feat(microphone): add input device listing API

cmvr-es/config/manager/device_manager.pb.txt

@@ -79,7 +79,7 @@ device_manager {
     id: "ethercat_motors"
     type: DEVICE_TYPE_MOTOR_SYSTEM
     config_file: "devices/motor/ethercat_motors.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
@@ -93,14 +93,14 @@ device_manager {
     id: "eyou_arm"
     type: DEVICE_TYPE_ROBOT_ARM
     config_file: "devices/arm/arm.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
     id: "eyou_left_arm"
     type: DEVICE_TYPE_ROBOT_ARM
     config_file: "devices/arm/arm_eyou_left.pb.txt"
-    enable: true
+    enable: false
   }
 
   devices {
@@ -168,13 +168,13 @@ device_manager {
           type: DEVICE_TYPE_CAMERA
           config_file: "devices/camera/camera.pb.txt"
           # Host-development default: keep physical cameras disabled.
-          enable: true
+          enable: false
         }
     devices {
           id: "usb_cam1"
           type: DEVICE_TYPE_CAMERA
           config_file: "devices/camera/camera.pb.txt"
           # Host-development default: keep physical cameras disabled.
-          enable: true
+          enable: false
         }
 }

cmvr-es/config/manager/task_manager.pb.txt

@@ -27,7 +27,6 @@ task_manager {
     type: TASK_TYPE_QUIC_EDGE
     run_mode: TASK_RUN_MODE_BLOCKING_SERVICE
     config_file: "tasks/quic_edge_task/quic_edge_task.pb.txt"
-    # Host-development default: no QUIC Gateway or physical media devices.
-    enable: false
+    enable: true
   }
 }

cmvr-es/devices/microphone/ffmpeg_microphone/CMakeLists.txt

@@ -1,4 +1,7 @@
-add_library(ffmpeg_microphone SHARED src/ffmpeg_microphone.cpp)
+add_library(ffmpeg_microphone SHARED
+        src/ffmpeg_microphone.cpp
+        src/microphone_device_discovery.cpp
+)
 
 target_include_directories(ffmpeg_microphone PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 

cmvr-es/devices/microphone/ffmpeg_microphone/src/microphone_device_discovery.cpp

@@ -0,0 +1,74 @@
+#include "devices/microphone/microphone_device_discovery.h"
+
+#include <memory>
+#include <stdexcept>
+#include <utility>
+
+extern "C" {
+#include <libavdevice/avdevice.h>
+#include <libavutil/error.h>
+}
+
+namespace cmvr::device {
+namespace {
+
+std::string avErrorToString(int error)
+{
+    char buffer[AV_ERROR_MAX_STRING_SIZE] = {0};
+    av_strerror(error, buffer, sizeof(buffer));
+    return buffer;
+}
+
+struct DeviceListDeleter {
+    void operator()(AVDeviceInfoList* list) const
+    {
+        avdevice_free_list_devices(&list);
+    }
+};
+
+}  // namespace
+
+std::vector<MicrophoneInputDeviceInfo> listAvailableMicrophoneInputDevices()
+{
+    constexpr const char* kBackend = "alsa";
+
+    avdevice_register_all();
+    const AVInputFormat* input_format = av_find_input_format(kBackend);
+    if (!input_format) {
+        throw std::runtime_error("FFmpeg ALSA input backend is unavailable");
+    }
+
+    AVDeviceInfoList* raw_device_list = nullptr;
+    const int result = avdevice_list_input_sources(
+        input_format, nullptr, nullptr, &raw_device_list);
+    std::unique_ptr<AVDeviceInfoList, DeviceListDeleter> device_list(raw_device_list);
+    if (result < 0) {
+        throw std::runtime_error(
+            "Failed to list ALSA microphone devices: " + avErrorToString(result));
+    }
+
+    std::vector<MicrophoneInputDeviceInfo> devices;
+    if (!device_list) {
+        return devices;
+    }
+    devices.reserve(static_cast<std::size_t>(device_list->nb_devices));
+
+    for (int index = 0; index < device_list->nb_devices; ++index) {
+        const AVDeviceInfo* source = device_list->devices[index];
+        if (!source || !source->device_name || source->device_name[0] == '\0') {
+            continue;
+        }
+
+        MicrophoneInputDeviceInfo device;
+        device.input_device = source->device_name;
+        device.display_name = source->device_description && source->device_description[0] != '\0'
+            ? source->device_description
+            : source->device_name;
+        device.backend = kBackend;
+        device.is_default = index == device_list->default_device;
+        devices.push_back(std::move(device));
+    }
+    return devices;
+}
+
+}  // namespace cmvr::device

cmvr-es/devices/microphone/microphone_device_discovery.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+namespace cmvr::device {
+
+struct MicrophoneInputDeviceInfo {
+    std::string input_device;
+    std::string display_name;
+    std::string backend;
+    bool is_default{false};
+};
+
+// Returns the capture devices that can be used as microphone inputs.
+// Throws std::runtime_error when the platform backend cannot enumerate devices.
+std::vector<MicrophoneInputDeviceInfo> listAvailableMicrophoneInputDevices();
+
+}  // namespace cmvr::device

cmvr-es/service/CMakeLists.txt

@@ -18,6 +18,7 @@ target_link_libraries(service PRIVATE
         cmvr_es::proto
         osqp
         cmvr_es::device_manager
+        cmvr_es::device::microphone
         cmvr_es::task_manager
         cmvr_es::algorithms::controller
         cmvr_es::task

cmvr-es/service/grpc/include/grpc_microphone_service.h

@@ -17,6 +17,10 @@ namespace cmvr::service
     public:
         gRPCMicroPhoneServiceImpl();
         ~gRPCMicroPhoneServiceImpl() override = default;
+        grpc::Status ListDevices(
+            grpc::ServerContext* context,
+            const api::ListMicrophoneDevicesCommand_Request* request,
+            api::ListMicrophoneDevicesCommand_Feedback* response) override;
         grpc::Status GetStatus(grpc::ServerContext* context, const api::GetMicStateCommand_Request* request,api::GetMicStateCommand_Feedback* response) override;
         grpc::Status StartRecord(grpc::ServerContext* context, const api::StartMicRecordingCommand_Request* request,api::StartMicRecordingCommand_Feedback* response) override;
         grpc::Status StopRecord(grpc::ServerContext* context, const api::StopMicRecordingCommand_Request* request,api::StopMicRecordingCommand_Feedback* response) override;

cmvr-es/service/grpc/src/grpc_microphone_service.cpp

@@ -1,4 +1,5 @@
 #include "common/base/logging/logger.h"
+#include "devices/microphone/microphone_device_discovery.h"
 #include "manager/media_source_hub/include/device_media_source_adapter.h"
 #include <algorithm>
 #include <chrono>
@@ -28,6 +29,31 @@ grpc::Status failResponse(ResponseT* response, const std::string& message) {
 
 gRPCMicroPhoneServiceImpl::gRPCMicroPhoneServiceImpl(): dmgr_(DeviceManager::getInstance()) {}
 
+grpc::Status gRPCMicroPhoneServiceImpl::ListDevices(
+    grpc::ServerContext* context,
+    const api::ListMicrophoneDevicesCommand_Request* request,
+    api::ListMicrophoneDevicesCommand_Feedback* response) {
+    (void)context;
+    (void)request;
+    try {
+        const auto devices = listAvailableMicrophoneInputDevices();
+        for (const auto& device : devices) {
+            auto* item = response->add_devices();
+            item->set_input_device(device.input_device);
+            item->set_display_name(device.display_name);
+            item->set_backend(device.backend);
+            item->set_is_default(device.is_default);
+        }
+        response->mutable_header()->set_success(true);
+        setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
+        CMVR_LOG(INFO) << "[gRPCMicroPhoneServiceImpl] (ListDevices): found "
+                       << devices.size() << " microphone input device(s)";
+        return grpc::Status::OK;
+    } catch (const std::exception& e) {
+        return failResponse(response, e.what());
+    }
+}
+
 grpc::Status gRPCMicroPhoneServiceImpl::GetStatus(grpc::ServerContext* context,
     const api::GetMicStateCommand_Request* request, api::GetMicStateCommand_Feedback* response) {
     try {

protos/cmvr/api/microphone_command.proto

@@ -12,6 +12,22 @@ message MicState  {
     string error_message = 5;
 }
 
+message MicrophoneInputDevice {
+    string input_device = 1;
+    string display_name = 2;
+    string backend = 3;
+    bool is_default = 4;
+}
+
+message ListMicrophoneDevicesCommand {
+    message Request {}
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        repeated MicrophoneInputDevice devices = 2;
+    }
+}
+
 message GetMicStateCommand {
     message Request {
         CommandHeader.Request header = 1;

protos/cmvr/api/microphone_service.proto

@@ -5,6 +5,7 @@ import "cmvr/api/microphone_command.proto";
 package cmvr.api;
 
 service MicPhoneService {
+    rpc ListDevices(ListMicrophoneDevicesCommand.Request) returns (ListMicrophoneDevicesCommand.Feedback);
     rpc GetStatus(GetMicStateCommand.Request) returns (GetMicStateCommand.Feedback);
     rpc StartRecord(StartMicRecordingCommand.Request) returns (StartMicRecordingCommand.Feedback);
     rpc StopRecord(StopMicRecordingCommand.Request) returns (StopMicRecordingCommand.Feedback);