RSDK-12150 Add AudioIn Component

codesamples/apis.json

@@ -3,6 +3,11 @@
         "client": "Arm",
         "func": "get_end_position",
         "args": []
+    },
+     "audio_in": {
+        "client": "AudioIn",
+        "func": "get_properties",
+        "args": []
     },
     "button": {
         "client": "Button",

src/viam/api/CMakeLists.txt

@@ -132,6 +132,14 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     ${PROTO_GEN_DIR}/component/arm/v1/arm.grpc.pb.h
     ${PROTO_GEN_DIR}/component/arm/v1/arm.pb.cc
     ${PROTO_GEN_DIR}/component/arm/v1/arm.pb.h
+    ${PROTO_GEN_DIR}/component/audioin/v1/audioin.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/audioin/v1/audioin.grpc.pb.h
+    ${PROTO_GEN_DIR}/component/audioin/v1/audioin.pb.cc
+    ${PROTO_GEN_DIR}/component/audioin/v1/audioin.pb.h
+    ${PROTO_GEN_DIR}/component/audioout/v1/audioout.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/audioout/v1/audioout.grpc.pb.h
+    ${PROTO_GEN_DIR}/component/audioout/v1/audioout.pb.cc
+    ${PROTO_GEN_DIR}/component/audioout/v1/audioout.pb.h
     ${PROTO_GEN_DIR}/component/base/v1/base.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/base/v1/base.grpc.pb.h
     ${PROTO_GEN_DIR}/component/base/v1/base.pb.cc
@@ -294,6 +302,10 @@ target_sources(viamapi
     ${PROTO_GEN_DIR}/common/v1/common.pb.cc
     ${PROTO_GEN_DIR}/component/arm/v1/arm.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/arm/v1/arm.pb.cc
+    ${PROTO_GEN_DIR}/component/audioin/v1/audioin.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/audioin/v1/audioin.pb.cc
+    ${PROTO_GEN_DIR}/component/audioout/v1/audioout.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/audioout/v1/audioout.pb.cc
     ${PROTO_GEN_DIR}/component/base/v1/base.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/base/v1/base.pb.cc
     ${PROTO_GEN_DIR}/component/board/v1/board.grpc.pb.cc
@@ -358,6 +370,10 @@ target_sources(viamapi
       ${PROTO_GEN_DIR}/../../viam/api/common/v1/common.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/arm/v1/arm.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/arm/v1/arm.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/audioin/v1/audioin.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/audioin/v1/audioin.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/audioout/v1/audioout.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/audioout/v1/audioout.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/base/v1/base.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/base/v1/base.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/board/v1/board.grpc.pb.h

src/viam/examples/modules/CMakeLists.txt

@@ -15,3 +15,4 @@
 add_subdirectory(tflite)
 add_subdirectory(simple)
 add_subdirectory(complex)
+add_subdirectory(audioin)

src/viam/examples/modules/audioin/CMakeLists.txt

@@ -0,0 +1,43 @@
+# Copyright 2023 Viam Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+add_executable(audioin_module
+  main.cpp
+)
+
+target_link_libraries(audioin_module
+  PRIVATE Threads::Threads
+  viam-cpp-sdk::viamsdk
+)
+
+install(
+  TARGETS audioin_module
+  COMPONENT examples
+)
+
+add_executable(audioin_client)
+target_sources(audioin_client
+  PRIVATE
+    client.cpp
+)
+
+
+target_link_libraries(audioin_client
+  viam-cpp-sdk::viamsdk
+)
+
+install(
+  TARGETS audioin_client
+  COMPONENT examples
+)

src/viam/examples/modules/audioin/README.md

@@ -0,0 +1,34 @@
+# VIAM Simple Module Example
+This example goes through how to create a custom audio input resource using Viam's C++ SDK, and how to connect it to a Robot.
+
+This is a limited document. For a more in-depth understanding of modules, see the [documentation](https://docs.viam.com/registry/).
+
+Refer to main.cpp and the comments throughout for more information. For other C++ module examples, refer to the [simple module example](https://github.com/viamrobotics/viam-cpp-sdk/tree/main/src/viam/examples/modules/simple) or [complex module example](https://github.com/viamrobotics/viam-cpp-sdk/tree/main/src/viam/examples/modules/complex).
+
+For a fully fleshed-out example of a C++ module that uses Github CI to upload to the Viam Registry, take a look at [module-example-cpp](https://github.com/viamrobotics/module-example-cpp). For a list of example modules in different Viam SDKs, take a look [here](https://github.com/viamrobotics/upload-module/#example-repos).
+
+This is a limited document. For a more in-depth understanding of modules generally, see the [documentation](https://docs.viam.com/program/extend/modular-resources/).
+
+
+Example Configuration:
+```json{
+  "components": [
+    {
+      "name": "sinewave-audio",
+      "api": "rdk:component:audio_in",
+      "model": "viam:audio_in:sinewave",
+      "attributes": {
+        "frequency": 440
+      }
+    }
+  ],
+  "modules": [
+    {
+      "type": "local",
+      "name": "my-module",
+      "executable_path": "/home/viam-cpp-sdk/build/src/viam/examples/modules/audioin/audioin_module"
+    }
+  ]
+}
+```
+

src/viam/examples/modules/audioin/client.cpp

@@ -0,0 +1,110 @@
+#include <iostream>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <viam/sdk/common/audio.hpp>
+#include <viam/sdk/common/instance.hpp>
+#include <viam/sdk/common/proto_value.hpp>
+#include <viam/sdk/components/audio_in.hpp>
+#include <viam/sdk/log/logging.hpp>
+#include <viam/sdk/robot/client.hpp>
+#include <viam/sdk/rpc/dial.hpp>
+
+using namespace viam::sdk;
+
+int main() {
+    // Every Viam C++ SDK program must have one and only one Instance object which is created before
+    // any other C++ SDK objects and stays alive until all Viam C++ SDK objects are destroyed.
+    Instance inst;
+
+    std::string host("xarm-main.aqb785vhl4.viam.cloud");
+    DialOptions dial_opts;
+    dial_opts.set_entity(std::string("88dcef8e-db7f-47dc-9b0f-eb08fdc5a97d"));
+
+    Credentials credentials("api-key", "eou798fi90d1fytv66c9lntv1ndwxj4g");
+
+    dial_opts.set_credentials(credentials);
+    boost::optional<DialOptions> opts(dial_opts);
+    Options options(0, opts);
+
+    auto robot = RobotClient::at_address(host, options);
+
+    // // Update these with your robot's connection details
+    // const char* uri = "";  // replace with your robot's URI
+    // DialOptions dial_options;
+    // dial_options.set_allow_insecure_downgrade(true);  // set to false if connecting securely
+
+    // // Uncomment and fill out your credentials details if connecting securely
+    // // std::string type = "api-key";
+    // // std::string payload = "your-api-key-here";
+    // // Credentials credentials(type, payload);
+    // // dial_options.set_credentials(credentials);
+
+    // boost::optional<DialOptions> opts(dial_options);
+    // std::string address(uri);
+    // Options options(1, opts);
+
+    // std::shared_ptr<RobotClient> robot = RobotClient::at_address(address, options);
+
+    // Print resources
+    VIAM_SDK_LOG(info) << "Resources:";
+    std::vector<Name> resource_names = robot->resource_names();
+    for (const Name& resource : resource_names) {
+        VIAM_SDK_LOG(info) << "  " << resource;
+    }
+
+    // Get the AudioIn component (update with your component name)
+    auto audio_in = robot->resource_by_name<AudioIn>("sinewave-audio");
+    if (!audio_in) {
+        VIAM_SDK_LOG(error) << "could not get 'sinewave-audio' resource from robot";
+        return EXIT_FAILURE;
+    }
+
+    VIAM_SDK_LOG(info) << "Getting audio properties...";
+    audio_properties props = audio_in->get_properties();
+    VIAM_SDK_LOG(info) << "Audio properties:";
+    VIAM_SDK_LOG(info) << "  sample_rate_hz: " << props.sample_rate_hz;
+    VIAM_SDK_LOG(info) << "  num_channels: " << props.num_channels;
+    VIAM_SDK_LOG(info) << "  supported_codecs: " << props.supported_codecs.size() << " codecs";
+
+    VIAM_SDK_LOG(info) << "Retrieving 2 seconds of audio...";
+
+    std::vector<uint8_t> all_audio_data;
+    int chunk_count = 0;
+
+    // Define chunk handler to collect audio data
+    auto chunk_handler = [&](AudioIn::audio_chunk&& chunk) -> bool {
+        chunk_count++;
+        VIAM_SDK_LOG(info) << "Received chunk " << chunk_count
+                           << " - length: " << chunk.audio_data.size() << " bytes";
+
+        for (const auto& byte : chunk.audio_data) {
+            all_audio_data.push_back(static_cast<uint8_t>(byte));
+        }
+
+        return true;  // Continue receiving chunks
+    };
+
+    // Get 2 seconds of audio (with previous_timestamp = 0 to start from now)
+    audio_in->get_audio(audio_codecs::PCM_16, chunk_handler, 2.0, 0);
+
+    VIAM_SDK_LOG(info) << "Total audio data received: " << all_audio_data.size() << " bytes";
+    VIAM_SDK_LOG(info) << "Total chunks: " << chunk_count;
+
+    std::string filename = "sine_wave_audio.wav";
+    try {
+        write_wav_file(filename,
+                       all_audio_data,
+                       audio_codecs::PCM_16,
+                       props.sample_rate_hz,
+                       props.num_channels);
+        VIAM_SDK_LOG(info) << "Audio saved to " << filename;
+        VIAM_SDK_LOG(info) << "To play: open " << filename << " (or use any audio player)";
+    } catch (const std::exception& e) {
+        VIAM_SDK_LOG(error) << "Failed to write WAV file: " << e.what();
+        return EXIT_FAILURE;
+    }
+
+    return EXIT_SUCCESS;
+}