Replace pygame with AudioMixer using reachy_mini.media

- Custom AudioMixer class mixing music + SFX via push_audio_sample
- WAV files in 16k/ and 44k/ for wireless/lite compatibility
- Auto-detect sample rate from robot
- Add /stop_music endpoint for clean exit
- Replace pygame dependency with soundfile

arcade/main.py

@@ -10,15 +10,201 @@ import time
 import json
 import queue
 
+import logging
+
 import numpy as np
 from scipy.spatial.transform import Rotation as R
-import pygame.mixer
+import soundfile as sf
 from pydantic import BaseModel
 from reachy_mini import ReachyMini, ReachyMiniApp
 from fastapi import WebSocket, WebSocketDisconnect
 from fastapi.responses import FileResponse
 import asyncio
 
+logger = logging.getLogger(__name__)
+
+
+# ============================================================
+# AudioMixer — mixes music + SFX via reachy_mini.media
+# ============================================================
+class AudioMixer:
+    """Single-threaded audio mixer using reachy_mini.media.push_audio_sample."""
+
+    CHUNK_SIZE = 1024
+
+    def __init__(self, reachy_mini: ReachyMini):
+        self.reachy_mini = reachy_mini
+        self._lock = threading.Lock()
+        self._stop_event = threading.Event()
+        self._thread: threading.Thread | None = None
+
+        try:
+            self._samplerate = reachy_mini.media.get_output_audio_samplerate()
+            logger.info("Robot audio sample rate: %d Hz", self._samplerate)
+        except Exception:
+            self._samplerate = 44100
+            logger.warning("Could not detect sample rate, defaulting to 44100Hz")
+
+        if self._samplerate <= 22050:
+            self._audio_folder = os.path.join(SOUNDS_DIR, "16k")
+        else:
+            self._audio_folder = os.path.join(SOUNDS_DIR, "44k")
+        logger.info("Using audio folder: %s", self._audio_folder)
+
+        self._chunk_duration = self.CHUNK_SIZE / self._samplerate
+        self._sounds: dict[str, np.ndarray] = {}
+        self._music_data: np.ndarray | None = None
+        self._music_pos: int = 0
+        self._music_loop: bool = False
+        self._music_name: str | None = None
+        self._active_sounds: list[list] = []
+
+    def _load_audio(self, filepath: str) -> np.ndarray | None:
+        if not os.path.exists(filepath):
+            logger.warning("Audio file not found: %s", filepath)
+            return None
+        try:
+            data, sr = sf.read(filepath, dtype="float32")
+            if data.ndim > 1:
+                data = np.mean(data, axis=1)
+            return np.ascontiguousarray(data, dtype=np.float32)
+        except Exception as e:
+            logger.warning("Failed to load audio %s: %s", filepath, e)
+            return None
+
+    def preload_sound(self, filename: str) -> bool:
+        if filename in self._sounds:
+            return True
+        data = self._load_audio(os.path.join(self._audio_folder, filename))
+        if data is not None:
+            with self._lock:
+                self._sounds[filename] = data
+            return True
+        return False
+
+    def play_sound(self, filename: str) -> bool:
+        with self._lock:
+            if filename not in self._sounds:
+                data = self._load_audio(os.path.join(self._audio_folder, filename))
+                if data is None:
+                    return False
+                self._sounds[filename] = data
+            self._active_sounds.append([self._sounds[filename], 0])
+        return True
+
+    def play_music(self, filename: str, loop: bool = False) -> bool:
+        data = self._load_audio(os.path.join(self._audio_folder, filename))
+        if data is None:
+            return False
+        with self._lock:
+            self._music_data = data
+            self._music_pos = 0
+            self._music_loop = loop
+            self._music_name = filename
+        return True
+
+    def stop_music(self) -> None:
+        with self._lock:
+            self._music_data = None
+            self._music_pos = 0
+            self._music_name = None
+
+    def pause_music(self) -> None:
+        with self._lock:
+            self._music_paused_data = self._music_data
+            self._music_paused_pos = self._music_pos
+            self._music_data = None
+
+    def unpause_music(self) -> None:
+        with self._lock:
+            if hasattr(self, '_music_paused_data') and self._music_paused_data is not None:
+                self._music_data = self._music_paused_data
+                self._music_pos = self._music_paused_pos
+                self._music_paused_data = None
+
+    def start(self) -> None:
+        if self._thread is not None and self._thread.is_alive():
+            return
+        self._stop_event.clear()
+        self._thread = threading.Thread(target=self._mixer_loop, daemon=True)
+        self._thread.start()
+        logger.info("Audio mixer started")
+
+    def stop(self) -> None:
+        self._stop_event.set()
+        if self._thread is not None:
+            self._thread.join(timeout=2.0)
+            self._thread = None
+        try:
+            self.reachy_mini.media.stop_playing()
+        except Exception:
+            pass
+
+    def _mixer_loop(self) -> None:
+        try:
+            self.reachy_mini.media.start_playing()
+        except Exception as e:
+            logger.error("Failed to start audio playback: %s", e)
+            return
+
+        start_time = time.time()
+        chunks_pushed = 0
+
+        try:
+            while not self._stop_event.is_set():
+                output = np.zeros(self.CHUNK_SIZE, dtype=np.float32)
+
+                with self._lock:
+                    # Mix music
+                    if self._music_data is not None:
+                        end = self._music_pos + self.CHUNK_SIZE
+                        if end <= len(self._music_data):
+                            output += self._music_data[self._music_pos:end]
+                            self._music_pos = end
+                        else:
+                            remaining = len(self._music_data) - self._music_pos
+                            if remaining > 0:
+                                output[:remaining] += self._music_data[self._music_pos:]
+                            if self._music_loop:
+                                self._music_pos = self.CHUNK_SIZE - remaining
+                                if self._music_pos > 0:
+                                    output[remaining:] += self._music_data[:self._music_pos]
+                            else:
+                                self._music_data = None
+                                self._music_pos = 0
+                                self._music_name = None
+
+                    # Mix SFX
+                    still_active = []
+                    for entry in self._active_sounds:
+                        data, pos = entry
+                        end = pos + self.CHUNK_SIZE
+                        if end <= len(data):
+                            output += data[pos:end]
+                            entry[1] = end
+                            still_active.append(entry)
+                        else:
+                            remaining = len(data) - pos
+                            if remaining > 0:
+                                output[:remaining] += data[pos:]
+                    self._active_sounds = still_active
+
+                np.clip(output, -1.0, 1.0, out=output)
+                self.reachy_mini.media.push_audio_sample(output)
+                chunks_pushed += 1
+
+                target_time = start_time + (chunks_pushed * self._chunk_duration)
+                sleep_time = target_time - time.time()
+                if sleep_time > 0:
+                    time.sleep(sleep_time)
+        except Exception as e:
+            logger.error("Mixer loop error: %s", e)
+        finally:
+            try:
+                self.reachy_mini.media.stop_playing()
+            except Exception:
+                pass
+
 # --- Configuration ---
 USE_ESP32 = None  # Set by web UI at startup
 SERIAL_PORT = "/dev/ttyUSB0"
@@ -76,7 +262,7 @@ def save_scores(data: dict):
 
 class Arcade(ReachyMiniApp):
     custom_app_url: str | None = "http://0.0.0.0:8042"
-    request_media_backend: str | None = "no_media"
+    request_media_backend: str | None = "gstreamer_no_video"
 
     def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
@@ -139,87 +325,41 @@ class Arcade(ReachyMiniApp):
     def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
         port = sys.argv[1] if len(sys.argv) > 1 else SERIAL_PORT
 
-        # --- Sound engine ---
-        sounds: dict[str, pygame.mixer.Sound] = {}
-        current_music: str | None = None
+        # --- Sound engine (AudioMixer via reachy_mini.media) ---
         music_muted = False
         sfx_muted = False
-
-        print("Init sons...")
-        audio_available = False
-        for attempt in range(10):
-            try:
-                pygame.mixer.init(frequency=44100, size=-16, channels=2, buffer=1024)
-                pygame.mixer.set_num_channels(16)
-                audio_available = True
-                break
-            except pygame.error as e:
-                if attempt < 9:
-                    print(f"  Audio busy, retry {attempt + 1}/10...")
-                    time.sleep(2)
-                else:
-                    print(f"  Audio non disponible: {e}")
-                    print("  L'app fonctionnera sans son.")
-
-        if audio_available:
-            for event_name, file_name in SFX_MAP.items():
-                for ext in (".wav", ".ogg", ".mp3"):
-                    path = os.path.join(SOUNDS_DIR, file_name + ext)
-                    if os.path.exists(path):
-                        try:
-                            sounds[event_name] = pygame.mixer.Sound(path)
-                            print(f"  SFX: {event_name} -> {file_name}{ext}")
-                        except Exception as e:
-                            print(f"  SFX: {event_name} ERREUR: {e}")
-                        break
-                if event_name not in sounds:
-                    print(f"  SFX: {event_name} -> MANQUANT ({file_name}.*)")
-        print(f"  {len(sounds)}/{len(SFX_MAP)} sons charges")
+        mixer = None  # initialized after mode selection
 
         def play_sfx(name: str):
-            if audio_available and not sfx_muted and name in sounds:
-                sounds[name].play()
+            if mixer and not sfx_muted and name in SFX_MAP:
+                mixer.play_sound(SFX_MAP[name] + ".wav")
 
         def start_music(game_name: str):
-            nonlocal current_music
-            if not audio_available:
+            if not mixer:
                 return
             gn = game_name.lower()
             if gn in MUSIC_MAP:
-                music_name = MUSIC_MAP[gn]
-                for ext in (".mp3", ".wav", ".ogg"):
-                    path = os.path.join(SOUNDS_DIR, music_name + ext)
-                    if os.path.exists(path):
-                        try:
-                            pygame.mixer.music.load(path)
-                            if not music_muted:
-                                pygame.mixer.music.play(-1)
-                            current_music = gn
-                            print(f"  [MUSIC] Playing: {music_name}{ext}")
-                        except Exception as e:
-                            print(f"  [MUSIC] Erreur chargement {music_name}{ext}: {e}")
-                        return
-            stop_music()
+                wav_name = MUSIC_MAP[gn] + ".wav"
+                if not music_muted:
+                    mixer.play_music(wav_name, loop=True)
+                    print(f"  [MUSIC] Playing: {wav_name}")
 
         def stop_music():
-            nonlocal current_music
-            if not audio_available:
+            if not mixer:
                 return
-            if current_music:
-                pygame.mixer.music.fadeout(500)
-                print("  [MUSIC] Stopped")
-                current_music = None
+            mixer.stop_music()
+            print("  [MUSIC] Stopped")
 
         def toggle_music():
             nonlocal music_muted
-            if not audio_available:
+            if not mixer:
                 return
             music_muted = not music_muted
             if music_muted:
-                pygame.mixer.music.pause()
+                mixer.pause_music()
                 print("  [MUSIC] Muted")
             else:
-                pygame.mixer.music.unpause()
+                mixer.unpause_music()
                 print("  [MUSIC] Unmuted")
 
         def toggle_sfx():
@@ -405,6 +545,12 @@ class Arcade(ReachyMiniApp):
             verified = ping_esp32(ser_ref[0])
             return {"verified": verified}
 
+        @self.settings_app.post("/stop_music")
+        def api_stop_music():
+            """Stop music playback."""
+            stop_music()
+            return {"ok": True}
+
         # --- WebSocket ---
         @self.settings_app.websocket("/ws")
         async def ws_endpoint(websocket: WebSocket):
@@ -474,6 +620,20 @@ class Arcade(ReachyMiniApp):
             # Send all scores to ESP32 so both sides start in sync
             send_all_scores_to_esp()
 
+        # --- Init audio mixer (after media is released by daemon) ---
+        print("Init sons...")
+        mixer = AudioMixer(reachy_mini)
+        loaded = 0
+        for event_name, file_name in SFX_MAP.items():
+            wav_name = file_name + ".wav"
+            if mixer.preload_sound(wav_name):
+                print(f"  SFX: {event_name} -> {wav_name}")
+                loaded += 1
+            else:
+                print(f"  SFX: {event_name} -> MANQUANT ({wav_name})")
+        print(f"  {loaded}/{len(SFX_MAP)} sons charges")
+        mixer.start()
+
         # --- Calibration ---
         print("Calibration... garde la tete droite")
         roll_samples = []
@@ -574,7 +734,8 @@ class Arcade(ReachyMiniApp):
                 if spent < interval:
                     time.sleep(interval - spent)
         finally:
-            pygame.mixer.quit()
+            if mixer:
+                mixer.stop()
             if ser:
                 ser.close()
 

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+size 5419052

arcade/sounds/44k/score.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcd697de56e8e92e8767fe130b63476183b37bdc5b7e62f475d278e453296de4
+size 17684

arcade/sounds/44k/select.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ccbd6673a11cb9afba1339fea9dde4060418fceca386de08b8430ed10d4a60
+size 10624

arcade/sounds/44k/serve.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8586f543ceda5020a460c383f938e57ecdf4415c4c1e3a6c80b7b488884d2247
+size 10628

arcade/sounds/44k/shoot.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a96fb4a5017851544f44fedfc5715b8d48c9d6db6d30e741293141e3bdd3bdb
+size 7100

arcade/sounds/44k/spaceship.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce05d2a0525b013faa6f566974da88fe7c53db2f7548b21ae58ae72f7c31dfa2
+size 16754514

arcade/sounds/44k/wave.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f613035beaa49786bc8ea5a42f141c99d9a234bf42fd317ca225e30b6ee6c5
+size 30912

arcade/sounds/44k/win.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d11e4f84f31af78ad9d8e996d9b9c9da68d301d5a2897b8e29c2752ddafa65bc
+size 48552

arcade/static/index.html

@@ -250,7 +250,8 @@
     }
 
     function backToLanding() {
-        window.location.reload();
+        fetch('/stop_music', {method: 'POST'});
+        setTimeout(() => window.location.reload(), 200);
     }
 
     function backToSetup() {
@@ -278,13 +279,13 @@
             method: 'POST',
             headers: {'Content-Type': 'application/json'},
             body: JSON.stringify({use_esp32: false, port: ''})
-        }).then(() => {
-            modeSet = true;
-            window.ARCADE_CANVAS_ID = 'arcade-web';
-            const s = document.createElement('script');
-            s.src = '/static/main.js';
-            document.body.appendChild(s);
         });
+        // Load game immediately (don't wait for /mode response — bridge may already be running)
+        modeSet = true;
+        window.ARCADE_CANVAS_ID = 'arcade-web';
+        const s = document.createElement('script');
+        s.src = '/static/main.js';
+        document.body.appendChild(s);
     }
     </script>
 </body>

arcade/static/main.js

@@ -2988,4 +2988,4 @@ class ArcadeApp {
 }
 
 // Boot — runs immediately (script is loaded dynamically after DOM is ready)
-new ArcadeApp();
+window._arcadeApp = new ArcadeApp();

pyproject.toml

@@ -13,7 +13,7 @@ dependencies = [
     "reachy-mini",
     "scipy",
     "pyserial",
-    "pygame",
+    "soundfile",
     "websockets",
 ]
 keywords = ["reachy-mini-app"]