Feat/speech service

rust/contracts/prm/audio_mic.v1.toml

@@ -0,0 +1,16 @@
+# Microphone audio stream (raw PCM or encoded).
+# ROS: `robonix_msg/msg/AudioChunk` published on a topic.
+[contract]
+id      = "robonix/prm/audio/mic"
+version = "1"
+kind    = "primitive"
+
+[io.msg]
+msg = "robonix_msg/msg/AudioChunk"
+
+[mode]
+type = "topic_out"
+
+[semantics]
+realtime = true
+payload  = "audio"

rust/contracts/prm/audio_speaker.v1.toml

@@ -0,0 +1,16 @@
+# Speaker audio stream input (raw PCM or encoded).
+# ROS: `robonix_msg/msg/AudioChunk` consumed from a topic.
+[contract]
+id      = "robonix/prm/audio/speaker"
+version = "1"
+kind    = "primitive"
+
+[io.msg]
+msg = "robonix_msg/msg/AudioChunk"
+
+[mode]
+type = "topic_in"
+
+[semantics]
+realtime = true
+payload  = "audio"

rust/contracts/srv/speech_asr.v1.toml

@@ -0,0 +1,16 @@
+# ASR one-shot recognition.
+# Caller sends raw audio; returns transcript.
+# ROS: `lib/asr/srv/Recognize.srv`.
+[contract]
+id      = "robonix/srv/speech/asr"
+version = "1"
+kind    = "service"
+
+[io.srv]
+srv = "asr/srv/Recognize"
+
+[mode]
+type = "rpc"
+
+[semantics]
+stateless = true

rust/contracts/srv/speech_asr_stream.v1.toml

@@ -0,0 +1,19 @@
+# ASR streaming recognition.
+# Client streams AudioChunk; server streams RecognizeStreamEvent.
+# ROS: `lib/asr/srv/RecognizeStream.srv`. Stream element types in TOML only.
+[contract]
+id      = "robonix/srv/speech/asr_stream"
+version = "1"
+kind    = "service"
+
+[io.srv]
+srv             = "asr/srv/RecognizeStream"
+stream_request  = "asr/msg/AsrAudioChunk"
+stream_response = "asr/msg/RecognizeStreamEvent"
+
+[mode]
+type = "rpc_bidirectional_stream"
+
+[semantics]
+stateless = true
+realtime  = true

rust/contracts/srv/speech_dialog.v1.toml

@@ -0,0 +1,19 @@
+# Voice dialog session manager.
+# Orchestrates mic → ASR → intent → TTS → speaker pipeline.
+# Manages VAD, dialog state machine, and language switching.
+# ROS: `lib/speech/srv/StartDialog.srv`. Stream element: `robonix_msg/msg/DialogEvent`.
+[contract]
+id      = "robonix/srv/speech/dialog"
+version = "1"
+kind    = "service"
+
+[io.srv]
+srv             = "speech/srv/StartDialog"
+stream_response = "robonix_msg/msg/DialogEvent"
+
+[mode]
+type = "rpc_server_stream"
+
+[semantics]
+stateful      = true
+interruptible = true

rust/contracts/srv/speech_tts.v1.toml

@@ -0,0 +1,16 @@
+# TTS one-shot synthesis.
+# Caller sends text; returns synthesized audio.
+# ROS: `lib/tts/srv/Synthesize.srv`.
+[contract]
+id      = "robonix/srv/speech/tts"
+version = "1"
+kind    = "service"
+
+[io.srv]
+srv = "tts/srv/Synthesize"
+
+[mode]
+type = "rpc"
+
+[semantics]
+stateless = true

rust/contracts/srv/speech_tts_stream.v1.toml

@@ -0,0 +1,18 @@
+# TTS streaming synthesis.
+# Client sends one SynthesizeStreamRequest; server streams back SynthesizeAudioChunk.
+# ROS: `lib/tts/srv/SynthesizeStream.srv`. Stream element type in TOML only.
+[contract]
+id      = "robonix/srv/speech/tts_stream"
+version = "1"
+kind    = "service"
+
+[io.srv]
+srv             = "tts/srv/SynthesizeStream"
+stream_response = "tts/msg/SynthesizeAudioChunk"
+
+[mode]
+type = "rpc_server_stream"
+
+[semantics]
+stateless = true
+realtime  = true

rust/crates/robonix-codegen/src/codegen/contract_gen.rs

@@ -47,6 +47,10 @@ struct IoMsgIo {
 #[derive(Debug, Deserialize)]
 struct IoSrvIo {
     srv: String,
+    #[serde(default)]
+    stream_request: Option<String>,
+    #[serde(default)]
+    stream_response: Option<String>,
 }
 
 #[derive(Debug, Deserialize)]
@@ -158,6 +162,7 @@ pub fn generate(
             "rpc" => format_unary(in_t, out_t),
             "rpc_server_stream" | "topic_out" => format_stream_out(in_t, out_t),
             "rpc_client_stream" | "topic_in" => format_stream_in(in_t, out_t),
+            "rpc_bidirectional_stream" => format_bidi_stream(in_t, out_t),
             other => bail!(
                 "unknown [mode].type '{other}' in contract {} (expected rpc | rpc_server_stream | rpc_client_stream | topic_out | topic_in)",
                 c.contract.id
@@ -205,6 +210,14 @@ fn format_stream_in(input: &ResolvedType, output: &ResolvedType) -> String {
     )
 }
 
+fn format_bidi_stream(input: &ResolvedType, output: &ResolvedType) -> String {
+    format!(
+        "rpc Stream(stream {}) returns (stream {});",
+        stream_element(input),
+        stream_element(output)
+    )
+}
+
 fn format_unary(input: &ResolvedType, output: &ResolvedType) -> String {
     format!(
         "rpc Call({}) returns ({});",
@@ -301,6 +314,15 @@ fn resolve_contract_io(
             })?;
             resolve_srv_client_stream(s, &c.contract.id, resolver, imports, needs_string_wire)
         }
+        "rpc_bidirectional_stream" => {
+            let s = s.ok_or_else(|| {
+                anyhow::anyhow!(
+                    "contract {}: [mode].type = \"rpc_bidirectional_stream\" requires [io.srv]",
+                    c.contract.id
+                )
+            })?;
+            resolve_srv_bidi_stream(s, &c.contract.id, resolver, imports, needs_string_wire)
+        }
         "topic_out" => {
             let m = m.ok_or_else(|| {
                 anyhow::anyhow!(
@@ -407,6 +429,34 @@ fn resolve_srv_client_stream(
     Ok((in_t, out_t))
 }
 
+/// Bidirectional stream: uses `stream_request` and `stream_response` from the
+/// contract TOML as stream element types. Falls back to deriving from the .srv
+/// fields if those hints are absent.
+fn resolve_srv_bidi_stream(
+    io: &IoSrvIo,
+    contract_id: &str,
+    _resolver: &mut MsgResolver,
+    imports: &mut BTreeSet<String>,
+    _needs_string_wire: &mut bool,
+) -> Result<(ResolvedType, ResolvedType)> {
+    let in_ref = io
+        .stream_request
+        .as_deref()
+        .ok_or_else(|| anyhow::anyhow!(
+            "contract {contract_id}: [mode] rpc_bidirectional_stream requires [io.srv].stream_request"
+        ))?;
+    let out_ref = io
+        .stream_response
+        .as_deref()
+        .ok_or_else(|| anyhow::anyhow!(
+            "contract {contract_id}: [mode] rpc_bidirectional_stream requires [io.srv].stream_response"
+        ))?;
+
+    let in_t = resolve_io(in_ref, _resolver, imports, _needs_string_wire)?;
+    let out_t = resolve_io(out_ref, _resolver, imports, _needs_string_wire)?;
+    Ok((in_t, out_t))
+}
+
 fn srv_request_to_contract_input(
     srv: &SrvSpec,
     resolver: &mut MsgResolver,

rust/crates/robonix-interfaces/lib/asr/msg/AsrAudioChunk.msg

@@ -0,0 +1,2 @@
+# Audio chunk sent by client during streaming ASR recognition.
+robonix_msg/msg/AudioChunk chunk

rust/crates/robonix-interfaces/lib/asr/msg/RecognizeStreamEvent.msg

@@ -0,0 +1,12 @@
+# Event streamed back by the ASR service during streaming recognition.
+
+uint8 PARTIAL = 0
+uint8 FINAL   = 1
+uint8 ERROR   = 2
+uint8 event_type
+
+string text             # recognised text so far (partial or final)
+float32 confidence      # 0.0 – 1.0
+string language         # detected language (BCP-47)
+bool is_final           # true when this is the final recognition result
+string error            # non-empty on error

rust/crates/robonix-interfaces/lib/asr/srv/Recognize.srv

@@ -1,12 +1,11 @@
 # ASR one-shot recognition
 # abstract_interface_id: robonix/sys/speech/asr/recognize
 # Caller sends raw audio bytes; service returns a transcript string.
----
-bytes audio_data
+uint8[] audio_data
 string encoding       # e.g. "pcm_s16le", "opus", "mp3"
 uint32 sample_rate_hz # e.g. 16000
 string language       # BCP-47, e.g. "zh-CN", "en-US", "" = auto-detect
-===
+---
 string text           # recognised transcript (empty if silent / error)
 float32 confidence    # 0.0 – 1.0; 0.0 if unavailable
 string error          # non-empty on failure

rust/crates/robonix-interfaces/lib/asr/srv/RecognizeStream.srv

@@ -1,10 +1,7 @@
-# ASR streaming recognition
-# @robonix.grpc stream_client stream_server
-# abstract_interface_id: robonix/sys/speech/asr/recognize_stream
-#
-# Client streams AudioChunk messages; server streams back RecognizeStreamEvent.
-# Use for real-time microphone input.
+# ASR streaming recognition (bidirectional stream).
+# Client streams AsrAudioChunk; server streams back RecognizeStreamEvent.
+# Stream element types are referenced in the contract TOML.
+robonix_msg/AudioConfig audio_config
+string language
 ---
-# (empty — streaming RPC, no single request body)
-===
-# (empty — streaming RPC, no single response body)
+asr/RecognizeStreamEvent event

rust/crates/robonix-interfaces/lib/robonix_msg/msg/AudioChunk.msg

@@ -0,0 +1,8 @@
+# A chunk of raw or encoded audio data.
+# Used as the stream element for mic topic_out, speaker topic_in,
+# ASR streaming, and TTS streaming.
+
+uint64 timestamp_ns       # nanoseconds since epoch (replaces std_msgs/Header for portability)
+uint8[] data              # raw or encoded audio bytes
+uint32 sequence           # monotonically increasing within a session
+float32 duration_s        # duration of this chunk in seconds (0 if unknown)

rust/crates/robonix-interfaces/lib/robonix_msg/msg/AudioConfig.msg

@@ -0,0 +1,7 @@
+# Audio configuration descriptor for speech services.
+# Shared across ASR, TTS, mic, and speaker primitives.
+
+string encoding           # e.g. "pcm_s16le", "pcm_f32le", "opus", "mp3"
+uint32 sample_rate_hz     # e.g. 16000, 22050, 44100
+uint32 channels           # 1 = mono, 2 = stereo
+uint32 bits_per_sample    # e.g. 16 for pcm_s16le

rust/crates/robonix-interfaces/lib/robonix_msg/msg/DialogEvent.msg

@@ -0,0 +1,34 @@
+# Event emitted by the speech dialog service during a voice interaction session.
+# Streamed back to the caller (e.g. Liaison) over the dialog RPC stream.
+
+uint64 timestamp_ns       # nanoseconds since epoch
+string session_id
+
+uint8 VAD_EVENT       = 0
+uint8 PARTIAL_TRANSCRIPT = 1
+uint8 FINAL_TRANSCRIPT   = 2
+uint8 BOT_RESPONSE_TEXT  = 3
+uint8 BOT_AUDIO_CHUNK    = 4
+uint8 STATE_CHANGE       = 5
+uint8 ERROR              = 6
+uint8 event_type
+
+# VAD event data
+robonix_msg/msg/VadEvent vad_event
+
+# Transcript data (for PARTIAL_TRANSCRIPT and FINAL_TRANSCRIPT)
+string text
+float32 confidence
+string language           # detected or specified language
+
+# Bot response text (for BOT_RESPONSE_TEXT)
+string response_text
+
+# Audio data (for BOT_AUDIO_CHUNK)
+robonix_msg/msg/AudioChunk audio_chunk
+
+# State change (for STATE_CHANGE)
+robonix_msg/msg/DialogState dialog_state
+
+# Error info (for ERROR)
+string error

rust/crates/robonix-interfaces/lib/robonix_msg/msg/DialogState.msg

@@ -0,0 +1,12 @@
+# State of a voice dialog session.
+# Used to track the lifecycle of a voice interaction.
+
+string session_id
+uint8 IDLE       = 0
+uint8 LISTENING  = 1    # mic is active, waiting for speech
+uint8 PROCESSING = 2    # ASR/NLP processing in progress
+uint8 SPEAKING   = 3    # TTS is playing audio to speaker
+uint8 ERROR      = 4
+uint8 state
+string language           # current BCP-47 language code
+string error              # non-empty if state == ERROR

rust/crates/robonix-interfaces/lib/robonix_msg/msg/VadEvent.msg

@@ -0,0 +1,10 @@
+# Voice Activity Detection event.
+# Emitted by the dialog manager or ASR service to signal speech state changes.
+
+uint64 timestamp_ns       # nanoseconds since epoch
+uint8 SPEECH_BEGIN = 0
+uint8 SPEECH_END   = 1
+uint8 SILENCE      = 2
+uint8 event_type
+float32 confidence       # 0.0 – 1.0 confidence of the VAD decision
+float32 energy_level     # audio energy level (optional, 0.0 if unavailable)

rust/crates/robonix-interfaces/lib/speech/msg/DialogRequest.msg

@@ -0,0 +1,7 @@
+# Dialog request sent by client to start a voice dialog session.
+string language           # BCP-47, e.g. "zh-CN", "" = auto-detect
+string voice_id           # preferred voice, "" = default
+bool   enable_vad         # enable voice activity detection
+float32 vad_silence_threshold_s  # seconds of silence before ending speech (default 0.8)
+float32 vad_energy_threshold     # energy threshold for VAD (0.0 = auto)
+robonix_msg/msg/AudioConfig audio_config  # desired audio format

rust/crates/robonix-interfaces/lib/speech/srv/GetDialogStatus.srv

@@ -0,0 +1,6 @@
+# Query current dialog session status.
+---
+string session_id
+---
+robonix_msg/msg/DialogState state
+string error

rust/crates/robonix-interfaces/lib/speech/srv/SendAudio.srv

@@ -0,0 +1,9 @@
+# Inject audio into an active dialog session (for non-streaming input).
+---
+string session_id
+uint8[] audio_data
+string encoding
+uint32 sample_rate_hz
+---
+bool accepted
+string error

rust/crates/robonix-interfaces/lib/speech/srv/SendText.srv

@@ -0,0 +1,8 @@
+# Send a text-based message into the dialog (bypass ASR).
+---
+string session_id
+string text
+string language
+---
+bool accepted
+string error

rust/crates/robonix-interfaces/lib/speech/srv/SetLanguage.srv

@@ -0,0 +1,7 @@
+# Change language mid-session.
+---
+string session_id
+string language           # BCP-47 code
+---
+bool success
+string error

rust/crates/robonix-interfaces/lib/speech/srv/StartDialog.srv

@@ -0,0 +1,7 @@
+# Start a voice dialog session.
+# Returns initial dialog state; events are streamed via the Dialog contract.
+string language
+bool   enable_vad
+robonix_msg/msg/AudioConfig audio_config
+---
+robonix_msg/msg/DialogEvent event

rust/crates/robonix-interfaces/lib/speech/srv/StopDialog.srv

@@ -0,0 +1,6 @@
+# Stop an active voice dialog session.
+---
+string session_id
+---
+bool success
+string error

rust/crates/robonix-interfaces/lib/tts/msg/SynthesizeAudioChunk.msg

@@ -0,0 +1,5 @@
+# Audio chunk streamed back by TTS during streaming synthesis.
+robonix_msg/msg/AudioChunk chunk
+string encoding           # e.g. "pcm_s16le", "mp3"
+uint32 sample_rate_hz
+bool is_final             # true when this is the last chunk