clean up

Author: oliviamiller

src/viam/sdk/CMakeLists.txt

@@ -179,6 +179,7 @@ target_sources(viamsdk
       ../../viam/sdk/common/version_metadata.hpp
       ../../viam/sdk/common/world_state.hpp
       ../../viam/sdk/components/arm.hpp
+      ../../viam/sdk/components/audio_out.hpp
       ../../viam/sdk/components/base.hpp
       ../../viam/sdk/components/board.hpp
       ../../viam/sdk/components/button.hpp

src/viam/sdk/components/audio_out.hpp

@@ -27,18 +27,18 @@ class AudioOut : public Component {
     using audio_info = viam::sdk::audio_info;
 
     /// @brief Play audio data
-    /// @param audio_data The raw audio data to play as bytes
-    /// @param info Optional info about the audio_data (codec, sample rate, channels). Pass nullptr
-    /// if not needed.
+    /// @param audio_data The audio data to play as bytes
+    /// @param info Optional info about the audio_data (codec, sample rate, channels). Required for
+    /// raw PCM data, pass nullptr if not needed.
     inline void play(std::vector<uint8_t> const& audio_data,
                      std::shared_ptr<audio_info> info = nullptr) {
         return play(audio_data, info, {});
     }
 
     /// @brief Play audio through the audioout component
     /// @param audio_data The audio data to play
-    /// @param info Optional info about the audio_data (codec, sample rate, channels). Pass nullptr
-    /// if not needed.
+    /// @param info Optional info about the audio_data (codec, sample rate, channels). Required for
+    /// raw PCM data, pass nullptr if not needed.
     /// @param extra Any additional arguments to the method
     virtual void play(std::vector<uint8_t> const& audio_data,
                       std::shared_ptr<audio_info> info,

src/viam/sdk/components/private/audio_out_client.cpp

@@ -32,15 +32,11 @@ void AudioOutClient::play(std::vector<uint8_t> const& audio_data,
         .with(extra,
               [&](auto& request) {
                   // Convert audio_data from std::vector<uint8_t> to string
-                  std::string audio_data_str;
-                  audio_data_str.reserve(audio_data.size());
-                  for (const auto& byte : audio_data) {
-                      audio_data_str.push_back(static_cast<char>(byte));
-                  }
+                  std::string audio_data_str(audio_data.begin(), audio_data.end());
                   request.set_audio_data(std::move(audio_data_str));
 
                   if (info) {
-                      auto* proto_info = request.mutable_audio_info();
+                      ::viam::common::v1::AudioInfo* proto_info = request.mutable_audio_info();
                       proto_info->set_codec(info->codec);
                       proto_info->set_sample_rate_hz(info->sample_rate_hz);
                       proto_info->set_num_channels(info->num_channels);
@@ -53,7 +49,7 @@ audio_properties AudioOutClient::get_properties(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetProperties)
         .with(extra)
         .invoke([](auto& response) {
-            // Convert repeated field to vector
+            // Convert proto repeated field to vector
             std::vector<std::string> codecs;
             codecs.reserve(response.supported_codecs_size());
             for (const auto& codec : response.supported_codecs()) {

src/viam/sdk/components/private/audio_out_server.cpp

@@ -18,12 +18,9 @@ ::grpc::Status AudioOutServer::Play(::grpc::ServerContext*,
     return make_service_helper<AudioOut>(
         "AudioOutServer::Play", this, request)([&](auto& helper, auto& audio_out) {
         // Convert audio_data from string to std::vector<uint8_t>
-        const std::string& audio_data_str = request->audio_data();
         std::vector<uint8_t> audio_data;
-        audio_data.reserve(audio_data_str.size());
-        for (char c : audio_data_str) {
-            audio_data.push_back(static_cast<uint8_t>(c));
-        }
+        const std::string& audio_data_str = request->audio_data();
+        audio_data.assign(audio_data_str.c_str(), audio_data_str.c_str() + audio_data_str.size());
 
         std::shared_ptr<audio_info> info_ptr;
         if (request->has_audio_info()) {