From 8bb5c49cc9878e6cd4770fe372df194f568f01b5 Mon Sep 17 00:00:00 2001
From: jbernavaprah <webjure@gmail.com>
Date: Thu, 11 Jun 2026 12:08:12 +0200
Subject: [PATCH] feat: restore microphone and speaker visualization on phoxal
 v0.6.0

The v0.5.0 typed-bus migration dropped the microphone and speaker
visualization paths because the topic tree had no fluent leaves for those
capabilities. phoxal v0.6.0 adds `component(id).microphone(cap).data()` and
`component(id).speaker(cap).audio()`, so re-wire both:

- microphone: subscribe to the data leaf, log audio frame byte count as a scalar
- speaker: subscribe to the audio leaf, log output byte count as a scalar

Restores the dropped `capability::{microphone,speaker}` log modules, the
`Microphone`/`SpeakerData` events, their subscriptions, and dispatch arms.
Bumps the phoxal dependency to 0.6.0.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
---
 Cargo.lock                   |  4 ++--
 Cargo.toml                   |  3 ++-
 src/capability/microphone.rs | 19 +++++++++++++++++++
 src/capability/mod.rs        | 22 ++++++++++++++++++++++
 src/capability/speaker.rs    | 19 +++++++++++++++++++
 src/event.rs                 |  4 ++++
 src/main.rs                  |  8 ++++++++
 src/subscriptions.rs         | 22 ++++++++++++++++++++--
 8 files changed, 96 insertions(+), 5 deletions(-)
 create mode 100644 src/capability/microphone.rs
 create mode 100644 src/capability/speaker.rs

diff --git a/Cargo.lock b/Cargo.lock
index bc68e00..96563e8 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -3141,9 +3141,9 @@ dependencies = [
 
 [[package]]
 name = "phoxal"
-version = "0.5.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "28e98fd325a693585a7ba0db4dfbffa940b913217630bd412c3e82f077f77ce4"
+checksum = "e03c85717b2412f60f950a7b9256b3deac56da6e72460154910cdddd5b4c418a"
 dependencies = [
  "anyhow",
  "arc-swap",
diff --git a/Cargo.toml b/Cargo.toml
index 3adc032..51b2166 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -22,7 +22,7 @@ serde = { version = "1.0.228", features = ["derive"] }
 tokio = { version = "1", features = ["macros", "rt", "rt-multi-thread", "time", "signal", "sync", "fs"] }
 tracing = "0.1.44"
 urdf-rs = "0.9.0"
-phoxal = { version = "0.5.0" }
+phoxal = { version = "0.6.0" }
 
 [workspace.lints.rust]
 unused = "warn"
@@ -64,3 +64,4 @@ urdf-rs = { workspace = true }
 
 [lints]
 workspace = true
+
diff --git a/src/capability/microphone.rs b/src/capability/microphone.rs
new file mode 100644
index 0000000..ea3640c
--- /dev/null
+++ b/src/capability/microphone.rs
@@ -0,0 +1,19 @@
+use anyhow::Result;
+use phoxal::api::v1::component::capability::microphone::Frame;
+use phoxal::bus::typed::Received;
+use rerun::{RecordingStream, Scalars};
+
+use crate::logging::helpers::set_logical_time;
+
+pub(crate) fn log(
+    rec: &RecordingStream,
+    capability_entity_path: &str,
+    received: &Received<Frame>,
+) -> Result<()> {
+    set_logical_time(rec, received.at_ns);
+    rec.log(
+        format!("{capability_entity_path}/audio_bytes").as_str(),
+        &Scalars::new([received.value.data().len() as f64]),
+    )?;
+    Ok(())
+}
diff --git a/src/capability/mod.rs b/src/capability/mod.rs
index adf0c1a..0ef3a84 100644
--- a/src/capability/mod.rs
+++ b/src/capability/mod.rs
@@ -8,8 +8,10 @@ mod gyroscope;
 mod imu;
 mod lidar;
 mod magnetometer;
+mod microphone;
 mod mmwave;
 mod range;
+mod speaker;
 
 use crate::scene::SceneModel;
 use anyhow::Result;
@@ -23,8 +25,10 @@ use phoxal::api::v1::component::capability::gyroscope::Sample as GyroscopeSample
 use phoxal::api::v1::component::capability::imu::Sample as ImuSample;
 use phoxal::api::v1::component::capability::lidar::Scan as LidarScan;
 use phoxal::api::v1::component::capability::magnetometer::Sample as MagnetometerSample;
+use phoxal::api::v1::component::capability::microphone::Frame as MicrophoneFrame;
 use phoxal::api::v1::component::capability::mmwave::Scan as MmwaveScan;
 use phoxal::api::v1::component::capability::range::Sample as RangeSample;
+use phoxal::api::v1::component::capability::speaker::audio::Audio;
 use phoxal::bus::typed::Received;
 use rerun::RecordingStream;
 
@@ -141,3 +145,21 @@ pub(crate) fn log_mmwave(
 ) -> Result<()> {
     mmwave::log(rec, scene.capability_entity_path(capability_id)?, received)
 }
+
+pub(crate) fn log_microphone(
+    rec: &RecordingStream,
+    scene: &SceneModel,
+    capability_id: &str,
+    received: &Received<MicrophoneFrame>,
+) -> Result<()> {
+    microphone::log(rec, scene.capability_entity_path(capability_id)?, received)
+}
+
+pub(crate) fn log_speaker_data(
+    rec: &RecordingStream,
+    scene: &SceneModel,
+    capability_id: &str,
+    received: &Received<Audio>,
+) -> Result<()> {
+    speaker::log_data(rec, scene.capability_entity_path(capability_id)?, received)
+}
diff --git a/src/capability/speaker.rs b/src/capability/speaker.rs
new file mode 100644
index 0000000..bff1b35
--- /dev/null
+++ b/src/capability/speaker.rs
@@ -0,0 +1,19 @@
+use anyhow::Result;
+use phoxal::api::v1::component::capability::speaker::audio::Audio;
+use phoxal::bus::typed::Received;
+use rerun::{RecordingStream, Scalars};
+
+use crate::logging::helpers::set_logical_time;
+
+pub(crate) fn log_data(
+    rec: &RecordingStream,
+    capability_entity_path: &str,
+    received: &Received<Audio>,
+) -> Result<()> {
+    set_logical_time(rec, received.at_ns);
+    rec.log(
+        format!("{capability_entity_path}/audio_output_bytes").as_str(),
+        &Scalars::new([received.value.data().len() as f64]),
+    )?;
+    Ok(())
+}
diff --git a/src/event.rs b/src/event.rs
index 7465e6b..0a40447 100644
--- a/src/event.rs
+++ b/src/event.rs
@@ -8,8 +8,10 @@ use phoxal::api::v1::component::capability::gyroscope::Sample as GyroscopeSample
 use phoxal::api::v1::component::capability::imu::Sample as ImuSample;
 use phoxal::api::v1::component::capability::lidar::Scan as LidarScan;
 use phoxal::api::v1::component::capability::magnetometer::Sample as MagnetometerSample;
+use phoxal::api::v1::component::capability::microphone::Frame as MicrophoneFrame;
 use phoxal::api::v1::component::capability::mmwave::Scan as MmwaveScan;
 use phoxal::api::v1::component::capability::range::Sample as RangeSample;
+use phoxal::api::v1::component::capability::speaker::audio::Audio;
 use phoxal::api::v1::drive::State as DriveState;
 use phoxal::api::v1::frame::FrameTransform;
 use phoxal::api::v1::joint::JointState;
@@ -69,5 +71,7 @@ define_event_enum! {
         Lidar(Received<LidarScan>),
         Magnetometer(Received<MagnetometerSample>),
         Mmwave(Received<MmwaveScan>),
+        Microphone(Received<MicrophoneFrame>),
+        SpeakerData(Received<Audio>),
     }
 }
diff --git a/src/main.rs b/src/main.rs
index 86b93f7..731142f 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -154,5 +154,13 @@ fn handle_event(
             capability_id,
             message,
         } => capability::log_mmwave(rec, scene, &capability_id, &message),
+        Event::Microphone {
+            capability_id,
+            message,
+        } => capability::log_microphone(rec, scene, &capability_id, &message),
+        Event::SpeakerData {
+            capability_id,
+            message,
+        } => capability::log_speaker_data(rec, scene, &capability_id, &message),
     }
 }
diff --git a/src/subscriptions.rs b/src/subscriptions.rs
index 64f1555..dd3119e 100644
--- a/src/subscriptions.rs
+++ b/src/subscriptions.rs
@@ -204,7 +204,16 @@ fn spawn_capability_subscriptions(
                         .data(),
                     Magnetometer
                 ),
-                Capability::Microphone(_) => {}
+                Capability::Microphone(_) => spawn_capability!(
+                    component_id,
+                    local_capability_id,
+                    |component_id, capability_id| topic::new()
+                        .v1()
+                        .component(component_id)
+                        .microphone(capability_id)
+                        .data(),
+                    Microphone
+                ),
                 Capability::Mmwave(_) => spawn_capability!(
                     component_id,
                     local_capability_id,
@@ -215,7 +224,16 @@ fn spawn_capability_subscriptions(
                         .data(),
                     Mmwave
                 ),
-                Capability::Speaker(_) => {}
+                Capability::Speaker(_) => spawn_capability!(
+                    component_id,
+                    local_capability_id,
+                    |component_id, capability_id| topic::new()
+                        .v1()
+                        .component(component_id)
+                        .speaker(capability_id)
+                        .audio(),
+                    SpeakerData
+                ),
                 Capability::Led(_) => {}
             }
         }