RSDK-12151 Audio Out Component Type

codesamples/apis.json

@@ -9,6 +9,11 @@
         "func": "get_properties",
         "args": []
     },
+    "audio_out": {
+        "client": "AudioOut",
+        "func": "get_properties",
+        "args": []
+    },
     "button": {
         "client": "Button",
         "func": "push",

src/viam/sdk/CMakeLists.txt

@@ -60,6 +60,7 @@ endif()
 
 target_sources(viamsdk
   PRIVATE
+    common/audio.cpp
     common/audio.cpp
     common/client_helper.cpp
     common/exception.cpp
@@ -73,6 +74,7 @@ target_sources(viamsdk
     common/private/service_helper.cpp
     components/arm.cpp
     components/audio_in.cpp
+    components/audio_out.cpp
     components/base.cpp
     components/board.cpp
     components/button.cpp
@@ -90,6 +92,8 @@ target_sources(viamsdk
     components/private/arm_server.cpp
     components/private/audio_in_server.cpp
     components/private/audio_in_client.cpp
+    components/private/audio_out_client.cpp
+    components/private/audio_out_server.cpp
     components/private/base_client.cpp
     components/private/base_server.cpp
     components/private/board_client.cpp
@@ -169,6 +173,7 @@ target_sources(viamsdk
     FILES
       ../../viam/sdk/common/audio.hpp
       ../../viam/sdk/common/client_helper.hpp
+      ../../viam/sdk/common/audio.hpp
       ../../viam/sdk/common/exception.hpp
       ../../viam/sdk/common/instance.hpp
       ../../viam/sdk/common/linear_algebra.hpp
@@ -180,6 +185,7 @@ target_sources(viamsdk
       ../../viam/sdk/common/world_state.hpp
       ../../viam/sdk/components/arm.hpp
       ../../viam/sdk/components/audio_in.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/common/audio.cpp

@@ -19,6 +19,11 @@ bool operator==(const audio_properties& lhs, const audio_properties& rhs) {
            std::tie(rhs.supported_codecs, rhs.sample_rate_hz, rhs.num_channels);
 }
 
+bool operator==(const audio_info& lhs, const audio_info& rhs) {
+    return std::tie(lhs.codec, lhs.sample_rate_hz, lhs.num_channels) ==
+           std::tie(rhs.codec, rhs.sample_rate_hz, rhs.num_channels);
+}
+
 uint16_t get_bits_per_sample(const std::string& codec) {
     if (codec == audio_codecs::PCM_16) {
         return 16;

src/viam/sdk/common/audio.hpp

@@ -38,6 +38,9 @@ struct audio_info {
 /// @brief Equality operator for properties
 bool operator==(const audio_properties& lhs, const audio_properties& rhs);
 
+/// @brief Equality operator for audio_info
+bool operator==(const audio_info& lhs, const audio_info& rhs);
+
 uint16_t get_bits_per_sample(const std::string& codec);
 
 void write_wav_file(const std::string& filename,

src/viam/sdk/components/audio_out.cpp

@@ -0,0 +1,22 @@
+#include <viam/sdk/components/audio_out.hpp>
+
+#include <viam/sdk/common/audio.hpp>
+#include <viam/sdk/common/exception.hpp>
+#include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/resource/resource.hpp>
+
+namespace viam {
+namespace sdk {
+
+API AudioOut::api() const {
+    return API::get<AudioOut>();
+}
+
+API API::traits<AudioOut>::api() {
+    return {kRDK, kComponent, "audio_out"};
+}
+
+AudioOut::AudioOut(std::string name) : Component(std::move(name)) {}
+
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/components/audio_out.hpp

@@ -0,0 +1,86 @@
+/// @file components/audio_out.hpp
+///
+/// @brief Defines an `AudioOut` component.
+#pragma once
+
+#include <string>
+
+#include <boost/optional/optional.hpp>
+
+#include <viam/sdk/common/audio.hpp>
+#include <viam/sdk/common/proto_value.hpp>
+#include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/config/resource.hpp>
+
+namespace viam {
+namespace sdk {
+
+/// @defgroup AudioOut Classes related to the AudioOut component.
+
+/// @class AudioOut audio_out.hpp "components/audio_out.hpp"
+/// @brief An `AudioOut` is a device that can output audio.
+/// @ingroup AudioOut
+///
+/// This acts as an abstract parent class to be inherited from by any drivers representing
+/// specific AudioOut implementations. This class cannot be used on its own.
+class AudioOut : public Component {
+   public:
+    using audio_info = viam::sdk::audio_info;
+
+    /// @brief Play audio data
+    /// @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.
+    inline void play(std::vector<uint8_t> const& audio_data, boost::optional<audio_info> info) {
+        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). Required for
+    /// raw PCM data.
+    /// @param extra Any additional arguments to the method
+    virtual void play(std::vector<uint8_t> const& audio_data,
+                      boost::optional<audio_info> info,
+                      const ProtoStruct& extra) = 0;
+
+    /// @brief Returns properties of the audio out device (supported codecs, sample rate, number of
+    /// channels)
+    inline audio_properties get_properties() {
+        return get_properties({});
+    }
+
+    /// @brief Returns properties of the audio out device (supported codecs, sample rate, number of
+    /// channels)
+    /// @param extra Any additional arguments to the method
+    virtual audio_properties get_properties(const ProtoStruct& extra) = 0;
+
+    /// @brief Send/receive arbitrary commands to the resource.
+    /// @param command the command to execute.
+    /// @return The result of the executed command.
+    virtual ProtoStruct do_command(const ProtoStruct& command) = 0;
+
+    // @brief Returns `GeometryConfig`s associated with the calling audioout.
+    /// @return The requested `GeometryConfig`s associated with the component.
+    inline std::vector<GeometryConfig> get_geometries() {
+        return get_geometries({});
+    }
+
+    /// @brief Returns `GeometryConfig`s associated with the calling audioout.
+    /// @param extra Any additional arguments to the method.
+    /// @return The requested `GeometryConfig`s associated with the component.
+    virtual std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) = 0;
+
+    API api() const override;
+
+   protected:
+    explicit AudioOut(std::string name);
+};
+
+template <>
+struct API::traits<AudioOut> {
+    static API api();
+};
+
+}  // namespace sdk
+}  // namespace viam

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

@@ -0,0 +1,78 @@
+#include <viam/sdk/components/private/audio_out_client.hpp>
+
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <utility>
+
+#include <viam/api/common/v1/common.pb.h>
+#include <viam/api/component/audioout/v1/audioout.grpc.pb.h>
+#include <viam/api/component/audioout/v1/audioout.pb.h>
+
+#include <viam/sdk/common/client_helper.hpp>
+#include <viam/sdk/common/proto_value.hpp>
+#include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/components/audio_out.hpp>
+#include <viam/sdk/config/resource.hpp>
+#include <viam/sdk/robot/client.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+AudioOutClient::AudioOutClient(std::string name, std::shared_ptr<grpc::Channel> channel)
+    : AudioOut(std::move(name)),
+      stub_(viam::component::audioout::v1::AudioOutService::NewStub(channel)),
+      channel_(std::move(channel)) {}
+
+void AudioOutClient::play(std::vector<uint8_t> const& audio_data,
+                          boost::optional<audio_info> info,
+                          const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::Play)
+        .with(extra,
+              [&](auto& request) {
+                  // Convert audio_data from std::vector<uint8_t> to string
+                  std::string audio_data_str(audio_data.begin(), audio_data.end());
+                  request.set_audio_data(std::move(audio_data_str));
+
+                  if (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);
+                  }
+              })
+        .invoke([](auto& response) {});
+}
+
+audio_properties AudioOutClient::get_properties(const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::GetProperties)
+        .with(extra)
+        .invoke([](auto& response) {
+            // Convert proto repeated field to vector
+            std::vector<std::string> codecs;
+            codecs.reserve(response.supported_codecs_size());
+            for (const auto& codec : response.supported_codecs()) {
+                codecs.push_back(codec);
+            }
+
+            return audio_properties{
+                std::move(codecs), response.sample_rate_hz(), response.num_channels()};
+        });
+}
+
+ProtoStruct AudioOutClient::do_command(const ProtoStruct& command) {
+    return make_client_helper(this, *stub_, &StubType::DoCommand)
+        .with([&](auto& request) { *request.mutable_command() = to_proto(command); })
+        .invoke([](auto& response) { return from_proto(response.result()); });
+}
+
+std::vector<GeometryConfig> AudioOutClient::get_geometries(const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::GetGeometries)
+        .with(extra)
+        .invoke([](auto& response) { return from_proto(response); });
+};
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

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

@@ -0,0 +1,43 @@
+/// @file components/private/audio_out_client.hpp
+///
+/// @brief Implements a gRPC client for the `AudioOut` component
+#pragma once
+
+#include <grpcpp/channel.h>
+
+#include <viam/api/component/audioout/v1/audioout.grpc.pb.h>
+
+#include <viam/sdk/components/audio_out.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+/// @class AudioOutClient
+/// @brief gRPC client implementation of an `AudioOut` component.
+/// @ingroup AudioOut
+class AudioOutClient : public AudioOut {
+   public:
+    using interface_type = AudioOut;
+    AudioOutClient(std::string name, std::shared_ptr<grpc::Channel> channel);
+
+    void play(std::vector<uint8_t> const& audio_data,
+              boost::optional<audio_info> info,
+              const ProtoStruct& extra) override;
+    audio_properties get_properties(const ProtoStruct& extra) override;
+    ProtoStruct do_command(const ProtoStruct& command) override;
+    std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
+
+    using AudioOut::get_geometries;
+    using AudioOut::get_properties;
+    using AudioOut::play;
+
+   private:
+    using StubType = viam::component::audioout::v1::AudioOutService::StubInterface;
+    std::unique_ptr<StubType> stub_;
+    std::shared_ptr<grpc::Channel> channel_;
+};
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

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

@@ -0,0 +1,78 @@
+#include <viam/sdk/components/private/audio_out_server.hpp>
+
+#include <viam/sdk/common/audio.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
+#include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/spatialmath/geometry.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+AudioOutServer::AudioOutServer(std::shared_ptr<ResourceManager> manager)
+    : ResourceServer(std::move(manager)) {}
+
+::grpc::Status AudioOutServer::Play(::grpc::ServerContext*,
+                                    const ::viam::component::audioout::v1::PlayRequest* request,
+                                    ::viam::component::audioout::v1::PlayResponse*) noexcept {
+    return make_service_helper<AudioOut>(
+        "AudioOutServer::Play", this, request)([&](auto& helper, auto& audio_out) {
+        // Convert audio_data from string to std::vector<uint8_t>
+        std::vector<uint8_t> audio_data;
+        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());
+
+        boost::optional<audio_info> info;
+        if (request->has_audio_info()) {
+            info.emplace(audio_info{request->audio_info().codec(),
+                                    request->audio_info().sample_rate_hz(),
+                                    request->audio_info().num_channels()});
+        }
+        audio_out->play(audio_data, info, helper.getExtra());
+    });
+}
+
+::grpc::Status AudioOutServer::DoCommand(::grpc::ServerContext*,
+                                         const ::viam::common::v1::DoCommandRequest* request,
+                                         ::viam::common::v1::DoCommandResponse* response) noexcept {
+    return make_service_helper<AudioOut>(
+        "AudioOutServer::DoCommand", this, request)([&](auto&, auto& audio_out) {
+        const ProtoStruct result = audio_out->do_command(from_proto(request->command()));
+        *response->mutable_result() = to_proto(result);
+    });
+}
+
+::grpc::Status AudioOutServer::GetGeometries(
+    ::grpc::ServerContext*,
+    const ::viam::common::v1::GetGeometriesRequest* request,
+    ::viam::common::v1::GetGeometriesResponse* response) noexcept {
+    return make_service_helper<AudioOut>(
+        "AudioOutServer::GetGeometries", this, request)([&](auto& helper, auto& audio_out) {
+        const std::vector<GeometryConfig> geometries = audio_out->get_geometries(helper.getExtra());
+        for (const auto& geometry : geometries) {
+            *response->mutable_geometries()->Add() = to_proto(geometry);
+        }
+    });
+}
+
+::grpc::Status AudioOutServer::GetProperties(
+    ::grpc::ServerContext*,
+    const ::viam::common::v1::GetPropertiesRequest* request,
+    ::viam::common::v1::GetPropertiesResponse* response) noexcept {
+    return make_service_helper<AudioOut>(
+        "AudioOutServer::GetProperties", this, request)([&](auto& helper, auto& audio_out) {
+        const audio_properties result = audio_out->get_properties(helper.getExtra());
+
+        // Copy supported_codecs vector to repeated field
+        for (const auto& codec : result.supported_codecs) {
+            response->add_supported_codecs(codec);
+        }
+
+        response->set_sample_rate_hz(result.sample_rate_hz);
+        response->set_num_channels(result.num_channels);
+    });
+}
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam