feat: multi-channel qi audio possible

src/robot_interface/endpoints/audio_sender.py

@@ -6,13 +6,16 @@ University within the Software Project course.
 """
 
 from __future__ import unicode_literals  # So that `logging` can use Unicode characters in names
+
+import audioop
+
+import enum
 from abc import ABCMeta, abstractmethod
 import threading
 import logging
 import Queue
 
 import numpy as np
-import pyaudio
 import zmq
 
 from robot_interface.endpoints.socket_base import SocketBase
@@ -38,28 +41,56 @@ class AudioCapturer(object):
     def generate_chunk(self):
         raise NotImplementedError()
 
+class SampleRate(enum.Enum):
+    """
+    Sample rate to use in Hz.
+    """
+    LOW = 16000
+    HIGH = 48000
+
+class PepperMicrophone(enum.Enum):
+    """
+    Which of Pepper's microphones to use. In our case, some of the mics were damages/didn't work
+    well, so we choose to only use the fron right. If you have a Pepper robot with all working mics,
+    you might wish to use all microphones, to improve overall audio quality.
+    """
+    ALL = 0
+    LEFT = 1
+    RIGHT = 2
+    FRONT_LEFT = 3
+    FRONT_RIGHT = 4
+
 
 class QiAudioCapturer(AudioCapturer):
-    def __init__(self, sample_rate=16000, channels=1, deinterleaved=0):
+    def __init__(self, sample_rate=SampleRate.LOW, mic=PepperMicrophone.FRONT_RIGHT,
+                 deinterleaved=0):
         self.session = state.qi_session
         if not self.session:
             raise RuntimeError("Cannot capture from qi device, no qi session available.")
 
+        if sample_rate == SampleRate.HIGH and mic != PepperMicrophone.ALL:
+            raise RuntimeError("For 48000 Hz, you must select all microphones.")
+        if mic == PepperMicrophone.ALL and sample_rate != SampleRate.HIGH:
+            raise RuntimeError("For using all microphones, 48000 Hz is required.")
+
         self.audio = self.session.service("ALAudioDevice")
 
         self.service_name = "ZmqAudioStreamer"
         self.sample_rate = sample_rate
-        self.channels = channels
+        self.mic = mic
         self.deinterleaved = deinterleaved
 
         self.overflow = np.empty(0, dtype=np.float32)
 
         self.q = Queue.Queue()
 
+        self._rate_state = None
+
     def setup(self):
         assert self.session is not None
         self.session.registerService(self.service_name, self)
-        self.audio.setClientPreferences(self.service_name, self.sample_rate, self.channels, self.deinterleaved)
+        self.audio.setClientPreferences(self.service_name, self.sample_rate.value, self.mic.value,
+                                        self.deinterleaved)
         self.audio.subscribe(self.service_name)
 
     def stop(self):
@@ -79,18 +110,28 @@ class QiAudioCapturer(AudioCapturer):
     def processRemote(self, nbOfChannels, nbOfSamplesByChannel, timeStamp, inputBuffer):
         raw_pcm = bytes(inputBuffer)
 
-        assert nbOfChannels == 1
-
         pcm_i16 = np.frombuffer(raw_pcm, dtype=np.int16)
-        pcm_f32 = pcm_i16.astype(np.float32) / 32768.0
+
+        # Make mono channel (if it was 4 channels)
+        pcm_i32_mono = self._make_mono(pcm_i16.astype(np.int32), nbOfChannels)
+
+        # Resample (if it was 48k)
+        pcm_i32_mono_16k, self._rate_state = audioop.ratecv(pcm_i32_mono.tobytes(), 4, 1,
+                                                            self.sample_rate.value,
+                                                            SampleRate.LOW.value, self._rate_state)
+        pcm_f32_mono_16k = (np.frombuffer(pcm_i32_mono_16k, dtype=np.int32).astype(np.float32) /
+                            32768.0)
 
         # Attach overflow
-        pcm_f32 = np.append(self.overflow, pcm_f32)
+        pcm_f32_mono_16k = np.append(self.overflow, pcm_f32_mono_16k)
 
-        for i in range(len(pcm_f32) // 512):
+        for i in range(len(pcm_f32_mono_16k) // 512):
-            self.q.put_nowait(pcm_f32[i * 512 : (i + 1) * 512].tobytes())
+            self.q.put_nowait(pcm_f32_mono_16k[i * 512 : (i + 1) * 512].tobytes())
 
-        self.overflow = pcm_f32[len(pcm_f32) // 512 * 512 :]
+        self.overflow = pcm_f32_mono_16k[len(pcm_f32_mono_16k) // 512 * 512 :]
+
+    def _make_mono(self, frag, channels):
+        return frag.reshape(-1, channels).mean(axis=1, dtype=np.int32)
 
 
 class StandaloneAudioCapturer: