首先程序中会用到Json，curl

安装相应的库

$ sudo apt-get install libcurl3 libcurl4-openssl-dev $ sudo apt-get install libjsoncpp0 libjsoncpp-dev

关机重启

 

参考

http://www.cnblogs.com/moodlxs/archive/2012/10/15/2724318.html

 使用curl库，以post方式向服务器发送json数据  http://blog.csdn.net/dgyanyong/article/details/14166217

libcurl使用程序总结                                                   http://www.programgo.com/article/71711741757/

 

在上节 tts_voice/src 中添加tuling_arv.cpp

 

/* *  tuling_arv.cpp *  tuling_arv_node*/#include
     
      #include
      
       #include
       
        #include
        
         #include
         
          #include
          
           #include
           
            #include
            
             using namespace std;int flag = 0;string result; int writer(char *data, size_t size, size_t nmemb, string *writerData){ unsigned long sizes = size * nmemb; if (writerData == NULL) return -1; writerData->append(data, sizes); return sizes;}/** 解析图灵服务器返回的Json string*/int parseJsonResonse(string input){ Json::Value root; Json::Reader reader; bool parsingSuccessful = reader.parse(input, root); if(!parsingSuccessful) { std::cout<<"!!! Failed to parse the response data"<< std::endl; return -1; } const Json::Value code = root["code"]; const Json::Value text = root["text"]; result = text.asString(); flag = 1; std::cout<< "response code:" << code << std::endl; std::cout<< "response text:" << result << std::endl; return 0;}/** 将input字腹发送到图灵服务器接受json string*/int HttpPostRequest(string input){ string buffer; std::string strJson = "{"; strJson += "\"key\" : \"1bf4cfd53fea4ee09f327822c53ad20c\","; //双引号前加／防转仪 strJson += "\"info\" : "; strJson += "\""; strJson += input; strJson += "\""; strJson += "}"; std::cout<<"post json string: " << strJson << std::endl; try { CURL *pCurl = NULL; CURLcode res; // In windows, this will init the winsock stuff curl_global_init(CURL_GLOBAL_ALL); // get a curl handle pCurl = curl_easy_init(); if (NULL != pCurl) { // 设置超时时间为10秒 curl_easy_setopt(pCurl, CURLOPT_TIMEOUT, 10); // First set the URL that is about to receive our POST. // This URL can just as well be a // https:// URL if that is what should receive the data. curl_easy_setopt(pCurl, CURLOPT_URL, "http://www.tuling123.com/openapi/api"); //curl_easy_setopt(pCurl, CURLOPT_URL, "http://192.168.0.2/posttest.cgi"); // 设置http发送的内容类型为JSON curl_slist *plist = curl_slist_append(NULL, "Content-Type:application/json;charset=UTF-8"); curl_easy_setopt(pCurl, CURLOPT_HTTPHEADER, plist); // 设置要POST的JSON数据 curl_easy_setopt(pCurl, CURLOPT_POSTFIELDS, strJson.c_str()); curl_easy_setopt(pCurl, CURLOPT_WRITEFUNCTION, writer); curl_easy_setopt(pCurl, CURLOPT_WRITEDATA, &buffer); // Perform the request, res will get the return code res = curl_easy_perform(pCurl); // Check for errors if (res != CURLE_OK) { printf("curl_easy_perform() failed:%s\n", curl_easy_strerror(res)); } // always cleanup curl_easy_cleanup(pCurl); } curl_global_cleanup(); } catch (std::exception &ex) { printf("curl exception %s.\n", ex.what()); } if(buffer.empty()) { std::cout<< "!!! ERROR The Tuling sever response NULL" << std::endl; } else { parseJsonResonse(buffer); } return 0;}/** 当voice/tuling_arv_topic话题有消息时，调用HttpPostRequest向图灵服务器发送内容，返回结果。*/void arvCallBack(const std_msgs::String::ConstPtr &msg){ std::cout<<"your quesion is: " << msg->data << std::endl; HttpPostRequest(msg->data);}int main(int argc, char **argv){ ros::init(argc, argv,"tuling_arv_node"); ros::NodeHandle nd; ros::Subscriber sub = nd.subscribe("voice/tuling_arv_topic", 10, arvCallBack); ros::Publisher pub = nd.advertise
             
              ("/voice/xf_tts_topic", 10); ros::Rate loop_rate(10); while(ros::ok()) { if(flag) { std_msgs::String msg; msg.data = result; pub.publish(msg); flag = 0; } ros::spinOnce(); loop_rate.sleep(); }}
             
            
           
          
         
        
       
      
     

 修改Cmkefile文件添加

add_executable(tuling_arv_node src/tuling_arv.cpp) target_link_libraries(tuling_arv_node   ${catkin_LIBRARIES} -lcurl -ljsoncpp)

 

 

 

编译完后运行

$ roscore$ rosrun tts_voice tts_voice_node $ rosrun tts_voice tuling_arv_node$ rostopic pub -1  /voice/tuling_arv_topic std_msgs/String "讲个绕 口令吧"