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Switch DoA to AUDIO_MGR_SELECTED_AZIMUTHS (auto-select beam)

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DOA_VALUE on GPO resource was sluggish/cached. The beamformer-level
AUDIO_MGR_SELECTED_AZIMUTHS on resource 35 tracks the active speaker
in real time. Falls back to simple DOA_VALUE when both azimuths are NaN.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Alex
2026-04-12 18:06:40 -05:00
parent 0ace58e22e
commit afc8694c1a
1 changed files with 36 additions and 7 deletions
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43
xvf3800.py
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@@ -33,8 +33,15 @@ GPO_RESID = 20
# Command IDs (wValue in USB control transfer)
# Verified against official xvf_host.py WriteCMD output
DOA_VALUE_CMD = 18 # returns (angle 0-359, vad 0/1)
DOA_VALUE_CMD = 18 # returns (angle 0-359, vad 0/1) — simple, sluggish
LED_EFFECT_CMD = 12 # 0=off, 1=breath, 2=rainbow, 3=solid, 4=doa, 5=ring
# AEC resource (resid=33) — beamformer-level commands, more responsive
AEC_RESID = 33
AEC_AZIMUTH_CMD = 75 # 4 floats: beam1, beam2, free-running, auto-select (radians)
AEC_SPENERGY_CMD = 80 # 4 floats: speech energy per beam (>0 = speech)
AUDIO_MGR_RESID = 35
AUDIO_MGR_SELECTED_AZ_CMD = 11 # 2 floats: processed DoA, auto-select DoA (radians)
LED_BRIGHTNESS_CMD = 14
LED_COLOR_CMD = 16 # single uint32 color (confirmed: xvf_host LED_COLOR cmdid=16)
LED_DOA_COLOR_CMD = 17 # two uint32 values: base + indicator
@@ -94,13 +101,35 @@ class XVF3800:
# --- DoA ---
def read_doa(self) -> tuple[int, bool]:
"""Read Direction of Arrival. Returns (angle 0-359, vad True/False).
Response format: 1 status byte + 2 uint16 words (angle, vad)."""
data = self._read_uint16(GPO_RESID, DOA_VALUE_CMD, 2)
if len(data) < 5:
"""Read Direction of Arrival using the auto-select beam azimuth.
Returns (angle 0-359 degrees, vad True/False).
Uses AUDIO_MGR_SELECTED_AZIMUTHS which tracks the active speaker."""
import math
# Read auto-select beam azimuth (2 floats: processed_doa, auto_select_doa)
data = self._read_float(AUDIO_MGR_RESID, AUDIO_MGR_SELECTED_AZ_CMD, 2)
if len(data) < 9: # 1 status + 2*4 bytes
return 0, False
angle, vad = struct.unpack_from("<HH", data, 1) # skip status byte
return angle % 360, bool(vad)
processed_doa, auto_select_doa = struct.unpack_from("<ff", data, 1)
# Use auto-select beam (index 1), fall back to processed (index 0)
if not math.isnan(auto_select_doa):
angle_deg = math.degrees(auto_select_doa) % 360
vad = True
elif not math.isnan(processed_doa):
angle_deg = math.degrees(processed_doa) % 360
vad = True
else:
# Both NaN — no speech detected
# Fall back to simple DOA_VALUE
data2 = self._read_uint16(GPO_RESID, DOA_VALUE_CMD, 2)
if len(data2) >= 5:
angle, vad_flag = struct.unpack_from("<HH", data2, 1)
return angle % 360, bool(vad_flag)
return 0, False
return int(angle_deg) % 360, vad
# --- LEDs ---