GR00T-WholeBodyControl/gear_sonic_deploy/src/audio_thread/audio_thread.hpp

#pragma once

#include <memory>
#include <string>
#include <stop_token>
#include <thread>
#include <unitree/robot/g1/audio/g1_audio_client.hpp>

struct AudioCommand {
  bool streaming_data_absent = false;
  bool motor_error = false;
  bool low_state_late = false;
  std::string tts_message;  // One-shot TTS message (spoken once when non-empty)
  bool high_temperature = false;             // Continuous warning while true
  std::string high_temperature_message;      // Spoken every poll while high_temperature is true
};

class AudioThread {
 public:
  AudioThread();

  void SetCommand(const AudioCommand& command);

 private:
  void loop(std::stop_token st);

  unitree::robot::g1::AudioClient client_;
  std::jthread thread_;

  std::mutex command_mutex_;
  AudioCommand command_;
  AudioCommand command_last_;

  // Cooldown for high temperature warning (avoid repeating every 1s loop)
  std::chrono::steady_clock::time_point last_high_temp_tts_{};
  static constexpr std::chrono::seconds HIGH_TEMP_TTS_INTERVAL{5};
};