Improving sound quality a bit, reverting changes to play audio files

rae_hw/src/peripherals/speakers.cpp

@@ -133,7 +133,7 @@ void SpeakersNode::play_wav(const char* wav_file) {
     int32_t* buffer_wav = new int32_t[BUFFER_SIZE * sfinfo.channels];  // Use int32_t for 32-bit format
     sf_count_t readCount;
 
-    const float gain = 64.0f;  // Adjust this factor for desired gain
+    const float gain = 16.0f;  // Adjust this factor for desired gain
 
     while((readCount = sf_readf_int(file, buffer_wav, BUFFER_SIZE)) > 0) {
         // Apply gain to the samples

rae_sdk/rae_sdk/robot/audio.py

@@ -4,7 +4,6 @@
 from ament_index_python import get_package_share_directory
 import base64
 import ffmpeg
-
 from rae_msgs.srv import PlayAudio
 
 
@@ -35,28 +34,10 @@ def __init__(self, ros_interface):
         log.info("Audio Controller ready")
 
 
-    def play_audio_file(self, audio_file_path, delete_after_play=False):
-        """
-         Play an audio file and optionally delete it after playback.
-
-        Args:
-            audio_file_path (str): Path to the audio file.
-            delete_after_play (bool, optional): Whether to delete the audio file after playback. Defaults to False.
-
-        Returns:
-            res: Response from the service call.
-        """
+    def play_audio_file(self, audio_file_path):
         req = PlayAudio.Request()
         req.file_location = audio_file_path
         res = self._ros_interface.call_async_srv('/play_audio', req)
-
-        # Delete the file if requested
-        if delete_after_play:
-            try:
-                os.remove(audio_file_path)
-            except OSError as e:
-                print(f"Error deleting file: {e}")
-
         return res
 
     def save_recorded_sound(self, audio_data, output_file="/app/mic_recording.wav"):
@@ -81,8 +62,6 @@ def save_recorded_sound(self, audio_data, output_file="/app/mic_recording.wav"):
         with open(output_file, 'wb') as wave_file:
             wave_file.write(output)
 
-
-
     def honk(self):
         horn_path = os.path.join(self._assets_path, 'sfx', 'horn.mp3')
         res = self.play_audio_file(horn_path)