no message

Author: shadow-in-the-west

.gitignore

@@ -14,4 +14,5 @@ test_raw.wav
 *.log
 #调试帧
 frames/
-.idea/
+.idea/
+src/track/output_frames

assets/family_info.json

@@ -42,6 +42,20 @@
       "audio_file": "assets/voice/dog/dog_ok.wav",
       "command":"play off"
     },
+    {
+      "question": "开启跟随模式",
+      "answer": "好的",
+      "update_time": "2025-10-01 16:35:00",
+      "audio_file": "assets/voice/dog/dog_ok.wav",
+      "command":"track on"
+    },
+    {
+      "question": "关闭跟随模式",
+      "answer": "好的",
+      "update_time": "2025-10-01 16:35:00",
+      "audio_file": "assets/voice/dog/dog_ok.wav",
+      "command":"track off"
+    },
     {
       "question": "小影，往前走。",
       "answer": "好的，前进。",

src/main.py

@@ -1,6 +1,8 @@
 # -*- coding: utf-8 -*-
 import logging
 import utils.logger
+from src.track.person_follow_yolo import PersonFollower
+
 logger_level=logging.INFO # 日志级别，DEBUG/INFO/WARNING/ERROR
 utils.logger.get_logger(name='Log', log_level=logger_level)
 logger = logging.getLogger(name='Log')
@@ -66,7 +68,7 @@ def get_camera_source():
         img_size=(256, 256)
     )
     '''
-    voice_assistant = VoiceAssistant(memory_manager,robot_controller)
+    voice_assistant = VoiceAssistant(memory_manager,robot_controller, cam_manager)
 
 
     # 为每个检测器创建单独的线程

src/speech/voice_assistant.py

@@ -1,5 +1,8 @@
 #!/usr/bin/env python3
 import logging
+
+from src.track.person_follow_yolo import PersonFollower
+
 logger = logging.getLogger(name='Log')
 logger.info("开始加载语音助手")
 import json
@@ -29,7 +32,7 @@
 # os.environ['HF_ENDPOINT'] = 'https://hf-mirror.com'
 
 class VoiceAssistant:
-    def __init__(self, memory_manager ,robot_controller):
+    def __init__(self, memory_manager ,robot_controller, cam_manager):
         self.memory_manager = memory_manager
         self.robot_controller = robot_controller
         # 音频参数(与 Paraformer 兼容)
@@ -68,6 +71,13 @@ def __init__(self, memory_manager ,robot_controller):
             api_key=os.getenv("DASHSCOPE_API_KEY", "sk-51a6a596303e466f9054520ec297af09"),
             base_url="https://dashscope.aliyuncs.com/compatible-mode/v1",
         )
+        follower = PersonFollower(
+            robot=robot_controller,
+            camera_manager=cam_manager,
+            model_path="yolov8n.pt"  # 确保本地能加载，或让 ultralytics 自动下载
+        )
+        self.follower_thread = threading.Thread(target=follower.run, name="Follower_Thread")
+
 
     def load_commands_db(self):
         """加载本地命令数据库"""
@@ -471,6 +481,14 @@ def execute_action(self, action, text ,fine_duration):
             print("命令：握手")
             self.robot_controller.give_hand()
             return "assets/voice/dog/dog_give_hand.wav"
+        elif action == "track on":
+            print("开启跟随")
+            self.follower_thread.start()
+            return "assets/voice/dog/dog_ok.wav"
+        elif action == "track on":
+            print("关闭跟随(暂时关不掉)")
+
+            return "assets/voice/dog/dog_ok.wav"
         else:
             print(f"警告：无命令: {action}")