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docs(mic utils): adding complete docstrings for Microphone utils functions and removing unused utils function

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This commit is contained in:
CarolinePascal
2025-08-06 20:12:48 +02:00
parent 2f96d8bf76
commit d7ae8cd699
1 changed files with 11 additions and 32 deletions
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src/lerobot/microphones/utils.py
+11 -32
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@@ -13,11 +13,8 @@
# limitations under the License. # limitations under the License.
from multiprocessing import Barrier from multiprocessing import Barrier
from queue import Queue
from threading import Thread from threading import Thread
import numpy as np
from .configs import MicrophoneConfig from .configs import MicrophoneConfig
from .microphone import Microphone from .microphone import Microphone
@@ -43,7 +40,13 @@ def async_microphones_start_recording(
overwrite: bool = True, overwrite: bool = True,
) -> None: ) -> None:
""" """
Starts recording on multiple microphones asynchronously to avoid delays Starts recording on multiple microphones asynchronously to avoid delays.
Args:
microphones: A dictionary of microphones.
output_files: A list of output files.
multiprocessing: If True, enables multiprocessing for recording.
overwrite: If True, overwrites existing files at output_file path.
""" """
start_recording_threads = [] start_recording_threads = []
@@ -65,7 +68,10 @@ def async_microphones_start_recording(
def async_microphones_stop_recording(microphones: dict[str, Microphone]) -> None: def async_microphones_stop_recording(microphones: dict[str, Microphone]) -> None:
""" """
Stops recording on multiple microphones asynchronously to avoid delays Stops recording on multiple microphones asynchronously to avoid delays.
Args:
microphones: A dictionary of microphones.
""" """
stop_recording_threads = [] stop_recording_threads = []
@@ -77,30 +83,3 @@ def async_microphones_stop_recording(microphones: dict[str, Microphone]) -> None
thread.start() thread.start()
for thread in stop_recording_threads: for thread in stop_recording_threads:
thread.join() thread.join()
def async_microphones_read(microphones: dict[str, Microphone]) -> dict[str, np.ndarray]:
"""
Reads from multiple microphones asynchronously to avoid delays.
-> Actually induces more delays than the synchronous version, so use with caution !
"""
read_threads = []
read_queue = Queue()
for microphone_key, microphone in microphones.items():
read_threads.append(
Thread(
target=lambda microphone, output, microphone_key: output.put_nowait(
{microphone_key: microphone.read()}
),
args=(microphone, read_queue, microphone_key),
)
)
for thread in read_threads:
thread.start()
for thread in read_threads:
thread.join()
return dict(kv for d in read_queue.queue for kv in d.items())