RSDK-12151 Audio Out Component Type

codesamples/apis.json

@@ -4,6 +4,11 @@
         "func": "get_end_position",
         "args": []
     },
+    "audio_out": {
+        "client": "AudioOut",
+        "func": "get_properties",
+        "args": []
+    },
     "button": {
         "client": "Button",
         "func": "push",

src/viam/api/CMakeLists.txt

@@ -132,6 +132,10 @@ 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/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 +298,8 @@ 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/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 +364,8 @@ 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/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/sdk/CMakeLists.txt

@@ -60,6 +60,7 @@ endif()
 
 target_sources(viamsdk
   PRIVATE
+    common/audio.cpp
     common/client_helper.cpp
     common/exception.cpp
     common/instance.cpp
@@ -71,6 +72,7 @@ target_sources(viamsdk
     common/world_state.cpp
     common/private/service_helper.cpp
     components/arm.cpp
+    components/audio_out.cpp
     components/base.cpp
     components/board.cpp
     components/button.cpp
@@ -86,6 +88,8 @@ target_sources(viamsdk
     components/power_sensor.cpp
     components/private/arm_client.cpp
     components/private/arm_server.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
@@ -164,6 +168,7 @@ target_sources(viamsdk
       ${CMAKE_CURRENT_BINARY_DIR}/../..
     FILES
       ../../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
@@ -174,6 +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/common/audio.cpp

@@ -0,0 +1,76 @@
+#include <viam/sdk/common/audio.hpp>
+
+#include <fstream>
+#include <stdexcept>
+#include <tuple>
+
+namespace viam {
+namespace sdk {
+
+namespace {
+template <typename T>
+void write_value(std::ofstream& out, const T& value) {
+    out.write(reinterpret_cast<const char*>(&value), sizeof(value));
+}
+}  // anonymous namespace
+
+bool operator==(const audio_properties& lhs, const audio_properties& rhs) {
+    return std::tie(lhs.supported_codecs, lhs.sample_rate_hz, lhs.num_channels) ==
+           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;
+    }
+    if (codec == audio_codecs::PCM_32 || codec == audio_codecs::PCM_32_FLOAT) {
+        return 32;
+    }
+    throw std::runtime_error("Unsupported codec for WAV file: " + codec);
+}
+
+void write_wav_file(const std::string& filename,
+                    const std::vector<uint8_t>& audio_data,
+                    const std::string& codec,
+                    uint32_t sample_rate_hz,
+                    uint16_t num_channels) {
+    std::ofstream outfile(filename, std::ios::binary);
+    if (!outfile.is_open()) {
+        throw std::runtime_error("Failed to open file for writing: " + filename);
+    }
+
+    const uint16_t bits_per_sample = get_bits_per_sample(codec);
+    const uint32_t data_size = audio_data.size();
+    const uint32_t byte_rate = sample_rate_hz * num_channels * (bits_per_sample / 8);
+    const uint16_t block_align = num_channels * (bits_per_sample / 8);
+
+    outfile.write("RIFF", 4);
+    const uint32_t chunk_size = 36 + data_size;
+    write_value(outfile, chunk_size);
+    outfile.write("WAVE", 4);
+
+    outfile.write("fmt ", 4);
+    const uint32_t subchunk1_size = 16;
+    write_value(outfile, subchunk1_size);
+    const uint16_t audio_format = 1;
+    write_value(outfile, audio_format);
+    write_value(outfile, num_channels);
+    write_value(outfile, sample_rate_hz);
+    write_value(outfile, byte_rate);
+    write_value(outfile, block_align);
+    write_value(outfile, bits_per_sample);
+
+    outfile.write("data", 4);
+    write_value(outfile, data_size);
+    outfile.write(reinterpret_cast<const char*>(audio_data.data()), data_size);
+
+    outfile.close();
+}
+
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/common/audio.hpp

@@ -0,0 +1,53 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <string>
+#include <vector>
+
+namespace viam {
+namespace sdk {
+
+/// @brief Common audio codecs
+namespace audio_codecs {
+constexpr const char* PCM_16 = "pcm16";
+constexpr const char* PCM_32 = "pcm32";
+constexpr const char* PCM_32_FLOAT = "pcm32_float";
+constexpr const char* MP3 = "mp3";
+constexpr const char* AAC = "aac";
+constexpr const char* OPUS = "opus";
+constexpr const char* FLAC = "flac";
+}  // namespace audio_codecs
+
+/// @struct audio_properties
+/// @brief Properties of an audio component (input or output)
+struct audio_properties {
+    std::vector<std::string> supported_codecs;
+    int sample_rate_hz;
+    int num_channels;
+};
+
+/// @struct audio_info
+/// @brief Information about a piece of audio data
+struct audio_info {
+    std::string codec;
+    int sample_rate_hz;
+    int num_channels;
+};
+
+/// @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,
+                    const std::vector<uint8_t>& audio_data,
+                    const std::string& codec,
+                    uint32_t sample_rate_hz,
+                    uint16_t num_channels);
+
+}  // namespace sdk
+}  // namespace viam

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 <memory>
+#include <string>
+
+#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, 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). 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,
+                      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