该示例展示了如何使用 Magicbot-Z1 SDK 进行初始化、连接机器人、音频控制（获取音量、设置音量、TTS 播放、音频流订阅）等基本操作。

C++

示例文件：audio_example.cpp

参考文档：audio_reference.md

#include "magic_robot.h"

#include <termios.h>
#include <unistd.h>
#include <csignal>

#include <iostream>

using namespace magic::z1;

magic::z1::MagicRobot robot;

void signalHandler(int signum) {
  std::cout << "Interrupt signal (" << signum << ") received.\n";

  robot.Shutdown();
  // 退出进程
  exit(signum);
}

void print_help(const char* prog_name) {
  std::cout << "按键功能演示程序\n\n";
  std::cout << "用法: " << prog_name << "\n";
  std::cout << "按键功能说明:\n";
  std::cout << "  ESC      退出程序\n";
  std::cout << "  1        功能1:获取音量\n";
  std::cout << "  2        功能2:设置音量\n";
  std::cout << "  3        功能3:播放语音\n";
  std::cout << "  4        功能4:停止播放\n";
  std::cout << "  5        功能5:打开音频流\n";
  std::cout << "  6        功能6:关闭音频流\n";
  std::cout << "  7        功能7:订阅音频流\n";
}

int getch() {
  struct termios oldt, newt;
  int ch;
  tcgetattr(STDIN_FILENO, &oldt);  // 获取当前终端设置
  newt = oldt;
  newt.c_lflag &= ~(ICANON | ECHO);  // 关闭缓冲和回显
  tcsetattr(STDIN_FILENO, TCSANOW, &newt);
  ch = getchar();                           // 读取按键
  tcsetattr(STDIN_FILENO, TCSANOW, &oldt);  // 恢复设置
  return ch;
}

void GetVolume() {
  // 获取音频控制器
  auto& controller = robot.GetAudioController();

  // 获取音量
  int get_volume = 0;
  auto status = controller.GetVolume(get_volume);
  if (status.code != ErrorCode::OK) {
    std::cerr << "get volume failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    return;
  }
  std::cout << "get volume success, volume: " << std::to_string(get_volume) << std::endl;
}

void SetVolume() {
  // 获取音频控制器
  auto& controller = robot.GetAudioController();
  // 设置音量
  auto status = controller.SetVolume(7);
  if (status.code != ErrorCode::OK) {
    std::cerr << "set volume failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    return;
  }
  std::cout << "set volume success" << std::endl;
}

void PlayTts() {
  // 获取音频控制器
  auto& controller = robot.GetAudioController();
  // 播放语音
  TtsCommand tts;
  tts.id = "100000000001";
  tts.content = "今天天气怎么样！";
  tts.priority = TtsPriority::HIGH;
  tts.mode = TtsMode::CLEARTOP;
  auto status = controller.Play(tts);
  if (status.code != ErrorCode::OK) {
    std::cerr << "play tts failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    return;
  }
  std::cout << "play tts success" << std::endl;
}

void StopTts() {
  // 获取音频控制器
  auto& controller = robot.GetAudioController();
  // 停止播放语音
  auto status = controller.Stop();
  if (status.code != ErrorCode::OK) {
    std::cerr << "stop tts failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    return;
  }
  std::cout << "stop tts success" << std::endl;
}

void OpenAudioStream() {
  // 获取音频控制器
  auto& controller = robot.GetAudioController();
  // 打开音频流
  auto status = controller.OpenAudioStream();
  if (status.code != ErrorCode::OK) {
    std::cerr << "open audio stream failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    return;
  }
  std::cout << "open audio stream success" << std::endl;
}

void CloseAudioStream() {
  // 获取音频控制器
  auto& controller = robot.GetAudioController();
  // 关闭音频流
  auto status = controller.CloseAudioStream();
  if (status.code != ErrorCode::OK) {
    std::cerr << "close audio stream failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    return;
  }
  std::cout << "close audio stream success" << std::endl;
}

void SubscribeAudioStream() {
  // 获取音频控制器
  auto& controller = robot.GetAudioController();

  // 订阅音频流
  controller.SubscribeOriginAudioStream([](const std::shared_ptr<AudioStream> data) {
    static int32_t counter = 0;
    if (counter++ % 30 == 0) {
      std::cout << "Received origin audio stream data, size: " << data->data_length << std::endl;
    }
  });

  controller.SubscribeBfAudioStream([](const std::shared_ptr<AudioStream> data) {
    static int32_t counter = 0;
    if (counter++ % 30 == 0) {
      std::cout << "Received bf audio stream data, size: " << data->data_length << std::endl;
    }
  });
  std::cout << "Subscribed to audio streams" << std::endl;
}

int main(int argc, char* argv[]) {
  // 绑定 SIGINT（Ctrl+C）
  signal(SIGINT, signalHandler);

  print_help(argv[0]);

  std::string local_ip = "192.168.54.111";
  // 配置本机网线直连机器的IP地址，并进行SDK初始化
  if (!robot.Initialize(local_ip)) {
    std::cerr << "robot sdk initialize failed." << std::endl;
    robot.Shutdown();
    return -1;
  }

  // 设置rpc超时时间为10s
  robot.SetTimeout(10000);

  // 连接机器人
  auto status = robot.Connect();
  if (status.code != ErrorCode::OK) {
    std::cerr << "connect robot failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    robot.Shutdown();
    return -1;
  }

  std::cout << "按任意键继续 (ESC退出)..."
            << std::endl;

  // 等待用户输入
  while (1) {
    int key = getch();
    if (key == 27)
      break;  // ESC键ASCII码为27

    std::cout << "按键ASCII: " << key << ", 字符: " << static_cast<char>(key) << std::endl;
    switch (key) {
      case '1': {
        // 获取音量
        GetVolume();
        break;
      }
      case '2': {
        // 设置音量
        SetVolume();
        break;
      }
      case '3': {
        PlayTts();
        break;
      }
      case '4': {
        StopTts();
        break;
      }
      case '5': {
        OpenAudioStream();
        break;
      }
      case '6': {
        CloseAudioStream();
        break;
      }
      case '7': {
        SubscribeAudioStream();
        break;
      }
      default:
        std::cout << "未知按键: " << key << std::endl;
        break;
    }
  }

  // 断开与机器人的链接
  status = robot.Disconnect();
  if (status.code != ErrorCode::OK) {
    std::cerr << "disconnect robot failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    robot.Shutdown();
    return -1;
  }

  robot.Shutdown();

  return 0;
}

Python

示例文件：audio_example.py

参考文档：audio_reference.md

完整代码示例

#!/usr/bin/env python3

import sys
import time
import signal
import threading
import logging
from typing import Optional

import magicbot_z1_python as magicbot

# Configure logging format and level
logging.basicConfig(
    level=logging.INFO,  # Minimum log level
    format="%(asctime)s [%(levelname)s] %(message)s",
    datefmt="%Y-%m-%d %H:%M:%S",
    force=True,
)

# Global variables
robot: Optional[magicbot.MagicRobot] = None
running = True


def signal_handler(signum, frame):
    """Signal handler function for graceful exit"""
    global running, robot
    logging.info("Received interrupt signal (%s), exiting...", signum)
    running = False
    if robot:
        robot.disconnect()
        logging.info("Robot disconnected")
        robot.shutdown()
        logging.info("Robot shutdown")
    exit(-1)


def print_help():
    """Print help information"""
    logging.info("Key Function Demo Program")
    logging.info("")
    logging.info("Key Function Description:")
    logging.info("  ESC      Exit program")
    logging.info("  1        Function 1: Get volume")
    logging.info("  2        Function 2: Set volume")
    logging.info("  3        Function 3: Play TTS")
    logging.info("  4        Function 4: Stop playback")
    logging.info("  5        Function 5: Open audio stream")
    logging.info("  6        Function 6: Close audio stream")
    logging.info("  7        Function 7: Subscribe to audio stream")


def get_volume():
    """Get volume"""
    global robot
    try:
        # Get audio controller
        controller = robot.get_audio_controller()

        # Get volume
        status, volume = controller.get_volume()
        if status.code != magicbot.ErrorCode.OK:
            logging.error(
                "Failed to get volume, code: %s, message: %s",
                status.code,
                status.message,
            )
            return

        logging.info("Successfully got volume, volume: %s", volume)
    except Exception as e:
        logging.error("Exception occurred while getting volume: %s", e)


def set_volume():
    """Set volume"""
    global robot
    try:
        # Get audio controller
        controller = robot.get_audio_controller()

        # Set volume to 7
        status = controller.set_volume(7)
        if status.code != magicbot.ErrorCode.OK:
            logging.error(
                "Failed to set volume, code: %s, message: %s",
                status.code,
                status.message,
            )
            return

        logging.info("Successfully set volume")
    except Exception as e:
        logging.error("Exception occurred while setting volume: %s", e)


def play_tts():
    """Play TTS speech"""
    global robot
    try:
        # Get audio controller
        controller = robot.get_audio_controller()

        # Create TTS command
        tts = magicbot.TtsCommand()
        tts.id = "100000000001"
        tts.content = "How's the weather today!"
        tts.priority = magicbot.TtsPriority.HIGH
        tts.mode = magicbot.TtsMode.CLEARTOP

        # Play speech
        status = controller.play(tts)
        if status.code != magicbot.ErrorCode.OK:
            logging.error(
                "Failed to play TTS, code: %s, message: %s", status.code, status.message
            )
            return

        logging.info("Successfully played TTS")
    except Exception as e:
        logging.error("Exception occurred while playing TTS: %s", e)


def stop_tts():
    """Stop TTS playback"""
    global robot
    try:
        # Get audio controller
        controller = robot.get_audio_controller()

        # Stop speech playback
        status = controller.stop()
        if status.code != magicbot.ErrorCode.OK:
            logging.error(
                "Failed to stop TTS, code: %s, message: %s", status.code, status.message
            )
            return

        logging.info("Successfully stopped TTS")
    except Exception as e:
        logging.error("Exception occurred while stopping TTS: %s", e)


def open_audio_stream():
    """Open audio stream"""
    global robot
    try:
        # Get audio controller
        controller = robot.get_audio_controller()

        # Open audio stream
        status = controller.open_audio_stream()
        if status.code != magicbot.ErrorCode.OK:
            logging.error(
                "Failed to open audio stream, code: %s, message: %s",
                status.code,
                status.message,
            )
            return

        logging.info("Successfully opened audio stream")
    except Exception as e:
        logging.error("Exception occurred while opening audio stream: %s", e)


def close_audio_stream():
    """Close audio stream"""
    global robot
    try:
        # Get audio controller
        controller = robot.get_audio_controller()

        # Close audio stream
        status = controller.close_audio_stream()
        if status.code != magicbot.ErrorCode.OK:
            logging.error(
                "Failed to close audio stream, code: %s, message: %s",
                status.code,
                status.message,
            )
            return

        logging.info("Successfully closed audio stream")
    except Exception as e:
        logging.error("Exception occurred while closing audio stream: %s", e)


def subscribe_audio_stream():
    """Subscribe to audio stream"""
    global robot
    try:
        # Get audio controller
        controller = robot.get_audio_controller()

        # Audio stream counters
        origin_counter = 0
        bf_counter = 0

        def origin_audio_callback(audio_stream):
            """Original audio stream callback function"""
            nonlocal origin_counter
            if origin_counter % 30 == 0:
                logging.info(
                    "Received original audio stream data, size: %d",
                    audio_stream.data_length,
                )
            origin_counter += 1

        def bf_audio_callback(audio_stream):
            """BF audio stream callback function"""
            nonlocal bf_counter
            if bf_counter % 30 == 0:
                logging.info(
                    "Received BF audio stream data, size: %d", audio_stream.data_length
                )
            bf_counter += 1

        # Subscribe to audio streams
        controller.subscribe_origin_audio_stream(origin_audio_callback)
        controller.subscribe_bf_audio_stream(bf_audio_callback)

        logging.info("Subscribed to audio streams")
    except Exception as e:
        logging.error("Exception occurred while subscribing to audio stream: %s", e)


def get_user_input():
    """Get user input"""
    try:
        # Python implementation of getch() on Linux systems
        import tty
        import termios

        fd = sys.stdin.fileno()
        old_settings = termios.tcgetattr(fd)
        try:
            tty.setraw(sys.stdin.fileno())
            ch = sys.stdin.read(1)
        finally:
            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
        return ch
    except ImportError:
        # If termios is not available, use simple input
        return input("Please press a key: ").strip()


def main():
    """Main function"""
    global robot, running

    # Bind signal handler
    signal.signal(signal.SIGINT, signal_handler)

    logging.info("Robot model: %s", magicbot.get_robot_model())

    # Create robot instance
    robot = magicbot.MagicRobot()

    try:
        # Configure local IP address for direct network connection and initialize SDK
        local_ip = "192.168.54.111"
        if not robot.initialize(local_ip):
            logging.error("Failed to initialize robot SDK")
            robot.shutdown()
            return -1

        # Set RPC timeout to 10 seconds
        robot.set_timeout(10000)

        # Connect to robot
        status = robot.connect()
        if status.code != magicbot.ErrorCode.OK:
            logging.error(
                "Failed to connect to robot, code: %s, message: %s",
                status.code,
                status.message,
            )
            robot.shutdown()
            return -1

        logging.info("Successfully connected to robot")

        # Initialize audio controller
        audio_controller = robot.get_audio_controller()
        if not audio_controller.initialize():
            logging.error("Failed to initialize audio controller")
            robot.disconnect()
            robot.shutdown()
            return -1

        logging.info("Successfully initialized audio controller")
        print_help()
        logging.info("Press any key to continue (ESC to exit)...")

        # Main loop
        while running:
            try:
                key = get_user_input()

                if key == "\x1b":  # ESC key
                    break

                logging.info("Key pressed: %s", key)

                if key == "1":
                    get_volume()
                elif key == "2":
                    set_volume()
                elif key == "3":
                    play_tts()
                elif key == "4":
                    stop_tts()
                elif key == "5":
                    open_audio_stream()
                elif key == "6":
                    close_audio_stream()
                elif key == "7":
                    subscribe_audio_stream()
                else:
                    logging.warning("Unknown key: %s", key)

                time.sleep(0.01)  # Brief delay

            except KeyboardInterrupt:
                break
            except Exception as e:
                logging.error("Exception occurred while processing user input: %s", e)
    except Exception as e:
        logging.error("Exception occurred during program execution: %s", e)
        return -1

    finally:
        # Clean up resources
        try:
            logging.info("Clean up resources")
            # Close sensor controller
            audio_controller = robot.get_audio_controller()
            audio_controller.shutdown()
            logging.info("Audio controller closed")

            # Disconnect
            robot.disconnect()
            logging.info("Robot connection disconnected")

            # Shutdown robot
            robot.shutdown()
            logging.info("Robot shutdown")

        except Exception as e:
            logging.error("Exception occurred while cleaning up resources: %s", e)


if __name__ == "__main__":
    sys.exit(main())

运行说明

1. 环境准备：

# 设置环境变量
export PYTHONPATH=/opt/magic_robotics/magicbot_z1_sdk/lib:$PYTHONPATH
export LD_LIBRARY_PATH=/opt/magic_robotics/magicbot_z1_sdk/lib:$LD_LIBRARY_PATH

2. 运行示例：

# C++
./audio_example
# Python
python3 audio_example.py

3. 控制说明：

• ESC：退出程序
• 1：获取当前音量
• 2：设置音量为7
• 3：播放TTS语音
• 4：停止TTS播放
• 5：打开音频流
• 6：关闭音频流
• 7：订阅音频流数据

4. 停止程序：

• 按 Ctrl+C 可以安全停止程序
• 程序会自动清理所有资源