sound/matrix functions

Cargo.toml

@@ -7,7 +7,7 @@ members = [
 ]
 
 [workspace.package]
-version = "0.6.0"
+version = "0.6.1"
 authors = [
     "Benjamin Bolte <[email protected]>",
     "Denys Bezmenov <[email protected]>",

kos/src/hal.rs

@@ -2,15 +2,16 @@ pub use crate::grpc_interface::google::longrunning::*;
 pub use crate::grpc_interface::kos;
 pub use crate::grpc_interface::kos::common::ActionResponse;
 pub use crate::kos_proto::{
-    actuator::*, common::ActionResult, imu::*, inference::*, process_manager::*, led_matrix::*, sound::*,
+    actuator::*, common::ActionResult, imu::*, inference::*, led_matrix::*, process_manager::*,
+    sound::*,
 };
 use async_trait::async_trait;
+use bytes::Bytes;
 use eyre::Result;
-use std::fmt::Display;
 use futures::Stream;
-use tokio::sync::mpsc::Sender;
+use std::fmt::Display;
 use std::pin::Pin;
-use bytes::Bytes;
+use tokio::sync::mpsc::Sender;
 
 // Type alias for the audio stream
 pub type AudioStream = Pin<Box<dyn Stream<Item = Bytes> + Send>>;
@@ -87,21 +88,21 @@ pub trait LEDMatrix: Send + Sync {
 pub trait Sound: Send + Sync {
     /// Get information about audio capabilities
     async fn get_audio_info(&self) -> Result<GetAudioInfoResponse, tonic::Status>;
-    
+
     /// Start playing audio with the given configuration
     async fn play_audio(
         &self,
         config: AudioConfig,
         sender: Sender<Bytes>,
     ) -> Result<ActionResponse, tonic::Status>;
-    
+
     /// Start recording audio with the given configuration
     async fn record_audio(
         &self,
         config: AudioConfig,
         duration_ms: u32,
     ) -> Result<AudioStream, tonic::Status>;
-    
+
     /// Stop an ongoing recording session
     async fn stop_recording(&self) -> Result<ActionResponse, tonic::Status>;
 }
@@ -122,5 +123,3 @@ impl Display for CalibrationStatus {
         }
     }
 }
-
-

kos/src/lib.rs

@@ -18,8 +18,8 @@ use hal::actuator_service_server::ActuatorServiceServer;
 use hal::imu_service_server::ImuServiceServer;
 use hal::inference_service_server::InferenceServiceServer;
 use hal::led_matrix_service_server::LedMatrixServiceServer;
-use hal::sound_service_server::SoundServiceServer;
 use hal::process_manager_service_server::ProcessManagerServiceServer;
+use hal::sound_service_server::SoundServiceServer;
 use services::OperationsServiceImpl;
 use services::{
     ActuatorServiceImpl, IMUServiceImpl, InferenceServiceImpl, LEDMatrixServiceImpl,

kos/src/services/led_matrix.rs

@@ -37,7 +37,7 @@ impl LedMatrixService for LEDMatrixServiceImpl {
         request: Request<WriteBufferRequest>,
     ) -> Result<Response<ActionResponse>, Status> {
         let buffer = request.into_inner().buffer;
-        
+
         let response = self
             .led_matrix
             .write_buffer(buffer.clone())
@@ -53,7 +53,7 @@ impl LedMatrixService for LEDMatrixServiceImpl {
         request: Request<WriteColorBufferRequest>,
     ) -> Result<Response<ActionResponse>, Status> {
         let request = request.into_inner();
-        
+
         let response = self
             .led_matrix
             .write_color_buffer(

kos/src/services/mod.rs

@@ -11,7 +11,7 @@ pub use actuator::*;
 pub use imu::*;
 pub use inference::*;
 pub use krec_logger::*;
+pub use led_matrix::*;
 pub use operations::*;
 pub use process_manager::*;
-pub use led_matrix::*;
 pub use sound::*;

kos/src/services/sound.rs

@@ -36,23 +36,28 @@ impl SoundService for SoundServiceImpl {
         request: Request<tonic::Streaming<PlayAudioRequest>>,
     ) -> Result<Response<ActionResponse>, Status> {
         let mut stream = request.into_inner();
-        
+
         // Get the first message which must contain the config
-        let first_msg = stream.message().await
-            .map_err(|e| Status::internal(format!("Failed to receive first audio message: {:?}", e)))?
+        let first_msg = stream
+            .message()
+            .await
+            .map_err(|e| {
+                Status::internal(format!("Failed to receive first audio message: {:?}", e))
+            })?
             .ok_or_else(|| Status::invalid_argument("Empty audio stream"))?;
-
-        let config = first_msg.config
-            .ok_or_else(|| Status::invalid_argument("First message must contain audio configuration"))?;
+
+        let config = first_msg.config.ok_or_else(|| {
+            Status::invalid_argument("First message must contain audio configuration")
+        })?;
 
         trace!("Starting audio playback with config: {:?}", config);
 
         // Create channel for audio data
         let (tx, _rx) = mpsc::channel(32);
-        
+
         // Start playback with the sender
         let response = self.sound.play_audio(config, tx.clone()).await?;
-        
+
         // Spawn task to handle incoming audio data
         tokio::spawn(async move {
             while let Ok(Some(msg)) = stream.message().await {
@@ -66,21 +71,23 @@ impl SoundService for SoundServiceImpl {
         Ok(Response::new(response))
     }
 
-    type RecordAudioStream = Pin<Box<dyn Stream<Item = Result<RecordAudioResponse, Status>> + Send>>;
+    type RecordAudioStream =
+        Pin<Box<dyn Stream<Item = Result<RecordAudioResponse, Status>> + Send>>;
 
     async fn record_audio(
         &self,
         request: Request<RecordAudioRequest>,
     ) -> Result<Response<Self::RecordAudioStream>, Status> {
         let request = request.into_inner();
-        
+
         trace!(
             "Starting audio recording with config: {:?}, duration: {}ms",
             request.config,
             request.duration_ms
         );
 
-        let config = request.config
+        let config = request
+            .config
             .ok_or_else(|| Status::invalid_argument("Audio configuration is required"))?;
 
         let stream = self.sound.record_audio(config, request.duration_ms).await?;