nao-websocket-bridge-client

Async laptop client for the microphone WebSocket on a NAO. It reads the format announcement, PCM frames, and status messages from nao-websocket-bridge-protocol.

Speech, motion, and buttons are naoqi-control on ports 9559 and 9561. The process that sends audio is nao-websocket-bridge, on port 8765.

Requires Python 3.10+.

uv add nao-websocket-bridge-client

Run uv add inside an existing Python project. Alternatively, in an activated Python 3.10+ environment on Linux or Windows, run python -m pip install nao-websocket-bridge-client. The protocol is installed automatically; the robot bridge must be installed separately on the NAO.

Read the microphone

The first frame must be the audio format. iter_bridge_messages checks it, then yields ("format", dict), ("pcm", bytes), and ("text", dict) for status and any other JSON.

import asyncio
from nao_websocket_bridge_client import iter_bridge_messages, websocket_url

async def main() -> None:
    url = websocket_url("192.168.2.50", 8765, token="")
    async for kind, payload in iter_bridge_messages(url):
        if kind == "pcm":
            print(len(payload))

asyncio.run(main())

With a bridge token, pass it to websocket_url or use ws://192.168.2.50:8765/choose-a-secret.

A terminal check prints RMS for each PCM chunk:

python -m nao_websocket_bridge_client --url ws://192.168.2.50:8765

Probing and reconnecting

tcp_accepts(host, port) is true when port 8765 accepts a TCP connection. wait_until_tcp_accepts(host, port, delay) returns as soon as it does, or after delay seconds. next_reconnect_delay(previous, held_secs) is the wait before another attempt: a socket that stayed up at least 2 seconds retries after 0.5 seconds; one that dies immediately doubles the wait, up to 8 seconds.

Local development

With this checkout next to the app:

uv add --editable ../nao-websocket-bridge-client

Restore that project's pyproject.toml and lockfile before committing. The committed dependency stays the PyPI release.