add r1 robot project

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