Merge pull request #11 from RoBorregos/main

precommit to branch

.github/workflows/pre-commit.yml

@@ -0,0 +1,14 @@
+name: pre-commit
+
+on:
+  pull_request:
+  push:
+    branches: ["**"]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/[email protected]

.pre-commit-config.yaml

@@ -0,0 +1,12 @@
+repos:
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    # Ruff version.
+    rev: v0.8.4
+    hooks:
+      # Run the linter.
+      - id: ruff
+        types_or: [python, pyi]
+        # args: [--fix]
+      # Run the formatter.
+      - id: ruff-format
+        types_or: [python, pyi]

Setup.md

@@ -0,0 +1,55 @@
+# Project setup
+
+## Pre-commit
+
+[Pre-commit](https://pre-commit.com/) is a framework for managing and maintaining multi-language pre-commit hooks. It is a useful tool to ensure that code is formatted and linted before committing. The following hooks are used in this project:
+
+- [ruff](https://github.com/astral-sh/ruff-pre-commit/tree/main) (linter and formatter for python)
+
+To install pre-commit and the repo's hooks, run the following commands:
+
+```bash
+pip install pre-commit
+pre-commit install
+```
+
+To run against all files (useful when adding new hooks), use:
+
+```bash
+pre-commit run --all-files
+```
+
+## Ruff
+
+Ruff is a linter and formatter for python. It is used to mantain consistency and readability in the codebase. Ruff in installed as a pre-commit hook, but can also be run manually. To install ruff, run the following command:
+
+```bash
+pip install ruff
+```
+
+To run ruff, use the following command:
+
+```bash
+ruff check
+```
+
+### Vscode integration
+
+If you are using vscode, you can add the following in `.vscode/settings.json` to enable ruff formatting on save. For this to work, you must also install the [Ruff extension for vscode](https://marketplace.visualstudio.com/items?itemName=charliermarsh.ruff).
+
+```json
+{
+  "[python]": {
+    "editor.formatOnSave": true,
+    "editor.codeActionsOnSave": {
+      "source.fixAll": "explicit",
+      "source.organizeImports": "explicit"
+    },
+    "editor.defaultFormatter": "charliermarsh.ruff"
+  }
+}
+```
+
+### Other integrations
+
+For integration with other editors, check the [ruff documentation](https://docs.astral.sh/ruff/editors/setup/)

hri/packages/speech/debug/microphone.py

@@ -1,22 +1,33 @@
-import pyaudio
 import wave
+
 import numpy as np
+import pyaudio
 
 # List available input devices and test audio recording
 # To check if the audio was recorded correctly, use 'TestSpeaker.py' or see "ws/src/speech/Readme.md"
 
 
-def record_audio(output_file, input_device_index, duration=10, channels=1, sample_rate=48000, chunk_size=480, format=pyaudio.paInt16):
+def record_audio(
+    output_file,
+    input_device_index,
+    duration=10,
+    channels=1,
+    sample_rate=48000,
+    chunk_size=480,
+    format=pyaudio.paInt16,
+):
     audio = pyaudio.PyAudio()
 
     # Open the audio stream
     # See available devices with list_audio_devices()
-    stream = audio.open(input_device_index=input_device_index,
-                        format=format,
-                        channels=channels,
-                        rate=sample_rate,
-                        input=True,
-                        frames_per_buffer=chunk_size)
+    stream = audio.open(
+        input_device_index=input_device_index,
+        format=format,
+        channels=channels,
+        rate=sample_rate,
+        input=True,
+        frames_per_buffer=chunk_size,
+    )
 
     print("Recording...")
 
@@ -35,26 +46,37 @@ def record_audio(output_file, input_device_index, duration=10, channels=1, sampl
     audio.terminate()
 
     # Write audio data to a WAV file
-    with wave.open(output_file, 'wb') as wf:
+    with wave.open(output_file, "wb") as wf:
         wf.setnchannels(channels)
         wf.setsampwidth(audio.get_sample_size(format))
         wf.setframerate(sample_rate)
-        wf.writeframes(b''.join(frames))
+        wf.writeframes(b"".join(frames))
 
     print(f"Audio recorded and saved to {output_file}")
 
 
-def record_audio_respeaker(output_file, input_device_index, duration=10, channels=6, sample_rate=16000, chunk_size=512, format=pyaudio.paInt16, extract_channel=0):
+def record_audio_respeaker(
+    output_file,
+    input_device_index,
+    duration=10,
+    channels=6,
+    sample_rate=16000,
+    chunk_size=512,
+    format=pyaudio.paInt16,
+    extract_channel=0,
+):
     audio = pyaudio.PyAudio()
 
     # Open the audio stream
     # See available devices with list_audio_devices()
-    stream = audio.open(input_device_index=input_device_index,
-                        format=format,
-                        channels=channels,
-                        rate=sample_rate,
-                        input=True,
-                        frames_per_buffer=chunk_size)
+    stream = audio.open(
+        input_device_index=input_device_index,
+        format=format,
+        channels=channels,
+        rate=sample_rate,
+        input=True,
+        frames_per_buffer=chunk_size,
+    )
 
     print("Recording...")
 
@@ -76,20 +98,21 @@ def record_audio_respeaker(output_file, input_device_index, duration=10, channel
     audio.terminate()
 
     # Write audio data to a WAV file
-    with wave.open("1_" + output_file, 'wb') as wf:
+    with wave.open("1_" + output_file, "wb") as wf:
         wf.setnchannels(1)
         wf.setsampwidth(audio.get_sample_size(format))
         wf.setframerate(sample_rate)
-        wf.writeframes(b''.join(frames))
+        wf.writeframes(b"".join(frames))
 
-    with wave.open("6_" + output_file, 'wb') as wf:
+    with wave.open("6_" + output_file, "wb") as wf:
         wf.setnchannels(6)
         wf.setsampwidth(audio.get_sample_size(format))
         wf.setframerate(sample_rate)
-        wf.writeframes(b''.join(frames_6))
+        wf.writeframes(b"".join(frames_6))
 
     print(f"Audio recorded and saved to 1_{output_file} and 6_{output_file}")
 
+
 # Get available devices
 
 
@@ -99,7 +122,9 @@ def list_audio_devices():
     print("Available audio devices:")
     for i in range(num_devices):
         device_info = p.get_device_info_by_index(i)
-        print(f"Device {i}: [{device_info['name']}], [{device_info['maxInputChannels']}] input channels, [{device_info['maxOutputChannels']}] output channels")
+        print(
+            f"Device {i}: [{device_info['name']}], [{device_info['maxInputChannels']}] input channels, [{device_info['maxOutputChannels']}] output channels"
+        )
     p.terminate()
 
 
@@ -109,3 +134,4 @@ def list_audio_devices():
     # output_file = "../recorded_audio.wav"
     # record_audio(output_file, input_device_index=12, duration=5)
     # record_audio_respeaker(output_file, input_device_index=10, duration=10, channels=6, sample_rate=16000, chunk_size=512, format=pyaudio.paInt16, extract_channel=0)
+    # record_audio_respeaker(output_file, input_device_index=10, duration=10, channels=6, sample_rate=16000, chunk_size=512, format=pyaudio.paInt16, extract_channel=0)

hri/packages/speech/debug/speaker.py

@@ -1,10 +1,8 @@
 # python3 debug/speaker.py
 
-from speech.speech_api_utils import SpeechApiUtils
-
-from speech.wav_utils import WavUtils
-
-import os
+# from speech.speech_api_utils import SpeechApiUtils
+# from speech.wav_utils import WavUtils
+# import os
 
 import sounddevice as sd
 from pygame import mixer
@@ -15,7 +13,8 @@ def get_devices():
     num_dev = 0
     for device_info in devices:
         print(
-            f"Device [{num_dev}]: [{device_info['name']}], [{device_info['max_input_channels']}] input channels, [{device_info['max_output_channels']}] output channels")
+            f"Device [{num_dev}]: [{device_info['name']}], [{device_info['max_input_channels']}] input channels, [{device_info['max_output_channels']}] output channels"
+        )
         num_dev = num_dev + 1
 
     # print("Original order:")

hri/packages/speech/scripts/audio_capturer.py

@@ -20,20 +20,21 @@
 MIC_OUT_CHANNELS = int(os.getenv("MIC_OUT_CHANNELS", default=0))
 
 INPUT_DEVICE_INDEX = SpeechApiUtils.getIndexByNameAndChannels(
-    MIC_DEVICE_NAME, MIC_INPUT_CHANNELS, MIC_OUT_CHANNELS)
+    MIC_DEVICE_NAME, MIC_INPUT_CHANNELS, MIC_OUT_CHANNELS
+)
 
 if INPUT_DEVICE_INDEX is None:
     print("Warning: input device index not found, using system default.")
 
 
 class AudioCapturer(Node):
     def __init__(self):
-        super().__init__('audio_capturer')
-        self.publisher_ = self.create_publisher(AudioData, 'rawAudioChunk', 20)
-        self.get_logger().info('AudioCapturer node initialized.')
+        super().__init__("audio_capturer")
+        self.publisher_ = self.create_publisher(AudioData, "rawAudioChunk", 20)
+        self.get_logger().info("AudioCapturer node initialized.")
 
     def record(self):
-        self.get_logger().info('AudioCapturer node recording.')
+        self.get_logger().info("AudioCapturer node recording.")
 
         # Format for the recorded audio, constants set from the Porcupine demo.py
         CHUNK_SIZE = 512
@@ -43,19 +44,20 @@ def record(self):
         EXTRACT_CHANNEL = 0  # Use channel 0. Tested with TestMic.py. See channel meaning: https://wiki.seeedstudio.com/ReSpeaker-USB-Mic-Array/#update-firmware
 
         p = pyaudio.PyAudio()
-        stream = p.open(input_device_index=INPUT_DEVICE_INDEX,  # See list_audio_devices() or set it to None for default
-                        format=FORMAT,
-                        channels=CHANNELS,
-                        rate=RATE,
-                        input=True,
-                        frames_per_buffer=CHUNK_SIZE)
+        stream = p.open(
+            input_device_index=INPUT_DEVICE_INDEX,  # See list_audio_devices() or set it to None for default
+            format=FORMAT,
+            channels=CHANNELS,
+            rate=RATE,
+            input=True,
+            frames_per_buffer=CHUNK_SIZE,
+        )
 
         while stream.is_active() and rclpy.ok():
             try:
                 in_data = stream.read(CHUNK_SIZE, exception_on_overflow=False)
                 if USE_RESPEAKER:
-                    in_data = np.frombuffer(in_data, dtype=np.int16)[
-                        EXTRACT_CHANNEL:: 6]
+                    in_data = np.frombuffer(in_data, dtype=np.int16)[EXTRACT_CHANNEL::6]
                     in_data = in_data.tobytes()
                 msg = in_data
                 self.publisher_.publish(AudioData(data=msg))
@@ -81,5 +83,5 @@ def main(args=None):
         rclpy.try_shutdown()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     main()

hri/packages/speech/scripts/say.py

@@ -43,20 +43,18 @@
 
 
 class Say(Node):
-
     def __init__(self):
-        super().__init__('say')
-        self.publisher_ = self.create_publisher(Bool, 'saying', 10)
-        self.get_logger().info('Say node has started.')
+        super().__init__("say")
+        self.publisher_ = self.create_publisher(Bool, "saying", 10)
+        self.get_logger().info("Say node has started.")
 
         self.connected = False
         if not OFFLINE:
             self.connected = SpeechApiUtils.is_connected()
 
         self.create_service(Speak, SPEAK_SERVICE_TOPIC, self.speak_service)
 
-        self.create_subscription(String,
-                                 SPEAK_NOW_TOPIC, self.speak_topic, 10)
+        self.create_subscription(String, SPEAK_NOW_TOPIC, self.speak_topic, 10)
 
     def speak_service(self, req):
         """When say is called as a service. Caller awaits for the response."""
@@ -138,8 +136,11 @@ def split_text(text: str, max_len, split_sentences=False):
     def synthesize_voice_offline(self, output_path, text):
         """Synthesize text using the offline voice model."""
 
-        executable = "/workspace/piper/install/piper" if os.path.exists(
-            "/workspace/piper/install/piper") else "python3.10 -m piper"
+        executable = (
+            "/workspace/piper/install/piper"
+            if os.path.exists("/workspace/piper/install/piper")
+            else "python3.10 -m piper"
+        )
 
         model_path = os.path.join(VOICE_DIRECTORY, MODEL + ".onnx")
 
@@ -176,5 +177,5 @@ def main(args=None):
         rclpy.try_shutdown()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     main()