89 lines
2.6 KiB
Python
89 lines
2.6 KiB
Python
#!/usr/bin/env python3
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"""Quick test: does the G1 built-in speaker work via AudioClient?"""
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import sys
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import time
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import json
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from unitree_sdk2py.core.channel import ChannelFactoryInitialize
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from unitree_sdk2py.g1.audio.g1_audio_client import AudioClient
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from unitree_sdk2py.g1.audio.g1_audio_api import *
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if len(sys.argv) < 2:
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print(f"Usage: python3 {sys.argv[0]} <network_interface>")
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print(f" e.g. python3 {sys.argv[0]} enp3s0")
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sys.exit(1)
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iface = sys.argv[1]
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print(f"Connecting via {iface}...")
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ChannelFactoryInitialize(0, iface)
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client = AudioClient()
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client.SetTimeout(10.0)
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client.Init()
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# Test 1: Volume
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print("\n--- Test 1: GetVolume ---")
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code, vol = client.GetVolume()
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print(f" code={code}, volume={vol}")
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print("\n--- Test 2: SetVolume(100) ---")
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code = client.SetVolume(100)
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print(f" code={code}")
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# Test 3: LED (visual confirmation that RPC works)
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print("\n--- Test 3: LED Red ---")
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code = client.LedControl(255, 0, 0)
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print(f" code={code}")
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time.sleep(1)
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print("--- Test 3b: LED Green ---")
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code = client.LedControl(0, 255, 0)
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print(f" code={code}")
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time.sleep(1)
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print("--- Test 3c: LED off ---")
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code = client.LedControl(0, 0, 0)
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print(f" code={code}")
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# Test 4: TTS
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print("\n--- Test 4: TTS 'Hello, testing speaker' ---")
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code = client.TtsMaker("Hello, testing speaker", 0)
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print(f" code={code}")
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time.sleep(3)
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print("\n--- Test 5: TTS Chinese ---")
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code = client.TtsMaker("你好，测试声音", 0)
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print(f" code={code}")
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time.sleep(3)
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# Test 6: Try _Call with AUDIO_START_PLAY different formats
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print("\n--- Test 6: _Call AUDIO_START_PLAY formats ---")
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import wave
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import numpy as np
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from pathlib import Path
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wav_path = Path(__file__).parent / "DataG1" / "greeting.wav"
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if wav_path.exists():
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with wave.open(str(wav_path), "rb") as wf:
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pcm = wf.readframes(wf.getnframes())
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# Small chunk for testing
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chunk = pcm[:4096]
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# Format A: just JSON with pcm as list of ints
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param_a = json.dumps({"pcm": list(chunk[:256])})
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code_a, data_a = client._Call(ROBOT_API_ID_AUDIO_START_PLAY, param_a)
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print(f" Format A (_Call, pcm list): code={code_a}")
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# Format B: _CallBinary with raw bytes
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code_b, data_b = client._CallBinary(ROBOT_API_ID_AUDIO_START_PLAY, list(chunk[:256]))
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print(f" Format B (_CallBinary, raw): code={code_b}")
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# Format C: _Call with app_name
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param_c = json.dumps({"app_name": "test", "stream_id": "s1"})
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code_c, data_c = client._Call(ROBOT_API_ID_AUDIO_START_PLAY, param_c)
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print(f" Format C (_Call, app_name): code={code_c}")
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else:
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print(f" No greeting.wav found, skipping PCM tests")
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print("\nDone. Did you hear anything or see LED changes?")
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