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Qi audio sender #31

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kasper merged 5 commits from temp/qi-sender into main 2026-02-09 14:54:13 +00:00
Conversation 0 Commits 5 Files Changed 9 +6 -7
2 changed files with 6 additions and 7 deletions
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Showing only changes of commit 31c76ecf84 - Show all commits

1
requirements.txt
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@@ -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
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@@ -39,7 +39,6 @@ class AudioCapturer(object):
raise NotImplementedError() raise NotImplementedError()
class QiAudioCapturer(AudioCapturer): class QiAudioCapturer(AudioCapturer):
def __init__(self, sample_rate=16000, channels=1, deinterleaved=0): def __init__(self, sample_rate=16000, channels=1, deinterleaved=0):
self.session = state.qi_session self.session = state.qi_session
@@ -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)