3.6.Development Notes

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1. Common Problem Troubleshooting

Problem	Cause	Solution
Cannot connect to x86	Wrong IP or port	Check if 192.168.41.1:10097 is accessible
ASR recognition returns empty	Audio too small or invalid	Increase microphone volume, check VAD status
No audio stream available	No face detected in front of the robot	The microphone array on the RK3588s used by TienKung has directional audio capture, covering approximately a 60-degree conical region in front of the microphone array. During conversation, the sound source must be within this region (i.e., the speaker must be within this spatial range); otherwise, the microphone array will not capture the audio
LLM no response	Ollama not started	Run ollama serve to start Ollama
TTS no sound	PyAudio device error	Check audio output device, run python -c "import pyaudio; print(pyaudio.PyAudio().get_default_output_device_info())"

2. Performance Optimization Suggestions

# 1. Reduce log output
# Change LOG_LEVEL in log_config.py to WARNING

# 2. Adjust LLM response speed
# Use smaller model: ollama pull qwen2.5:0.5b

# 3. Optimize TTS quality
# Adjust synthesis parameters in PiperProvider

# 4. Increase ROS queue size
self.create_subscription(
    AudioFrame,
    'audio_sentence_frames',
    callback,
    10  # Increase this number to hold more messages
)

3. Steps to Add New Features

Example: Add Conversation Text Logging Feature

import json
from datetime import datetime

class ConversationLogger:
    def __init__(self, log_file="conversations.jsonl"):
        self.log_file = log_file
    
    def log_turn(self, question: str, answer: str):
        """Log a conversation turn"""
        record = {
            "timestamp": datetime.now().isoformat(),
            "question": question,
            "answer": answer
        }
        
        with open(self.log_file, 'a', encoding='utf-8') as f:
            f.write(json.dumps(record, ensure_ascii=False) + '\n')

# Use in tk_audio_process.py
logger = ConversationLogger()

def on_answer_complete(question, answer):
    logger.log_turn(question, answer)

4. Unit Testing Example

import unittest

class TestFunASRClient(unittest.TestCase):
    def setUp(self):
        self.client = FunASRClient(
            host="192.168.41.1",
            port=10097
        )
    
    def test_to_text_with_valid_audio(self):
        """Test valid audio recognition"""
        # Read test audio
        with open("test_audio.pcm", "rb") as f:
            audio_bytes = f.read()
        
        # Recognize
        result = self.client.to_text(audio_bytes)
        
        # Verify result
        self.assertIsNotNone(result)
        self.assertGreater(len(result), 0)
    
    def test_to_text_with_empty_audio(self):
        """Test empty audio"""
        result = self.client.to_text(b"")
        self.assertEqual(result, "")

if __name__ == '__main__':
    unittest.main()