pepperplus/pepperplus-ri
1
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

fix: make QI audio sender working

Browse Source
This commit is contained in:
Twirre Meulenbelt
2026-02-09 09:39:48 +01:00
parent 6e2bedcd32
commit 31c76ecf84
2 changed files with 6 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
requirements.txt
View File

@@ -7,3 +7,4 @@ sphinx
sphinx_rtd_theme sphinx_rtd_theme
pre-commit pre-commit
python-dotenv python-dotenv
numpy<=1.16.6

12
src/robot_interface/endpoints/audio_sender.py
View File

@@ -37,7 +37,6 @@ class AudioCapturer(object):
@abstractmethod @abstractmethod
def generate_chunk(self): def generate_chunk(self):
raise NotImplementedError() raise NotImplementedError()
class QiAudioCapturer(AudioCapturer): class QiAudioCapturer(AudioCapturer):
@@ -69,15 +68,13 @@ class QiAudioCapturer(AudioCapturer):
except: except:
pass pass
def generate_chunk(self):
def audio_gen(self):
try: try:
chunk = self.q.get(True, 0.1) chunk = self.q.get(True, 0.1)
return chunk return chunk
except Queue.Empty: except Queue.Empty:
return None return None
# Callback invoked by NAOqi # Callback invoked by NAOqi
def processRemote(self, nbOfChannels, nbOfSamplesByChannel, timeStamp, inputBuffer): def processRemote(self, nbOfChannels, nbOfSamplesByChannel, timeStamp, inputBuffer):
raw_pcm = bytes(inputBuffer) raw_pcm = bytes(inputBuffer)
@@ -91,10 +88,11 @@ class QiAudioCapturer(AudioCapturer):
pcm_f32 = np.append(self.overflow, pcm_f32) pcm_f32 = np.append(self.overflow, pcm_f32)
for i in range(len(pcm_f32) // 512): for i in range(len(pcm_f32) // 512):
self.q.put_nowait(pcm_f32[i * 512 : (i + 1) * 512]) self.q.put_nowait(pcm_f32[i * 512 : (i + 1) * 512].tobytes())
self.overflow = pcm_f32[len(pcm_f32) // 512 * 512 :] self.overflow = pcm_f32[len(pcm_f32) // 512 * 512 :]
class StandaloneAudioCapturer: class StandaloneAudioCapturer:
pass pass
@@ -108,8 +106,8 @@ class AudioSender(SocketBase):
self.capturer = self.choose_capturer() self.capturer = self.choose_capturer()
def start(self): def start(self):
self.capturer.setup()
self.thread.start() self.thread.start()
def close(self): def close(self):
@@ -120,7 +118,7 @@ class AudioSender(SocketBase):
while not state.exit_event.is_set(): while not state.exit_event.is_set():
chunk = self.capturer.generate_chunk() chunk = self.capturer.generate_chunk()
if not chunk or state.is_speaking: if chunk is None or state.is_speaking:
continue continue
self.socket.send(chunk) self.socket.send(chunk)