add r1 robot project

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