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Multi-user Chat Application Based on Micro-ROS & ESP-ADF

Example Brief

This example demonstrates the process of subscribing to and publishing audio streams using Micro-ROS within the ADF framework.

The pipeline is as follows:

[codec_chip] ---> i2s_stream_reader ---> [Micro-ROS publisher] | v [PC ROS2] ^ | [Micro-ROS subscribtion] ---> i2s_stream_writer ---> [codec_chip]

Environment Setup

Hardware Required

This example runs on the boards that are marked with a green checkbox in the table. Please remember to select the board in menuconfig as discussed in Section Configuration below.

Build and Flash

Default IDF Branch

This example only supports IDF release/v5.2. By default, it runs on ADF's built-in branch $ADF_PATH/esp-idf.

Configuration

This example requires ROS2 installed on your PC. It is recommended to install the Humble version.

If you are using Micro-ROS for the first time, please follow the setup instructions provided at micro-ROS ESP-IDF component.

The default board for this example is ESP32-S3-Korvo-2. If you need to run this example on other development boards, select the board in menuconfig, such as ESP32-Lyrat V4.3.

menuconfig > Audio HAL > ESP32-Lyrat V4.3

The dependencies for Micro-ROS are located in the components directory. If the local files do not contain the necessary library, please install it using the following command:

git submodule update --init --recursive

This example requires a Wi-Fi connection for Micro-ROS communication. Configure the Wi-Fi information menuconfig > micro-ROS Settings:

 menuconfig > micro-ROS Settings > WiFi Configuration > WiFi SSID menuconfig > micro-ROS Settings > WiFi Configuration > WiFi Password

To configure the Micro-ROS agent information (IP address and port number), fill in the micro-ROS Agent IP and micro-ROS Agent Port:

menuconfig > micro-ROS Settings > (PC ROS2 IP) micro-ROS Agent IP menuconfig > micro-ROS Settings > (PC ROS2 Port) micro-ROS Agent Port

It is recommended to enable PSRAM for stable operation:

menuconfig > Component config > ESP PSRAM > Support for external, SPI-connected RAM

If your development board uses an 8-line SPI RAM, configure the following:

menuconfig > Component config > ESP PSRAM > Support for external, SPI-connected RAM > SPI RAM config > Mode (QUAD/OCT) of SPI RAM chip in use (Octal Mode PSRAM)

It is also recommended to set the FreeRTOS clock frequency to 1000 Hz:

menuconfig > Component config > FreeRTOS > Kernel > (1000) configTICK_RATE_HZ

Build and Flash

Build the project and flash it to the board, then run monitor tool to view serial output (replace PORT with your board's serial port name):

idf.py -p PORT flash monitor

To exit the serial monitor, type Ctrl-].

See ESP-IDF Programming Guide for full steps to configure and build an ESP-IDF project.

How to Use the Example

Example Functionality

  • The example requires the Micro-ROS agent to be running and connected to the same Wi-Fi network as the development board. On the PC, you can start the Micro-ROS agent using the following Docker command:
# UDPv4 micro-ROS Agent sudo docker run -it --rm --net=host microros/micro-ros-agent:humble udp4 --port [PC ROS2 Port] -v6
  • The example provides a Python3.x script Audio_com_sub.py, which subscribes to ROS2 topics and plays AMR audio in real-time. Before running the script, please install the required libraries: pyaudio, subprocess, and struct. To install the libraries, use the following command:
pip install pyaudio subprocess struct
  • When running the script, ensure to modify the ROS2 topic name according to your setup. This is crucial for subscribing to the correct topic for receiving audio data.
python3 Audio_com_sub.py

  • This example requires at least two boards to establish audio communication. Both boards will publish audio data to a ROS2 topic and subscribe to audio data from the topic for playback. Ensure both boards are correctly configured and connected to the same Wi-Fi network for communication. Set up Board 1 and Board 2 separately.

    • Board 1:

      • Publishes audio data to the ROS2 topic: Esp32_audio_data_1
      • Subscribes to the ROS2 topic: Esp32_audio_data_2

    • Board 2:

      • Publishes audio data to the ROS2 topic: Esp32_audio_data_2
      • Subscribes to the ROS2 topic: Esp32_audio_data_1

  • Once the example starts running, it will print the following:

uild:Mar 27 2021 rst:0x1 (POWERON),boot:0x8 (SPI_FAST_FLASH_BOOT) SPIWP:0xee mode:DIO, clock div:1 load:0x3fce3810,len:0x178c load:0x403c9700,len:0x4 load:0x403c9704,len:0xcbc load:0x403cc700,len:0x2d9c entry 0x403c9914 I (27) boot: ESP-IDF v5.2.2-224-gdb07674edc 2nd stage bootloader I (27) boot: compile time Oct 16 2024 17:21:03 I (27) boot: Multicore bootloader I (31) boot: chip revision: v0.2 I (35) boot.esp32s3: Boot SPI Speed : 80MHz I (40) boot.esp32s3: SPI Mode : DIO I (45) boot.esp32s3: SPI Flash Size : 4MB I (49) boot: Enabling RNG early entropy source... I (55) boot: Partition Table: I (58) boot: ## Label Usage Type ST Offset Length I (66) boot: 0 nvs WiFi data 01 02 00009000 00006000 I (73) boot: 1 phy_init RF data 01 01 0000f000 00001000 I (81) boot: 2 factory factory app 00 00 00010000 00300000 I (88) boot: End of partition table I (92) esp_image: segment 0: paddr=00010020 vaddr=3c0c0020 size=3d66ch (251500) map I (146) esp_image: segment 1: paddr=0004d694 vaddr=3fc9b700 size=02984h ( 10628) load I (148) esp_image: segment 2: paddr=00050020 vaddr=42000020 size=bd12ch (774444) map I (290) esp_image: segment 3: paddr=0010d154 vaddr=3fc9e084 size=03ad4h ( 15060) load I (294) esp_image: segment 4: paddr=00110c30 vaddr=40374000 size=17638h ( 95800) load I (327) boot: Loaded app from partition at offset 0x10000 I (327) boot: Disabling RNG early entropy source... I (339) cpu_start: Multicore app I (339) octal_psram: vendor id : 0x0d (AP) I (339) octal_psram: dev id : 0x02 (generation 3) I (342) octal_psram: density : 0x03 (64 Mbit) I (348) octal_psram: good-die : 0x01 (Pass) I (353) octal_psram: Latency : 0x01 (Fixed) I (358) octal_psram: VCC : 0x01 (3V) I (363) octal_psram: SRF : 0x01 (Fast Refresh) I (369) octal_psram: BurstType : 0x01 (Hybrid Wrap) I (375) octal_psram: BurstLen : 0x01 (32 Byte) I (380) octal_psram: Readlatency : 0x02 (10 cycles@Fixed) I (386) octal_psram: DriveStrength: 0x00 (1/1) I (392) esp_psram: Found 8MB PSRAM device I (396) esp_psram: Speed: 40MHz I (1131) esp_psram: SPI SRAM memory test OK I (1141) cpu_start: Pro cpu start user code I (1141) cpu_start: cpu freq: 160000000 Hz I (1141) cpu_start: Application information: I (1144) cpu_start: Project name: Multi-user_Chat_Application I (1151) cpu_start: App version: 96905d1-dirty I (1156) cpu_start: Compile time: Oct 16 2024 17:20:55 I (1163) cpu_start: ELF file SHA256: f1fa06f33... I (1168) cpu_start: ESP-IDF: v5.2.2-224-gdb07674edc I (1174) cpu_start: Min chip rev: v0.0 I (1179) cpu_start: Max chip rev: v0.99 I (1184) cpu_start: Chip rev: v0.2 I (1189) heap_init: Initializing. RAM available for dynamic allocation: I (1196) heap_init: At 3FCA8828 len 00040EE8 (259 KiB): RAM I (1202) heap_init: At 3FCE9710 len 00005724 (21 KiB): RAM I (1209) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM I (1215) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM I (1221) esp_psram: Adding pool of 8192K of PSRAM memory to heap allocator I (1230) spi_flash: detected chip: gd I (1233) spi_flash: flash io: dio W (1237) spi_flash: Detected size(16384k) larger than the size in the binary image header(4096k). Using the size in the binary image header. W (1251) i2c: This driver is an old driver, please migrate your application code to adapt `driver/i2c_master.h` W (1261) ADC: legacy driver is deprecated, please migrate to `esp_adc/adc_oneshot.h` I (1270) sleep: Configure to isolate all GPIO pins in sleep state I (1277) sleep: Enable automatic switching of GPIO sleep configuration I (1284) coexist: coex firmware version: d96c1e51f I (1289) coexist: coexist rom version e7ae62f I (1295) main_task: Started on CPU0 I (1305) esp_psram: Reserving pool of 32K of internal memory for DMA/internal allocations I (1305) main_task: Calling app_main() I (1315) Multi-user Chat: [ 1 ] Initialize peripherals I (1315) AUDIO_THREAD: The button_task task allocate stack on external memory I (1325) AUDIO_THREAD: The esp_periph task allocate stack on internal memory I (1335) Multi-user Chat: [ 2 ] Start codec chip I (1335) DRV8311: es8311_codec_init I (1345) DRV8311: ES8311 in Slave mode I (1365) gpio: GPIO[48]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 W (1375) I2C_BUS: I2C bus has been already created, [port:0] I (1375) ES7210: ES7210 in Slave mode I (1395) ES7210: Enable ES7210_INPUT_MIC1 I (1395) ES7210: Enable ES7210_INPUT_MIC2 I (1395) ES7210: Enable ES7210_INPUT_MIC3 W (1405) ES7210: Enable TDM mode. ES7210_SDP_INTERFACE2_REG12: 2 I (1405) ES7210: config fmt 60 I (1415) AUDIO_HAL: Codec mode is 3, Ctrl:1 I (1415) Multi-user Chat: [ 3 ] Create and start input key service I (1415) AUDIO_THREAD: The input_key_service task allocate stack on internal memory I (1425) Multi-user Chat: [ 4 ] Create audio pipeline for playback I (1435) Multi-user Chat: [4.1] Create i2s stream to write data to codec chip and read data from codec chip I (1445) Multi-user Chat: [4.2] Register all elements to audio pipeline I (1445) Multi-user Chat: [4.3] Link it together [Micro-ros]-->i2s_stream_writer-->amr_decoder-->[codec_chip] [codec_chip]-->i2s_stream_reader-->amrnb_encoder-->[Micro-ros] I (1465) AUDIO_PIPELINE: link el->rb, el:0x3c101d50, tag:i2s_reader, rb:0x3c102b14 I (1475) AUDIO_PIPELINE: link el->rb, el:0x3c1022b4, tag:amr_decoder, rb:0x3c104b5c I (1485) Multi-user Chat: [ 5 ] Set up event listener I (1485) Multi-user Chat: [ 6 ] Start audio_pipeline W (1495) Multi-user Chat: [ 7 ] Press the [Play] keys to communicate I (1535) wifi_station_netif: ESP_WIFI_MODE_STA I (1535) pp: pp rom version: e7ae62f I (1535) net80211: net80211 rom version: e7ae62f I (1545) wifi:wifi driver task: 3fcbf690, prio:23, stack:6656, core=0 I (1555) wifi:wifi firmware version: 73edce8 I (1555) wifi:wifi certification version: v7.0 I (1555) wifi:config NVS flash: enabled I (1555) wifi:config nano formating: disabled I (1565) wifi:Init data frame dynamic rx buffer num: 32 I (1565) wifi:Init static rx mgmt buffer num: 5 I (1575) wifi:Init management short buffer num: 32 I (1575) wifi:Init static tx buffer num: 16 I (1575) wifi:Init tx cache buffer num: 32 I (1585) wifi:Init static tx FG buffer num: 2 I (1585) wifi:Init static rx buffer size: 1600 I (1595) wifi:Init static rx buffer num: 10 I (1595) wifi:Init dynamic rx buffer num: 32 I (1605) wifi_init: rx ba win: 6 I (1605) wifi_init: tcpip mbox: 32 I (1605) wifi_init: udp mbox: 6 I (1615) wifi_init: tcp mbox: 6 I (1615) wifi_init: tcp tx win: 5760 I (1615) wifi_init: tcp rx win: 5760 I (1625) wifi_init: tcp mss: 1440 I (1625) wifi_init: WiFi IRAM OP enabled I (1635) wifi_init: WiFi RX IRAM OP enabled I (1635) phy_init: phy_version 670,b7bc9b9,Apr 30 2024,10:54:13 W (1645) phy_init: failed to load RF calibration data (0xffffffff), falling back to full calibration I (1735) wifi:mode : sta (74:4d:bd:9c:de:24) I (1735) wifi:enable tsf I (1745) wifi_station_netif: wifi_init_sta finished. I (1755) wifi:new:<1,0>, old:<1,0>, ap:<255,255>, sta:<1,0>, prof:1 I (1755) wifi:state: init -> auth (b0) I (1805) wifi:state: auth -> assoc (0) I (1825) wifi:state: assoc -> run (10) I (1825) wifi:connected with AudioTest, aid = 1, channel 1, BW20, bssid = 24:cf:24:5a:09:e2 I (1825) wifi:security: Open Auth, phy: bgn, rssi: -23 I (1835) wifi:pm start, type: 1 I (1835) wifi:dp: 1, bi: 102400, li: 3, scale listen interval from 307200 us to 307200 us I (1845) wifi:set rx beacon pti, rx_bcn_pti: 14, bcn_timeout: 25000, mt_pti: 14, mt_time: 10000 I (1865) wifi:<ba-add>idx:0 (ifx:0, 24:cf:24:5a:09:e2), tid:6, ssn:0, winSize:64 I (1915) wifi:AP's beacon interval = 102400 us, DTIM period = 1 I (2855) esp_netif_handlers: sta ip: 192.168.31.219, mask: 255.255.255.0, gw: 192.168.31.1 I (2855) wifi_station_netif: got ip:192.168.31.219 I (2855) wifi_station_netif: connected to ap SSID:AudioTest password: I (2875) wifi:<ba-add>idx:1 (ifx:0, 24:cf:24:5a:09:e2), tid:0, ssn:2, winSize:64 I (3315) AUDIO_THREAD: The i2s_reader task allocate stack on internal memory I (3315) AUDIO_ELEMENT: [i2s_reader-0x3c101d50] Element task created I (3325) AUDIO_THREAD: The amr_encoder task allocate stack on external memory I (3325) AUDIO_ELEMENT: [amr_encoder-0x3c10215c] Element task created I (3335) AUDIO_PIPELINE: Func:audio_pipeline_run, Line:359, MEM Total:8454988 Bytes, Inter:139095 Bytes, Dram:139095 Bytes, Dram largest free:41984Bytes I (3345) AUDIO_ELEMENT: [i2s_reader] AEL_MSG_CMD_RESUME,state:1 I (3355) AUDIO_ELEMENT: [amr_encoder] AEL_MSG_CMD_RESUME,state:1 I (3365) AMRWB_ENCODER: amrwb open I (3365) AUDIO_PIPELINE: Pipeline started I (3375) AUDIO_THREAD: The i2s_writer task allocate stack on internal memory I (3375) AUDIO_ELEMENT: [i2s_writer-0x3c102570] Element task created I (3385) AUDIO_THREAD: The amr_decoder task allocate stack on external memory I (3395) AUDIO_ELEMENT: [amr_decoder-0x3c1022b4] Element task created I (3405) AUDIO_PIPELINE: Func:audio_pipeline_run, Line:359, MEM Total:8434824 Bytes, Inter:134855 Bytes, Dram:134855 Bytes, Dram largest free:37888Bytes I (3415) AUDIO_ELEMENT: [i2s_writer] AEL_MSG_CMD_RESUME,state:1 I (3425) AUDIO_ELEMENT: [amr_decoder] AEL_MSG_CMD_RESUME,state:1 I (3425) Multi-user Chat: Write AMRWB_HEADER_INFO: #!AMR- I (3435) Multi-user Chat: Write AMRWB_HEADER_INFO: WB MR- I (3445) CODEC_ELEMENT_HELPER: The element is 0x3c1022b4. The reserve data 2 is 0x0. I (3455) AMR_DECODER: a new song playing I (3455) AMR_DECODER: current audio is amrwb I (3545) AUDIO_PIPELINE: Pipeline started
  • Use the volume down button [Vol-] to decrease the volume and the volume up button [Vol+] to increase the volume.
I (621051) Audio_com: [ * ] [Vol+] input key event I (621053) Audio_com: [ * ] Volume set to 80 % I (622091) Audio_com: [ * ] [Vol-] input key event I (622092) Audio_com: [ * ] Volume set to 70 %
  • Press the [Play] button on Board 1 and Board 2 to start the conversation function, which will print the following:
I (713796) Audio_com: [ * ] [Play] input key event W (713796) Audio_com: START communicating
  • Press the [Stop] button on Board 1 and Board 2 to stop the conversation function, which will print the following:
I (713796) Audio_com: [ * ] [Stop] input key event W (713796) Audio_com: STOP communicating

Example Logs

A complete log is as follows:

uild:Mar 27 2021 rst:0x1 (POWERON),boot:0x8 (SPI_FAST_FLASH_BOOT) SPIWP:0xee mode:DIO, clock div:1 load:0x3fce3810,len:0x178c load:0x403c9700,len:0x4 load:0x403c9704,len:0xcbc load:0x403cc700,len:0x2d9c entry 0x403c9914 I (27) boot: ESP-IDF v5.2.2-224-gdb07674edc 2nd stage bootloader I (27) boot: compile time Oct 16 2024 17:21:03 I (27) boot: Multicore bootloader I (31) boot: chip revision: v0.2 I (35) boot.esp32s3: Boot SPI Speed : 80MHz I (40) boot.esp32s3: SPI Mode : DIO I (45) boot.esp32s3: SPI Flash Size : 4MB I (49) boot: Enabling RNG early entropy source... I (55) boot: Partition Table: I (58) boot: ## Label Usage Type ST Offset Length I (66) boot: 0 nvs WiFi data 01 02 00009000 00006000 I (73) boot: 1 phy_init RF data 01 01 0000f000 00001000 I (81) boot: 2 factory factory app 00 00 00010000 00300000 I (88) boot: End of partition table I (92) esp_image: segment 0: paddr=00010020 vaddr=3c0c0020 size=3d66ch (251500) map I (146) esp_image: segment 1: paddr=0004d694 vaddr=3fc9b700 size=02984h ( 10628) load I (148) esp_image: segment 2: paddr=00050020 vaddr=42000020 size=bd12ch (774444) map I (290) esp_image: segment 3: paddr=0010d154 vaddr=3fc9e084 size=03ad4h ( 15060) load I (294) esp_image: segment 4: paddr=00110c30 vaddr=40374000 size=17638h ( 95800) load I (327) boot: Loaded app from partition at offset 0x10000 I (327) boot: Disabling RNG early entropy source... I (339) cpu_start: Multicore app I (339) octal_psram: vendor id : 0x0d (AP) I (339) octal_psram: dev id : 0x02 (generation 3) I (342) octal_psram: density : 0x03 (64 Mbit) I (348) octal_psram: good-die : 0x01 (Pass) I (353) octal_psram: Latency : 0x01 (Fixed) I (358) octal_psram: VCC : 0x01 (3V) I (363) octal_psram: SRF : 0x01 (Fast Refresh) I (369) octal_psram: BurstType : 0x01 (Hybrid Wrap) I (375) octal_psram: BurstLen : 0x01 (32 Byte) I (380) octal_psram: Readlatency : 0x02 (10 cycles@Fixed) I (386) octal_psram: DriveStrength: 0x00 (1/1) I (392) esp_psram: Found 8MB PSRAM device I (396) esp_psram: Speed: 40MHz I (1131) esp_psram: SPI SRAM memory test OK I (1141) cpu_start: Pro cpu start user code I (1141) cpu_start: cpu freq: 160000000 Hz I (1141) cpu_start: Application information: I (1144) cpu_start: Project name: Multi-user_Chat_Application I (1151) cpu_start: App version: 96905d1-dirty I (1156) cpu_start: Compile time: Oct 16 2024 17:20:55 I (1163) cpu_start: ELF file SHA256: f1fa06f33... I (1168) cpu_start: ESP-IDF: v5.2.2-224-gdb07674edc I (1174) cpu_start: Min chip rev: v0.0 I (1179) cpu_start: Max chip rev: v0.99 I (1184) cpu_start: Chip rev: v0.2 I (1189) heap_init: Initializing. RAM available for dynamic allocation: I (1196) heap_init: At 3FCA8828 len 00040EE8 (259 KiB): RAM I (1202) heap_init: At 3FCE9710 len 00005724 (21 KiB): RAM I (1209) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM I (1215) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM I (1221) esp_psram: Adding pool of 8192K of PSRAM memory to heap allocator I (1230) spi_flash: detected chip: gd I (1233) spi_flash: flash io: dio W (1237) spi_flash: Detected size(16384k) larger than the size in the binary image header(4096k). Using the size in the binary image header. W (1251) i2c: This driver is an old driver, please migrate your application code to adapt `driver/i2c_master.h` W (1261) ADC: legacy driver is deprecated, please migrate to `esp_adc/adc_oneshot.h` I (1270) sleep: Configure to isolate all GPIO pins in sleep state I (1277) sleep: Enable automatic switching of GPIO sleep configuration I (1284) coexist: coex firmware version: d96c1e51f I (1289) coexist: coexist rom version e7ae62f I (1295) main_task: Started on CPU0 I (1305) esp_psram: Reserving pool of 32K of internal memory for DMA/internal allocations I (1305) main_task: Calling app_main() I (1315) Multi-user Chat: [ 1 ] Initialize peripherals I (1315) AUDIO_THREAD: The button_task task allocate stack on external memory I (1325) AUDIO_THREAD: The esp_periph task allocate stack on internal memory I (1335) Multi-user Chat: [ 2 ] Start codec chip I (1335) DRV8311: es8311_codec_init I (1345) DRV8311: ES8311 in Slave mode I (1365) gpio: GPIO[48]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 W (1375) I2C_BUS: I2C bus has been already created, [port:0] I (1375) ES7210: ES7210 in Slave mode I (1395) ES7210: Enable ES7210_INPUT_MIC1 I (1395) ES7210: Enable ES7210_INPUT_MIC2 I (1395) ES7210: Enable ES7210_INPUT_MIC3 W (1405) ES7210: Enable TDM mode. ES7210_SDP_INTERFACE2_REG12: 2 I (1405) ES7210: config fmt 60 I (1415) AUDIO_HAL: Codec mode is 3, Ctrl:1 I (1415) Multi-user Chat: [ 3 ] Create and start input key service I (1415) AUDIO_THREAD: The input_key_service task allocate stack on internal memory I (1425) Multi-user Chat: [ 4 ] Create audio pipeline for playback I (1435) Multi-user Chat: [4.1] Create i2s stream to write data to codec chip and read data from codec chip I (1445) Multi-user Chat: [4.2] Register all elements to audio pipeline I (1445) Multi-user Chat: [4.3] Link it together [Micro-ros]-->i2s_stream_writer-->amr_decoder-->[codec_chip] [codec_chip]-->i2s_stream_reader-->amrnb_encoder-->[Micro-ros] I (1465) AUDIO_PIPELINE: link el->rb, el:0x3c101d50, tag:i2s_reader, rb:0x3c102b14 I (1475) AUDIO_PIPELINE: link el->rb, el:0x3c1022b4, tag:amr_decoder, rb:0x3c104b5c I (1485) Multi-user Chat: [ 5 ] Set up event listener I (1485) Multi-user Chat: [ 6 ] Start audio_pipeline W (1495) Multi-user Chat: [ 7 ] Press the [Play] keys to communicate I (1535) wifi_station_netif: ESP_WIFI_MODE_STA I (1535) pp: pp rom version: e7ae62f I (1535) net80211: net80211 rom version: e7ae62f I (1545) wifi:wifi driver task: 3fcbf690, prio:23, stack:6656, core=0 I (1555) wifi:wifi firmware version: 73edce8 I (1555) wifi:wifi certification version: v7.0 I (1555) wifi:config NVS flash: enabled I (1555) wifi:config nano formating: disabled I (1565) wifi:Init data frame dynamic rx buffer num: 32 I (1565) wifi:Init static rx mgmt buffer num: 5 I (1575) wifi:Init management short buffer num: 32 I (1575) wifi:Init static tx buffer num: 16 I (1575) wifi:Init tx cache buffer num: 32 I (1585) wifi:Init static tx FG buffer num: 2 I (1585) wifi:Init static rx buffer size: 1600 I (1595) wifi:Init static rx buffer num: 10 I (1595) wifi:Init dynamic rx buffer num: 32 I (1605) wifi_init: rx ba win: 6 I (1605) wifi_init: tcpip mbox: 32 I (1605) wifi_init: udp mbox: 6 I (1615) wifi_init: tcp mbox: 6 I (1615) wifi_init: tcp tx win: 5760 I (1615) wifi_init: tcp rx win: 5760 I (1625) wifi_init: tcp mss: 1440 I (1625) wifi_init: WiFi IRAM OP enabled I (1635) wifi_init: WiFi RX IRAM OP enabled I (1635) phy_init: phy_version 670,b7bc9b9,Apr 30 2024,10:54:13 W (1645) phy_init: failed to load RF calibration data (0xffffffff), falling back to full calibration I (1735) wifi:mode : sta (74:4d:bd:9c:de:24) I (1735) wifi:enable tsf I (1745) wifi_station_netif: wifi_init_sta finished. I (1755) wifi:new:<1,0>, old:<1,0>, ap:<255,255>, sta:<1,0>, prof:1 I (1755) wifi:state: init -> auth (b0) I (1805) wifi:state: auth -> assoc (0) I (1825) wifi:state: assoc -> run (10) I (1825) wifi:connected with AudioTest, aid = 1, channel 1, BW20, bssid = 24:cf:24:5a:09:e2 I (1825) wifi:security: Open Auth, phy: bgn, rssi: -23 I (1835) wifi:pm start, type: 1 I (1835) wifi:dp: 1, bi: 102400, li: 3, scale listen interval from 307200 us to 307200 us I (1845) wifi:set rx beacon pti, rx_bcn_pti: 14, bcn_timeout: 25000, mt_pti: 14, mt_time: 10000 I (1865) wifi:<ba-add>idx:0 (ifx:0, 24:cf:24:5a:09:e2), tid:6, ssn:0, winSize:64 I (1915) wifi:AP's beacon interval = 102400 us, DTIM period = 1 I (2855) esp_netif_handlers: sta ip: 192.168.31.219, mask: 255.255.255.0, gw: 192.168.31.1 I (2855) wifi_station_netif: got ip:192.168.31.219 I (2855) wifi_station_netif: connected to ap SSID:AudioTest password: I (2875) wifi:<ba-add>idx:1 (ifx:0, 24:cf:24:5a:09:e2), tid:0, ssn:2, winSize:64 I (3315) AUDIO_THREAD: The i2s_reader task allocate stack on internal memory I (3315) AUDIO_ELEMENT: [i2s_reader-0x3c101d50] Element task created I (3325) AUDIO_THREAD: The amr_encoder task allocate stack on external memory I (3325) AUDIO_ELEMENT: [amr_encoder-0x3c10215c] Element task created I (3335) AUDIO_PIPELINE: Func:audio_pipeline_run, Line:359, MEM Total:8454988 Bytes, Inter:139095 Bytes, Dram:139095 Bytes, Dram largest free:41984Bytes I (3345) AUDIO_ELEMENT: [i2s_reader] AEL_MSG_CMD_RESUME,state:1 I (3355) AUDIO_ELEMENT: [amr_encoder] AEL_MSG_CMD_RESUME,state:1 I (3365) AMRWB_ENCODER: amrwb open I (3365) AUDIO_PIPELINE: Pipeline started I (3375) AUDIO_THREAD: The i2s_writer task allocate stack on internal memory I (3375) AUDIO_ELEMENT: [i2s_writer-0x3c102570] Element task created I (3385) AUDIO_THREAD: The amr_decoder task allocate stack on external memory I (3395) AUDIO_ELEMENT: [amr_decoder-0x3c1022b4] Element task created I (3405) AUDIO_PIPELINE: Func:audio_pipeline_run, Line:359, MEM Total:8434824 Bytes, Inter:134855 Bytes, Dram:134855 Bytes, Dram largest free:37888Bytes I (3415) AUDIO_ELEMENT: [i2s_writer] AEL_MSG_CMD_RESUME,state:1 I (3425) AUDIO_ELEMENT: [amr_decoder] AEL_MSG_CMD_RESUME,state:1 I (3425) Multi-user Chat: Write AMRWB_HEADER_INFO: #!AMR- I (3435) Multi-user Chat: Write AMRWB_HEADER_INFO: WB MR- I (3445) CODEC_ELEMENT_HELPER: The element is 0x3c1022b4. The reserve data 2 is 0x0. I (3455) AMR_DECODER: a new song playing I (3455) AMR_DECODER: current audio is amrwb I (3545) AUDIO_PIPELINE: Pipeline started I (621051) Audio_com: [ * ] [Vol+] input key event I (621053) Audio_com: [ * ] Volume set to 80 % I (622091) Audio_com: [ * ] [Vol-] input key event I (622092) Audio_com: [ * ] Volume set to 70 % I (713796) Audio_com: [ * ] [Play] input key event W (713796) Audio_com: START communicating I (713796) Audio_com: [ * ] [Stop] input key event W (713796) Audio_com: STOP communicating

Troubleshooting

  • At this stage, only two-person chat is supported. Additional boards can subscribe to the topic for playback. If you require a multi-person chat, please implement a mixing module on your own.

Technical Support and Feedback

Please use the following feedback channels:

  • For technical queries, go to the esp32.com forum
  • For a feature request or bug report, create a GitHub issue

We will get back to you as soon as possible.

About

Multi-user chat application based on Micro-ROS & ESP-ADF (https://github.com/espressif/esp-adf)

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multichat esp-adf microros

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