Let mavwaked hear the nudges it was already being sent (V-671)

It wired no PushHandler, and SendRequest discards a push frame when there is none. That was not a missing feature but a silent one. mavend routes a nudge to the voice session that spoke most recently, so once mavwaked had spoken once it WAS that session. PushToMostRecent succeeded, the dispatcher counted the nudge delivered and stopped rerouting to the away channels, and mavwaked threw the audio away. He heard nothing, anywhere. It now connects at startup rather than at the first utterance, because the dispatcher has to tell "he is not at the machine" from "he is, and she has nothing to say". The receiver redials on its own clock, since mavend restarts on every deploy. A nudge is queued, not played where it arrives. The capture loop picks it up on the next frame, so the half-duplex gate and barge-in cover it the way they cover a reply. It resets the VAD first: playback is about to suppress every frame, and a half-heard sentence would otherwise splice onto whatever he says next. A nudge arriving while one still waits replaces it, which is the contract internal/voice states for PushHandler. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_013ptwopxyo3Z2kwFckHkLvN
2026-08-09 13:45:04 +04:00
parent 1f1e002789
commit 9c7bafd5b1
3 changed files with 155 additions and 1 deletions
@@ -17,6 +17,11 @@
 // commands at L0 (no destructive acts), which is what makes an accidental
 // trigger safe rather than expensive.
 //
+// The conn carries both directions. mavwaked sends utterances and receives
+// proactive nudges on it, and it is opened at startup rather than at the first
+// utterance, because mavend registers a voice session on accept. See nudge.go
+// for why a nudge that is not heard is worse than one that is not delivered.
+//
 // While a reply is playing the capture side is muted (half-duplex): without
 // it, Maven's own voice comes back in through the mic and she answers
 // herself. -barge-in punches one hole in that gate — sustained energy above
@@ -86,7 +91,8 @@ func run(args []string) error {
 	ctx, stop := signal.NotifyContext(context.Background(), syscall.SIGINT, syscall.SIGTERM, syscall.SIGHUP)
 	defer stop()

-	// Voice client — reused across utterances; SendRequest reconnects on error.
+	// Voice client — one conn carrying both directions. SendRequest reconnects
+	// on error, and the push receiver redials on its own clock.
 	vc := voice.Dial(*addr)
 	defer vc.Close()

@@ -165,6 +171,14 @@ func run(args []string) error {
 	}
 	sess := newSession(vad, newAplayPlayer(), &voiceSender{vc: vc}, *lang, barge)

+	// Listen for nudges alongside capture. Connect eagerly so mavend has a
+	// voice session before he has said anything: without one, a nudge routed
+	// to voice finds nobody home and goes to the away channels instead.
+	if err := vc.Connect(ctx); err != nil {
+		log.Printf("mavwaked: voice server not reachable yet, retrying in background: %v", err)
+	}
+	go runNudgeReceiver(ctx, vc, sess)
+
 	return captureLoop(ctx, src, sess)
 }

@@ -0,0 +1,79 @@
+package main
+
+// The receiving half of the voice reach (V-671).
+//
+// mavwaked used to send and never listen. It wired no PushHandler, and
+// SendRequest discards a push frame when there is none. The consequence was
+// not a missing feature but a silent one: mavend routes a nudge to the voice
+// session that spoke most recently, and once mavwaked had spoken once it WAS
+// that session. PushToMostRecent succeeded, the dispatcher counted the nudge
+// delivered and stopped rerouting to telegram and ntfy, and mavwaked threw the
+// audio away. He heard nothing, anywhere.
+//
+// So the connection is opened at startup rather than at the first utterance,
+// and it is held open. A client that has never connected has no session, and
+// the dispatcher must be able to tell "he is not at the machine" from "he is,
+// and she has nothing to say".
+
+import (
+	"context"
+	"encoding/json"
+	"log"
+	"time"
+
+	"github.com/kami/maven/internal/voice"
+)
+
+// nudgeRetry is how long to wait before dialling again after the conn ends.
+// mavend restarts on every deploy, and a listener that gives up then is a
+// listener that is deaf until the next reboot.
+const nudgeRetry = 5 * time.Second
+
+// nudgeHandler decodes a push and hands the audio to the session, which
+// speaks it through the same player the reply path uses. It does not play
+// anything itself: the half-duplex gate and barge-in live on the capture
+// loop, and a nudge has to sit under both.
+type nudgeHandler struct{ sess *session }
+
+func (h *nudgeHandler) OnPush(p voice.Push) {
+	if p.Kind != voice.PushKindAudioNudge {
+		log.Printf("mavwaked: ignoring push of unknown kind %q", p.Kind)
+		return
+	}
+	var ap voice.AudioNudgePush
+	if err := json.Unmarshal(p.Params, &ap); err != nil {
+		log.Printf("mavwaked: nudge: decode: %v", err)
+		return
+	}
+	log.Printf("mavwaked: nudge from rule %q (severity %d): %q (%.2fs audio)",
+		ap.RuleName, ap.Severity, ap.Text, ap.Audio.Duration())
+	if len(ap.Audio.Bytes) == 0 {
+		// mavttsd was down or the text was empty. Say so rather than going
+		// quiet: the dispatcher already counted this one as delivered.
+		log.Printf("mavwaked: nudge %q carried no audio, nothing to speak", ap.RuleName)
+		return
+	}
+	h.sess.Nudge(ap.Audio)
+}
+
+// runNudgeReceiver keeps a push handler wired for as long as ctx lives,
+// redialling whenever the conn ends. Returns when ctx is cancelled.
+func runNudgeReceiver(ctx context.Context, vc *voice.Client, sess *session) {
+	h := &nudgeHandler{sess: sess}
+	for {
+		err := vc.RunPushReceiver(ctx, h)
+		if ctx.Err() != nil {
+			return
+		}
+		if err != nil {
+			log.Printf("mavwaked: nudge receiver: %v", err)
+		} else {
+			log.Printf("mavwaked: voice connection ended, reconnecting in %s", nudgeRetry)
+		}
+		select {
+		case <-ctx.Done():
+			return
+		case <-time.After(nudgeRetry):
+		}
+	}
+}
@@ -7,6 +7,7 @@ package main
 import (
 	"context"
 	"log"
+	"sync"
 	"time"

 	"github.com/kami/maven/internal/audio"
@@ -62,11 +63,19 @@ type session struct {
 	// whenever playback ends.
 	loudFrames int

+	// pending holds a nudge the push receiver handed over, waiting for the
+	// capture loop to speak it. It is the one field written from another
+	// goroutine, hence the mutex; everything else in this struct belongs to
+	// the capture loop alone.
+	nudgeMu sync.Mutex
+	pending *audio.Audio
+
 	// counters, read by tests and logged on the way out.
 	suppressed int // frames dropped because she was speaking
 	dropped    int // frames dropped as round-trip backlog
 	bargeIns   int // times playback was cut because he spoke over her
 	sent       int // utterances shipped to the daemon
+	nudges     int // proactive pushes spoken through the speaker

 	// loudSum and loudSeen accumulate the energy of suppressed frames, so
 	// the operator can read what the room actually measures and set
@@ -150,6 +159,10 @@ func (s *session) feed(ctx context.Context, frame []byte) error {
 		s.vad.Reset()
 	}

+	if s.startPendingNudge() {
+		return nil
+	}
+
 	utt, state := s.vad.Feed(PCMToI16(frame))
 	if state == StateSpeech || utt.Bytes == nil {
 		return nil
@@ -157,6 +170,54 @@ func (s *session) feed(ctx context.Context, frame []byte) error {
 	return s.dispatch(ctx, utt)
 }

+// Nudge hands proactive audio to the session, to be spoken as soon as the
+// capture loop finds a quiet moment. Safe to call from the push receiver
+// goroutine; nothing else here is.
+//
+// A nudge arriving while one is already waiting REPLACES it. That is the
+// contract internal/voice states for PushHandler: the next nudge replaces the
+// stale one in his attention rather than dogpiling on it.
+func (s *session) Nudge(a audio.Audio) {
+	if len(a.Bytes) == 0 {
+		return
+	}
+	s.nudgeMu.Lock()
+	if s.pending != nil {
+		log.Printf("mavwaked: nudge replaced one still waiting to be spoken")
+	}
+	s.pending = &a
+	s.nudgeMu.Unlock()
+}
+
+// takeNudge removes and returns the waiting nudge, or nil.
+func (s *session) takeNudge() *audio.Audio {
+	s.nudgeMu.Lock()
+	defer s.nudgeMu.Unlock()
+	a := s.pending
+	s.pending = nil
+	return a
+}
+
+// startPendingNudge speaks a waiting nudge and reports whether it started
+// one. It runs on the capture loop, past the half-duplex gate, so a nudge
+// never cuts across a reply and never plays into a backlog drain.
+//
+// The VAD is reset first. Playback is about to suppress every frame until it
+// ends, and a half-heard sentence left in the VAD would splice onto whatever
+// he says afterwards. Barge-in needs no special case: it reads the player,
+// and the player does not care which audio it is playing.
+func (s *session) startPendingNudge() bool {
+	a := s.takeNudge()
+	if a == nil {
+		return false
+	}
+	s.vad.Reset()
+	s.nudges++
+	log.Printf("mavwaked: speaking nudge (%.2fs audio)", a.Duration())
+	s.player.Play(*a)
+	return true
+}
+
 // keepRecent stores a copy of one barge-in trigger frame, keeping at most
 // barge.Frames of them.
 func (s *session) keepRecent(frame []byte) {