wenhou.cpp

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#include <string.h>
#include "ros/ros.h"
#include "xbot_face/FaceResult.h"
#include "xbot_talker/chat.h"
#include "xbot_talker/play.h"

using namespace std;
int detect_times = 0;
bool meet = false;

ros::ServiceClient playclient;
ros::ServiceClient chatclient;

string kehu = "lyh";
string wenhou = "你好，刘银河";

void faceCB(xbot_face::FaceResult msg) {
  if (meet) {
    return;
  }

  if (msg.face_exist == false) {
    detect_times = 0;
    return;
  }

  if ((msg.name == kehu) && (msg.confidence > 0.6)) {
    detect_times += 1;

  } else {
    detect_times = 0;
  }

  if (detect_times >= 5) {
    meet = true;
    xbot_talker::play srv;
    srv.request.mode = 1;
    srv.request.tts_text = wenhou;

    if (playclient.call(srv)) {
      ROS_INFO("Result: %d", srv.response.success);
    } else {
      ROS_ERROR("Failed to call service play");
      return;
    }
    xbot_talker::chat srv1;
    srv1.request.start_chat = true;

    if (chatclient.call(srv1)) {
      ROS_INFO("Result: %d", srv1.response.chat_success);
      exit(0);
    } else {
      ROS_ERROR("Failed to call service play");
      return;
    }
  }
}

int main(int argc, char** argv) {
  ros::init(argc, argv, "play_client");
  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe("/xbot/face_result", 1000, faceCB);
  playclient = n.serviceClient<xbot_talker::play>("/play");
  chatclient = n.serviceClient<xbot_talker::chat>("/chat");
  ros::spin();

  return 0;
}