add r1 robot project

r1/include/r1_voice/conversation.hh

@@ -0,0 +1,37 @@
+#pragma once
+
+#include <string>
+
+#include "r1_voice/llm.hh"
+#include "r1_voice/stt.hh"
+#include "r1_voice/tts.hh"
+
+namespace r1_voice {
+
+struct ConversationConfig {
+    SttConfig stt;
+    LlmConfig llm;
+    TtsConfig tts;
+};
+
+class Conversation {
+public:
+    explicit Conversation(
+        ConversationConfig config
+    );
+
+    bool init(
+        const std::string& network_interface
+    );
+
+    void run();
+
+private:
+    ConversationConfig config_;
+
+    SpeechToText stt_;
+    LLM llm_;
+    TextToSpeech tts_;
+};
+
+} // namespace r1_voice

r1/include/r1_voice/llm.hh

@@ -0,0 +1,57 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+namespace r1_voice {
+
+struct ChatMessage {
+    std::string role;
+    std::string content;
+};
+
+struct LlmConfig {
+    std::string url =
+        "http://127.0.0.1:8080/v1/chat/completions";
+
+    std::string model = "local";
+
+    float temperature = 0.7f;
+
+    int max_tokens = 256;
+
+    std::string system_prompt =
+        "You are R1, a humanoid robot conversational assistant. "
+        "Talk naturally with the person in front of you. "
+        "Keep answers reasonably short because they will be spoken aloud. "
+        "Answer in the same language as the user. "
+        "Do not use markdown unless necessary.";
+};
+
+class LLM {
+public:
+    explicit LLM(LlmConfig config);
+
+    std::string chat(
+        const std::string& user
+    );
+
+private:
+    LlmConfig config_;
+
+    std::vector<ChatMessage> history_;
+
+    std::string escapeJson(
+        const std::string& text
+    ) const;
+
+    std::string parseContent(
+        const std::string& json
+    ) const;
+
+    std::string httpPost(
+        const std::string& body
+    ) const;
+};
+
+} // namespace r1_voice

r1/include/r1_voice/stt.hh

@@ -0,0 +1,49 @@
+#pragma once
+
+#include <string>
+
+namespace r1_voice {
+
+    struct SttConfig {
+        std::string whisper_cli;
+        std::string whisper_model;
+
+        std::string language = "cs";
+
+        int threads = 8;
+
+        static constexpr int sample_rate = 16000;
+        static constexpr int packet_bytes = 5120;
+
+        float speech_threshold = 0.010f;
+
+        int silence_ms = 900;
+        int min_speech_ms = 250;
+        int max_record_ms = 10000;
+
+        int preroll_ms = 800;
+    };
+
+class SpeechToText {
+public:
+    explicit SpeechToText(SttConfig config);
+
+    // Blocks until the user speaks, stops speaking,
+    // and Whisper has transcribed the utterance.
+    std::string listen();
+
+private:
+    SttConfig config_;
+
+    bool recordToWav(const std::string& path);
+
+    std::string transcribe(
+        const std::string& wav_path
+    );
+
+    std::string trim(
+        const std::string& text
+    );
+};
+
+} // namespace r1_voice

r1/include/r1_voice/tts.hh

@@ -0,0 +1,65 @@
+#pragma once
+
+#include <cstdint>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <unitree/robot/r1/audio/audio_client.hpp>
+
+namespace r1_voice {
+
+struct TtsConfig {
+    std::string piper_command = "python3 -m piper";
+
+    std::string model =
+        "/home/jvizner/esarobotech/piper/cs_medium.onnx";
+
+    std::string output_wav =
+        "/tmp/r1_tts.wav";
+
+    int volume = 100;
+
+    std::string app_name = "r1_voice";
+};
+
+class TextToSpeech {
+public:
+    explicit TextToSpeech(TtsConfig config);
+
+    bool init(
+        const std::string& network_interface
+    );
+
+    bool speak(
+        const std::string& text
+    );
+
+private:
+    TtsConfig config_;
+
+    std::unique_ptr<
+        unitree::robot::r1::AudioClient
+    > client_;
+
+    bool initialized_ = false;
+
+    bool synthesize(
+        const std::string& text,
+        const std::string& wav_path
+    );
+
+    bool readWavPcm(
+        const std::string& wav_path,
+        std::vector<uint8_t>& pcm,
+        uint32_t& sample_rate,
+        uint16_t& channels,
+        uint16_t& bits_per_sample
+    );
+
+    bool playPcm(
+        const std::vector<uint8_t>& pcm
+    );
+};
+
+} // namespace r1_voice