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3a97934b1501563a49d6bff5e55c2ec091d8f31c
xiaozhi-esp32/main/Application.cc
Terrence 3a97934b15 use led, wifi component
2024-09-10 05:58:56 +08:00

560 lines
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#include "Application.h"
#include "BuiltinLed.h"
#include "WifiStation.h"
#include <cstring>
#include "esp_log.h"
#include "model_path.h"
#include "SystemInfo.h"
#include "cJSON.h"
#include "silk_resampler.h"
#define TAG "application"
Application::Application() {
event_group_ = xEventGroupCreate();
audio_encode_queue_ = xQueueCreate(100, sizeof(iovec));
audio_decode_queue_ = xQueueCreate(100, sizeof(AudioPacket*));
srmodel_list_t *models = esp_srmodel_init("model");
for (int i = 0; i < models->num; i++) {
ESP_LOGI(TAG, "Model %d: %s", i, models->model_name[i]);
if (strstr(models->model_name[i], ESP_WN_PREFIX) != NULL) {
wakenet_model_ = models->model_name[i];
} else if (strstr(models->model_name[i], ESP_NSNET_PREFIX) != NULL) {
nsnet_model_ = models->model_name[i];
}
}
opus_encoder_.Configure(CONFIG_AUDIO_INPUT_SAMPLE_RATE, 1);
opus_decoder_ = opus_decoder_create(opus_decode_sample_rate_, 1, NULL);
if (opus_decode_sample_rate_ != CONFIG_AUDIO_OUTPUT_SAMPLE_RATE) {
assert(0 == silk_resampler_init(&resampler_state_, opus_decode_sample_rate_, CONFIG_AUDIO_OUTPUT_SAMPLE_RATE, 1));
}
}
Application::~Application() {
if (afe_detection_data_ != nullptr) {
esp_afe_sr_v1.destroy(afe_detection_data_);
}
if (afe_communication_data_ != nullptr) {
esp_afe_vc_v1.destroy(afe_communication_data_);
}
if (wake_word_encode_task_stack_ != nullptr) {
free(wake_word_encode_task_stack_);
}
for (auto& pcm : wake_word_pcm_) {
free(pcm.iov_base);
}
for (auto& opus : wake_word_opus_) {
free(opus.iov_base);
}
if (opus_decoder_ != nullptr) {
opus_decoder_destroy(opus_decoder_);
}
if (audio_encode_task_stack_ != nullptr) {
free(audio_encode_task_stack_);
}
if (audio_decode_task_stack_ != nullptr) {
free(audio_decode_task_stack_);
}
vQueueDelete(audio_decode_queue_);
vQueueDelete(audio_encode_queue_);
vEventGroupDelete(event_group_);
}
void Application::Start() {
// Initialize the audio device
audio_device_.Start(CONFIG_AUDIO_INPUT_SAMPLE_RATE, CONFIG_AUDIO_OUTPUT_SAMPLE_RATE);
audio_device_.OnStateChanged([this]() {
if (audio_device_.playing()) {
SetChatState(kChatStateSpeaking);
} else {
// Check if communication is still running
if (xEventGroupGetBits(event_group_) & COMMUNICATION_RUNNING) {
SetChatState(kChatStateListening);
} else {
SetChatState(kChatStateIdle);
}
}
});
// OPUS encoder / decoder use a lot of stack memory
const size_t opus_stack_size = 4096 * 8;
audio_encode_task_stack_ = (StackType_t*)malloc(opus_stack_size);
xTaskCreateStatic([](void* arg) {
Application* app = (Application*)arg;
app->AudioEncodeTask();
}, "opus_encode", opus_stack_size, this, 1, audio_encode_task_stack_, &audio_encode_task_buffer_);
audio_decode_task_stack_ = (StackType_t*)malloc(opus_stack_size);
xTaskCreateStatic([](void* arg) {
Application* app = (Application*)arg;
app->AudioDecodeTask();
}, "opus_decode", opus_stack_size, this, 1, audio_decode_task_stack_, &audio_decode_task_buffer_);
auto& builtin_led = BuiltinLed::GetInstance();
// Blink the LED to indicate the device is connecting
builtin_led.SetBlue();
builtin_led.BlinkOnce();
WifiStation::GetInstance().Start();
// Check if there is a new firmware version available
firmware_upgrade_.CheckVersion();
if (firmware_upgrade_.HasNewVersion()) {
builtin_led.TurnOn();
firmware_upgrade_.StartUpgrade();
// If upgrade success, the device will reboot and never reach here
ESP_LOGI(TAG, "Firmware upgrade failed...");
builtin_led.TurnOff();
} else {
firmware_upgrade_.MarkValid();
}
StartCommunication();
StartDetection();
// Blink the LED to indicate the device is running
builtin_led.SetGreen();
builtin_led.BlinkOnce();
xEventGroupSetBits(event_group_, DETECTION_RUNNING);
}
void Application::SetChatState(ChatState state) {
auto& builtin_led = BuiltinLed::GetInstance();
chat_state_ = state;
switch (chat_state_) {
case kChatStateIdle:
ESP_LOGI(TAG, "Chat state: idle");
builtin_led.TurnOff();
break;
case kChatStateConnecting:
ESP_LOGI(TAG, "Chat state: connecting");
builtin_led.SetBlue();
builtin_led.TurnOn();
break;
case kChatStateListening:
ESP_LOGI(TAG, "Chat state: listening");
builtin_led.SetRed();
builtin_led.TurnOn();
break;
case kChatStateSpeaking:
ESP_LOGI(TAG, "Chat state: speaking");
builtin_led.SetGreen();
builtin_led.TurnOn();
break;
case kChatStateWakeWordDetected:
ESP_LOGI(TAG, "Chat state: wake word detected");
builtin_led.SetBlue();
builtin_led.TurnOn();
break;
}
const char* state_str[] = { "idle", "connecting", "listening", "speaking", "wake_word_detected", "unknown" };
std::lock_guard<std::recursive_mutex> lock(mutex_);
if (ws_client_ && ws_client_->IsConnected()) {
cJSON* root = cJSON_CreateObject();
cJSON_AddStringToObject(root, "type", "state");
cJSON_AddStringToObject(root, "state", state_str[chat_state_]);
char* json = cJSON_PrintUnformatted(root);
ws_client_->Send(json);
cJSON_Delete(root);
free(json);
}
}
void Application::StartCommunication() {
afe_config_t afe_config = {
.aec_init = false,
.se_init = true,
.vad_init = false,
.wakenet_init = false,
.voice_communication_init = true,
.voice_communication_agc_init = true,
.voice_communication_agc_gain = 10,
.vad_mode = VAD_MODE_3,
.wakenet_model_name = NULL,
.wakenet_model_name_2 = NULL,
.wakenet_mode = DET_MODE_90,
.afe_mode = SR_MODE_HIGH_PERF,
.afe_perferred_core = 0,
.afe_perferred_priority = 5,
.afe_ringbuf_size = 50,
.memory_alloc_mode = AFE_MEMORY_ALLOC_MORE_PSRAM,
.afe_linear_gain = 1.0,
.agc_mode = AFE_MN_PEAK_AGC_MODE_2,
.pcm_config = {
.total_ch_num = 1,
.mic_num = 1,
.ref_num = 0,
.sample_rate = CONFIG_AUDIO_INPUT_SAMPLE_RATE,
},
.debug_init = false,
.debug_hook = {{ AFE_DEBUG_HOOK_MASE_TASK_IN, NULL }, { AFE_DEBUG_HOOK_FETCH_TASK_IN, NULL }},
.afe_ns_mode = NS_MODE_SSP,
.afe_ns_model_name = NULL,
.fixed_first_channel = true,
};
afe_communication_data_ = esp_afe_vc_v1.create_from_config(&afe_config);
xTaskCreate([](void* arg) {
Application* app = (Application*)arg;
app->AudioCommunicationTask();
}, "audio_communication", 4096 * 2, this, 5, NULL);
}
void Application::StartDetection() {
afe_config_t afe_config = {
.aec_init = false,
.se_init = true,
.vad_init = false,
.wakenet_init = true,
.voice_communication_init = false,
.voice_communication_agc_init = false,
.voice_communication_agc_gain = 10,
.vad_mode = VAD_MODE_3,
.wakenet_model_name = wakenet_model_,
.wakenet_model_name_2 = NULL,
.wakenet_mode = DET_MODE_90,
.afe_mode = SR_MODE_HIGH_PERF,
.afe_perferred_core = 0,
.afe_perferred_priority = 5,
.afe_ringbuf_size = 50,
.memory_alloc_mode = AFE_MEMORY_ALLOC_MORE_PSRAM,
.afe_linear_gain = 1.0,
.agc_mode = AFE_MN_PEAK_AGC_MODE_2,
.pcm_config = {
.total_ch_num = 1,
.mic_num = 1,
.ref_num = 0,
.sample_rate = CONFIG_AUDIO_INPUT_SAMPLE_RATE
},
.debug_init = false,
.debug_hook = {{ AFE_DEBUG_HOOK_MASE_TASK_IN, NULL }, { AFE_DEBUG_HOOK_FETCH_TASK_IN, NULL }},
.afe_ns_mode = NS_MODE_SSP,
.afe_ns_model_name = NULL,
.fixed_first_channel = true,
};
afe_detection_data_ = esp_afe_sr_v1.create_from_config(&afe_config);
xTaskCreate([](void* arg) {
Application* app = (Application*)arg;
app->AudioFeedTask();
}, "audio_feed", 4096 * 2, this, 5, NULL);
xTaskCreate([](void* arg) {
Application* app = (Application*)arg;
app->AudioDetectionTask();
}, "audio_detection", 4096 * 2, this, 5, NULL);
}
void Application::AudioFeedTask() {
int chunk_size = esp_afe_vc_v1.get_feed_chunksize(afe_detection_data_);
int16_t buffer[chunk_size];
ESP_LOGI(TAG, "Audio feed task started, chunk size: %d", chunk_size);
while (true) {
audio_device_.Read(buffer, chunk_size);
auto event_bits = xEventGroupGetBits(event_group_);
if (event_bits & DETECTION_RUNNING) {
esp_afe_sr_v1.feed(afe_detection_data_, buffer);
} else if (event_bits & COMMUNICATION_RUNNING) {
esp_afe_vc_v1.feed(afe_communication_data_, buffer);
}
}
vTaskDelete(NULL);
}
void Application::StoreWakeWordData(uint8_t* data, size_t size) {
// store audio data to detect_packets_
auto iov = (iovec){
.iov_base = heap_caps_malloc(size, MALLOC_CAP_SPIRAM),
.iov_len = size
};
memcpy(iov.iov_base, data, size);
wake_word_pcm_.push_back(iov);
// remove the oldest packet if the size is larger than 50, about 2 seconds
if (wake_word_pcm_.size() > 50) {
heap_caps_free(wake_word_pcm_.front().iov_base);
wake_word_pcm_.pop_front();
}
}
void Application::EncodeWakeWordData() {
wake_word_opus_.clear();
if (wake_word_encode_task_stack_ == nullptr) {
wake_word_encode_task_stack_ = (StackType_t*)malloc(4096 * 8);
}
wake_word_encode_task_ = xTaskCreateStatic([](void* arg) {
Application* app = (Application*)arg;
auto start_time = esp_timer_get_time();
// encode detect packets
OpusEncoder* encoder = new OpusEncoder();
encoder->Configure(CONFIG_AUDIO_INPUT_SAMPLE_RATE, 1, 60);
encoder->SetComplexity(2);
for (auto& pcm: app->wake_word_pcm_) {
encoder->Encode(pcm, [app](const iovec opus) {
iovec iov = {
.iov_base = heap_caps_malloc(opus.iov_len, MALLOC_CAP_SPIRAM),
.iov_len = opus.iov_len
};
memcpy(iov.iov_base, opus.iov_base, opus.iov_len);
app->wake_word_opus_.push_back(iov);
});
heap_caps_free(pcm.iov_base);
}
app->wake_word_pcm_.clear();
auto end_time = esp_timer_get_time();
ESP_LOGI(TAG, "Encode wake word data opus packets: %d in %lld ms", app->wake_word_opus_.size(), (end_time - start_time) / 1000);
xEventGroupSetBits(app->event_group_, DETECT_PACKETS_ENCODED);
delete encoder;
vTaskDelete(NULL);
}, "encode_detect_packets", 4096 * 8, this, 1, wake_word_encode_task_stack_, &wake_word_encode_task_buffer_);
}
void Application::SendWakeWordData() {
for (auto& opus: wake_word_opus_) {
ws_client_->Send(opus.iov_base, opus.iov_len, true);
heap_caps_free(opus.iov_base);
}
wake_word_opus_.clear();
}
void Application::AudioDetectionTask() {
auto chunk_size = esp_afe_sr_v1.get_fetch_chunksize(afe_detection_data_);
ESP_LOGI(TAG, "Audio detection task started, chunk size: %d", chunk_size);
while (true) {
xEventGroupWaitBits(event_group_, DETECTION_RUNNING, pdFALSE, pdTRUE, portMAX_DELAY);
auto res = esp_afe_sr_v1.fetch(afe_detection_data_);
if (res == nullptr || res->ret_value == ESP_FAIL) {
ESP_LOGE(TAG, "Error in fetch");
if (res != nullptr) {
ESP_LOGI(TAG, "Error code: %d", res->ret_value);
}
continue;;
}
// Store the wake word data for voice recognition, like who is speaking
StoreWakeWordData((uint8_t*)res->data, res->data_size);
if (res->wakeup_state == WAKENET_DETECTED) {
xEventGroupClearBits(event_group_, DETECTION_RUNNING);
SetChatState(kChatStateConnecting);
// Encode the wake word data and start websocket client at the same time
// They both consume a lot of time (700ms), so we can do them in parallel
EncodeWakeWordData();
StartWebSocketClient();
// Here the websocket is done, and we also wait for the wake word data to be encoded
xEventGroupWaitBits(event_group_, DETECT_PACKETS_ENCODED, pdTRUE, pdTRUE, portMAX_DELAY);
std::lock_guard<std::recursive_mutex> lock(mutex_);
if (ws_client_ && ws_client_->IsConnected()) {
// Send the wake word data to the server
SendWakeWordData();
// Send a ready message to indicate the server that the wake word data is sent
SetChatState(kChatStateWakeWordDetected);
opus_encoder_.ResetState();
// If connected, the hello message is already sent, so we can start communication
xEventGroupSetBits(event_group_, COMMUNICATION_RUNNING);
ESP_LOGI(TAG, "Start communication after wake word detected");
} else {
SetChatState(kChatStateIdle);
xEventGroupSetBits(event_group_, DETECTION_RUNNING);
}
}
}
}
void Application::AudioCommunicationTask() {
int chunk_size = esp_afe_vc_v1.get_fetch_chunksize(afe_communication_data_);
ESP_LOGI(TAG, "Audio communication task started, chunk size: %d", chunk_size);
while (true) {
xEventGroupWaitBits(event_group_, COMMUNICATION_RUNNING, pdFALSE, pdTRUE, portMAX_DELAY);
auto res = esp_afe_vc_v1.fetch(afe_communication_data_);
if (res == nullptr || res->ret_value == ESP_FAIL) {
ESP_LOGE(TAG, "Error in fetch");
if (res != nullptr) {
ESP_LOGI(TAG, "Error code: %d", res->ret_value);
}
continue;
}
// Check if the websocket client is disconnected by the server
{
std::lock_guard<std::recursive_mutex> lock(mutex_);
if (ws_client_ == nullptr || !ws_client_->IsConnected()) {
if (ws_client_ != nullptr) {
delete ws_client_;
ws_client_ = nullptr;
}
if (audio_device_.playing()) {
audio_device_.Break();
}
SetChatState(kChatStateIdle);
xEventGroupSetBits(event_group_, DETECTION_RUNNING);
xEventGroupClearBits(event_group_, COMMUNICATION_RUNNING);
continue;
}
}
if (chat_state_ == kChatStateListening) {
// Send audio data to server
iovec data = {
.iov_base = malloc(res->data_size),
.iov_len = (size_t)res->data_size
};
memcpy(data.iov_base, res->data, res->data_size);
xQueueSend(audio_encode_queue_, &data, portMAX_DELAY);
}
}
}
void Application::AudioEncodeTask() {
ESP_LOGI(TAG, "Audio encode task started");
while (true) {
iovec pcm;
xQueueReceive(audio_encode_queue_, &pcm, portMAX_DELAY);
// Encode audio data
opus_encoder_.Encode(pcm, [this](const iovec opus) {
std::lock_guard<std::recursive_mutex> lock(mutex_);
if (ws_client_ && ws_client_->IsConnected()) {
ws_client_->Send(opus.iov_base, opus.iov_len, true);
}
});
free(pcm.iov_base);
}
}
void Application::AudioDecodeTask() {
while (true) {
AudioPacket* packet;
xQueueReceive(audio_decode_queue_, &packet, portMAX_DELAY);
if (packet->type == kAudioPacketTypeData) {
int frame_size = opus_decode_sample_rate_ / 1000 * opus_duration_ms_;
packet->pcm.resize(frame_size);
int ret = opus_decode(opus_decoder_, packet->opus.data(), packet->opus.size(), packet->pcm.data(), frame_size, 0);
if (ret < 0) {
ESP_LOGE(TAG, "Failed to decode audio, error code: %d", ret);
delete packet;
continue;
}
if (opus_decode_sample_rate_ != CONFIG_AUDIO_OUTPUT_SAMPLE_RATE) {
int target_size = frame_size * CONFIG_AUDIO_OUTPUT_SAMPLE_RATE / opus_decode_sample_rate_;
std::vector<int16_t> resampled(target_size);
assert(0 == silk_resampler(&resampler_state_, resampled.data(), packet->pcm.data(), frame_size));
packet->pcm = std::move(resampled);
}
}
audio_device_.QueueAudioPacket(packet);
}
}
void Application::SetDecodeSampleRate(int sample_rate) {
if (opus_decode_sample_rate_ == sample_rate) {
return;
}
opus_decoder_destroy(opus_decoder_);
opus_decode_sample_rate_ = sample_rate;
opus_decoder_ = opus_decoder_create(opus_decode_sample_rate_, 1, NULL);
if (opus_decode_sample_rate_ != CONFIG_AUDIO_OUTPUT_SAMPLE_RATE) {
assert(0 == silk_resampler_init(&resampler_state_, opus_decode_sample_rate_, CONFIG_AUDIO_OUTPUT_SAMPLE_RATE, 1));
}
}
void Application::StartWebSocketClient() {
if (ws_client_ != nullptr) {
delete ws_client_;
}
std::string token = "Bearer " + std::string(CONFIG_WEBSOCKET_ACCESS_TOKEN);
ws_client_ = new WebSocketClient();
ws_client_->SetHeader("Authorization", token.c_str());
ws_client_->SetHeader("Device-Id", SystemInfo::GetMacAddress().c_str());
ws_client_->OnConnected([this]() {
ESP_LOGI(TAG, "Websocket connected");
// Send hello message to describe the client
// keys: message type, version, wakeup_model, audio_params (format, sample_rate, channels)
std::string message = "{";
message += "\"type\":\"hello\", \"version\":\"1.0\",";
message += "\"wakeup_model\":\"" + std::string(wakenet_model_) + "\",";
message += "\"audio_params\":{";
message += "\"format\":\"opus\", \"sample_rate\":" + std::to_string(CONFIG_AUDIO_INPUT_SAMPLE_RATE) + ", \"channels\":1";
message += "}}";
ws_client_->Send(message);
});
ws_client_->OnData([this](const char* data, size_t len, bool binary) {
auto packet = new AudioPacket();
if (binary) {
auto header = (AudioDataHeader*)data;
packet->type = kAudioPacketTypeData;
packet->timestamp = ntohl(header->timestamp);
auto payload_size = ntohl(header->payload_size);
packet->opus.resize(payload_size);
memcpy(packet->opus.data(), data + sizeof(AudioDataHeader), payload_size);
} else {
// Parse JSON data
auto root = cJSON_Parse(data);
auto type = cJSON_GetObjectItem(root, "type");
if (type != NULL) {
if (strcmp(type->valuestring, "tts") == 0) {
auto state = cJSON_GetObjectItem(root, "state");
if (strcmp(state->valuestring, "start") == 0) {
packet->type = kAudioPacketTypeStart;
auto sample_rate = cJSON_GetObjectItem(root, "sample_rate");
if (sample_rate != NULL) {
SetDecodeSampleRate(sample_rate->valueint);
}
} else if (strcmp(state->valuestring, "stop") == 0) {
packet->type = kAudioPacketTypeStop;
} else if (strcmp(state->valuestring, "sentence_end") == 0) {
packet->type = kAudioPacketTypeSentenceEnd;
} else if (strcmp(state->valuestring, "sentence_start") == 0) {
packet->type = kAudioPacketTypeSentenceStart;
packet->text = cJSON_GetObjectItem(root, "text")->valuestring;
}
}
}
cJSON_Delete(root);
}
xQueueSend(audio_decode_queue_, &packet, portMAX_DELAY);
});
ws_client_->OnError([this](int error) {
ESP_LOGE(TAG, "Websocket error: %d", error);
});
ws_client_->OnClosed([this]() {
ESP_LOGI(TAG, "Websocket closed");
});
if (!ws_client_->Connect(CONFIG_WEBSOCKET_URL)) {
ESP_LOGE(TAG, "Failed to connect to websocket server");
return;
}
}
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