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oliviamillerviambot
oliviamiller
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viambot
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RSDK-12154 RSDK-12155 Audio component wrappers (#436)
* [WORKFLOW] Updating protos from viamrobotics/api, commit: 0e3309b0ccd42ed0e81262f749f0016f0244436d * audio * clean up protos * clean up protos * clean * format * clean up * clean up * format * test * fix play tests * get props test * use uint8List for audio data * protos * only alias common * add request_id * protos * test * revert * pr comments --------- Co-authored-by: viambot <[email protected]>
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‎lib/src/components/audio_in/audio_in.dart‎

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import 'package:fixnum/fixnum.dart';
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import '../../gen/common/v1/common.pb.dart';
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import '../../gen/component/audioin/v1/audioin.pb.dart';
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import '../../resource/base.dart';
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import '../../robot/client.dart';
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export '../../media/audio.dart';
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/// AudioIn represents a device that can capture audio.
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abstract class AudioIn extends Resource {
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static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeComponent, 'audio_in');
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/// Stream audio from this device
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Stream<GetAudioResponse> getAudio({
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required String codec,
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double? durationSeconds,
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Int64? previousTimestampNanoseconds,
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Map<String, dynamic>? extra,
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});
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/// Get the audio properties of this audio in device
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Future<GetPropertiesResponse> getProperties({Map<String, dynamic>? extra});
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/// Get the [ResourceName] for this [AudioIn] with the given [name]
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static ResourceName getResourceName(String name) {
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return AudioIn.subtype.getResourceName(name);
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}
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/// Get the [AudioIn] named [name] from the provided robot.
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static AudioIn fromRobot(RobotClient robot, String name) {
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return robot.getResource(AudioIn.getResourceName(name));
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}
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}

‎lib/src/components/audio_in/client.dart‎

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import 'package:fixnum/fixnum.dart';
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import 'package:grpc/grpc_connection_interface.dart';
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import 'package:uuid/uuid.dart';
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import '../../gen/common/v1/common.pb.dart';
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import '../../gen/component/audioin/v1/audioin.pbgrpc.dart';
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import '../../gen/google/protobuf/struct.pb.dart';
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import '../../resource/base.dart';
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import '../../utils.dart';
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import 'audio_in.dart';
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/// gRPC client for the [AudioIn] component.
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class AudioInClient extends AudioIn implements ResourceRPCClient {
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@override
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String name;
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@override
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ClientChannelBase channel;
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@override
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AudioInServiceClient get client => AudioInServiceClient(channel);
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AudioInClient(this.name, this.channel);
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@override
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Stream<GetAudioResponse> getAudio({
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required String codec,
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double? durationSeconds,
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Int64? previousTimestampNanoseconds,
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Map<String, dynamic>? extra,
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}) {
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final uuid = Uuid();
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final request = GetAudioRequest()
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..name = name
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..codec = codec
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..requestId = uuid.v4();
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if (durationSeconds != null) {
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request.durationSeconds = durationSeconds;
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}
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if (previousTimestampNanoseconds != null) {
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request.previousTimestampNanoseconds = previousTimestampNanoseconds;
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}
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if (extra != null) {
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request.extra = extra.toStruct();
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}
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return client.getAudio(request);
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}
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@override
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Future<GetPropertiesResponse> getProperties({Map<String, dynamic>? extra}) async {
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final request = GetPropertiesRequest()
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..name = name
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..extra = extra?.toStruct() ?? Struct();
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return await client.getProperties(request);
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}
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@override
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Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
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final request = DoCommandRequest()
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..name = name
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..command = command.toStruct();
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final response = await client.doCommand(request);
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return response.result.toMap();
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}
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}

‎lib/src/components/audio_in/service.dart‎

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import 'package:grpc/grpc.dart';
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import '../../gen/common/v1/common.pb.dart';
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import '../../gen/component/audioin/v1/audioin.pbgrpc.dart';
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import '../../resource/manager.dart';
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import '../../utils.dart';
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import 'audio_in.dart';
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/// gRPC Service for an [AudioIn]
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class AudioInService extends AudioInServiceBase {
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final ResourceManager _manager;
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AudioInService(this._manager);
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AudioIn _fromManager(String name) {
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try {
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return _manager.getResource(AudioIn.getResourceName(name));
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} catch (e) {
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throw (GrpcError.notFound(e.toString()));
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}
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}
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@override
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Stream<GetAudioResponse> getAudio(ServiceCall call, GetAudioRequest request) {
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final audioIn = _fromManager(request.name);
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final requestId = request.hasRequestId() ? request.requestId : '';
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return audioIn
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.getAudio(
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codec: request.codec,
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durationSeconds: request.hasDurationSeconds() ? request.durationSeconds : null,
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previousTimestampNanoseconds: request.hasPreviousTimestampNanoseconds() ? request.previousTimestampNanoseconds : null,
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extra: request.hasExtra() ? request.extra.toMap() : null,
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)
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.map((response) {
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if (requestId.isNotEmpty) {
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response.requestId = requestId;
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}
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return response;
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});
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}
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@override
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Future<GetPropertiesResponse> getProperties(ServiceCall call, GetPropertiesRequest request) {
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final audioIn = _fromManager(request.name);
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return audioIn.getProperties(extra: request.extra.toMap());
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}
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@override
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Future<DoCommandResponse> doCommand(ServiceCall call, DoCommandRequest request) async {
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final audioIn = _fromManager(request.name);
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final result = await audioIn.doCommand(request.command.toMap());
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return DoCommandResponse()..result = result.toStruct();
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}
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@override
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Future<GetGeometriesResponse> getGeometries(ServiceCall call, GetGeometriesRequest request) {
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throw UnimplementedError();
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}
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}

‎lib/src/components/audio_out/audio_out.dart‎

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import 'dart:typed_data';
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import '../../gen/common/v1/common.pb.dart';
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import '../../gen/component/audioout/v1/audioout.pb.dart';
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import '../../resource/base.dart';
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import '../../robot/client.dart';
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export '../../media/audio.dart';
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/// AudioOut represents a device that can play audio.
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abstract class AudioOut extends Resource {
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static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeComponent, 'audio_out');
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/// Play audio data on this audio output device
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Future<PlayResponse> play({
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required Uint8List audioData,
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required AudioInfo audioInfo,
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Map<String, dynamic>? extra,
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});
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/// Get the audio properties of this audio output device
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Future<GetPropertiesResponse> getProperties({Map<String, dynamic>? extra});
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/// Get the [ResourceName] for this [AudioOut] with the given [name]
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static ResourceName getResourceName(String name) {
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return AudioOut.subtype.getResourceName(name);
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}
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/// Get the [AudioOut] named [name] from the provided robot.
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static AudioOut fromRobot(RobotClient robot, String name) {
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return robot.getResource(AudioOut.getResourceName(name));
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}
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}

‎lib/src/components/audio_out/client.dart‎

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import 'dart:typed_data';
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import 'package:grpc/grpc_connection_interface.dart';
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import '../../gen/common/v1/common.pb.dart';
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import '../../gen/component/audioout/v1/audioout.pbgrpc.dart';
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import '../../gen/google/protobuf/struct.pb.dart';
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import '../../resource/base.dart';
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import '../../utils.dart';
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import 'audio_out.dart';
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/// gRPC client for the [AudioOut] component.
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class AudioOutClient extends AudioOut implements ResourceRPCClient {
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@override
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String name;
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@override
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ClientChannelBase channel;
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@override
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AudioOutServiceClient get client => AudioOutServiceClient(channel);
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AudioOutClient(this.name, this.channel);
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@override
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Future<PlayResponse> play({
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required Uint8List audioData,
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required AudioInfo audioInfo,
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Map<String, dynamic>? extra,
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}) async {
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final request = PlayRequest()
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..name = name
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..audioData = audioData
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..audioInfo = audioInfo
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..extra = extra?.toStruct() ?? Struct();
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return await client.play(request);
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}
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@override
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Future<GetPropertiesResponse> getProperties({Map<String, dynamic>? extra}) async {
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final request = GetPropertiesRequest()
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..name = name
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..extra = extra?.toStruct() ?? Struct();
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return await client.getProperties(request);
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}
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@override
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Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
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final request = DoCommandRequest()
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..name = name
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..command = command.toStruct();
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final response = await client.doCommand(request);
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return response.result.toMap();
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}
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}

‎lib/src/components/audio_out/service.dart‎

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import 'dart:typed_data';
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import 'package:grpc/grpc.dart';
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import '../../gen/common/v1/common.pb.dart';
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import '../../gen/component/audioout/v1/audioout.pbgrpc.dart';
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import '../../resource/manager.dart';
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import '../../utils.dart';
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import 'audio_out.dart';
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/// gRPC Service for an [AudioOut]
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class AudioOutService extends AudioOutServiceBase {
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final ResourceManager _manager;
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AudioOutService(this._manager);
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AudioOut _fromManager(String name) {
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try {
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return _manager.getResource(AudioOut.getResourceName(name));
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} catch (e) {
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throw (GrpcError.notFound(e.toString()));
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}
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}
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@override
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Future<PlayResponse> play(ServiceCall call, PlayRequest request) {
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final audioOut = _fromManager(request.name);
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final audioData = request.audioData;
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return audioOut.play(
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audioData: audioData is Uint8List ? audioData : Uint8List.fromList(audioData),
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audioInfo: request.audioInfo,
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extra: request.hasExtra() ? request.extra.toMap() : null,
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);
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}
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@override
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Future<GetPropertiesResponse> getProperties(ServiceCall call, GetPropertiesRequest request) {
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final audioOut = _fromManager(request.name);
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return audioOut.getProperties(extra: request.extra.toMap());
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}
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@override
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Future<DoCommandResponse> doCommand(ServiceCall call, DoCommandRequest request) async {
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final audioOut = _fromManager(request.name);
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final result = await audioOut.doCommand(request.command.toMap());
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return DoCommandResponse()..result = result.toStruct();
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}
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@override
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Future<GetGeometriesResponse> getGeometries(ServiceCall call, GetGeometriesRequest request) {
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throw UnimplementedError();
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}
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}

‎lib/src/media/audio.dart‎

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/// Common audio utilities and constants shared across audio components.
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library;
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/// Common audio codec constants
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///
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/// These constants represent standard audio codec formats supported
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/// by Viam audio components (AudioIn and AudioOut).
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///
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/// Example usage:
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/// ```dart
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/// audioIn.getAudio(
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/// codec: AudioCodec.mp3,
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/// durationSeconds: 5.0,
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/// );
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/// ```
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class AudioCodec {
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const AudioCodec._();
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static const String mp3 = 'mp3';
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static const String pcm16 = 'pcm16';
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static const String pcm32 = 'pcm32';
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static const String pcm32Float = 'pcm32float';
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static const String aac = 'aac';
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static const String opus = 'opus';
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static const String flac = 'flac';
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}

‎lib/src/resource/registry.dart‎

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import '../components/arm/arm.dart';
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import '../components/arm/client.dart';
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import '../components/audio_in/audio_in.dart';
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import '../components/audio_in/client.dart';
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import '../components/audio_out/audio_out.dart';
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import '../components/audio_out/client.dart';
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import '../components/base/base.dart';
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import '../components/base/client.dart';
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import '../components/board/board.dart';
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Registry._() {
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// Register built-in types
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registerSubtype(ResourceRegistration(Arm.subtype, (name, channel) => ArmClient(name, channel)));
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registerSubtype(ResourceRegistration(AudioIn.subtype, (name, channel) => AudioInClient(name, channel)));
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registerSubtype(ResourceRegistration(AudioOut.subtype, (name, channel) => AudioOutClient(name, channel)));
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registerSubtype(ResourceRegistration(Board.subtype, (name, channel) => BoardClient(name, channel)));
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registerSubtype(ResourceRegistration(Base.subtype, (name, channel) => BaseClient(name, channel)));
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registerSubtype(ResourceRegistration(Button.subtype, (name, channel) => ButtonClient(name, channel)));

‎lib/viam_sdk.dart‎

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/// Components
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export 'src/components/arm/arm.dart';
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export 'src/components/arm/client.dart';
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export 'src/media/audio.dart';
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export 'src/components/audio_in/audio_in.dart';
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export 'src/components/audio_in/client.dart';
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export 'src/components/audio_out/audio_out.dart';
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export 'src/components/audio_out/client.dart';
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export 'src/components/base/base.dart';
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export 'src/components/base/client.dart';
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export 'src/components/board/board.dart';

‎pubspec.yaml‎

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async: ^2.11.0
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bonsoir: ^5.1.8
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bson: ^5.0.5
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uuid: ^4.0.0
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flutter_platform_widgets: ^7.0.1
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dev_dependencies:

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