ti-pote/apps/robot-client/scripts/test_wakeword.ts

#!/usr/bin/env npx tsx
/**
 * Test wake word detection using live ESP32 audio.
 *
 * Usage:
 *   npx tsx scripts/test_wakeword.ts [--threshold 0.5] [--record out.raw]
 *
 * Connects to the ESP32 via serial, reads AUDIO_UP frames, and pipes
 * the raw PCM into the wake_word.py subprocess. Prints detections live.
 *
 * --record <file>  Also dump raw PCM to a file so you can replay it later:
 *                  python3 scripts/wake_word.py --model hey_jarvis --input stdin < out.raw
 */
import { SerialPort } from 'serialport';
import { spawn, type ChildProcess } from 'node:child_process';
import { createWriteStream, type WriteStream } from 'node:fs';
import { parseArgs } from 'node:util';
import { FrameDecoder, MsgType, encodeFrame } from '../src/hardware/protocol.js';

const { values } = parseArgs({
  options: {
    threshold: { type: 'string', default: '0.5' },
    record: { type: 'string' },
    model: { type: 'string', default: 'hey_jarvis' },
    python: { type: 'string', default: process.env.WAKEWORD_PYTHON_PATH || 'python3' },
    port: { type: 'string', default: '/dev/serial0' },
    baud: { type: 'string', default: '921600' },
  },
});

const threshold = values.threshold!;
const model = values.model!;
const pythonPath = values.python!;
const serialPath = values.port!;
const baudRate = parseInt(values.baud!, 10);

let recordStream: WriteStream | null = null;
if (values.record) {
  recordStream = createWriteStream(values.record);
  console.log(`📁 Recording raw PCM to ${values.record}`);
}

// ── Spawn Python wake word process ──
const pyArgs = [
  './scripts/wake_word.py',
  '--model', model,
  '--threshold', threshold,
  '--sample-rate', '16000',
  '--input', 'stdin',
  '--control-fd', '3',
];

console.log(`🐍 Spawning: ${pythonPath} ${pyArgs.join(' ')}`);
console.log(`🎤 Threshold: ${threshold} | Model: ${model}`);
console.log(`🔌 Serial: ${serialPath} @ ${baudRate}\n`);

const py: ChildProcess = spawn(pythonPath, pyArgs, {
  stdio: ['pipe', 'pipe', 'pipe', 'pipe'],
});

py.stdout?.on('data', (data: Buffer) => {
  const lines = data.toString().trim().split('\n');
  for (const line of lines) {
    if (line.trim() === 'DETECTED') {
      console.log(`\n🟢 DETECTED at ${new Date().toLocaleTimeString()}\n`);
    }
  }
});

py.stderr?.on('data', (data: Buffer) => {
  const lines = data.toString().trim().split('\n');
  for (const line of lines) {
    const msg = line.trim();
    if (msg === 'READY') {
      console.log('✅ Wake word engine ready — say "Hey Jarvis"!\n');
    } else if (msg.startsWith('Loading')) {
      console.log(`⏳ ${msg}`);
    } else if (msg.startsWith('Wake word model loaded')) {
      console.log(`✅ ${msg}`);
    } else if (!msg.includes('onnxruntime') && !msg.includes('UserWarning') && !msg.includes('warnings.warn')) {
      console.log(`   [py] ${msg}`);
    }
  }
});

py.on('exit', (code) => {
  console.log(`\n❌ Python process exited with code ${code}`);
  process.exit(code ?? 1);
});

// ── Open serial and forward AUDIO_UP to Python stdin ──
let audioChunks = 0;

const decoder = new FrameDecoder((frame) => {
  if (frame.type === MsgType.AUDIO_UP) {
    audioChunks++;
    if (py.stdin && !py.stdin.destroyed) {
      py.stdin.write(frame.payload);
    }
    if (recordStream) {
      recordStream.write(frame.payload);
    }
    // Progress indicator every ~1s (assuming ~100ms chunks)
    if (audioChunks % 10 === 0) {
      process.stdout.write(`\r🎧 Audio chunks: ${audioChunks}  `);
    }
  }
});

const serial = new SerialPort({ path: serialPath, baudRate, autoOpen: false });

serial.on('data', (chunk: Buffer) => decoder.feed(chunk));
serial.on('error', (err) => {
  console.error('Serial error:', err.message);
  process.exit(1);
});

serial.open((err) => {
  if (err) {
    console.error(`Failed to open ${serialPath}:`, err.message);
    process.exit(1);
  }
  console.log(`🔌 Serial port open: ${serialPath}`);

  // Send heartbeat so ESP32 stays active
  setInterval(() => {
    if (serial.isOpen) serial.write(encodeFrame(MsgType.STATUS));
  }, 1000);
});

// ── Graceful shutdown ──
function cleanup() {
  console.log('\n\nShutting down...');
  if (recordStream) {
    recordStream.end();
    console.log(`📁 Recording saved`);
  }
  const control = py.stdio[3] as unknown as NodeJS.WritableStream | null;
  if (control && !(control as any).destroyed) {
    control.write('QUIT\n');
  }
  setTimeout(() => {
    py.kill('SIGTERM');
    serial.close();
    process.exit(0);
  }, 500);
}

process.on('SIGINT', cleanup);
process.on('SIGTERM', cleanup);