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Martino Russi
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#!/usr/bin/env python3
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"""
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Play a WAV file through the G1 robot's speaker.
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Requirements:
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- WAV file must be 16kHz, mono, 16-bit PCM
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Usage:
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python test_speaker_wav.py en7 path/to/audio.wav
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"""
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import sys
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import time
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import struct
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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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def read_wav(filename):
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"""Read WAV file and return PCM data."""
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try:
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with open(filename, 'rb') as f:
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def read(fmt):
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return struct.unpack(fmt, f.read(struct.calcsize(fmt)))
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# Read RIFF header
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chunk_id, = read('<I')
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if chunk_id != 0x46464952: # "RIFF"
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print(f"[ERROR] Not a valid WAV file (invalid RIFF header)")
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return [], -1, -1, False
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_chunk_size, = read('<I')
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format_tag, = read('<I')
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if format_tag != 0x45564157: # "WAVE"
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print(f"[ERROR] Not a valid WAV file (invalid WAVE format)")
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return [], -1, -1, False
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# Read fmt chunk
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subchunk1_id, = read('<I')
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subchunk1_size, = read('<I')
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# Skip JUNK chunk if present
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if subchunk1_id == 0x4B4E554A: # "JUNK"
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f.seek(subchunk1_size, 1)
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subchunk1_id, = read('<I')
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subchunk1_size, = read('<I')
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if subchunk1_id != 0x20746D66: # "fmt "
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print(f"[ERROR] Invalid fmt chunk")
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return [], -1, -1, False
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if subchunk1_size not in [16, 18]:
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print(f"[ERROR] Unsupported fmt chunk size: {subchunk1_size}")
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return [], -1, -1, False
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audio_format, = read('<H')
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if audio_format != 1:
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print(f"[ERROR] Only PCM format supported, got format {audio_format}")
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return [], -1, -1, False
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num_channels, = read('<H')
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sample_rate, = read('<I')
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_byte_rate, = read('<I')
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_block_align, = read('<H')
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bits_per_sample, = read('<H')
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if bits_per_sample != 16:
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print(f"[ERROR] Only 16-bit samples supported, got {bits_per_sample}-bit")
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return [], -1, -1, False
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if subchunk1_size == 18:
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extra_size, = read('<H')
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if extra_size != 0:
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f.seek(extra_size, 1)
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# Find data chunk
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while True:
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subchunk2_id, subchunk2_size = read('<II')
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if subchunk2_id == 0x61746164: # "data"
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break
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f.seek(subchunk2_size, 1)
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# Read PCM data
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raw_pcm = f.read(subchunk2_size)
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if len(raw_pcm) != subchunk2_size:
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print("[ERROR] Failed to read full PCM data")
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return [], -1, -1, False
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return list(raw_pcm), sample_rate, num_channels, True
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except Exception as e:
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print(f"[ERROR] Failed to read WAV file: {e}")
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return [], -1, -1, False
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def play_pcm_stream(client, pcm_list, app_name="example", chunk_size=96000):
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"""
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Play PCM audio in chunks.
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Args:
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client: AudioClient instance
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pcm_list: List of PCM bytes
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app_name: Application name for this audio stream
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chunk_size: Bytes per chunk (96000 = ~3 seconds at 16kHz)
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"""
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pcm_data = bytes(pcm_list)
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stream_id = str(int(time.time() * 1000))
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offset = 0
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chunk_index = 0
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total_size = len(pcm_data)
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print(f"Playing audio: {total_size} bytes in {(total_size // chunk_size) + 1} chunks")
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while offset < total_size:
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remaining = total_size - offset
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current_chunk_size = min(chunk_size, remaining)
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chunk = pcm_data[offset:offset + current_chunk_size]
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# Send chunk
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ret_code, _ = client.PlayStream(app_name, stream_id, chunk)
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if ret_code != 0:
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print(f"[ERROR] Failed to send chunk {chunk_index}, return code: {ret_code}")
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break
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else:
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print(f"[INFO] Sent chunk {chunk_index}/{(total_size // chunk_size)}")
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offset += current_chunk_size
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chunk_index += 1
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time.sleep(1.0) # Wait between chunks
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def main():
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if len(sys.argv) < 3:
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print(f"Usage: python3 {sys.argv[0]} <network_interface> <wav_file>")
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print("Example: python3 test_speaker_wav.py en7 audio.wav")
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print("\nWAV file requirements:")
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print(" - Sample rate: 16000 Hz")
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print(" - Channels: 1 (mono)")
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print(" - Bit depth: 16-bit")
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sys.exit(1)
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network_interface = sys.argv[1]
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wav_path = sys.argv[2]
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# Initialize communication
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print(f"Initializing on {network_interface}...")
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ChannelFactoryInitialize(0)
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# Create audio client
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audio_client = AudioClient()
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audio_client.SetTimeout(10.0)
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audio_client.Init()
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print("Audio client initialized!")
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# Read WAV file
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print(f"Reading WAV file: {wav_path}")
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pcm_list, sample_rate, num_channels, is_ok = read_wav(wav_path)
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if not is_ok:
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print("[ERROR] Failed to read WAV file")
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sys.exit(1)
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print(f"WAV info:")
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print(f" - Sample rate: {sample_rate} Hz")
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print(f" - Channels: {num_channels}")
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print(f" - Size: {len(pcm_list)} bytes")
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# Verify format
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if sample_rate != 16000:
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print(f"[ERROR] Sample rate must be 16000 Hz, got {sample_rate} Hz")
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print("Use ffmpeg to convert:")
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print(f" ffmpeg -i input.wav -ar 16000 -ac 1 -sample_fmt s16 output.wav")
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sys.exit(1)
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if num_channels != 1:
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print(f"[ERROR] Must be mono (1 channel), got {num_channels} channels")
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print("Use ffmpeg to convert:")
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print(f" ffmpeg -i input.wav -ar 16000 -ac 1 -sample_fmt s16 output.wav")
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sys.exit(1)
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# Play audio
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print("Playing audio...")
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play_pcm_stream(audio_client, pcm_list, "test_wav")
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# Wait for playback to finish
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duration_seconds = len(pcm_list) / (16000 * 2) # 16kHz, 16-bit (2 bytes)
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print(f"Waiting {duration_seconds:.1f} seconds for playback...")
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time.sleep(duration_seconds + 1)
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# Stop playback
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print("Stopping playback...")
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audio_client.PlayStop("test_wav")
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print("Done!")
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if __name__ == "__main__":
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main()
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