feat: restore microphone and speaker visualization on phoxal v0.6.0

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
+

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(())
+}

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)
+}

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(())
+}

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>),
     }
 }

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),
     }
 }

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(_) => {}
             }
         }