Mic and speaker update #70
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…enchantments for mp3 file playing
Serafadam
reviewed
Feb 13, 2024
| snd_pcm_set_params(alsaHandle, SND_PCM_FORMAT_S16_LE, SND_PCM_ACCESS_RW_INTERLEAVED, 1, rate * channels, 2, 50000); | ||
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| snd_pcm_set_params(alsaHandle, SND_PCM_FORMAT_S16_LE, SND_PCM_ACCESS_RW_INTERLEAVED, channels, rate, 2, 50000); |
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Won't this cause issues?
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Issue was bit further down the code in:
if(snd_pcm_writei(alsaHandle, buffer, buffer_size/2 < 0) where I was sending too big chunk of a buffer. To compensate for that I only let alsa run in 1 channel. I further divided buffer into individual bytes when sending to device and now it runs without issues in both stereo and mono files.
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Other than the comment, LGTM, formatting needs to be fixed. |
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@Serafadam I further added low pass filter to mic node to remove (most of the) noise from recording. You can check out that change and if everything looks ok, you can merge. |
Serafadam
reviewed
Feb 13, 2024
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Adds ability to stop recording via service call (timeout of 30 seconds otherwise).
Adds ability for speaker node to play wav files.
Changes "mp3_file" request variable from PlayAudio service call as it no longer makes sense (as it can both play wav and mp3), updates lifecycle manager and rae_sdk to account for that.
Adding gain to wav file playing to account for bit quieter recording.
Update for pcm params for mp3 playing to use relevant channels better.
Added a dead zone for motors to not confuse PID controller on low speeds. Should solve RAE moving when command to stop is given.