update g1 audio api and g1_audio_client_example

Author: xiaoliangstd

example/g1/audio/g1_audio_client_example.py

@@ -0,0 +1,44 @@
+import time
+import sys
+from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
+from unitree_sdk2py.g1.audio.g1_audio_client import AudioClient
+from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient
+
+if __name__ == "__main__":
+    if len(sys.argv) < 2:
+        print(f"Usage: python3 {sys.argv[0]} networkInterface")
+        sys.exit(-1)
+
+    ChannelFactoryInitialize(0, sys.argv[1])
+
+    audio_client = AudioClient()  
+    audio_client.SetTimeout(10.0)
+    audio_client.Init()
+
+    sport_client = LocoClient()  
+    sport_client.SetTimeout(10.0)
+    sport_client.Init()
+
+    ret = audio_client.GetVolume()
+    print("debug GetVolume: ",ret)
+
+    audio_client.SetVolume(85)
+
+    ret = audio_client.GetVolume()
+    print("debug GetVolume: ",ret)
+
+    sport_client.WaveHand()
+
+    audio_client.TtsMaker("大家好!我是宇树科技人形机器人。语音开发测试例程运行成功！ 很高兴认识你！",0)
+    time.sleep(8)
+    audio_client.TtsMaker("接下来测试灯带开发例程！",0)
+    time.sleep(1)
+    audio_client.LedControl(255,0,0)
+    time.sleep(1)
+    audio_client.LedControl(0,255,0)
+    time.sleep(1)
+    audio_client.LedControl(0,0,255)
+
+    time.sleep(3)
+    audio_client.TtsMaker("测试完毕，谢谢大家！",0)
+    

unitree_sdk2py/g1/audio/g1_audio_api.py

@@ -0,0 +1,24 @@
+"""
+" service name
+"""
+AUDIO_SERVICE_NAME = "voice"
+
+"""
+" service api version
+"""
+AUDIO_API_VERSION = "1.0.0.0"
+
+"""
+" api id
+"""
+ROBOT_API_ID_AUDIO_TTS = 1001
+ROBOT_API_ID_AUDIO_ASR = 1002
+ROBOT_API_ID_AUDIO_START_PLAY = 1003
+ROBOT_API_ID_AUDIO_STOP_PLAY = 1004
+ROBOT_API_ID_AUDIO_GET_VOLUME = 1005
+ROBOT_API_ID_AUDIO_SET_VOLUME = 1006 
+ROBOT_API_ID_AUDIO_SET_RGB_LED = 1010
+
+"""
+" error code
+"""

unitree_sdk2py/g1/audio/g1_audio_client.py

@@ -0,0 +1,62 @@
+import json
+
+from ...rpc.client import Client
+from .g1_audio_api import *
+
+"""
+" class SportClient
+"""
+class AudioClient(Client):
+    def __init__(self):
+        super().__init__(AUDIO_SERVICE_NAME, False)
+        self.tts_index = 0
+
+    def Init(self):
+        # set api version
+        self._SetApiVerson(AUDIO_API_VERSION)
+
+        # regist api
+        self._RegistApi(ROBOT_API_ID_AUDIO_TTS, 0)
+        self._RegistApi(ROBOT_API_ID_AUDIO_ASR, 0)
+        self._RegistApi(ROBOT_API_ID_AUDIO_START_PLAY, 0)
+        self._RegistApi(ROBOT_API_ID_AUDIO_STOP_PLAY, 0)
+        self._RegistApi(ROBOT_API_ID_AUDIO_GET_VOLUME, 0)
+        self._RegistApi(ROBOT_API_ID_AUDIO_SET_VOLUME, 0) 
+        self._RegistApi(ROBOT_API_ID_AUDIO_SET_RGB_LED, 0) 
+
+    ## API Call ##
+    def TtsMaker(self, text: str, speaker_id: int):
+        self.tts_index += self.tts_index
+        p = {}
+        p["index"] = self.tts_index
+        p["text"] = text
+        p["speaker_id"] = speaker_id
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_API_ID_AUDIO_TTS, parameter)
+        return code
+
+    def GetVolume(self):
+        p = {}
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_API_ID_AUDIO_GET_VOLUME, parameter)
+        if code == 0:
+            return code, json.loads(data)
+        else:
+            return code, None
+
+    def SetVolume(self, volume: int):
+        p = {}
+        p["volume"] = volume
+        # p["name"] = 'volume'
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_API_ID_AUDIO_SET_VOLUME, parameter)
+        return code
+
+    def LedControl(self, R: int, G: int, B: int):
+        p = {}
+        p["R"] = R
+        p["G"] = G
+        p["B"] = B
+        parameter = json.dumps(p)
+        code, data = self._Call(ROBOT_API_ID_AUDIO_SET_RGB_LED, parameter)
+        return code