no need to remove audio in

Author: nfranczak

src/viam/components/audio_in/__init__.py

@@ -0,0 +1,24 @@
+from viam.media.audio import AudioCodec
+from viam.proto.common import AudioInfo
+from viam.resource.registry import Registry, ResourceRegistration
+
+from .audio_in import AudioIn
+from .client import AudioInClient
+from .service import AudioInRPCService
+
+AudioResponse = AudioIn.AudioResponse
+
+__all__ = [
+    "AudioIn",
+    "AudioResponse",
+    "AudioInfo",
+    "AudioCodec",
+]
+
+Registry.register_api(
+    ResourceRegistration(
+        AudioIn,
+        AudioInRPCService,
+        lambda name, channel: AudioInClient(name, channel),
+    )
+)

src/viam/components/audio_in/audio_in.py

@@ -0,0 +1,74 @@
+import abc
+import sys
+from typing import Final, Optional
+
+from viam.proto.common import GetPropertiesResponse
+from viam.proto.component.audioin import GetAudioResponse
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
+from viam.streams import Stream
+
+from ..component_base import ComponentBase
+
+if sys.version_info >= (3, 10):
+    from typing import TypeAlias
+else:
+    from typing_extensions import TypeAlias
+
+
+class AudioIn(ComponentBase):
+    """AudioIn represents a component that can capture audio.
+
+    This acts as an abstract base class for any drivers representing specific
+    audio input implementations. This cannot be used on its own. If the ``__init__()`` function is
+    overridden, it must call the ``super().__init__()`` function.
+    """
+
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
+        RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "audio_in"
+    )
+
+    Properties: "TypeAlias" = GetPropertiesResponse
+    AudioResponse: "TypeAlias" = GetAudioResponse
+    AudioStream = Stream[AudioResponse]
+
+    @abc.abstractmethod
+    async def get_audio(
+        self, codec: str, duration_seconds: float, previous_timestamp_ns: int, *, timeout: Optional[float] = None, **kwargs
+    ) -> AudioStream:
+        """
+        Get a stream of audio from the device
+
+        ::
+
+            my_audio_in = AudioIn.from_robot(robot=machine, name="my_audio_in")
+
+            stream = await my_audio_in.get_audio(
+                codec=AudioCodec.PCM16,
+                duration_seconds=10.0,
+                previous_timestamp_ns=0
+            )
+
+        Args:
+            codec (str): The desired codec of the returned audio data
+            duration_seconds (float): duration of the stream. 0 = indefinite stream
+            previous_timestamp_ns (int): starting timestamp in nanoseconds for recording continuity.
+            Set to 0 to begin recording from the current time.
+        Returns:
+            AudioStream: stream of audio chunks.
+        ...
+        """
+
+    @abc.abstractmethod
+    async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) -> Properties:
+        """
+        Get the audio device's properties
+
+        ::
+
+            my_audio_in = AudioIn.from_robot(robot=machine, name="my_audio_in")
+            properties = await my_audio_in.get_properties()
+
+        Returns:
+            Properties: The properties of the audio in device.
+        ...
+        """

src/viam/components/audio_in/client.py

@@ -0,0 +1,76 @@
+import uuid
+from typing import Any, Dict, List, Mapping, Optional
+
+from grpclib.client import Channel
+from grpclib.client import Stream as ClientStream
+
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetPropertiesRequest
+from viam.proto.component.audioin import AudioInServiceStub, GetAudioRequest, GetAudioResponse
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.streams import StreamWithIterator
+from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
+
+from .audio_in import AudioIn
+
+
+class AudioInClient(AudioIn, ReconfigurableResourceRPCClientBase):
+    def __init__(self, name: str, channel: Channel) -> None:
+        self.channel = channel
+        self.client = AudioInServiceStub(channel)
+        super().__init__(name)
+
+    async def get_audio(
+        self,
+        codec: str,
+        duration_seconds: float,
+        previous_timestamp_ns: int,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
+        request = GetAudioRequest(
+            name=self.name,
+            codec=codec,
+            duration_seconds=duration_seconds,
+            previous_timestamp_nanoseconds=previous_timestamp_ns,
+            request_id=str(uuid.uuid4()),
+            extra=dict_to_struct(extra),
+        )
+
+        async def read():
+            md = kwargs.get("metadata", self.Metadata()).proto
+            audio_stream: ClientStream[GetAudioRequest, GetAudioResponse]
+            async with self.client.GetAudio.open(metadata=md) as audio_stream:
+                try:
+                    await audio_stream.send_message(request, end=True)
+                    async for response in audio_stream:
+                        yield response
+                except Exception as e:
+                    raise (e)
+
+        return StreamWithIterator(read())
+
+    async def get_properties(
+        self,
+        *,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> AudioIn.Properties:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        return await self.client.GetProperties(GetPropertiesRequest(name=self.name), timeout=timeout, metadata=md)
+
+    async def do_command(
+        self,
+        command: Mapping[str, ValueTypes],
+        *,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> Mapping[str, ValueTypes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
+        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
+        return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        md = kwargs.get("metadata", self.Metadata())
+        return await get_geometries(self.client, self.name, extra, timeout, md)

src/viam/components/audio_in/service.py

@@ -0,0 +1,83 @@
+from grpclib.server import Stream
+from h2.exceptions import StreamClosedError
+
+from viam.logging import getLogger
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
+    GetPropertiesRequest,
+    GetPropertiesResponse,
+)
+from viam.proto.component.audioin import AudioInServiceBase, GetAudioRequest, GetAudioResponse
+from viam.resource.rpc_service_base import ResourceRPCServiceBase
+from viam.utils import dict_to_struct, struct_to_dict
+
+from .audio_in import AudioIn
+
+LOGGER = getLogger(__name__)
+
+
+class AudioInRPCService(AudioInServiceBase, ResourceRPCServiceBase[AudioIn]):
+    """
+    gRPC Service for a generic audio in.
+    """
+
+    RESOURCE_TYPE = AudioIn
+
+    async def GetAudio(self, stream: Stream[GetAudioRequest, GetAudioResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        audio_in = self.get_resource(name)
+        audio_stream = await audio_in.get_audio(
+            codec=request.codec,
+            duration_seconds=request.duration_seconds,
+            previous_timestamp_ns=request.previous_timestamp_nanoseconds,
+            metadata=stream.metadata,
+        )
+        async for response in audio_stream:
+            try:
+                response.request_id = request.request_id
+                await stream.send_message(response)
+            except StreamClosedError:
+                return
+            except Exception as e:
+                LOGGER.error(e)
+                return
+
+    async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetPropertiesResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        audio_in = self.get_resource(name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        properties = await audio_in.get_properties(
+            timeout=timeout,
+            metadata=stream.metadata,
+        )
+        await stream.send_message(properties)
+
+    async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        audio_in = self.get_resource(name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await audio_in.do_command(
+            command=struct_to_dict(request.command),
+            timeout=timeout,
+            metadata=stream.metadata,
+        )
+        response = DoCommandResponse(result=dict_to_struct(result))
+        await stream.send_message(response)
+
+    async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        arm = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)