From f806fa8efcb6e15df881c39875d1c7b0e7d04718 Mon Sep 17 00:00:00 2001
From: Lucca Pirovano <luccapirovano@gmx.com>
Date: Thu, 16 Jul 2026 17:09:07 -0400
Subject: [PATCH] added auto mute when holding v so i dont hear myself

---
 naowalk.py | 36 +++++++++++++++++++++++++++++-------
 1 file changed, 29 insertions(+), 7 deletions(-)

diff --git a/naowalk.py b/naowalk.py
index d8921f8..c786028 100644
--- a/naowalk.py
+++ b/naowalk.py
@@ -40,7 +40,7 @@ class SoundReceiver:
     PREBUFFER_CHUNKS = 3
     SILENCE_CHUNK = b"\x00" * 4096
 
-    def __init__(self, output_device_index=None, mic_gain=8.0):
+    def __init__(self, output_device_index=None, mic_gain=8.0, pyaudio_instance=None):
         self.running = True
         self.underrun_count = 0
         self.chunks_received = 0
@@ -48,9 +48,12 @@ class SoundReceiver:
         self._peak_since_print = 0
         self._last_status_print = 0
         self.mic_gain = float(mic_gain)
+        self.muted = False
+        self._owns_pyaudio = False
 
         if HAS_AUDIO:
-            self.p = pyaudio.PyAudio()
+            self.p = pyaudio_instance if pyaudio_instance is not None else pyaudio.PyAudio()
+            self._owns_pyaudio = pyaudio_instance is None
             print("🔈 Available output devices:")
             for i in range(self.p.get_device_count()):
                 info = self.p.get_device_info_by_index(i)
@@ -117,6 +120,9 @@ class SoundReceiver:
 
     def _write_chunk(self, raw_bytes):
         try:
+            if self.muted:
+                self.stream.write(b"\x00" * len(raw_bytes))
+                return
             samples = np.frombuffer(raw_bytes, dtype=np.int16).astype(np.float32)
             if samples.size:
                 amplified = np.clip(samples * self.mic_gain, -32768, 32767)
@@ -136,7 +142,8 @@ class SoundReceiver:
             try:
                 self.stream.stop_stream()
                 self.stream.close()
-                self.p.terminate()
+                if self._owns_pyaudio:
+                    self.p.terminate()
             except: pass
 
 # ==========================================
@@ -151,7 +158,7 @@ class LiveMicRelay:
     stop() ends the remote nc process, which ends aplay with it.
     """
     def __init__(self, nao_ip, ssh_user="nao", ssh_password="nao",
-                 port=5555, rate=16000, input_device_index=None):
+                 port=5555, rate=16000, input_device_index=None, pyaudio_instance=None):
         self.nao_ip = nao_ip
         self.ssh_user = ssh_user
         self.ssh_password = ssh_password
@@ -165,7 +172,10 @@ class LiveMicRelay:
         self._sock = None
         self._stream = None
         self._thread = None
-        self._p = pyaudio.PyAudio() if HAS_AUDIO else None
+        # Reuse the app's single PyAudio context - a second independent one
+        # opened from a background thread crashes PortAudio's PulseAudio
+        # backend (pa_atomic_load assertion).
+        self._p = pyaudio_instance if pyaudio_instance is not None else (pyaudio.PyAudio() if HAS_AUDIO else None)
 
     def start(self):
         if self.active:
@@ -266,8 +276,13 @@ class NaoTeleop:
         self.mic_channel = mic_channel
         self.mic_gain = mic_gain
 
+        # One shared PyAudio context for the whole app - SoundReceiver (mic
+        # playback) and LiveMicRelay (push-to-talk capture) both use it,
+        # since two separate contexts crash PortAudio's PulseAudio backend.
+        self._pyaudio = pyaudio.PyAudio() if HAS_AUDIO else None
+
         self.mic_relay = LiveMicRelay(nao_ip, ssh_user=nao_ssh_user, ssh_password=nao_ssh_password,
-                                       port=relay_port, rate=relay_rate)
+                                       port=relay_port, rate=relay_rate, pyaudio_instance=self._pyaudio)
         self.ptt_active = False
 
         self.running = True
@@ -328,7 +343,8 @@ class NaoTeleop:
     def _init_mic_stream(self):
         if not self.audio_device: return
         try:
-            self.sound_receiver = SoundReceiver(self.audio_device_index, self.mic_gain)
+            self.sound_receiver = SoundReceiver(self.audio_device_index, self.mic_gain,
+                                                 pyaudio_instance=self._pyaudio)
             self.session.registerService(self.audio_service_name, self.sound_receiver)
             time.sleep(0.5)
             self.audio_device.setClientPreferences(self.audio_service_name, 16000, self.mic_channel, 0)
@@ -605,9 +621,13 @@ class NaoTeleop:
                         if keys[pygame.K_v] and not self.ptt_active:
                             self.ptt_active = True
                             self.mic_relay.start()
+                            if getattr(self, "sound_receiver", None):
+                                self.sound_receiver.muted = True
                         elif not keys[pygame.K_v] and self.ptt_active:
                             self.ptt_active = False
                             self.mic_relay.stop()
+                            if getattr(self, "sound_receiver", None):
+                                self.sound_receiver.muted = False
 
                         speed_changed = False
                         if keys[pygame.K_LEFTBRACKET]: 
@@ -721,6 +741,8 @@ class NaoTeleop:
                 self._safe("sound receiver close", self.sound_receiver.close)
             if hasattr(self, 'video') and self.video_client:
                 self._safe("video unsubscribe", lambda: self.video.unsubscribe(self.video_client))
+            if getattr(self, "_pyaudio", None):
+                self._safe("pyaudio terminate", self._pyaudio.terminate)
             self._safe("rest", self.motion.rest)
             pygame.quit()