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fix: fixing issue with microphone channels numbering and status recovery on stop_recording

This commit is contained in:
CarolinePascal 2025-04-11 18:51:34 +02:00
parent cb1a625617
commit 5267829b5a
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1 changed files with 9 additions and 9 deletions
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18
lerobot/common/robot_devices/microphones/microphone.py
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@ -207,22 +207,22 @@ class Microphone:
else: else:
self.sample_rate = int(actual_microphone["default_samplerate"]) self.sample_rate = int(actual_microphone["default_samplerate"])
if self.channels is not None: if self.channels is not None and len(self.channels) > 0:
if any(c > actual_microphone["max_input_channels"] for c in self.channels): if any(c > actual_microphone["max_input_channels"] for c in self.channels):
raise OSError( raise OSError(
f"Some of the provided channels {self.channels} are outside the maximum channel range of the microphone {actual_microphone['max_input_channels']}." f"Some of the provided channels {self.channels} are outside the maximum channel range of the microphone {actual_microphone['max_input_channels']}."
) )
else: else:
self.channels = np.arange(1, actual_microphone["max_input_channels"] + 1) self.channels = np.arange(1, actual_microphone["max_input_channels"] + 1)
# Get channels index instead of number for slicing # Get channels index instead of number for slicing
self.channels = np.array(self.channels) - 1 self.channels_index = np.array(self.channels) - 1
# Create the audio stream # Create the audio stream
self.stream = sd.InputStream( self.stream = sd.InputStream(
device=self.microphone_index, device=self.microphone_index,
samplerate=self.sample_rate, samplerate=self.sample_rate,
channels=max(self.channels) + 1, channels=max(self.channels),
dtype="float32", dtype="float32",
callback=self._audio_callback, callback=self._audio_callback,
) )
@ -240,8 +240,8 @@ class Microphone:
# Slicing makes copy unnecessary # Slicing makes copy unnecessary
# Two separate queues are necessary because .get() also pops the data from the queue # Two separate queues are necessary because .get() also pops the data from the queue
if self.is_writing: if self.is_writing:
self.record_queue.put(indata[:, self.channels]) self.record_queue.put(indata[:, self.channels_index])
self.read_queue.put(indata[:, self.channels]) self.read_queue.put(indata[:, self.channels_index])
@staticmethod @staticmethod
def _record_loop(queue, event: Event, sample_rate: int, channels: list[int], output_file: Path) -> None: def _record_loop(queue, event: Event, sample_rate: int, channels: list[int], output_file: Path) -> None:
@ -253,7 +253,7 @@ class Microphone:
output_file, output_file,
mode="x", mode="x",
samplerate=sample_rate, samplerate=sample_rate,
channels=max(channels) + 1, channels=max(channels),
subtype=sf.default_subtype(output_file.suffix[1:]), subtype=sf.default_subtype(output_file.suffix[1:]),
) as file: ) as file:
while not event.is_set(): while not event.is_set():
@ -370,7 +370,7 @@ class Microphone:
if self.stream.active: if self.stream.active:
self.stream.stop() # Wait for all buffers to be processed self.stream.stop() # Wait for all buffers to be processed
# Remark : stream.abort() flushes the buffers ! # Remark : stream.abort() flushes the buffers !
self.is_recording = False self.is_recording = False
if self.record_thread is not None: if self.record_thread is not None:
self.record_queue.join() self.record_queue.join()
@ -378,7 +378,7 @@ class Microphone:
self.record_thread.join() self.record_thread.join()
self.record_thread = None self.record_thread = None
self.record_stop_event = None self.record_stop_event = None
self.is_writing = False self.is_writing = False
def disconnect(self) -> None: def disconnect(self) -> None:
""" """