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feat(clear-less start): adding support for synchronized recording start without delaying queue clearings

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This commit is contained in:
CarolinePascal
2025-08-06 19:58:35 +02:00
parent 0d4922ce49
commit a02d70389d
1 changed files with 10 additions and 9 deletions
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src/lerobot/microphones/portaudio/microphone_portaudio.py
+10 -9
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@@ -81,6 +81,7 @@ class PortAudioMicrophone(Microphone):
self.record_start_event = process_Event() self.record_start_event = process_Event()
self.record_close_event = process_Event() self.record_close_event = process_Event()
self.record_is_started_event = process_Event() self.record_is_started_event = process_Event()
self.audio_callback_start_event = process_Event()
# Process-safe concurrent queues to store the written/read audio # Process-safe concurrent queues to store the written/read audio
self.write_queue = process_Queue() self.write_queue = process_Queue()
@@ -214,6 +215,7 @@ class PortAudioMicrophone(Microphone):
self.record_stop_event.clear() self.record_stop_event.clear()
self.record_close_event.clear() self.record_close_event.clear()
self.record_is_started_event.clear() self.record_is_started_event.clear()
self.audio_callback_start_event.clear()
# Create and start an audio input stream with a recording callback # Create and start an audio input stream with a recording callback
# Remark: this is done in a separate process so that audio recording is not impacted by the main thread CPU usage, especially the busy_wait function. # Remark: this is done in a separate process so that audio recording is not impacted by the main thread CPU usage, especially the busy_wait function.
@@ -227,6 +229,7 @@ class PortAudioMicrophone(Microphone):
self.record_stop_event, self.record_stop_event,
self.record_close_event, self.record_close_event,
self.record_is_started_event, self.record_is_started_event,
self.audio_callback_start_event,
self.write_queue, self.write_queue,
self.read_queue, self.read_queue,
), ),
@@ -301,6 +304,7 @@ class PortAudioMicrophone(Microphone):
record_stop_event, record_stop_event,
record_close_event, record_close_event,
record_is_started_event, record_is_started_event,
audio_callback_start_event,
write_queue, write_queue,
read_queue, read_queue,
) -> None: ) -> None:
@@ -319,8 +323,9 @@ class PortAudioMicrophone(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
# Remark: this also ensures that file-recorded data and chunk-audio data are the same. # Remark: this also ensures that file-recorded data and chunk-audio data are the same.
write_queue.put_nowait(indata[:, channels_index]) if audio_callback_start_event.is_set():
read_queue.put_nowait(indata[:, channels_index]) write_queue.put_nowait(indata[:, channels_index])
read_queue.put_nowait(indata[:, channels_index])
# Create the audio stream # Create the audio stream
stream = sd.InputStream( stream = sd.InputStream(
@@ -408,9 +413,7 @@ class PortAudioMicrophone(Microphone):
), ),
) )
self.write_thread.daemon = True self.write_thread.daemon = True
self.write_thread.start()
if barrier is None:
self.write_thread.start()
self.record_start_event.set() # Start the input audio stream process self.record_start_event.set() # Start the input audio stream process
self.record_is_started_event.wait() # Wait for the input audio stream process to be actually started self.record_is_started_event.wait() # Wait for the input audio stream process to be actually started
@@ -418,10 +421,7 @@ class PortAudioMicrophone(Microphone):
if barrier is not None: if barrier is not None:
barrier.wait() # Wait for multiple input audio streams to be started at the same time barrier.wait() # Wait for multiple input audio streams to be started at the same time
self._clear_queue(self.read_queue) self.audio_callback_start_event.set()
self._clear_queue(self.write_queue)
if output_file is not None:
self.write_thread.start()
if not self.is_recording: if not self.is_recording:
raise RuntimeError(f"Error starting recording for microphone {self.microphone_index}.") raise RuntimeError(f"Error starting recording for microphone {self.microphone_index}.")
@@ -437,6 +437,7 @@ class PortAudioMicrophone(Microphone):
if not self.is_recording: if not self.is_recording:
raise DeviceNotRecordingError(f"Microphone {self.microphone_index} is not recording.") raise DeviceNotRecordingError(f"Microphone {self.microphone_index} is not recording.")
self.audio_callback_start_event.clear()
self.record_start_event.clear() # Ensures the audio stream is not started again ! self.record_start_event.clear() # Ensures the audio stream is not started again !
self.record_stop_event.set() self.record_stop_event.set()