7.3 Microphone Management

7.3.1 Overview

The robot supports two microphones as interaction input sources by default: an external microphone (Shike lavalier microphone) and the built-in microphone. Silent Mode can also be enabled to disable interaction. You can use AimMaster to switch microphones and configure Silent Mode, and RPC interfaces are also provided for switching the microphone source and configuring Silent Mode.

We also provide raw microphone audio output (including audio processed by onboard noise reduction, echo cancellation, and VAD). After disabling AgiBot's interaction pipeline, users can obtain microphone audio through this interface and integrate it into a custom interaction system.

Silent Mode is an operating state within Normal Mode and can be switched flexibly without restarting the agent.

7.3.2 Set Silent Mode RPC Interface

Interface Name	`pb:/aimdk.protocol.AgentControlService/SetVoiceEnable`
Function Overview	Set Silent Mode
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:59301/rpc/aimdk.protocol.AgentControlService/SetVoiceEnable
Input Parameters	text `{ "enable_voice": false }` enable_voice: Set to false to enable Silent Mode, set to true for Normal Mode
Output Parameters	text `{ "header": { "code": "0", "msg": "SetVoiceEnable successfully", "trace_id": "", "domin": "" }, "state": "CommonState_UNKNOWN" }` state: No need to pay attention to this field
Example Script	examples/agent/SetVoiceEnable.sh
Remarks

7.3.3 Query Silent Mode RPC Interface

Interface Name	`pb:/aimdk.protocol.AgentControlService/GetVoiceEnable`
Function Overview	Query Silent Mode Status
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:59301/rpc/aimdk.protocol.AgentControlService/GetVoiceEnable
Input Parameters	text `{}`
Output Parameters	text `{ "header": { "code": "0", "msg": "GetVoiceEnable successfully", "trace_id": "", "domin": "" }, "enable_voice": true }` enable_voice: Set to false to enable Silent Mode, set to true for Normal Mode
Example Script	examples/agent/GetVoiceEnable.sh
Remarks

7.3.4 Set Interaction Operation Mode RPC Interface

Interface Name	`pb:/aimdk.protocol.AgentControlService/SetAgentPropertiesRequest`
Function Overview	Set Interaction Operation Mode
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:59301/rpc/aimdk.protocol.AgentControlService/SetAgentPropertiesRequest
Input Parameters	text `{ "contents": { "properties": { "2": "only_voice" } } }` Modes: only_voice: Only output noise-reduced microphone audio /agent/process_audio_output, subsequent pipeline is completely disconnected normal: Standard operation mode, interaction runs normally
Output Parameters	text `{ "state": "CommonState_UNKNOWN" }`
Example Script	examples/agent/SetAgentPropertiesRequest.sh
Remarks	Requires a robot reboot to take effect after calling It is normal for the return value to be CommonState_UNKNOWN after calling. You can call the GetAgentPropertiesRequest interface to check if the interaction mode switch was successful

7.3.5 Get Interaction Operation Mode RPC Interface

Interface Name	`pb:/aimdk.protocol.AgentControlService/GetAgentPropertiesRequest`
Function Overview	Query Interaction Operation Mode
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:59301/rpc/aimdk.protocol.AgentControlService/GetAgentPropertiesRequest
Input Parameters	text `{"property_ids": [2]}`
Output Parameters	text `{ "contents": { "properties": { "2": "only_voice" } } }` Modes: only_voice: Only output noise-reduced microphone audio /agent/process_audio_output, subsequent pipeline is completely disconnected normal: Standard operation mode, interaction runs normally
Example Script	examples/agent/GetAgentPropertiesRequest.sh
Remarks

7.3.6 Noise-Reduced Microphone Audio Topic Interface

Interface Name	`/agent/process_audio_output`
Function Overview	Noise-Reduced Microphone Audio Interface
Interface Type	ROS2 Topic
Output Parameters	text `{ "stream_id": 2, "vad_state": "AUDIO_VAD_STATE_PROCESSING", "audio_data": "..." }` stream_id: Microphone identifier, 1 for built-in mic, 2 for external mic vad_state: Voice activity detection status AUDIO_VAD_STATE_NONE = 0 AUDIO_VAD_STATE_BEGIN = 1 AUDIO_VAD_STATE_PROCESSING = 2 AUDIO_VAD_STATE_END = 3 audio_data: Audio byte stream data
Example Script	examples/agent/get_voice.py
Remarks	The ROS2 message type for this message is ros2_plugin_proto/msg/RosMsgWrapper, requires sourcing prebuilt/ros2_plugin_proto_aarch64/share/ros2_plugin_proto/local_setup.bash before use. The built-in microphone has a serious bug in version 3.2 and is not recommended for secondary development. External microphone data works normally.

7.3.7 Wake-Up Result Reporting

Interface Name	`/agent/wakeup`
Function Overview	Wake-Up Result Reporting
Interface Type	ROS2 Topic
Output Parameters	text `{ "language":"zh", "keyword":"远征远征"， "timestamp":"1768812507657", "confidence":1.0, "wakeup_id":"event_wMXK9pT05JMXeRAOSc706", "is_success":true, "wakeup_type":"WAKEUP_NORMAL" }` confidence: Speech matching confidence, numerical value between 0-1 Keyword: Wake-up word language: Currently only supports Chinese wakeup_type: `WAKEUP_UNKNOWN` : Wake-up with unknown source or status (placeholder/exception scenario) `WAKEUP_NORMAL` : Normal voice wake-up, for example user speaks default wake-up word. `WAKEUP_CUSTOM_TRIGGERED` : Wake-up triggered by custom method, such as custom wake-up word or external event.
Example Script	examples/agent/get_wakeup_result.py
Remarks	The ROS2 message type for this message is ros2_plugin_proto/msg/RosMsgWrapper, requires sourcing prebuilt/ros2_plugin_proto_aarch64/share/ros2_plugin_proto/local_setup.bash before use.

7.3.8 Built-in and External Microphone Switching RPC Interface

Interface Name	`pb:/aimdk.protocol.HalAudioService/SetMicSourceRequest`
Overview	Switch the microphone source between the built-in microphone and the external microphone
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:59301/rpc/aimdk.protocol.HalAudioService/SetMicSourceRequest
Input	text `{ "mic_source": 1 }` `mic_source`: `0` indicates the built-in microphone, `1` indicates the external microphone, and all other values are invalid.
Output	text `{ "header": { "code": "0", "msg": "SetVoiceEnable successfully", "trace_id": "", "domin": "" }, "state": "CommonState_UNKNOWN" }` `state`: This field can be ignored.
Example Script	examples/agent/SetMicSource.sh
Remarks

7.3.9 Built-in and External Microphone Status Query RPC Interface

Interface Name	`pb:/aimdk.protocol.HalAudioService/GetMicSourceRequest`
Overview	Get the microphone source currently in use
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:59301/rpc/aimdk.protocol.HalAudioService/GetMicSourceRequest
Input	text `{}`
Output	text `{ "header": { "code": "0", "msg": "Get mic source successfully", "trace_id": "", "domin": "" }, "mic_source": 0 }` `mic_source`: `0` indicates the built-in microphone, `1` indicates the external microphone, and all other values are invalid.
Example Script	examples/agent/GetMicSource.sh
Remarks

7.3.10 Built-in Microphone Wake-Up Angle Interface

Interface Name	`/agent/process_audio_doa/pb_3Aaimdk_2Eprotocol_2EProcessedAudioDoa`
Function Overview	Built-in microphone wake-up angle interface
Interface Type	ROS2 Topic
Output Parameters	text `header: stamp: {sec: 0, nanosec: 0} frame_id: "" doa_angle: 90 source: AUDIO_DOA_SOURCE_WAKEUP stream_id: 1` header: Message header containing the timestamp and other information. doa_angle: Sound source direction angle in the range 0–360 degrees. The robot's left side is 180 degrees, and directly ahead is 90 degrees. source: Trigger source for this angle. `AUDIO_DOA_SOURCE_WAKEUP` indicates that it was triggered by the wake word.
Example Script	examples/agent/verify_process_audio_doa.py
Remarks	This interface can only report the angle detected when a wake word triggers wake-up; it cannot detect the angle during a conversation. Only the built-in microphone can detect the sound source direction angle. Before running, source `prebuilt/ros2_plugin_proto_aarch64/share/ros2_plugin_proto/local_setup.bash`; otherwise, importing `RosMsgWrapper` raises `ModuleNotFoundError`.