Add playStream in g1 audio client

unitree_sdk2py/g1/audio/g1_audio_client.py

@@ -35,6 +35,14 @@ def TtsMaker(self, text: str, speaker_id: int):
         code, data = self._Call(ROBOT_API_ID_AUDIO_TTS, parameter)
         return code
 
+    def PlayStream(self, app_name: str, stream_id: str, pcm_data: list):
+        p = {}
+        p["app_name"] = app_name
+        p["stream_id"] = stream_id
+        parameter = json.dumps(p)
+        code, data = self._CallParamBinary(ROBOT_API_ID_AUDIO_START_PLAY, parameter, pcm_data)
+        return code
+
     def GetVolume(self):
         p = {}
         parameter = json.dumps(p)

unitree_sdk2py/rpc/client.py

@@ -70,6 +70,13 @@ def _CallBinaryNoReply(self, apiId: int, parameter: list):
         else:
             return RPC_ERR_CLIENT_API_NOT_REG
 
+    def _CallParamBinary(self, apiId: int, parameter: str, binary: list):
+        ret, proirity, leaseId = self.__CheckApi(apiId)
+        if ret == 0:
+            return self._CallParamBinaryBase(apiId, parameter, binary, proirity, leaseId)
+        else:
+            return RPC_ERR_CLIENT_API_NOT_REG, None
+
     def _RegistApi(self, apiId: int, proirity: int):
         self.__apiMapping[apiId] = proirity
 

unitree_sdk2py/rpc/client_base.py

@@ -86,6 +86,28 @@ def _CallBinaryNoReplyBase(self, apiId: int, parameter: list, proirity: int, lea
         else:
             return RPC_ERR_CLIENT_SEND
 
+    def _CallParamBinaryBase(self, apiId: int, parameter: str, binary: list, proirity: int = 0, leaseId: int = 0):
+        header = self.__SetHeader(apiId, leaseId, proirity, False)
+        request = Request(header, parameter, binary)
+
+        future = self.__stub.SendRequest(request, self.__timeout)
+        if future is None:
+            return RPC_ERR_CLIENT_SEND, None
+
+        result = future.GetResult(self.__timeout)
+
+        if result.code != FutureResult.FUTURE_SUCC:
+            self.__stub.RemoveFuture(request.header.identity.id)
+            code = RPC_ERR_CLIENT_API_TIMEOUT if result.code == FutureResult.FUTUTE_ERR_TIMEOUT else RPC_ERR_UNKNOWN
+            return code, None
+
+        response = result.value
+
+        if response.header.identity.api_id != apiId:
+            return RPC_ERR_CLIENT_API_NOT_MATCH, None
+        else:
+            return response.header.status.code, response.data
+
     def __SetHeader(self, apiId: int, leaseId: int, priority: int, noReply: bool):
         identity = RequestIdentity(time.monotonic_ns(), apiId)
         lease = RequestLease(leaseId)