????if（letter==‘<‘）:
????????????????????break
????????????????s1?+=?letter
????????????print?openQACommend
????????????sendcmd（openQACommend）
????????elif（service==“datetime“?or?service==“calc“?or?service==“baike“?or?service==?“faq“）:
????????????s1?=?result[“answer“][“text“]
????????elif（service==“schedule“）:
????????????s1?=?u“正在創(chuàng)建提醒事項(xiàng)...?...好的我會提醒你“
???????????????????#?result[“semantic“][“slots“][“datatime“][“dateOrig“]+\
???????????????????#?result[“semantic“][“content“][“datatime“][“timeOrig“]
????????????????????
????say（s1）
????if（MusicAvailable）:
????????time.sleep（1）
????????os.system（MusicPlayCommend）
????????MusicAvailable?=?False

if?__name__?==?‘__main__‘:
????try:
????????rospy.Subscriber（“xfunderstand“?String?callback）
????????say（u“語音解釋初始化成功“）
????????rospy.spin（）
????except?rospy.ROSInterruptException:
????????pass

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2016-07-19?16:15??xf_voice\
?????文件?????????841??2016-07-10?12:01??xf_voice\CMakeLists.txt
?????文件???????18892??2016-07-19?16:15??xf_voice\CMakeLists.txt.user
?????目錄???????????0??2016-07-09?22:39??xf_voice\include\
?????目錄???????????0??2016-07-09?22:39??xf_voice\include\xf_voice\
?????文件????????2108??2016-07-09?22:39??xf_voice\package.xml
?????目錄???????????0??2016-07-19?16:13??xf_voice\src\
?????文件????????2597??2016-07-12?12:37??xf_voice\src\explain.py
?????文件????????1869??2016-07-10?09:53??xf_voice\src\wakeup.cpp
?????文件???????15506??2016-07-19?16:13??xf_voice\src\xf_asr.cpp
?????文件????????5948??2016-07-13?01:10??xf_voice\src\xf_tts.cpp