修正声纹验证音频长度计算

robot_speaker/core/node_workers.py

@@ -119,7 +119,16 @@ class NodeWorkers:
         node = self.node
         node.get_logger().info("[声纹识别线程] 启动")
         
-        min_audio_samples = 8000
+        # 动态计算最小音频样本数，确保降采样到16kHz后≥0.5秒
+        target_sr = 16000  # CAM++模型目标采样率
+        min_duration_seconds = 0.5
+        min_samples_at_target_sr = int(target_sr * min_duration_seconds)  # 8000样本@16kHz
+        
+        if node.sample_rate >= target_sr:
+            downsample_step = int(node.sample_rate / target_sr)
+            min_audio_samples = min_samples_at_target_sr * downsample_step
+        else:
+            min_audio_samples = int(node.sample_rate * min_duration_seconds)
         
         while not node.stop_event.is_set():
             try: