From 934c21d99f1da10743e146634f147f7352baa41c Mon Sep 17 00:00:00 2001
From: Capri2014 <qi.stephen.luo@gmail.com>
Date: Fri, 31 Jul 2020 16:47:32 -0700
Subject: [PATCH] Audio: add mic to recorded message and topic rename

---
 modules/audio/conf/audio_conf.pb.txt             | 2 +-
 modules/audio/dag/audio.dag                      | 2 +-
 modules/audio/tools/audiosaver.py                | 2 +-
 modules/drivers/microphone/conf/respeaker.pb.txt | 2 +-
 scripts/record_bag.py                            | 1 +
 5 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/modules/audio/conf/audio_conf.pb.txt b/modules/audio/conf/audio_conf.pb.txt
index 514303aed3..5ad2e815bf 100644
--- a/modules/audio/conf/audio_conf.pb.txt
+++ b/modules/audio/conf/audio_conf.pb.txt
@@ -1,4 +1,4 @@
 topic_conf {
-  audio_data_topic_name: "/apollo/microphone"
+  audio_data_topic_name: "/apollo/sensor/microphone"
   audio_detection_topic_name: "/apollo/audio_detection"
 }
diff --git a/modules/audio/dag/audio.dag b/modules/audio/dag/audio.dag
index 0301a4aacf..f636bdd252 100644
--- a/modules/audio/dag/audio.dag
+++ b/modules/audio/dag/audio.dag
@@ -8,7 +8,7 @@ module_config {
             flag_file_path: "/apollo/modules/audio/conf/audio.conf"
             readers: [
                 {
-                    channel: "/apollo/microphone"
+                    channel: "/apollo/sensor/microphone"
                     qos_profile: {
                         depth : 1
                     }
diff --git a/modules/audio/tools/audiosaver.py b/modules/audio/tools/audiosaver.py
index ae208c81bc..46b761e6c0 100644
--- a/modules/audio/tools/audiosaver.py
+++ b/modules/audio/tools/audiosaver.py
@@ -21,7 +21,7 @@ import wave
 from cyber.python.cyber_py3 import cyber
 from modules.drivers.microphone.proto.audio_pb2 import AudioData
 
-RESPEAKER_CHANNEL = "/apollo/microphone"
+RESPEAKER_CHANNEL = "/apollo/sensor/microphone"
 WAV_SAVING_PATH = "/tmp"
 
 
diff --git a/modules/drivers/microphone/conf/respeaker.pb.txt b/modules/drivers/microphone/conf/respeaker.pb.txt
index b9fbe0a5f6..43eec8556b 100644
--- a/modules/drivers/microphone/conf/respeaker.pb.txt
+++ b/modules/drivers/microphone/conf/respeaker.pb.txt
@@ -3,7 +3,7 @@ chunk: 1024
 sample_rate: 16000
 record_seconds: 6
 sample_width: 2
-channel_name: "/apollo/microphone"
+channel_name: "/apollo/sensor/microphone"
 frame_id: "respeaker"
 channel_type: ASR
 channel_type: RAW
diff --git a/scripts/record_bag.py b/scripts/record_bag.py
index 97e60caa50..3ff5ef06d4 100755
--- a/scripts/record_bag.py
+++ b/scripts/record_bag.py
@@ -82,6 +82,7 @@ SMALL_TOPICS = [
     '/apollo/sensor/gnss/rtk_eph',
     '/apollo/sensor/gnss/rtk_obs',
     '/apollo/sensor/gnss/heading',
+    '/apollo/sensor/microphone',
     '/apollo/sensor/mobileye',
     '/apollo/storytelling',
     '/tf',
-- 
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