Update 2026-04-23 09:55:45

scripts/start_saqr.sh

@@ -70,6 +70,36 @@ cd "$SAQR_DIR" || {
 }
 
 echo "[start_saqr] env=$CONDA_ENV cwd=$PWD iface=$DDS_IFACE source=$SAQR_SOURCE stream=$STREAM_PORT"
+
+# ── Clear competing voice/audio processes ───────────────────────────────────
+# The G1 firmware voice service (TtsMaker / PlayStream) goes into a
+# "busy" state — returning rc=3104 or silently dropping audio — when
+# another process on the robot holds the audio channel. Known offenders
+# on this robot: sanad_voice.service, sanad_webserver, marcus_voice,
+# and stale saqr bridge/saqr_cli instances left by previous runs.
+# Kill them all before starting so the firmware starts from a clean
+# state. All commands are best-effort (|| true) and non-interactive
+# (sudo -n) so they never block.
+echo "[start_saqr] clearing competing voice/audio processes..."
+killed=0
+for svc in sanad_voice.service sanad_webserver.service marcus_voice.service; do
+    if sudo -n systemctl stop  "$svc" >/dev/null 2>&1; then
+        echo "[start_saqr]   stopped systemd unit: $svc"
+        killed=1
+    fi
+done
+for pattern in sanad_voice sanad_webserver marcus_voice gemini_voice \
+               'python.*robot\.bridge' 'python.*apps\.saqr_cli'; do
+    if pkill -f "$pattern" >/dev/null 2>&1; then
+        echo "[start_saqr]   killed: $pattern"
+        killed=1
+    fi
+done
+if [ "$killed" -eq 1 ]; then
+    # Give the firmware a beat to release the voice RPC service.
+    sleep 1
+fi
+
 echo "[start_saqr] launching bridge..."
 
 exec python3 -m robot.bridge \