"refactor_sdk_compliance"

reachy_mini_ha_voice/main.py

@@ -122,14 +122,10 @@ class ReachyMiniHaVoice(ReachyMiniApp):
         # Create and run the voice assistant service
         service = VoiceAssistantService(reachy_mini)
 
-        # Try to get existing event loop, create new one if needed
-        try:
-            loop = asyncio.get_running_loop()
-            logger.debug("Using existing event loop")
-        except RuntimeError:
-            loop = asyncio.new_event_loop()
-            asyncio.set_event_loop(loop)
-            logger.debug("Created new event loop")
+        # Always create a new event loop to avoid conflicts with SDK
+        loop = asyncio.new_event_loop()
+        asyncio.set_event_loop(loop)
+        logger.debug("Created new event loop for voice assistant")
 
         try:
             loop.run_until_complete(service.start())
@@ -169,22 +165,8 @@ class ReachyMiniHaVoice(ReachyMiniApp):
             except Exception as e:
                 logger.error(f"Error stopping service: {e}")
 
-            # Clean up robot connection if available
-            if reachy_mini is not None:
-                try:
-                    # Ensure media is explicitly closed before disconnecting
-                    if hasattr(reachy_mini, 'media'):
-                        reachy_mini.media.close()
-                        logger.debug("Robot media closed")
-                except Exception as e:
-                    logger.debug(f"Error closing media during shutdown: {e}")
-
-                try:
-                    # Prevent connection from keeping threads alive
-                    reachy_mini.client.disconnect()
-                    logger.debug("Robot client disconnected")
-                except Exception as e:
-                    logger.debug(f"Error disconnecting client during shutdown: {e}")
+            # Note: Robot connection cleanup is handled by SDK's context manager
+            # in wrapped_run(). We only need to close our event loop here.
 
             # Close event loop
             try:

reachy_mini_ha_voice/voice_assistant.py

@@ -136,11 +136,25 @@ class VoiceAssistantService:
         # Start Reachy Mini media system if available
         if self.reachy_mini is not None:
             try:
-                # Only start if audio system is initialized but not yet recording
-                # This avoids conflicts if SDK already started the media system
-                if self.reachy_mini.media.audio is not None:
-                    self.reachy_mini.media.start_recording()
-                    self.reachy_mini.media.start_playing()
+                # Check if media system is already running to avoid conflicts
+                media = self.reachy_mini.media
+                if media.audio is not None:
+                    # Check recording state
+                    is_recording = getattr(media, '_recording', False)
+                    if not is_recording:
+                        media.start_recording()
+                        _LOGGER.info("Started Reachy Mini recording")
+                    else:
+                        _LOGGER.debug("Reachy Mini recording already active")
+
+                    # Check playback state
+                    is_playing = getattr(media, '_playing', False)
+                    if not is_playing:
+                        media.start_playing()
+                        _LOGGER.info("Started Reachy Mini playback")
+                    else:
+                        _LOGGER.debug("Reachy Mini playback already active")
+
                     _LOGGER.info("Reachy Mini media system initialized")
                 else:
                     _LOGGER.warning("Reachy Mini audio system not available")
@@ -151,11 +165,11 @@ class VoiceAssistantService:
         if self._motion is not None:
             self._motion.start()
 
-        # Start audio processing thread
+        # Start audio processing thread (non-daemon for proper cleanup)
         self._running = True
         self._audio_thread = threading.Thread(
             target=self._process_audio,
-            daemon=True,
+            daemon=False,
         )
         self._audio_thread.start()