Merge pull request #398 from pollen-robotics/397-no-input-sound---badly-initialized-microphones

397 no input sound   badly initialized microphones

Author: CarolinePascal

docs/troubleshooting.md

@@ -1,29 +1,30 @@
 # Troubleshooting
 
+
 ## No Microphone Input
 *For beta only*
 
-There is a known issue where the microphone may not initialize correctly. The best way to resolve this is to reboot the microphone array using [xvf_host](https://github.com/respeaker/reSpeaker_XVF3800_USB_4MIC_ARRAY/tree/master/host_control):
-
-```bash
-xvf_host(.exe) REBOOT 1
-```
+There is a known issue where the microphone may not initialize correctly. Please update to [firmware 2.1.3](../src/reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.3.bin). You may need to run the [update script](../src/reachy_mini/assets/firmware/update.sh).
 
-Then run [examples/debug/sound_record.py](../examples/debug/sound_record.py) to check that everything is working properly.
+Afterwards, run [examples/debug/sound_record.py](../examples/debug/sound_record.py) to check that everything is working properly.
 
 If the problem persists, check the connection of the flex cables ([see slides 45 to 47](https://huggingface.co/spaces/pollen-robotics/Reachy_Mini_Assembly_Guide)).
 
+
 ## Sound Direction of Arrival Not Working
 *For beta only*
 
-The microphone array requires firmware version 2.1.0 or higher to support this feature. The firmware is located in `src/reachy_mini/assets/firmware/*.bin`.
+The microphone array requires firmware version 2.1.0 or higher to support this feature. The firmware files are located in `src/reachy_mini/assets/firmware/*.bin`.
 
 Refer to the [Seeed documentation](https://wiki.seeedstudio.com/respeaker_xvf3800_introduction/#update-firmware) for the upgrade process.
 
+A [helper script](../src/reachy_mini/assets/firmware/update.sh) is available for Unix users.
+
+
 ## Volume Is Too Low
 *Linux only*
 
-Check with `alsamixer` that PCM1 is set to 100%. Then use PCM,0 to adjust the volume.
+Check in `alsamixer` that PCM1 is set to 100%. Then use PCM,0 to adjust the volume.
 
 To make this change permanent:
 ```bash
@@ -32,6 +33,7 @@ amixer -c "$CARD" set PCM,1 100%
 sudo alsactl store "$CARD"
 ```
 
+
 ## Circular Buffer Overrun Warning
 
 When starting a client with `with ReachyMini() as mini:` in Mujoco (--sim mode), you may see the following warning:

examples/debug/sound_doa.py

@@ -26,7 +26,7 @@ def main() -> None:
             doa = mini.media.audio.get_DoA()
             print(f"DOA: {doa}")
             if doa[1] and np.abs(doa[0] - last_doa) > THRESHOLD:
-                print(f"  Speech detected at {doa[0]:.1f}°")
+                print(f"  Speech detected at {doa[0]:.1f} radians")
                 p_head = [np.sin(doa[0]), np.cos(doa[0]), 0.0]
                 print(
                     f"  Pointing to x={p_head[0]:.2f}, y={p_head[1]:.2f}, z={p_head[2]:.2f}"

src/reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.0.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:134d4f119a5f3e9eda7fedd60b1eb0274ece9b8fafcfbe5b35117c40b31beb9a
+size 933888

src/reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.3.bin

@@ -0,0 +1,9 @@
+#!/bin/bash
+# Firmware update script for Reachy Mini
+# Usage: ./update.sh <firmware_file>
+firmware="$1"
+if [ -z "$firmware" ]; then
+    echo "Usage: $0 <firmware_file>"
+    exit 1
+fi
+dfu-util -R -e -a 1 -D "$firmware"

src/reachy_mini/assets/firmware/update.sh

@@ -5,39 +5,30 @@
 """
 
 import logging
-import struct
 from abc import ABC, abstractmethod
-from typing import List, Optional
+from typing import Optional
 
 import numpy as np
 import numpy.typing as npt
-import usb
-from libusb_package import get_libusb1_backend
+
+from reachy_mini.media.audio_control_utils import ReSpeaker, init_respeaker_usb
 
 
 class AudioBase(ABC):
     """Abstract class for opening and managing audio devices."""
 
     SAMPLE_RATE = 16000  # respeaker samplerate
-    TIMEOUT = 100000
-    PARAMETERS = {
-        "VERSION": (48, 0, 4, "ro", "uint8"),
-        "AEC_AZIMUTH_VALUES": (33, 75, 16 + 1, "ro", "radians"),
-        "DOA_VALUE": (20, 18, 4 + 1, "ro", "uint16"),
-        "DOA_VALUE_RADIANS": (20, 19, 8 + 1, "ro", "radians"),
-    }
 
     def __init__(self, log_level: str = "INFO") -> None:
         """Initialize the audio device."""
         self.logger = logging.getLogger(__name__)
         self.logger.setLevel(log_level)
-        self._respeaker = self._init_respeaker_usb()
-        # name, resid, cmdid, length, type
+        self._respeaker: Optional[ReSpeaker] = init_respeaker_usb()
 
     def __del__(self) -> None:
         """Destructor to ensure resources are released."""
         if self._respeaker:
-            usb.util.dispose_resources(self._respeaker)
+            self._respeaker.close()
 
     @abstractmethod
     def start_recording(self) -> None:
@@ -79,63 +70,6 @@ def play_sound(self, sound_file: str) -> None:
         """
         pass
 
-    def _init_respeaker_usb(self) -> Optional[usb.core.Device]:
-        try:
-            dev = usb.core.find(
-                idVendor=0x2886, idProduct=0x001A, backend=get_libusb1_backend()
-            )
-            return dev
-        except usb.core.NoBackendError:
-            self.logger.error(
-                "No USB backend was found ! Make sure libusb_package is correctly installed with `pip install libusb_package`."
-            )
-            return None
-
-    def _read_usb(self, name: str) -> Optional[List[int] | List[float]]:
-        try:
-            data = self.PARAMETERS[name]
-        except KeyError:
-            self.logger.error(f"Unknown parameter: {name}")
-            return None
-
-        if not self._respeaker:
-            self.logger.warning("ReSpeaker device not found.")
-            return None
-
-        resid = data[0]
-        cmdid = 0x80 | data[1]
-        length = data[2]
-
-        response = self._respeaker.ctrl_transfer(
-            usb.util.CTRL_IN
-            | usb.util.CTRL_TYPE_VENDOR
-            | usb.util.CTRL_RECIPIENT_DEVICE,
-            0,
-            cmdid,
-            resid,
-            length,
-            self.TIMEOUT,
-        )
-
-        self.logger.debug(f"Response for {name}: {response}")
-
-        result: Optional[List[float] | List[int]] = None
-        if data[4] == "uint8":
-            result = response.tolist()
-        elif data[4] == "radians":
-            byte_data = response.tobytes()
-            num_values = (data[2] - 1) / 4
-            match_str = "<"
-            for i in range(int(num_values)):
-                match_str += "f"
-            result = [
-                float(x) for x in struct.unpack(match_str, byte_data[1 : data[2]])
-            ]
-        elif data[4] == "uint16":
-            result = response.tolist()
-
-        return result
-
     def get_DoA(self) -> tuple[float, bool] | None:
         """Get the Direction of Arrival (DoA) value from the ReSpeaker device.
 
@@ -153,7 +87,8 @@ def get_DoA(self) -> tuple[float, bool] | None:
         if not self._respeaker:
             self.logger.warning("ReSpeaker device not found.")
             return None
-        result = self._read_usb("DOA_VALUE_RADIANS")
+
+        result = self._respeaker.read("DOA_VALUE_RADIANS")
         if result is None:
             return None
         return float(result[0]), bool(result[1])