fix(race condition): fixing race condition in stop_recording (wait for proper stop before cleaning)

src/lerobot/datasets/lerobot_dataset.py

@@ -1435,7 +1435,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
                 for video_key in self.meta.video_keys:
                     ep_metadata.update(self._save_episode_video(video_key, episode_index))
 
-            #TODO(Caroline): add parallel encoding for audio as well
+            # TODO(Caroline): add parallel encoding for audio as well
             for audio_key in self.meta.audio_keys:
                 ep_metadata.update(self._save_episode_audio(audio_key, episode_index))
 

src/lerobot/microphones/portaudio/microphone_portaudio.py

@@ -497,6 +497,12 @@ class PortAudioMicrophone(Microphone):
         self.record_start_event.clear()  # Ensures the audio stream is not started again !
         self.record_stop_event.set()
 
+        # Wait for the stream to be stopped (might lead to race condition if the stream is not properly stopped on array reset and queue clearing)
+        timeout = 1.0
+        while self.is_recording and timeout > 0:
+            time.sleep(0.01)
+            timeout -= 0.01
+
         self.read_shared_array.reset()
         self._clear_queue(self.write_queue, join_queue=True)
 
@@ -504,11 +510,6 @@ class PortAudioMicrophone(Microphone):
             self.write_stop_event.set()
             self.write_thread.join()
 
-        timeout = 1.0
-        while self.is_recording and timeout > 0:
-            time.sleep(0.01)
-            timeout -= 0.01
-
         if self.is_recording:
             raise RuntimeError(f"Error stopping recording for microphone {self.microphone_index}.")
         if self.is_writing: