RSDK-12160 Remove audio input (#1060)

Author: oliviamiller

.github/workflows/code-samples-comment.yml

@@ -12,7 +12,6 @@ on:
       - "src/viam/components/sensor/sensor.py"
       - "src/viam/components/servo/servo.py"
       - "src/viam/components/arm/arm.py"
-      - "src/viam/components/audio_input/audio_input.py"
       - "src/viam/components/gantry/gantry.py"
       - "src/viam/components/gripper/gripper.py"
       - "src/viam/components/input/input.py"

examples/server/v1/components.py

@@ -20,7 +20,6 @@
 
 from viam.components.arm import Arm
 from viam.components.audio_in import AudioIn, AudioResponse
-from viam.components.audio_input import AudioInput
 from viam.components.audio_out import AudioOut
 from viam.components.base import Base
 from viam.components.board import Board, TickStream
@@ -35,7 +34,6 @@
 from viam.components.sensor import Sensor
 from viam.components.servo import Servo
 from viam.errors import ResourceNotFoundError
-from viam.media.audio import Audio, AudioStream
 from viam.media.video import CameraMimeType, NamedImage, ViamImage
 from viam.operations import run_with_operation
 from viam.proto.common import (
@@ -52,8 +50,6 @@
     Vector3,
 )
 from viam.proto.component.arm import JointPositions
-from viam.proto.component.audioin import AudioChunk as AudioInChunk
-from viam.proto.component.audioinput import AudioChunk, AudioChunkInfo, SampleFormat
 from viam.proto.component.encoder import PositionType
 from viam.streams import StreamWithIterator
 from viam.utils import SensorReading
@@ -111,73 +107,6 @@ async def get_kinematics(self, extra: Optional[Dict[str, Any]] = None, **kwargs)
     async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
         return GEOMETRIES
 
-
-class ExampleAudioInput(AudioInput):
-    def __init__(self, name: str):
-        super().__init__(name)
-        self.latency = timedelta(milliseconds=20)
-        self.sample_rate = 48_000
-        self.channel_count = 1
-        self.step = 0
-        self.timer = asyncio.get_event_loop().call_later(self.latency.total_seconds(), self.run_task)
-
-    def run_task(self):
-        self.step += 1
-        self.timer = asyncio.get_event_loop().call_later(self.latency.total_seconds(), self.run_task)
-
-    def __del__(self):
-        self.timer.cancel()
-
-    @run_with_operation
-    async def stream(self, **kwargs) -> AudioStream:
-        """Generate and stream a sine wave at 440Hz"""
-        operation = self.get_operation(kwargs)
-
-        length = self.sample_rate * self.latency.total_seconds()  # the length of the sample
-        num_chunks = self.sample_rate / length  # the number of chunks needed
-        angle = math.pi * 2 / (length * num_chunks)
-
-        async def read() -> AsyncIterator[Audio]:
-            while True:
-                if await operation.is_cancelled():
-                    break
-                output = bytes()
-                step = int(self.step % num_chunks)  # current location on the sine wave
-                for i in range(int(length)):
-                    value = float(10) * math.sin(angle * 440 * (float(length * step) + i))  # calculate the value at the current location
-                    output += bytes(struct.pack("f", value))
-
-                yield Audio(
-                    AudioChunkInfo(
-                        sample_format=SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED,
-                        channels=self.channel_count,
-                        sampling_rate=self.sample_rate,
-                    ),
-                    AudioChunk(
-                        data=output,
-                        length=int(length),
-                    ),
-                )
-
-                await asyncio.sleep(self.latency.total_seconds())
-
-        return StreamWithIterator(read())
-
-    async def get_properties(self) -> AudioInput.Properties:
-        return AudioInput.Properties(
-            channel_count=self.channel_count,
-            latency=self.latency,
-            sample_rate=self.sample_rate,
-            sample_size=4,
-            is_big_endian=sys.byteorder != "little",
-            is_float=True,
-            is_interleaved=True,
-        )
-
-    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
-        return GEOMETRIES
-
-
 class ExampleAudioIn(AudioIn):
     def __init__(self, name: str):
         super().__init__(name)

examples/server/v1/server.py

@@ -9,7 +9,6 @@
     ExampleAnalog,
     ExampleArm,
     ExampleAudioIn,
-    ExampleAudioInput,
     ExampleAudioOut,
     ExampleBase,
     ExampleBoard,
@@ -31,7 +30,6 @@
 
 async def run(host: str, port: int, log_level: int):
     my_arm = ExampleArm("arm0")
-    my_audio_input = ExampleAudioInput("audio_input0")
     my_audio_in = ExampleAudioIn("audio_in0")
     my_audio_out = ExampleAudioOut("audio_out0")
     my_base = ExampleBase("base0")
@@ -80,7 +78,6 @@ async def run(host: str, port: int, log_level: int):
         resources=[
             my_arm,
             my_audio_in,
-            my_audio_input,
             my_audio_out,
             my_base,
             my_board,