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fix: fixing issue with microphone channels numbering and status recovery on stop_recording

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CarolinePascal
2025-04-11 18:51:34 +02:00
parent 0a6ca58299
commit 9a5c96b2b1
1 changed files with 8 additions and 8 deletions
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16
src/lerobot/microphones/microphone.py
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@@ -188,7 +188,7 @@ class Microphone:
else:
self.sample_rate = int(actual_microphone["default_samplerate"])
if self.channels is not None:
if self.channels is not None and len(self.channels) > 0:
if any(c > actual_microphone["max_input_channels"] for c in self.channels):
raise OSError(
f"Some of the provided channels {self.channels} are outside the maximum channel range of the microphone {actual_microphone['max_input_channels']}."
@@ -197,13 +197,13 @@ class Microphone:
self.channels = np.arange(1, actual_microphone["max_input_channels"] + 1)
# Get channels index instead of number for slicing
self.channels = np.array(self.channels) - 1
self.channels_index = np.array(self.channels) - 1
# Create the audio stream
self.stream = sd.InputStream(
device=self.microphone_index,
samplerate=self.sample_rate,
channels=max(self.channels) + 1,
channels=max(self.channels),
dtype="float32",
callback=self._audio_callback,
)
@@ -221,8 +221,8 @@ class Microphone:
# Slicing makes copy unnecessary
# Two separate queues are necessary because .get() also pops the data from the queue
if self.is_writing:
self.record_queue.put(indata[:, self.channels])
self.read_queue.put(indata[:, self.channels])
self.record_queue.put(indata[:, self.channels_index])
self.read_queue.put(indata[:, self.channels_index])
@staticmethod
def _record_loop(queue, event: Event, sample_rate: int, channels: list[int], output_file: Path) -> None:
@@ -234,7 +234,7 @@ class Microphone:
output_file,
mode="x",
samplerate=sample_rate,
channels=max(channels) + 1,
channels=max(channels),
subtype=sf.default_subtype(output_file.suffix[1:]),
) as file:
while not event.is_set():
@@ -349,7 +349,7 @@ class Microphone:
if self.stream.active:
self.stream.stop() # Wait for all buffers to be processed
# Remark : stream.abort() flushes the buffers !
self.is_recording = False
self.is_recording = False
if self.record_thread is not None:
self.record_queue.join()
@@ -357,7 +357,7 @@ class Microphone:
self.record_thread.join()
self.record_thread = None
self.record_stop_event = None
self.is_writing = False
self.is_writing = False
self.logs["stop_timestamp"] = capture_timestamp_utc()