100 lines
3.4 KiB
TypeScript
100 lines
3.4 KiB
TypeScript
/**
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* Ti-Pote — Pure tone speaker test.
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*
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* Generates a 440 Hz sine wave at ~70% of full scale and streams it
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* to the ESP32 speaker via AUDIO_DOWN frames, then a second beep at
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* 880 Hz. Completely independent of the microphone — if this does
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* not produce audible sound, the problem is downstream of the ESP32
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* on the speaker path (MAX98357A wiring, SD pin, VIN, speaker leads).
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*
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* Run with:
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* HARDWARE_SERIAL_PORT=/dev/serial0 pnpm --filter @ti-pote/robot-client audio:beep
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*
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* Optional env:
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* BEEP_MS — length of each beep in ms (default 1500)
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* BEEP_FREQ — primary frequency in Hz (default 440)
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* BEEP_AMP — amplitude 0.0..1.0 (default 0.7)
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*/
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import { HardwareService, Emotion } from '../src/hardware/index.js';
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import { Esp32AudioService } from '../src/services/audio.service.js';
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const path = process.env.HARDWARE_SERIAL_PORT ?? '/dev/serial0';
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const baudRate = parseInt(process.env.HARDWARE_SERIAL_BAUD ?? '921600', 10);
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const beepMs = parseInt(process.env.BEEP_MS ?? '1500', 10);
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const beepFreq = parseInt(process.env.BEEP_FREQ ?? '440', 10);
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const beepAmp = parseFloat(process.env.BEEP_AMP ?? '0.7');
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const SAMPLE_RATE = 16000;
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function generateSine(freqHz: number, durationMs: number, amplitude: number): Buffer {
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const sampleCount = Math.floor((SAMPLE_RATE * durationMs) / 1000);
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const buf = Buffer.alloc(sampleCount * 2);
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const amp = Math.max(0, Math.min(1, amplitude)) * 32767;
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const twoPiF = (2 * Math.PI * freqHz) / SAMPLE_RATE;
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// 5 ms linear attack/release so the speaker doesn't click.
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const rampSamples = Math.floor((SAMPLE_RATE * 5) / 1000);
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for (let i = 0; i < sampleCount; i++) {
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let env = 1;
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if (i < rampSamples) env = i / rampSamples;
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else if (i > sampleCount - rampSamples) env = (sampleCount - i) / rampSamples;
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const s = Math.round(Math.sin(i * twoPiF) * amp * env);
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buf.writeInt16LE(Math.max(-32768, Math.min(32767, s)), i * 2);
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}
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return buf;
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}
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async function sleep(ms: number): Promise<void> {
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return new Promise((r) => setTimeout(r, ms));
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}
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async function main(): Promise<void> {
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const hw = new HardwareService({ path, baudRate, heartbeatIntervalMs: 1000 });
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hw.on('log', (line) => console.log(`[firmware] ${line}`));
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hw.on('error', (err) => console.error(`[firmware error] ${err.message}`));
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console.log(`→ opening ${path} @ ${baudRate} baud`);
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await hw.connect();
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try {
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const rtt = await hw.ping(Buffer.from('beep'));
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console.log(`→ ping round-trip: ${rtt.toFixed(1)} ms`);
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const audio = new Esp32AudioService(
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{
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backend: 'esp32',
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captureDevice: 'default',
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playbackDevice: 'default',
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sampleRate: SAMPLE_RATE,
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bitDepth: 16,
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channels: 1,
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chunkDurationMs: 20,
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},
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hw,
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);
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hw.sendEmotion(Emotion.HAPPY);
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console.log(`🔊 Beep 1: ${beepFreq} Hz · ${beepMs} ms · amp=${beepAmp}`);
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const tone1 = generateSine(beepFreq, beepMs, beepAmp);
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await audio.play(tone1);
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await sleep(400);
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console.log(`🔊 Beep 2: ${beepFreq * 2} Hz · ${beepMs} ms · amp=${beepAmp}`);
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const tone2 = generateSine(beepFreq * 2, beepMs, beepAmp);
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await audio.play(tone2);
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console.log('✅ done — did you hear two beeps?');
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} finally {
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hw.sendEmotion(Emotion.NEUTRAL);
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await sleep(200);
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await hw.disconnect();
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}
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}
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main().catch((err) => {
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console.error('beep failed:', err);
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process.exit(1);
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});
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