got compression in a very good state and head movements are good now too

chat-history/claude_automate-nao-video-server-deployment-and-cleanup_2026-07-21T22-15-10+0000.md

@@ -0,0 +1,66 @@
+---
+title: "Automate NAO video server deployment and cleanup"
+tags: []
+author: claude
+count: 2
+exporter: 3.1.0
+date: 2026-07-21T22-15-10+0000
+url: https://claude.ai/chat/44ac3c8f-f04d-4b23-a71d-f35c28b50a86
+---
+
+# Automate NAO video server deployment and cleanup
+
+## Table of Contents
+
+- [1: make naowalk automatically scp the video server to the nao's home dire…](#chat-1)
+- [2: lets gut the original audio and video code out, i want it all going th…](#chat-2)
+
+## chat-1
+
+> make naowalk automatically scp the video server to the nao's home directory, and run, then terminate the video server on close
+
+Now I'll add a launcher class that deploys and runs `nao_video_server.py` over SSH, then wire it into startup/shutdown.
+
+Now update the `NaoTeleop.__init__` signature and wire in the deploy call before video/audio init:
+
+Now add teardown in the shutdown block:
+
+Now add the CLI flags and pass them through:
+
+Let’s update the `--media-relay` help text, since it currently implies the server must already be running manually:
+
+Now let's sanity-check the file compiles and the diff looks right:
+
+Diff looks clean. Now let's copy the finished file to outputs and present it.
+
+___
+###### [top](#table-of-contents)
+## chat-2
+
+> lets gut the original audio and video code out, i want it all going through the relay, including my mic. Also lets see if we can improve the latency on the nao's mic audio
+
+Good, this stays unchanged (`start()`/`stop()` API preserved). Now let's check the HUD and shutdown/argparse sections:
+
+That's fine to leave as-is (harmless dead branch for "connecting"). Now the shutdown block and CLI/argparse section:
+
+Now let's do the bigger refactor. Starting with `nao_video_server.py` — adding the bidirectional talk channel and tightening audio buffering for latency:
+
+Given the scope of changes, I'll rewrite `nao_video_server.py` in full rather than patching piecemeal:
+
+Now let's do the equivalent large refactor on `naowalk.py`, section by section. First, the protocol constants and header comment:
+
+Now let's tune `SoundReceiver` for lower latency:
+
+Now update `feed()` to actively trim the backlog instead of just dropping one chunk on overflow:
+
+Now let's replace `LiveMicRelay` with the new `PushToTalk` class that talks over the media relay instead of SSH:
+
+Now I'll replace the entire `LiveMicRelay` class with `PushToTalk`:
+
+Now let's update `NaoTeleop.__init__` and the video/audio init methods:
+
+Now I'll replace this whole block with the simplified, relay-only version:
+
+___
+###### [top](#table-of-contents)
+

nao_video_server.py

@@ -11,6 +11,12 @@ its whole transfer time, which is a bad tradeoff for something as
 latency-sensitive as audio. Splitting them means a slow video frame
 can never delay audio.
 
+The audio connection is bidirectional: this side keeps writing the
+robot's own mic (TYPE_AUDIO) to the client, while a reader thread on
+the same socket listens for TYPE_TALK chunks pushed the other way
+(push-to-talk audio from the client's mic) and plays them on the
+robot's speaker via TalkPlayer. Video stays one-way, server->client.
+
 Why not HTTP: the phone tunnel only forwards specific TCP ports, so
 this still rides over TCP - but a 5-byte binary header has none of
 HTTP's chunked/multipart-boundary parsing overhead, and it's trivial
@@ -25,12 +31,13 @@ tunnel, half the size of raw PCM.
 
 Wire format, identical on both connections (all integers big-endian,
 via `struct`):
-    1 byte   type     0x00 HELLO   0x01 VIDEO   0x02 AUDIO
+    1 byte   type     0x00 HELLO   0x01 VIDEO   0x02 AUDIO   0x03 TALK
     4 bytes  length
     N bytes  payload
         HELLO payload: JSON, informational only
-        VIDEO payload: JPEG bytes (video connection only)
+        VIDEO payload: JPEG bytes (video connection, server->client only)
-        AUDIO payload: mu-law encoded 8-bit samples, mono (audio connection only)
+        AUDIO payload: mu-law 8-bit samples, mono (audio connection, server->client - robot's mic)
+        TALK  payload: mu-law 8-bit samples, mono (audio connection, client->server - push-to-talk)
 
 Under load (slow/lossy tunnel), video quality and frame rate step
 down automatically (see QUALITY_TIERS) and recover once sends are
@@ -52,6 +59,7 @@ import collections
 import json
 import socket
 import struct
+import subprocess
 import threading
 import time
 
@@ -87,6 +95,7 @@ FAST_STREAK_TO_RECOVER = 30       # consecutive quick sends before stepping back
 TYPE_HELLO = 0x00
 TYPE_VIDEO = 0x01
 TYPE_AUDIO = 0x02
+TYPE_TALK = 0x03
 
 
 def encode_ulaw(pcm16):
@@ -99,6 +108,17 @@ def encode_ulaw(pcm16):
     return (((y + 1.0) / 2.0) * 255.0).round().astype(np.uint8)
 
 
+def decode_ulaw(q):
+    """uint8 mu-law samples -> int16 PCM. Inverse of encode_ulaw()
+    above, used to play back incoming push-to-talk (TYPE_TALK) chunks.
+    Must match naowalk.py's encode_ulaw() exactly, or push-to-talk
+    just produces noise on the robot's speaker."""
+    mu = 255.0
+    y = (q.astype(np.float64) / 255.0) * 2.0 - 1.0
+    x = np.sign(y) * (1.0 / mu) * (np.power(1.0 + mu, np.abs(y)) - 1.0)
+    return np.clip(x * 32768.0, -32768, 32767).astype(np.int16)
+
+
 class FrameGrabber(object):
     """Background thread: keeps the single most recent JPEG-encoded
     frame available, at whatever quality tier the link currently
@@ -218,6 +238,64 @@ class MicGrabber(object):
             pass
 
 
+class TalkPlayer(object):
+    """Decodes incoming TYPE_TALK chunks (push-to-talk audio pushed
+    from the client) and plays them on the robot's speaker.
+
+    Uses a persistent `aplay` subprocess fed raw PCM over its stdin -
+    the same playback mechanism the old SSH `nc -l | aplay` relay
+    used, just sourced from decoded network chunks instead of a raw
+    pipe. The process is kept open across calls (silence between
+    presses is fine); it's only recreated if it exited or hasn't
+    been started yet."""
+
+    def __init__(self, rate=AUDIO_RATE):
+        self.rate = rate
+        self._proc = None
+        self._lock = threading.Lock()
+
+    def _ensure_proc(self):
+        if self._proc is None or self._proc.poll() is not None:
+            self._proc = subprocess.Popen(
+                ["aplay", "-q", "-t", "raw", "-f", "S16_LE",
+                 "-c", str(AUDIO_CHANNELS), "-r", str(self.rate)],
+                stdin=subprocess.PIPE)
+
+    def play(self, ulaw_payload):
+        pcm = decode_ulaw(np.frombuffer(ulaw_payload, dtype=np.uint8))
+        with self._lock:
+            try:
+                self._ensure_proc()
+                self._proc.stdin.write(pcm.tobytes())
+                self._proc.stdin.flush()
+            except Exception as e:
+                print("talk playback error: %s" % e)
+                self._proc = None
+
+    def close(self):
+        with self._lock:
+            if self._proc is not None:
+                try:
+                    self._proc.stdin.close()
+                    self._proc.terminate()
+                except Exception:
+                    pass
+                self._proc = None
+
+
+def _recv_exact(sock, n):
+    """Read exactly n bytes from a TCP socket (recv() can return short
+    reads/chunks at any point - never assume one call gives you n).
+    Mirror of naowalk.py's _recv_exact()."""
+    buf = b""
+    while len(buf) < n:
+        chunk = sock.recv(n - len(buf))
+        if not chunk:
+            raise IOError("media relay connection closed")
+        buf += chunk
+    return buf
+
+
 def _send(conn, msg_type, payload):
     conn.sendall(struct.pack(">BI", msg_type, len(payload)))
     conn.sendall(payload)
@@ -263,7 +341,29 @@ def serve_video(grabber, host, port):
                 pass
 
 
-def serve_audio(mic, host, port):
+def _talk_reader(conn, player):
+    """Runs alongside the audio writer loop on the same connection -
+    the audio socket is bidirectional now, so this thread's the read
+    half: it pulls TYPE_TALK frames pushed from the client (push-to-
+    talk) and hands each decoded chunk to TalkPlayer. conn has a
+    socket timeout set by the caller, so a quiet stretch between
+    button presses just means occasional socket.timeout - not a
+    disconnect - and the loop keeps going."""
+    try:
+        while True:
+            try:
+                header = _recv_exact(conn, 5)
+            except socket.timeout:
+                continue
+            msg_type, length = struct.unpack(">BI", header)
+            payload = _recv_exact(conn, length)
+            if msg_type == TYPE_TALK:
+                player.play(payload)
+    except Exception as e:
+        print("talk reader stopped (%s)" % e)
+
+
+def serve_audio(mic, player, host, port):
     """Audio's own connection/thread. Checked eagerly (short sleep,
     not paced like video) since gaps are far more noticeable than a
     video frame being a beat stale."""
@@ -277,6 +377,9 @@ def serve_audio(mic, host, port):
         conn.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
         conn.settimeout(5.0)
         print("audio client connected: %s" % (addr,))
+        reader_thread = threading.Thread(target=_talk_reader, args=(conn, player))
+        reader_thread.daemon = True
+        reader_thread.start()
         try:
             _send(conn, TYPE_HELLO,
                   json.dumps({"rate": AUDIO_RATE, "channels": AUDIO_CHANNELS}).encode("utf-8"))
@@ -313,14 +416,17 @@ def main():
     video_thread.daemon = True
     video_thread.start()
 
+    player = TalkPlayer()
+
     try:
-        serve_audio(mic, "0.0.0.0", AUDIO_PORT)
+        serve_audio(mic, player, "0.0.0.0", AUDIO_PORT)
     except KeyboardInterrupt:
         pass
     finally:
         grabber.close()
         if mic:
             mic.close()
+        player.close()
 
 
 if __name__ == "__main__":

naowalk.py

@@ -35,13 +35,18 @@ except ImportError:
 
 # ==========================================
 # MEDIA RELAY WIRE PROTOCOL (see nao_video_server.py)
-# One TCP connection, length-framed: [1 byte type][4 byte length][payload].
+# One video connection (server->client only) and one audio connection
-# Replaces the old HTTP MJPEG pull - no multipart parsing, and now
+# (bidirectional - server->client AUDIO is the robot's own mic,
-# carries mu-law-compressed mic audio too, not just video.
+# client->server TALK is push-to-talk audio to play on the robot's
+# speaker), both length-framed: [1 byte type][4 byte length][payload].
+# Replaces both the old HTTP MJPEG pull AND the old SSH `nc | aplay`
+# push-to-talk relay - everything audio/video now goes through this
+# one pair of connections.
 # ==========================================
 TYPE_HELLO = 0x00
 TYPE_VIDEO = 0x01
 TYPE_AUDIO = 0x02
+TYPE_TALK = 0x03
 
 
 def decode_ulaw(q):
@@ -53,6 +58,18 @@ def decode_ulaw(q):
     return np.clip(x * 32768.0, -32768, 32767).astype(np.int16)
 
 
+def encode_ulaw(pcm16):
+    """int16 numpy array -> uint8 numpy array, mu-law companded. Mirror
+    of nao_video_server.py's encode_ulaw() - used here now to compress
+    push-to-talk audio before it crosses the (possibly tunneled) link,
+    the same way the robot's own mic audio already was. Must match
+    nao_video_server.py's decode_ulaw() exactly."""
+    mu = 255.0
+    x = np.clip(pcm16.astype(np.float64) / 32768.0, -1.0, 1.0)
+    y = np.sign(x) * np.log1p(mu * np.abs(x)) / np.log1p(mu)
+    return (((y + 1.0) / 2.0) * 255.0).round().astype(np.uint8)
+
+
 def _recv_exact(sock, n):
     """Read exactly n bytes from a TCP socket (recv() can return short
     reads/chunks at any point - never assume one call gives you n)."""
@@ -65,11 +82,26 @@ def _recv_exact(sock, n):
     return buf
 
 
+def _send_framed(sock, msg_type, payload):
+    """Mirror of nao_video_server.py's _send() - used to push TYPE_TALK
+    (push-to-talk audio) the other way, client -> robot."""
+    sock.sendall(struct.pack(">BI", msg_type, len(payload)))
+    sock.sendall(payload)
+
+
 # ==========================================
 # NAO MIC STREAM
 # ==========================================
 class SoundReceiver:
-    PREBUFFER_CHUNKS = 3
+    PREBUFFER_CHUNKS = 1        # was 3 - less silence before playback starts
+    TARGET_QUEUE_DEPTH = 4      # once a stall lets the backlog build past
+                                 # QUEUE_MAXSIZE and we start dropping, trim
+                                 # it back down to this instead of just
+                                 # shaving one chunk at a time - a played-back
+                                 # backlog sounds like the mic sped up, and
+                                 # that's more noticeable than a couple of
+                                 # dropped chunks
+    QUEUE_MAXSIZE = 12          # was 40 - bounds worst-case playback lag
     SILENCE_CHUNK = b"\x00" * 4096
 
     def __init__(self, output_device_index=None, mic_gain=8.0, pyaudio_instance=None):
@@ -99,9 +131,9 @@ class SoundReceiver:
 
             self.stream = self.p.open(format=pyaudio.paInt16, channels=1, rate=16000,
                                       output=True, output_device_index=output_device_index,
-                                      frames_per_buffer=2048)
+                                      frames_per_buffer=1024)
             self._play_test_tone()
-            self.queue = queue.Queue(maxsize=40)
+            self.queue = queue.Queue(maxsize=self.QUEUE_MAXSIZE)
             self.playback_thread = threading.Thread(target=self._playback_loop, daemon=True)
             self.playback_thread.start()
 
@@ -131,6 +163,16 @@ class SoundReceiver:
                 self.queue.get_nowait()
                 self.queue.put_nowait(raw_pcm_bytes)
             except: pass
+        # A stall (network hiccup, etc.) can let the backlog build up
+        # even before the queue is literally Full - trim it back down
+        # toward real-time here rather than only reacting once it hits
+        # the ceiling above, so a brief stall degrades to a couple of
+        # dropped chunks instead of several seconds of played-back lag.
+        while self.queue.qsize() > self.TARGET_QUEUE_DEPTH:
+            try:
+                self.queue.get_nowait()
+            except queue.Empty:
+                break
 
     def _playback_loop(self):
         primed = []
@@ -187,90 +229,39 @@ class SoundReceiver:
             except: pass
 
 # ==========================================
-# LIVE MIC RELAY (push-to-talk over SSH)
+# PUSH-TO-TALK (over the media relay's audio connection)
 # ==========================================
-class LiveMicRelay:
+class PushToTalk:
     """
-    Push-to-talk: streams the local mic straight to NAO's own speaker.
+    Push-to-talk: streams the local mic to NAO's speaker over the same
+    TCP audio connection the media relay already uses for the robot's
+    own mic (see NaoTeleop._audio_relay_loop / _send_talk_chunk) -
+    mu-law encoded, framed as TYPE_TALK, decoded and played by
+    nao_video_server.py's TalkPlayer.
 
-    connect() (call once at startup, off the hot path) SSHes into the
+    This replaces the old SSH-based relay (`nc -l | aplay` over a
-    robot and launches a self-restarting `nc -l | aplay` loop that stays
+    dedicated SSH channel): no SSH connection of its own, no per-press
-    up for the whole session. Each start()/stop() (per push-to-talk
+    socket handshake - start()/stop() just toggle a background thread
-    press) then just opens/closes a plain TCP socket to that already-
+    that reads the mic and hands chunks to send_fn, which writes
-    running listener and pipes raw mic audio into it - no SSH handshake
+    straight into the already-open, already-connected audio socket.
-    per press. Closing the socket on stop() ends that iteration's nc,
-    which ends aplay with it, and the remote loop immediately relaunches
-    nc so it's ready for the next press. close() (call once at shutdown)
-    tears down the persistent SSH connection and kills the remote loop.
     """
-    def __init__(self, nao_ip, ssh_user="nao", ssh_password="nao", ssh_port=22,
+    def __init__(self, send_fn, is_ready_fn, rate=16000, chunk_frames=1024,
-                 port=5555, rate=16000, input_device_index=None, pyaudio_instance=None):
+                 input_device_index=None, pyaudio_instance=None):
-        self.nao_ip = nao_ip
+        self.send_fn = send_fn
-        self.ssh_user = ssh_user
+        self.is_ready_fn = is_ready_fn
-        self.ssh_password = ssh_password
-        self.ssh_port = ssh_port
-        self.port = port
         self.rate = rate
+        self.chunk_frames = chunk_frames
         self.input_device_index = input_device_index
-
-        self.active = False
-        self.connected = False  # remote listener is up, ready for fast local connects
-        # "idle" | "connecting" | "live" - read by the HUD to show status
-        self.state = "idle"
-        self._ssh_client = None
-        self._ssh_channel = None
-        self._sock = None
-        self._stream = None
-        self._thread = 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 connect(self):
+        self.active = False
-        """One-time setup: SSH in and launch a self-restarting remote
+        # "idle" | "live" - read by the HUD to show status
-        listener (`nc | aplay` in a loop) that stays up for the whole app
+        self.state = "idle"
-        session. Call this once at startup, in a background thread so it
+        self._stream = None
-        doesn't block. After this, start()/stop() per push-to-talk press
+        self._thread = None
-        only do a fast local socket connect - no SSH in the hot path.
-        """
-        if not HAS_SSH:
-            print("🎙️ Live mic needs paramiko: pip install paramiko")
-            return
-        try:
-            self._ssh_client = paramiko.SSHClient()
-            self._ssh_client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
-            self._ssh_client.connect(self.nao_ip, port=self.ssh_port, username=self.ssh_user,
-                                      password=self.ssh_password, timeout=5)
-            self._ssh_channel = self._ssh_client.get_transport().open_session()
-            # A pty ties the remote process group to this channel, so
-            # closing it in close() reliably kills the loop/nc/aplay
-            # instead of leaving an orphaned process on the robot.
-            self._ssh_channel.get_pty()
-            remote_cmd = (
-                f"while true; do nc -l -p {self.port} | "
-                f"aplay -q -r {self.rate} -f S16_LE -c 1 -t raw -; done"
-            )
-            self._ssh_channel.exec_command(remote_cmd)
-            time.sleep(0.4)  # one-time wait for the first nc to bind
-            self.connected = True
-            print("🎙️ Talk relay: remote listener ready")
-        except Exception as e:
-            print(f"🎙️ Talk relay: couldn't set up remote listener ({e})")
-            self.connected = False
-
-    def close(self):
-        """Tear down the persistent SSH connection/listener. Call once at
-        app shutdown - not per push-to-talk press."""
-        if self._ssh_channel:
-            try: self._ssh_channel.close()
-            except: pass
-            self._ssh_channel = None
-        if self._ssh_client:
-            try: self._ssh_client.close()
-            except: pass
-            self._ssh_client = None
-        self.connected = False
 
     def start(self):
         if self.active:
@@ -278,65 +269,44 @@ class LiveMicRelay:
         if not HAS_AUDIO:
             print("🎙️ Live mic needs pyaudio installed")
             return
-        if not self.connected:
+        if not self.is_ready_fn():
-            print("🎙️ Talk relay: remote listener not ready yet")
+            print("🎙️ Talk relay: audio connection not ready yet")
             return
         # If a previous relay thread is still tearing itself down, wait for
-        # it to finish before reusing self._stream/_sock for a new one.
+        # it to finish before reusing self._stream for a new one.
         if self._thread and self._thread.is_alive():
             self._thread.join(timeout=2.0)
         self.active = True
-        self.state = "connecting"
+        self.state = "live"
         self._thread = threading.Thread(target=self._run, daemon=True)
         self._thread.start()
 
     def stop(self):
         """Signal the relay thread to stop and wait for it to exit.
 
-        Deliberately does NOT touch self._stream/_sock here: this is
+        Deliberately does NOT touch self._stream here: this is called
-        called from the main/render thread on key-up, and closing a
+        from the main/render thread on key-up, and closing a PortAudio
-        PortAudio stream from a different thread while the relay thread is
+        stream from a different thread while the relay thread is mid
-        mid blocking-read() on it is what caused the ALSA segfault on
+        blocking-read() on it is what caused the ALSA segfault on
-        release. Only _run() (via _cleanup, in its own thread) closes them.
+        release. Only _run() closes it, from its own thread.
         """
         self.active = False
         self.state = "idle"
         if self._thread and self._thread.is_alive() and threading.current_thread() is not self._thread:
             self._thread.join(timeout=2.0)
 
-    def _cleanup(self):
-        """Per-press teardown: only the local socket/mic stream. The SSH
-        connection is persistent now - close() (at app shutdown) is what
-        tears that down, not this."""
-        if self._sock:
-            try: self._sock.close()
-            except: pass
-            self._sock = None
-        if self._stream:
-            try:
-                self._stream.stop_stream()
-                self._stream.close()
-            except: pass
-            self._stream = None
-
     def _run(self):
         try:
-            # Remote listener is already up (from connect()) - just make a
-            # fast local socket connection, no SSH handshake here.
-            self._sock = socket.create_connection((self.nao_ip, self.port), timeout=5)
-
             self._stream = self._p.open(format=pyaudio.paInt16, channels=1,
                                          rate=self.rate, input=True,
                                          input_device_index=self.input_device_index,
-                                         frames_per_buffer=1024)
+                                         frames_per_buffer=self.chunk_frames)
             print("🎙️ Talk relay: live")
-            if self.active:  # could've been stopped while we were still connecting
-                self.state = "live"
-
             while self.active:
                 try:
-                    chunk = self._stream.read(1024, exception_on_overflow=False)
+                    chunk = self._stream.read(self.chunk_frames, exception_on_overflow=False)
-                    self._sock.sendall(chunk)
+                    pcm = np.frombuffer(chunk, dtype=np.int16)
+                    self.send_fn(encode_ulaw(pcm).tobytes())
                 except Exception:
                     break
         except Exception as e:
@@ -344,9 +314,21 @@ class LiveMicRelay:
         finally:
             self.active = False
             self.state = "idle"
-            self._cleanup()
+            if self._stream:
+                try:
+                    self._stream.stop_stream()
+                    self._stream.close()
+                except: pass
+                self._stream = None
             print("🎙️ Talk relay: stopped")
 
+    def close(self):
+        """No persistent connection of its own to tear down anymore -
+        kept as an alias for stop() so shutdown code doesn't need to
+        know which push-to-talk implementation it's holding."""
+        self.stop()
+
+
 # ==========================================
 # ON-ROBOT VIDEO/AUDIO RELAY SERVER (auto-deploy)
 # ==========================================
@@ -478,9 +460,11 @@ class VideoServerLauncher:
 # MAIN TELEOP
 # ==========================================
 class NaoTeleop:
-    def __init__(self, session, nao_ip, audio_device_index=None, mic_channel=1, mic_gain=8.0, video_scale=2.0,
+    HEAD_RATE = 1.4  # rad/sec - how fast a held IJKL key sweeps the head target angle
-                 nao_ssh_user="nao", nao_ssh_password="nao", nao_ssh_port=22, relay_port=5555, relay_rate=16000,
+
-                 video_fps=25, media_relay=None, deploy_video_server=True, video_server_path=None):
+    def __init__(self, session, nao_ip, audio_device_index=None, mic_gain=8.0, video_scale=2.0,
+                 nao_ssh_user="nao", nao_ssh_password="nao", nao_ssh_port=22, relay_rate=16000,
+                 media_relay=None, deploy_video_server=True, video_server_path=None):
         self.session = session
         self.nao_ip = nao_ip
         self.motion = session.service("ALMotion")
@@ -495,25 +479,31 @@ class NaoTeleop:
         self.music_results = []
         self.selected_result = 0
 
-        self.audio_device = None
+        self.audio_device = None  # only used for volume get/set now - video
-        self.audio_service_name = "SoundReceiver"
+                                   # and both mic directions are relay-only
         self.audio_device_index = audio_device_index
-        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,
+        # playback) and PushToTalk (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,
+        # The audio relay connection is bidirectional (see
-                                       ssh_port=nao_ssh_port,
+        # _audio_relay_loop) - this is the socket PushToTalk writes
-                                       port=relay_port, rate=relay_rate, pyaudio_instance=self._pyaudio)
+        # TYPE_TALK chunks into, guarded by a lock since the relay loop
+        # (on its own thread) can tear it down and reconnect at any time.
+        self._audio_sock = None
+        self._audio_sock_lock = threading.Lock()
+
+        self.mic_relay = PushToTalk(send_fn=self._send_talk_chunk, is_ready_fn=self._audio_relay_ready,
+                                     rate=relay_rate, pyaudio_instance=self._pyaudio)
         self.ptt_active = False
 
         self.running = True
         self.head_yaw = 0.0
         self.head_pitch = 0.0
+        self._last_head_update = time.time()
         self.battery_level = 100
         self.last_batt_check = 0
         self.volume = 50
@@ -526,18 +516,12 @@ class NaoTeleop:
         self.music_search_pending = False
 
         self.video_scale = video_scale
-        self.video_fps = video_fps
         self.media_relay = media_relay
-        # True only if we actually subscribed to ALAudioDevice ourselves
-        # (i.e. not using the relay, where nao_video_server.py owns the
-        # mic subscription instead) - used at shutdown so we don't try
-        # to unsubscribe from something we never subscribed to.
-        self._qi_audio_subscribed = False
         self.display_width = int(320 * video_scale)
         self.display_height = int(240 * video_scale)
 
         # Video and movement are decoupled onto their own threads (see
-        # _init_video_maxfps / run) so a stalled network RPC to the robot
+        # _init_video / run) so a stalled network RPC to the robot
         # never blocks keyboard input or the render loop.
         self._latest_frame = None
         self._latest_frame_ts = 0.0
@@ -546,19 +530,19 @@ class NaoTeleop:
         self._movement_stop_event = threading.Event()
         self._movement_thread = None
 
-        # If we're using the on-robot media relay, deploy+launch
+        # Deploy+launch nao_video_server.py over SSH now (before _init_video
-        # nao_video_server.py over SSH now (before _init_video_maxfps
         # tries to connect to it) instead of requiring it to already be
-        # running manually.
+        # running manually. Everything - video, robot mic, push-to-talk -
+        # goes through this relay; there's no direct-qi fallback anymore.
         self.video_server_launcher = None
-        if self.media_relay and deploy_video_server:
+        if deploy_video_server:
             self.video_server_launcher = VideoServerLauncher(
                 nao_ip, ssh_user=nao_ssh_user, ssh_password=nao_ssh_password,
                 ssh_port=nao_ssh_port, local_path=video_server_path)
             self.video_server_launcher.deploy_and_start()
 
         self._init_audio_device()
-        self._init_video_maxfps()
+        self._init_video()
         if HAS_AUDIO:
             self._init_mic_stream()
 
@@ -585,48 +569,20 @@ class NaoTeleop:
             print(f"⚠️ ALAudioDevice error: {e}")
             self.audio_device = None
 
-    def _init_video_maxfps(self):
+    def _init_video(self):
-        if self.media_relay:
-            self.video = None
-            self.video_client = "relay"  # truthy sentinel, unsubscribe() is a no-op for this path
         print(f"✅ Camera via on-robot media relay: {self.media_relay}")
         threading.Thread(target=self._video_relay_loop, daemon=True).start()
-            return
-        try:
-            self.video = self.session.service("ALVideoDevice")
-            self.video_client = self.video.subscribeCamera("TeleopCam", 0, 0, 11, self.video_fps)
-            print("✅ Camera ready")
-            threading.Thread(target=self._video_loop, daemon=True).start()
-        except:
-            print("❌ Camera not available")
-            self.video_client = None
-
-    def _video_loop(self):
-        """Runs on its own thread for the app's lifetime. getImageRemote()
-        is a blocking RPC over the network - if a call hangs during a
-        WiFi hiccup, this thread just sits waiting on it. The render loop
-        never touches this call directly; it only ever reads whatever
-        self._latest_frame was last successfully set to, so a stalled
-        fetch here can no longer freeze keyboard input or movement."""
-        while not self._video_stop_event.is_set():
-            try:
-                image = self.video.getImageRemote(self.video_client)
-                if image and len(image) >= 7:
-                    w, h = image[0], image[1]
-                    arr = np.frombuffer(bytearray(image[6]), dtype=np.uint8).reshape((h, w, 3))
-                    frame = cv2.cvtColor(arr, cv2.COLOR_RGB2BGR)
-                    self._latest_frame = cv2.resize(frame, (320, 240), interpolation=cv2.INTER_NEAREST)
-                    self._latest_frame_ts = time.time()
-            except Exception:
-                time.sleep(0.05)
 
     def _video_relay_loop(self):
-        """Same role as _video_loop, but speaks the lean length-framed
+        """Runs on its own thread for the app's lifetime, speaking the
-        TCP protocol from nao_video_server.py instead of pulling raw
+        lean length-framed TCP protocol from nao_video_server.py. The
-        frames over the qi session. Video-only connection - it used to
+        render loop never touches the socket directly; it only ever
-        share one socket with audio, but a slow video send could then
+        reads whatever self._latest_frame was last successfully set
-        block audio behind it, so they're split (see the audio port,
+        to, so a stalled/reconnecting link can no longer freeze
-        media_relay port + 1, handled by _audio_relay_loop)."""
+        keyboard input or movement. Video-only connection - a slow
+        video send could otherwise block audio behind it, so they're
+        split (see the audio port, media_relay port + 1, handled by
+        _audio_relay_loop)."""
         host, _, port_str = self.media_relay.partition(":")
         port = int(port_str) if port_str else 8000
         while not self._video_stop_event.is_set():
@@ -659,7 +615,16 @@ class NaoTeleop:
         """Mic audio's own connection - see _video_relay_loop for why
         this is split off rather than sharing video's socket. Connects
         to media_relay's host:port+1 by convention (matches AUDIO_PORT
-        = VIDEO_PORT + 1 in nao_video_server.py)."""
+        = VIDEO_PORT + 1 in nao_video_server.py).
+
+        This connection is bidirectional: this loop reads TYPE_AUDIO
+        (robot's mic) off it, and _send_talk_chunk (called from the
+        PushToTalk thread) writes TYPE_TALK (push-to-talk audio) onto
+        the same socket - TCP is full-duplex, so neither direction
+        blocks the other. self._audio_sock is published here (and
+        cleared on disconnect) so _send_talk_chunk always has whatever
+        socket is currently live, or nothing to send to while
+        reconnecting."""
         host, _, port_str = self.media_relay.partition(":")
         video_port = int(port_str) if port_str else 8000
         port = video_port + 1
@@ -669,6 +634,8 @@ class NaoTeleop:
                 sock = socket.create_connection((host, port), timeout=5)
                 sock.settimeout(5.0)
                 sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
+                with self._audio_sock_lock:
+                    self._audio_sock = sock
                 print(f"✅ Audio relay connected: {host}:{port}")
                 while not self._video_stop_event.is_set():
                     msg_type, length = struct.unpack(">BI", _recv_exact(sock, 5))
@@ -680,12 +647,37 @@ class NaoTeleop:
             except Exception as e:
                 print(f"audio relay error: {e}")
             finally:
+                with self._audio_sock_lock:
+                    if self._audio_sock is sock:
+                        self._audio_sock = None
                 if sock:
                     try: sock.close()
                     except: pass
             if not self._video_stop_event.is_set():
                 time.sleep(0.5)
 
+    def _audio_relay_ready(self):
+        """Whether the audio connection is currently up - PushToTalk
+        checks this before starting a press so it can fail fast with a
+        clear message instead of silently sending into the void."""
+        with self._audio_sock_lock:
+            return self._audio_sock is not None
+
+    def _send_talk_chunk(self, payload):
+        """Called from the PushToTalk thread with one already mu-law-
+        encoded chunk. Grabs whatever socket _audio_relay_loop currently
+        has published and writes straight into it - if the link drops
+        mid-send this just raises/gets swallowed and the chunk is lost,
+        which is fine for live voice (the next chunk is a beat away)."""
+        with self._audio_sock_lock:
+            sock = self._audio_sock
+        if not sock:
+            return
+        try:
+            _send_framed(sock, TYPE_TALK, payload)
+        except Exception:
+            pass  # _audio_relay_loop will notice the failure and reconnect
+
     def get_image(self):
         """Non-blocking: returns whatever frame the background video
         thread most recently captured (or None before the first one
@@ -693,23 +685,11 @@ class NaoTeleop:
         return self._latest_frame
 
     def _init_mic_stream(self):
-        if not self.audio_device: return
         try:
-            # Playback machinery is needed either way - only the source
-            # of audio chunks differs (qi pub/sub below, vs mu-law
-            # chunks arriving over the audio relay connection).
             self.sound_receiver = SoundReceiver(self.audio_device_index, self.mic_gain,
                                                  pyaudio_instance=self._pyaudio)
-            if self.media_relay:
             print(f"✅ Mic stream ready (gain={self.mic_gain}x, via media relay - compressed, own connection)")
             threading.Thread(target=self._audio_relay_loop, daemon=True).start()
-                return
-            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)
-            self.audio_device.subscribe(self.audio_service_name)
-            self._qi_audio_subscribed = True
-            print(f"✅ Mic stream ready (gain={self.mic_gain}x, uncompressed direct - use --media-relay on a tunneled link)")
         except Exception as e:
             print(f"❌ Mic init failed: {e}")
 
@@ -806,15 +786,21 @@ class NaoTeleop:
     def handle_head_movement(self):
         if self.typing_mode or self.music_search_mode: return
         keys = pygame.key.get_pressed()
-        speed = 0.3
+
+        now = time.time()
+        dt = now - self._last_head_update
+        self._last_head_update = now
+        step = self.HEAD_RATE * dt
+
         changed = False
-        if keys[pygame.K_i]: self.head_pitch = max(self.head_pitch - speed, -0.5); changed = True
+        if keys[pygame.K_i]: self.head_pitch = max(self.head_pitch - step, -0.5); changed = True
-        if keys[pygame.K_k]: self.head_pitch = min(self.head_pitch + speed, 0.5); changed = True
+        if keys[pygame.K_k]: self.head_pitch = min(self.head_pitch + step, 0.5); changed = True
-        if keys[pygame.K_j]: self.head_yaw = min(self.head_yaw + speed, 2.0); changed = True
+        if keys[pygame.K_j]: self.head_yaw = min(self.head_yaw + step, 2.0); changed = True
-        if keys[pygame.K_l]: self.head_yaw = max(self.head_yaw - speed, -2.0); changed = True
+        if keys[pygame.K_l]: self.head_yaw = max(self.head_yaw - step, -2.0); changed = True
+
         if changed:
             self._safe("Head move", lambda: self.motion.setAngles(
-                ["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.3))
+                ["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.18))
 
     def reset_head(self):
         self.head_yaw = 0.0
@@ -883,9 +869,6 @@ class NaoTeleop:
         self._safe("moveInit", self.motion.moveInit)
         print("🦶 Walk engine ready")
 
-        if getattr(self, "mic_relay", None):
-            threading.Thread(target=self.mic_relay.connect, daemon=True).start()
-
         self._movement_thread = threading.Thread(target=self._movement_loop, daemon=True)
         self._movement_thread.start()
 
@@ -1137,12 +1120,8 @@ class NaoTeleop:
                 self._safe("mic relay close", self.mic_relay.close)
             if getattr(self, "video_server_launcher", None):
                 self._safe("video server stop", self.video_server_launcher.close)
-            if self.audio_device and self._qi_audio_subscribed:
-                self._safe("audio unsubscribe", lambda: self.audio_device.unsubscribe(self.audio_service_name))
             if getattr(self, "sound_receiver", None):
                 self._safe("sound receiver close", self.sound_receiver.close)
-            if hasattr(self, 'video') and self.video is not None 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)
@@ -1150,20 +1129,12 @@ class NaoTeleop:
 
 
 if __name__ == "__main__":
-    MIC_CHANNELS = {"left": 1, "right": 2, "front": 3, "rear": 4}
-
     parser = argparse.ArgumentParser()
     parser.add_argument("--ip", type=str, default="127.0.0.1")
     parser.add_argument("--port", type=int, default=9559)
     parser.add_argument("--audio-device-index", type=int, default=None)
-    parser.add_argument("--mic-channel", choices=MIC_CHANNELS.keys(), default="left")
     parser.add_argument("--mic-gain", type=float, default=8.0)
     parser.add_argument("--video-scale", type=float, default=2.0)
-    parser.add_argument("--video-fps", type=int, default=25,
-                         help="Camera fps requested from NAO. Video is uncompressed RGB at "
-                              "160x120, so this is roughly 460KB/s per fps - lower it "
-                              "(e.g. 10-12) when tunneling over a constrained link. "
-                              "Ignored when --media-relay is set (the server controls fps).")
     parser.add_argument("--media-relay", type=str, default=None,
                          help="host:port to reach the on-robot media relay (nao_video_server.py) "
                               "at, e.g. 127.0.0.1:8000 when tunneled through the phone. Setting "
@@ -1172,9 +1143,8 @@ if __name__ == "__main__":
                               "server to skip that and connect to one you started yourself). "
                               "BOTH video and mic audio come compressed over this one TCP "
                               "connection (JPEG + mu-law) instead of raw frames/PCM over the "
-                              "qi session - use this on a tunneled/shoddy link. --mic-channel "
+                              "qi session. To change the mic channel, set MIC_CHANNEL in "
-                              "is ignored in this mode (set MIC_CHANNEL in nao_video_server.py "
+                              "nao_video_server.py, since the mic subscription lives there now.")
-                              "instead, since the mic subscription lives there now).")
     parser.add_argument("--nao-ssh-user", type=str, default="nao",
                          help="SSH login for the live mic relay (push-to-talk)")
     parser.add_argument("--nao-ssh-password", type=str, default="nao",
@@ -1182,8 +1152,6 @@ if __name__ == "__main__":
     parser.add_argument("--nao-ssh-port", type=int, default=22,
                          help="SSH port for the robot (music upload + push-to-talk). "
                               "Set this to your local forwarded port, e.g. 2222, when tunneling.")
-    parser.add_argument("--relay-port", type=int, default=5555,
-                         help="TCP port used to stream mic audio to the robot's nc listener")
     parser.add_argument("--relay-rate", type=int, default=16000,
                          help="Sample rate for the live mic relay - try 48000 if audio sounds sped up/slow")
     parser.add_argument("--no-deploy-video-server", action="store_true",
@@ -1205,15 +1173,12 @@ if __name__ == "__main__":
 
     NaoTeleop(session, nao_ip=args.ip,
               audio_device_index=args.audio_device_index,
-              mic_channel=MIC_CHANNELS[args.mic_channel],
               mic_gain=args.mic_gain,
               video_scale=args.video_scale,
-              video_fps=args.video_fps,
               media_relay=args.media_relay,
               nao_ssh_user=args.nao_ssh_user,
               nao_ssh_password=args.nao_ssh_password,
               nao_ssh_port=args.nao_ssh_port,
-              relay_port=args.relay_port,
               relay_rate=args.relay_rate,
               deploy_video_server=not args.no_deploy_video_server,
               video_server_path=args.video_server_path).run()