mirror of
https://github.com/huggingface/lerobot.git
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test(Microphone): adding tests for the PortAudioMicrophone class
This commit is contained in:
CarolinePascal
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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import unittest
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from copy import deepcopy
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from pathlib import Path
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import numpy as np
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from soundfile import read
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from lerobot.microphones.portaudio.configuration_portaudio import PortAudioMicrophoneConfig
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from lerobot.microphones.portaudio.interface_sounddevice_sdk import (
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FakeSounddeviceSDKAdapter,
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SounddeviceSDKAdapter,
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)
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from lerobot.microphones.portaudio.microphone_portaudio import PortAudioMicrophone
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from lerobot.microphones.utils import async_microphones_start_recording, async_microphones_stop_recording
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from lerobot.utils.errors import (
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DeviceAlreadyConnectedError,
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DeviceAlreadyRecordingError,
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DeviceNotConnectedError,
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DeviceNotRecordingError,
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)
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from lerobot.utils.robot_utils import busy_wait
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MODULE_PATH = "lerobot.microphones.portaudio.microphone_portaudio"
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RECORDING_DURATION = 1.0
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LEROBOT_USE_REAL_PORTAUDIO_MICROPHONE_TESTS = (
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os.getenv("LEROBOT_USE_REAL_PORTAUDIO_MICROPHONE_TESTS", "False").lower() == "true"
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)
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class TestPortAudioMicrophoneConfiguration(unittest.TestCase):
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"""Test the PortAudioMicrophone configuration and initialization."""
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def test_config_creation(self):
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"""Test creating a valid configuration."""
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config = PortAudioMicrophoneConfig(microphone_index=0, sample_rate=48000, channels=[1, 2])
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self.assertEqual(config.microphone_index, 0)
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self.assertEqual(config.sample_rate, 48000)
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self.assertEqual(config.channels, [1, 2])
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def test_config_creation_missing_microphone_index(self):
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"""Test creating a configuration with missing microphone index."""
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with self.assertRaises(TypeError):
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PortAudioMicrophoneConfig(sample_rate=48000, channels=[1, 2])
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def test_config_creation_missing_sample_rate(self):
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"""Test creating a configuration with missing sample rate."""
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config = PortAudioMicrophoneConfig(microphone_index=0, channels=[1, 2])
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self.assertIsNone(config.sample_rate)
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def test_config_creation_missing_channels(self):
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"""Test creating a configuration with missing channels."""
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config = PortAudioMicrophoneConfig(microphone_index=0, sample_rate=48000)
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self.assertIsNone(config.channels)
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class TestPortAudioMicrophoneDeviceValidation(unittest.TestCase):
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"""Test device validation and configuration."""
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def setUp(self):
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if LEROBOT_USE_REAL_PORTAUDIO_MICROPHONE_TESTS:
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self.test_sdk = SounddeviceSDKAdapter()
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else:
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self.test_sdk = FakeSounddeviceSDKAdapter()
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def _create_config(
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device: int | str | None = None, kind: str | None = None
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) -> PortAudioMicrophoneConfig:
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device_info = self.test_sdk.query_devices(device, kind)
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config = PortAudioMicrophoneConfig(
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microphone_index=device_info["index"],
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sample_rate=device_info["default_samplerate"],
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channels=np.arange(device_info["max_input_channels"]) + 1,
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)
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return config
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self._create_config = _create_config
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self.default_config = self._create_config(kind="input")
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def test_init_defaults(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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device_info = self.test_sdk.query_devices(kind="input")
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self.assertIsNotNone(microphone)
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self.assertEqual(microphone.microphone_index, device_info["index"])
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self.assertEqual(microphone.sample_rate, device_info["default_samplerate"])
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np.testing.assert_array_equal(microphone.channels, np.arange(device_info["max_input_channels"]) + 1)
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self.assertFalse(microphone.is_connected)
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self.assertFalse(microphone.is_recording)
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def test_connect_success(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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self.assertTrue(microphone.is_connected)
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self.assertFalse(microphone.is_recording)
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self.assertFalse(microphone.is_writing)
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def test_connect_empty_config(self):
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config = deepcopy(self.default_config)
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config.sample_rate = None
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config.channels = None
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microphone = PortAudioMicrophone(config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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device_info = self.test_sdk.query_devices(kind="input")
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self.assertEqual(microphone.sample_rate, device_info["default_samplerate"])
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np.testing.assert_array_equal(microphone.channels, np.arange(device_info["max_input_channels"]) + 1)
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def test_connect_already_connected(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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with self.assertRaises(DeviceAlreadyConnectedError):
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microphone.connect()
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def test_connect_invalid_device(self):
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config = self._create_config(kind="output")
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microphone = PortAudioMicrophone(config, sounddevice_sdk=self.test_sdk)
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with self.assertRaises(RuntimeError):
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microphone.connect()
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def test_connect_invalid_index(self):
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config = deepcopy(self.default_config)
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config.microphone_index = -1
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microphone = PortAudioMicrophone(config, sounddevice_sdk=self.test_sdk)
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with self.assertRaises(RuntimeError):
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microphone.connect()
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def test_connect_invalid_sample_rate(self):
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config = deepcopy(self.default_config)
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config.sample_rate = -1
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microphone = PortAudioMicrophone(config, sounddevice_sdk=self.test_sdk)
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with self.assertRaises(RuntimeError):
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microphone.connect()
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def test_connect_lower_sample_rate(self):
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config = deepcopy(self.default_config)
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config.sample_rate = 1000 # Lowest possible sample rate
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microphone = PortAudioMicrophone(config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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self.assertEqual(microphone.sample_rate, 1000)
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def test_connect_invalid_channels(self):
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config = deepcopy(self.default_config)
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config.channels = np.append(self.default_config.channels, -1)
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microphone = PortAudioMicrophone(config, sounddevice_sdk=self.test_sdk)
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with self.assertRaises(RuntimeError):
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microphone.connect()
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def test_disconnect_success(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.disconnect()
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self.assertFalse(microphone.is_connected)
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self.assertFalse(microphone.is_recording)
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self.assertFalse(microphone.is_writing)
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def test_disconnect_not_connected(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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with self.assertRaises(DeviceNotConnectedError):
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microphone.disconnect()
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def test_start_recording_success(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.start_recording()
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self.assertTrue(microphone.is_recording)
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self.assertTrue(microphone.is_connected)
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self.assertFalse(microphone.is_writing)
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def test_recoring_not_connected(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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with self.assertRaises(DeviceNotConnectedError):
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microphone.start_recording()
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def test_start_recording_already_recording(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.start_recording()
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with self.assertRaises(DeviceAlreadyRecordingError):
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microphone.start_recording()
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def test_start_writing_success(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.start_recording(output_file="test.wav")
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self.assertTrue(microphone.is_recording)
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self.assertTrue(microphone.is_connected)
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self.assertTrue(microphone.is_writing)
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self.assertTrue(Path("test.wav").exists())
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def test_stop_recording_success(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.start_recording()
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busy_wait(RECORDING_DURATION)
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microphone.stop_recording()
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self.assertFalse(microphone.is_recording)
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self.assertTrue(microphone.is_connected)
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self.assertFalse(microphone.is_writing)
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def test_stop_writing_success(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.start_recording(output_file="test.wav")
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busy_wait(RECORDING_DURATION)
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microphone.stop_recording()
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self.assertFalse(microphone.is_recording)
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self.assertTrue(microphone.is_connected)
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self.assertFalse(microphone.is_writing)
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self.assertTrue(Path("test.wav").exists())
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def test_stop_recording_not_connected(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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with self.assertRaises(DeviceNotConnectedError):
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microphone.stop_recording()
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def test_stop_recording_not_recording(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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with self.assertRaises(DeviceNotRecordingError):
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microphone.stop_recording()
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def test_disconnect_while_recording(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.start_recording()
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busy_wait(RECORDING_DURATION)
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microphone.disconnect()
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self.assertFalse(microphone.is_connected)
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self.assertFalse(microphone.is_recording)
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self.assertFalse(microphone.is_writing)
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def test_disconnect_while_writing(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.start_recording(output_file="test.wav")
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busy_wait(RECORDING_DURATION)
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microphone.disconnect()
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self.assertFalse(microphone.is_connected)
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self.assertFalse(microphone.is_recording)
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self.assertFalse(microphone.is_writing)
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self.assertTrue(Path("test.wav").exists())
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def test_read_success(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.start_recording()
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busy_wait(RECORDING_DURATION)
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data = microphone.read()
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device_info = self.test_sdk.query_devices(kind="input")
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self.assertIsNotNone(data)
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self.assertEqual(data.shape[1], len(self.default_config.channels))
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self.assertAlmostEqual(
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data.shape[0],
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RECORDING_DURATION * self.default_config.sample_rate,
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delta=self.default_config.sample_rate * device_info["default_low_input_latency"],
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)
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def test_writing_success(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.start_recording(output_file="test.wav")
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busy_wait(RECORDING_DURATION)
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microphone.stop_recording()
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data, samplerate = read("test.wav")
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device_info = self.test_sdk.query_devices(kind="input")
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self.assertEqual(samplerate, self.default_config.sample_rate)
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self.assertEqual(data.shape[1], len(self.default_config.channels))
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self.assertAlmostEqual(
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data.shape[0],
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RECORDING_DURATION * self.default_config.sample_rate,
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delta=self.default_config.sample_rate * device_info["default_low_input_latency"],
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)
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def test_read_while_writing(self):
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microphone = PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk)
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microphone.connect()
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microphone.start_recording(output_file="test.wav")
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busy_wait(RECORDING_DURATION)
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read_data = microphone.read()
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microphone.stop_recording()
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writing_data, _ = read("test.wav")
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device_info = self.test_sdk.query_devices(kind="input")
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self.assertAlmostEqual(
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writing_data.shape[0],
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RECORDING_DURATION * self.default_config.sample_rate,
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delta=self.default_config.sample_rate * device_info["default_low_input_latency"],
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)
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self.assertAlmostEqual(
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read_data.shape[0],
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RECORDING_DURATION * self.default_config.sample_rate,
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delta=self.default_config.sample_rate * device_info["default_low_input_latency"],
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)
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def test_async_start_recording(self):
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microphones = {
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"microphone_1": PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk),
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"microphone_2": PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk),
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}
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for microphone in microphones.values():
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microphone.connect()
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async_microphones_start_recording(microphones)
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for microphone in microphones.values():
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self.assertTrue(microphone.is_recording)
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self.assertTrue(microphone.is_connected)
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self.assertFalse(microphone.is_writing)
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def test_async_start_writing(self):
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microphones = {
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"microphone_1": PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk),
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"microphone_2": PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk),
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}
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for microphone in microphones.values():
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microphone.connect()
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async_microphones_start_recording(microphones, output_files=["test_1.wav", "test_2.wav"])
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for microphone in microphones.values():
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self.assertTrue(microphone.is_recording)
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self.assertTrue(microphone.is_connected)
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self.assertTrue(microphone.is_writing)
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self.assertTrue(Path("test_1.wav").exists())
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self.assertTrue(Path("test_2.wav").exists())
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def test_async_stop_recording(self):
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microphones = {
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"microphone_1": PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk),
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"microphone_2": PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk),
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}
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for microphone in microphones.values():
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microphone.connect()
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async_microphones_start_recording(microphones)
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async_microphones_stop_recording(microphones)
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for microphone in microphones.values():
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self.assertFalse(microphone.is_recording)
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self.assertTrue(microphone.is_connected)
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self.assertFalse(microphone.is_writing)
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def test_async_stop_writing(self):
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microphones = {
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"microphone_1": PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk),
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"microphone_2": PortAudioMicrophone(self.default_config, sounddevice_sdk=self.test_sdk),
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}
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for microphone in microphones.values():
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microphone.connect()
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async_microphones_start_recording(microphones, output_files=["test_1.wav", "test_2.wav"])
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async_microphones_stop_recording(microphones)
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for microphone in microphones.values():
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self.assertFalse(microphone.is_recording)
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self.assertTrue(microphone.is_connected)
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self.assertFalse(microphone.is_writing)
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self.assertTrue(Path("test_1.wav").exists())
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self.assertTrue(Path("test_2.wav").exists())
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if __name__ == "__main__":
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unittest.main(argv=["first-arg-is-ignored"], exit=False)
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