Segfault when launching portaudioPlayer + AudioPlayerWrapper on WSL2

[traversaro]

Solution to issue cannot be found in the documentation.

• I checked the documentation.

Issue

On Ubuntu 24.04 on wSL2 (I tested that the audio plays well with play examplesound.mp3 :

(yarp) root@DESKTOP-T0NQNLN:~# yarpdev --device AudioPlayerWrapper --subdevice portaudioPlayer --name /icub/speakers --playback_network_buffer_size 0.5 --start --AUDIO_BASE::samples 4000 --AUDIO_BASE::channels 1 --dev_id 0 --AUDIO_BASE::rate 48000
[DEBUG] |yarp.dev.PolyDriver|AudioPlayerWrapper| Parameters are (AUDIO_BASE (samples 4000) (channels 1) (rate 48000)) (dev_id 0) (device AudioPlayerWrapper) (name "/icub/speakers") (playback_network_buffer_size 0.5) (single_threaded 1) (start) (subdevice portaudioPlayer)
[INFO] |yarp.os.Port|/icub/speakers/audio:i| Port /icub/speakers/audio:i active at tcp://172.28.148.122:10002/
[INFO] |yarp.os.Port|/icub/speakers/status:o| Port /icub/speakers/status:o active at tcp://172.28.148.122:10003/
[INFO] |yarp.os.Port|/icub/speakers/rpc:i| Port /icub/speakers/rpc:i active at tcp://172.28.148.122:10004/
[INFO] |yarp.device.AudioPlayerWrapper| Using a 'playback_network_buffer_size' of 0.5 s
[INFO] |yarp.device.AudioPlayerWrapper| Increase this value to robustify the real-time audio stream (it will increase latency too)
[DEBUG] |yarp.dev.PolyDriver|portaudioPlayer| Parameters are (AUDIO_BASE (samples 4000) (channels 1) (rate 48000)) (dev_id 0) (device portaudioPlayer) (name "/icub/speakers") (playback_network_buffer_size 0.5) (single_threaded 1) (start) (subdevice portaudioPlayer)
[INFO] |yarp.devices.AudioPlayerDeviceBase| Device configured with the following options:
[INFO] |yarp.devices.AudioPlayerDeviceBase| Frequency: 48000
[INFO] |yarp.devices.AudioPlayerDeviceBase| Samples (buffer size): 4000
[INFO] |yarp.devices.AudioPlayerDeviceBase| Channels: 1
[INFO] |yarp.devices.AudioPlayerDeviceBase| BytesForSample: 2
[INFO] |yarp.devices.AudioPlayerDeviceBase| HW gain: 1
[INFO] |yarp.devices.AudioPlayerDeviceBase| SW gain: 1
[INFO] |yarp.devices.AudioPlayerDeviceBase| Render mode: append
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM sysdefault
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM sysdefault
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.front
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.rear
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.center_lfe
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.side
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround21
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround21
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround40
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround41
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround50
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround51
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround71
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.iec958
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.iec958
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.iec958
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM hdmi
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM hdmi
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.modem
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.modem
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.phoneline
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.phoneline
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM default
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM default
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_id returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM dmix
Segmentation fault

Installed packages

(yarp) root@DESKTOP-T0NQNLN:~# conda list
# packages in environment at /root/miniforge3/envs/yarp:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
ace                       8.0.0                hac33072_1    conda-forge
alsa-lib                  1.2.12               h4ab18f5_0    conda-forge
aom                       3.9.1                hac33072_0    conda-forge
attr                      2.5.1                h166bdaf_1    conda-forge
bzip2                     1.0.8                hd590300_5    conda-forge
c-ares                    1.32.0               h4ab18f5_0    conda-forge
ca-certificates           2024.7.4             hbcca054_0    conda-forge
cairo                     1.18.0               hbb29018_2    conda-forge
dav1d                     1.2.1                hd590300_0    conda-forge
dbus                      1.13.6               h5008d03_3    conda-forge
eigen                     3.4.0                h00ab1b0_0    conda-forge
expat                     2.6.2                h59595ed_0    conda-forge
ffmpeg                    7.0.1           gpl_h3589c0a_102    conda-forge
font-ttf-dejavu-sans-mono 2.37                 hab24e00_0    conda-forge
font-ttf-inconsolata      3.000                h77eed37_0    conda-forge
font-ttf-source-code-pro  2.038                h77eed37_0    conda-forge
font-ttf-ubuntu           0.83                 h77eed37_2    conda-forge
fontconfig                2.14.2               h14ed4e7_0    conda-forge
fonts-conda-ecosystem     1                             0    conda-forge
fonts-conda-forge         1                             0    conda-forge
freeglut                  3.2.2                ha6d2627_3    conda-forge
freetype                  2.12.1               h267a509_2    conda-forge
fribidi                   1.0.10               h36c2ea0_0    conda-forge
gettext                   0.22.5               h59595ed_2    conda-forge
gettext-tools             0.22.5               h59595ed_2    conda-forge
glib                      2.80.3               h8a4344b_1    conda-forge
glib-tools                2.80.3               h73ef956_1    conda-forge
gmp                       6.3.0                hac33072_2    conda-forge
gnutls                    3.7.9                hb077bed_0    conda-forge
graphite2                 1.3.13            h59595ed_1003    conda-forge
gst-plugins-base          1.24.5               hbaaba92_0    conda-forge
gstreamer                 1.24.5               haf2f30d_0    conda-forge
harfbuzz                  8.5.0                hfac3d4d_0    conda-forge
hdf5                      1.14.3          nompi_hdf9ad27_105    conda-forge
icu                       73.2                 h59595ed_0    conda-forge
imath                     3.1.11               hfc55251_0    conda-forge
jasper                    4.2.4                h536e39c_0    conda-forge
keyutils                  1.6.1                h166bdaf_0    conda-forge
krb5                      1.21.3               h659f571_0    conda-forge
lame                      3.100             h166bdaf_1003    conda-forge
ld_impl_linux-64          2.40                 hf3520f5_7    conda-forge
lerc                      4.0.0                h27087fc_0    conda-forge
libabseil                 20240116.2      cxx17_h59595ed_0    conda-forge
libaec                    1.1.3                h59595ed_0    conda-forge
libasprintf               0.22.5               h661eb56_2    conda-forge
libasprintf-devel         0.22.5               h661eb56_2    conda-forge
libass                    0.17.1               h8fe9dca_1    conda-forge
libblas                   3.9.0           22_linux64_openblas    conda-forge
libcap                    2.69                 h0f662aa_0    conda-forge
libcblas                  3.9.0           22_linux64_openblas    conda-forge
libclang-cpp15            15.0.7          default_h127d8a8_5    conda-forge
libclang13                18.1.8          default_h6ae225f_0    conda-forge
libcups                   2.3.3                h4637d8d_4    conda-forge
libcurl                   8.8.0                hca28451_1    conda-forge
libdeflate                1.20                 hd590300_0    conda-forge
libdrm                    2.4.122              h4ab18f5_0    conda-forge
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libev                     4.33                 hd590300_2    conda-forge
libevent                  2.1.12               hf998b51_1    conda-forge
libexpat                  2.6.2                h59595ed_0    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libflac                   1.4.3                h59595ed_0    conda-forge
libgcc-ng                 14.1.0               h77fa898_0    conda-forge
libgcrypt                 1.11.0               h4ab18f5_0    conda-forge
libgettextpo              0.22.5               h59595ed_2    conda-forge
libgettextpo-devel        0.22.5               h59595ed_2    conda-forge
libgfortran-ng            14.1.0               h69a702a_0    conda-forge
libgfortran5              14.1.0               hc5f4f2c_0    conda-forge
libglib                   2.80.3               h8a4344b_1    conda-forge
libglu                    9.0.0             ha6d2627_1004    conda-forge
libgomp                   14.1.0               h77fa898_0    conda-forge
libgpg-error              1.50                 h4f305b6_0    conda-forge
libhwloc                  2.11.0          default_h5622ce7_1000    conda-forge
libi2c                    4.3                  hcb278e6_2    conda-forge
libiconv                  1.17                 hd590300_2    conda-forge
libidn2                   2.3.7                hd590300_0    conda-forge
libjpeg-turbo             3.0.0                hd590300_1    conda-forge
liblapack                 3.9.0           22_linux64_openblas    conda-forge
liblapacke                3.9.0           22_linux64_openblas    conda-forge
libllvm15                 15.0.7               hb3ce162_4    conda-forge
libllvm18                 18.1.8               hc9dba70_0    conda-forge
libnghttp2                1.58.0               h47da74e_1    conda-forge
libnsl                    2.0.1                hd590300_0    conda-forge
libogg                    1.3.5                h4ab18f5_0    conda-forge
libopenblas               0.3.27          pthreads_hac2b453_1    conda-forge
libopencv                 4.10.0          qt5_py39h0e214d5_501    conda-forge
libopenvino               2024.2.0             h2da1b83_1    conda-forge
libopenvino-auto-batch-plugin 2024.2.0             hb045406_1    conda-forge
libopenvino-auto-plugin   2024.2.0             hb045406_1    conda-forge
libopenvino-hetero-plugin 2024.2.0             h5c03a75_1    conda-forge
libopenvino-intel-cpu-plugin 2024.2.0             h2da1b83_1    conda-forge
libopenvino-intel-gpu-plugin 2024.2.0             h2da1b83_1    conda-forge
libopenvino-intel-npu-plugin 2024.2.0             he02047a_1    conda-forge
libopenvino-ir-frontend   2024.2.0             h5c03a75_1    conda-forge
libopenvino-onnx-frontend 2024.2.0             h07e8aee_1    conda-forge
libopenvino-paddle-frontend 2024.2.0             h07e8aee_1    conda-forge
libopenvino-pytorch-frontend 2024.2.0             he02047a_1    conda-forge
libopenvino-tensorflow-frontend 2024.2.0             h39126c6_1    conda-forge
libopenvino-tensorflow-lite-frontend 2024.2.0             he02047a_1    conda-forge
libopus                   1.3.1                h7f98852_1    conda-forge
libpciaccess              0.18                 hd590300_0    conda-forge
libpng                    1.6.43               h2797004_0    conda-forge
libpq                     16.3                 ha72fbe1_0    conda-forge
libprotobuf               4.25.3               h08a7969_0    conda-forge
libsndfile                1.2.2                hc60ed4a_1    conda-forge
libsqlite                 3.46.0               hde9e2c9_0    conda-forge
libssh2                   1.11.0               h0841786_0    conda-forge
libstdcxx-ng              14.1.0               hc0a3c3a_0    conda-forge
libsystemd0               255                  h3516f8a_1    conda-forge
libtasn1                  4.19.0               h166bdaf_0    conda-forge
libtiff                   4.6.0                h1dd3fc0_3    conda-forge
libunistring              0.9.10               h7f98852_0    conda-forge
libuuid                   2.38.1               h0b41bf4_0    conda-forge
libva                     2.22.0               hb711507_0    conda-forge
libvorbis                 1.3.7                h9c3ff4c_0    conda-forge
libvpx                    1.14.1               hac33072_0    conda-forge
libwebp-base              1.4.0                hd590300_0    conda-forge
libxcb                    1.16                 hd590300_0    conda-forge
libxcrypt                 4.4.36               hd590300_1    conda-forge
libxkbcommon              1.7.0                h2c5496b_1    conda-forge
libxml2                   2.12.7               hc051c1a_1    conda-forge
libyarp                   3.9.0                hf094a1e_5    conda-forge
libzlib                   1.3.1                h4ab18f5_1    conda-forge
lz4-c                     1.9.4                hcb278e6_0    conda-forge
mpg123                    1.32.6               h59595ed_0    conda-forge
mysql-common              8.3.0                hf1915f5_4    conda-forge
mysql-libs                8.3.0                hca2cd23_4    conda-forge
ncurses                   6.5                  h59595ed_0    conda-forge
nettle                    3.9.1                h7ab15ed_0    conda-forge
nspr                      4.35                 h27087fc_0    conda-forge
nss                       3.102                h593d115_0    conda-forge
numpy                     2.0.0           py312h22e1c76_0    conda-forge
ocl-icd                   2.3.2                hd590300_1    conda-forge
openexr                   3.2.2                haf962dd_1    conda-forge
openh264                  2.4.1                h59595ed_0    conda-forge
openssl                   3.3.1                h4ab18f5_1    conda-forge
p11-kit                   0.24.1               hc5aa10d_0    conda-forge
pcre2                     10.44                h0f59acf_0    conda-forge
pip                       24.0               pyhd8ed1ab_0    conda-forge
pixman                    0.43.2               h59595ed_0    conda-forge
portaudio                 19.6.0               h7c63dc7_9    conda-forge
pthread-stubs             0.4               h36c2ea0_1001    conda-forge
pugixml                   1.14                 h59595ed_0    conda-forge
pulseaudio-client         17.0                 hb77b528_0    conda-forge
python                    3.12.4          h194c7f8_0_cpython    conda-forge
python_abi                3.12                    4_cp312    conda-forge
qt-main                   5.15.8              ha2b5568_22    conda-forge
readline                  8.2                  h8228510_1    conda-forge
robot-testing-framework   2.0.1                hcb278e6_1    conda-forge
sdl                       1.2.68               h293081c_0    conda-forge
sdl2                      2.30.5               hef7aa77_0    conda-forge
setuptools                70.2.0             pyhd8ed1ab_0    conda-forge
snappy                    1.2.1                ha2e4443_0    conda-forge
soxr                      0.1.3                h0b41bf4_3    conda-forge
svt-av1                   2.1.0                hac33072_0    conda-forge
tbb                       2021.12.0            h434a139_2    conda-forge
tinyxml                   2.6.2                h4bd325d_2    conda-forge
tk                        8.6.13          noxft_h4845f30_101    conda-forge
tzdata                    2024a                h0c530f3_0    conda-forge
wayland                   1.23.0               h5291e77_0    conda-forge
wayland-protocols         1.36                 hd8ed1ab_0    conda-forge
wheel                     0.43.0             pyhd8ed1ab_1    conda-forge
x264                      1!164.3095           h166bdaf_2    conda-forge
x265                      3.5                  h924138e_3    conda-forge
xcb-util                  0.4.1                hb711507_2    conda-forge
xcb-util-image            0.4.0                hb711507_2    conda-forge
xcb-util-keysyms          0.4.1                hb711507_0    conda-forge
xcb-util-renderutil       0.3.10               hb711507_0    conda-forge
xcb-util-wm               0.4.2                hb711507_0    conda-forge
xkeyboard-config          2.42                 h4ab18f5_0    conda-forge
xorg-fixesproto           5.0               h7f98852_1002    conda-forge
xorg-inputproto           2.3.2             h7f98852_1002    conda-forge
xorg-kbproto              1.0.7             h7f98852_1002    conda-forge
xorg-libice               1.1.1                hd590300_0    conda-forge
xorg-libsm                1.2.4                h7391055_0    conda-forge
xorg-libx11               1.8.9                hb711507_1    conda-forge
xorg-libxau               1.0.11               hd590300_0    conda-forge
xorg-libxdmcp             1.1.3                h7f98852_0    conda-forge
xorg-libxext              1.3.4                h0b41bf4_2    conda-forge
xorg-libxfixes            5.0.3             h7f98852_1004    conda-forge
xorg-libxi                1.7.10               h7f98852_0    conda-forge
xorg-libxrender           0.9.11               hd590300_0    conda-forge
xorg-renderproto          0.11.1            h7f98852_1002    conda-forge
xorg-xextproto            7.3.0             h0b41bf4_1003    conda-forge
xorg-xf86vidmodeproto     2.3.1             h7f98852_1002    conda-forge
xorg-xproto               7.0.31            h7f98852_1007    conda-forge
xz                        5.2.6                h166bdaf_0    conda-forge
yarp                      3.9.0                ha770c72_5    conda-forge
yarp-python               3.9.0           py312h9b7a4f6_5    conda-forge
ycm-cmake-modules         0.16.4               hac33072_0    conda-forge
zlib                      1.3.1                h4ab18f5_1    conda-forge
zstd                      1.5.6                ha6fb4c9_0    conda-forge

Environment info

(yarp) root@DESKTOP-T0NQNLN:~# conda info

     active environment : yarp
    active env location : /root/miniforge3/envs/yarp
            shell level : 1
       user config file : /root/.condarc
 populated config files : /root/miniforge3/.condarc
                          /root/.condarc
          conda version : 24.3.0
    conda-build version : not installed
         python version : 3.10.14.final.0
                 solver : libmamba (default)
       virtual packages : __archspec=1=skylake
                          __conda=24.3.0=0
                          __cuda=12.0=0
                          __glibc=2.39=0
                          __linux=5.15.153.1=0
                          __unix=0=0
       base environment : /root/miniforge3  (writable)
      conda av data dir : /root/miniforge3/etc/conda
  conda av metadata url : None
           channel URLs : https://conda.anaconda.org/conda-forge/linux-64
                          https://conda.anaconda.org/conda-forge/noarch
          package cache : /root/miniforge3/pkgs
                          /root/.conda/pkgs
       envs directories : /root/miniforge3/envs
                          /root/.conda/envs
               platform : linux-64
             user-agent : conda/24.3.0 requests/2.31.0 CPython/3.10.14 Linux/5.15.153.1-microsoft-standard-WSL2 ubuntu/24.04 glibc/2.39 solver/libmamba conda-libmamba-solver/24.1.0 libmambapy/1.5.8
                UID:GID : 0:0
             netrc file : None
           offline mode : False

[traversaro]

Actually in this setup also alsamixer fails, so I guess there is something not working at the WSL level (even if play works fine):

root@DESKTOP-T0NQNLN:~# alsamixer
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib control.c:1570:(snd_ctl_open_noupdate) Invalid CTL default
cannot open mixer: No such file or directory

[traversaro]

Actually I think this output are kind of expected. On WSLg, audio support is implemented at the PulseAudio level, not at at the kernel/ALSA level (see microsoft/WSL#5816 (comment) and the really nice https://github.com/microsoft/wslg/blob/main/README.md#wslg-architecture-overview, search for PulseAudio there). YARP uses PortAudio, and the build of portaudio on conda-forge (and also on apt, actually) do not compile the pulseaudio backend of portaudio, only the alsa backend (the apt version also the jack backend).

[traversaro]

Actually I think this output are kind of expected. On WSLg, audio support is implemented at the PulseAudio level, not at at the kernel/ALSA level (see microsoft/WSL#5816 (comment) and the really nice https://github.com/microsoft/wslg/blob/main/README.md#wslg-architecture-overview, search for PulseAudio there). YARP uses PortAudio, and the build of portaudio on conda-forge (and also on apt, actually) do not compile the pulseaudio backend of portaudio, only the alsa backend (the apt version also the jack backend).

This is true, but it is important to understand a few things:

• The alsa project mantains both the sound-related kernel drivers, and a userspace library called libasound
• The pulseaudio project interacts with the alsa kernel driver, not with the userspace library libasound
• In the alsa-plugins package, it is contained a package that permits to use libasound to actually access audio via pulseaudio, instead of accessing directly the alsa kernel modules

So, in a nutshell, if the pulseaudio backend of libasound worked correctly, we should be able to use programs that use libasound (as yarp does via portaudio) as long as libasound actually uses pulseaudio under the hood (even without enabling any pulseaudio backend of libportaudio, that indeed is not enable in the apt packaging.

Related issues:

• https://github.com/orgs/Homebrew/discussions/790
• alsa-lib looking for plugin .so in the wong derivation NixOS/nixpkgs#6860
• Ability to set ALSA PLUGIN DIR, etc. at runtime via environment variables alsa-project/alsa-lib#82

[traversaro]

This README explains quite well how the pulse backend for libasound works: https://github.com/alsa-project/alsa-plugins/blob/v1.2.12/doc/README-pulse .

Indeed, even in WSL2 if I run:

alsamixer -Dpulse

works fine, while simple alsamixer is failing, see:

root@DESKTOP-T0NQNLN:~# alsamixer
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib control.c:1570:(snd_ctl_open_noupdate) Invalid CTL default
cannot open mixer: No such file or directory

[traversaro]

Adding in ~/.asoundrc a file with content:

    pcm.pulse {
        type pulse
        fallback "sysdefault"
    }

    ctl.pulse {
        type pulse
        fallback "sysdefault"
    }

   pcm.!default "pulse"
   ctl.!default "pulse"

now amixer and alsamixer work out of the box.

[traversaro]

And after adding that file, now yarpdev --device AudioPlayerWrapper --subdevice portaudioPlayer --name /icub/speakers --playback_network_buffer_size 0.5 --start --AUDIO_BASE::samples 4000 --AUDIO_BASE::channels 1 --dev_id 0 --AUDIO_BASE::rate 48000 starts without segfaulting, but I still need to try if it works (as there are a few errors):

(yarp) root@DESKTOP-T0NQNLN:~# yarpdev --device AudioPlayerWrapper --subdevice portaudioPlayer --name /icub/speakers --playback_network_buffer_size 0.5 --start --AUDIO_BASE::samples 4000 --AUDIO_BASE::channels 1 --dev_id 0 --AUDIO_BASE::rate 48000
[DEBUG] |yarp.dev.PolyDriver|AudioPlayerWrapper| Parameters are (AUDIO_BASE (samples 4000) (channels 1) (rate 48000)) (dev_id 0) (device AudioPlayerWrapper) (name "/icub/speakers") (playback_network_buffer_size 0.5) (single_threaded 1) (start) (subdevice portaudioPlayer)
[INFO] |yarp.os.Port|/icub/speakers/audio:i| Port /icub/speakers/audio:i active at tcp://172.28.148.122:10002/
[INFO] |yarp.os.Port|/icub/speakers/status:o| Port /icub/speakers/status:o active at tcp://172.28.148.122:10003/
[INFO] |yarp.os.Port|/icub/speakers/rpc:i| Port /icub/speakers/rpc:i active at tcp://172.28.148.122:10004/
[INFO] |yarp.device.AudioPlayerWrapper| Using a 'playback_network_buffer_size' of 0.5 s
[INFO] |yarp.device.AudioPlayerWrapper| Increase this value to robustify the real-time audio stream (it will increase latency too)
[DEBUG] |yarp.dev.PolyDriver|portaudioPlayer| Parameters are (AUDIO_BASE (samples 4000) (channels 1) (rate 48000)) (dev_id 0) (device portaudioPlayer) (name "/icub/speakers") (playback_network_buffer_size 0.5) (single_threaded 1) (start) (subdevice portaudioPlayer)
[INFO] |yarp.devices.AudioPlayerDeviceBase| Device configured with the following options:
[INFO] |yarp.devices.AudioPlayerDeviceBase| Frequency: 48000
[INFO] |yarp.devices.AudioPlayerDeviceBase| Samples (buffer size): 4000
[INFO] |yarp.devices.AudioPlayerDeviceBase| Channels: 1
[INFO] |yarp.devices.AudioPlayerDeviceBase| BytesForSample: 2
[INFO] |yarp.devices.AudioPlayerDeviceBase| HW gain: 1
[INFO] |yarp.devices.AudioPlayerDeviceBase| SW gain: 1
[INFO] |yarp.devices.AudioPlayerDeviceBase| Render mode: append
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM sysdefault
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM sysdefault
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.front
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.rear
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.center_lfe
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.side
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround21
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround21
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround40
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround41
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround50
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround51
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.surround71
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.iec958
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.iec958
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.iec958
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM hdmi
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM hdmi
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.modem
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.modem
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.phoneline
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.phoneline
ALSA lib confmisc.c:165:(snd_config_get_card) Cannot get card index for 0
ALSA lib confmisc.c:165:(snd_config_get_card) Cannot get card index for 0
ALSA lib confmisc.c:165:(snd_config_get_card) Cannot get card index for 0
ALSA lib confmisc.c:165:(snd_config_get_card) Cannot get card index for 0
ALSA lib confmisc.c:165:(snd_config_get_card) Cannot get card index for 0
ALSA lib confmisc.c:165:(snd_config_get_card) Cannot get card index for 0
Cannot connect to server socket err = No such file or directory
Cannot connect to server request channel
jack server is not running or cannot be started
JackShmReadWritePtr::~JackShmReadWritePtr - Init not done for -1, skipping unlock
JackShmReadWritePtr::~JackShmReadWritePtr - Init not done for -1, skipping unlock
Cannot connect to server socket err = No such file or directory
Cannot connect to server request channel
jack server is not running or cannot be started
JackShmReadWritePtr::~JackShmReadWritePtr - Init not done for -1, skipping unlock
JackShmReadWritePtr::~JackShmReadWritePtr - Init not done for -1, skipping unlock
ALSA lib pcm_oss.c:404:(_snd_pcm_oss_open) Cannot open device /dev/dsp
ALSA lib pcm_oss.c:404:(_snd_pcm_oss_open) Cannot open device /dev/dsp
ALSA lib pcm_a52.c:1036:(_snd_pcm_a52_open) a52 is only for playback
ALSA lib conf.c:5694:(snd_config_expand) Unknown parameters {AES0 0x6 AES1 0x82 AES2 0x0 AES3 0x2 CARD 0}
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM iec958:{AES0 0x6 AES1 0x82 AES2 0x0 AES3 0x2 CARD 0}
ALSA lib dlmisc.c:339:(snd_dlobj_cache_get0) Cannot open shared library libasound_module_pcm_speex.so (/root/miniforge3/envs/yarp/lib/yarp/.././alsa-lib/libasound_module_pcm_speex.so: cannot open shared object file: No such file or directory)
ALSA lib dlmisc.c:339:(snd_dlobj_cache_get0) Cannot open shared library libasound_module_pcm_speex.so (/root/miniforge3/envs/yarp/lib/yarp/.././alsa-lib/libasound_module_pcm_speex.so: cannot open shared object file: No such file or directory)
ALSA lib confmisc.c:165:(snd_config_get_card) Cannot get card index for 0
ALSA lib confmisc.c:165:(snd_config_get_card) Cannot get card index for 0
ALSA lib confmisc.c:165:(snd_config_get_card) Cannot get card index for 0
ALSA lib confmisc.c:165:(snd_config_get_card) Cannot get card index for 0
ALSA lib confmisc.c:160:(snd_config_get_card) Invalid field card
ALSA lib pcm_usb_stream.c:481:(_snd_pcm_usb_stream_open) Invalid card 'card'
ALSA lib confmisc.c:160:(snd_config_get_card) Invalid field card
ALSA lib pcm_usb_stream.c:481:(_snd_pcm_usb_stream_open) Invalid card 'card'
ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_card_id returned error: No such file or directory
ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1342:(snd_func_refer) error evaluating name
ALSA lib conf.c:5204:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5727:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2722:(snd_pcm_open_noupdate) Unknown PCM dmix
[INFO] |yarp.dev.PolyDriver|portaudioPlayer| Created device <portaudioPlayer>. See C++ class PortAudioPlayerDeviceDriver for documentation.
[INFO] |yarp.devices.AudioPlayerDeviceBase| Playback started
[INFO] |yarp.devices.portaudioPlayer| started playback
[INFO] |yarp.dev.PolyDriver|AudioPlayerWrapper| Created wrapper <AudioPlayerWrapper>. See C++ class AudioPlayerWrapper for documentation.
[DEBUG] |yarp.dev.Drivers|AudioPlayerWrapper| ===============================================================
[DEBUG] |yarp.dev.Drivers|AudioPlayerWrapper| == Options checked by device:
[DEBUG] |yarp.dev.Drivers|AudioPlayerWrapper| ==
[DEBUG] |yarp.dev.Drivers|AudioPlayerWrapper| device=AudioPlayerWrapper
[DEBUG] |yarp.dev.Drivers|AudioPlayerWrapper| id [AudioPlayerWrapper]
[DEBUG] |yarp.dev.Drivers|AudioPlayerWrapper|     Id assigned to this device
[DEBUG] |yarp.dev.Drivers|AudioPlayerWrapper| ==
[DEBUG] |yarp.dev.Drivers|AudioPlayerWrapper| ===============================================================
[INFO] |yarp.os.Port|/icub/speakers/quit| Port /icub/speakers/quit active at tcp://172.28.148.122:10005/
[INFO] |yarp.dev.Drivers|AudioPlayerWrapper| device active in background...

[traversaro]

I tested by playing a sound with:

yarpdev --device AudioRecorderWrapper --subdevice audioFromFileDevice --name /icub-virtualizer/microphone --min_samples_over_network 100 --max_samples_over_network 1000 --AUDIO_BASE::rate 16000 --AUDIO_BASE::samples 4000 --AUDIO_BASE::channels 1 --file_name file_example_WAV_1MG.wav

then:

yarp connect /icub-virtualizer/microphone/audio:o /icub/speakers/audio:i

and

yarp rpc /icub-virtualizer/microphone/rpc
> start

and not all the sound is actually playing, but something is played.

[EliseiFrederic]

Dear all,
we also try to have audio (playing, recording) on the iCub. Things used to be easy by using yarp directly, with just yarpdev on the recorder side and yarphear on the listener side:

more audio_listener.bat 
#! /bin/bash
yarphear --name /hear/pc104 --rate 48000 -b 1

they seem very complicated now -- not just adding --start -- with wrappers, then mwc/nms pairs, and syntax changing faster than the docs and the error messages in the code (what is the philosophy behind, to help users understand these changes?)
If you apply the syntax suggested by the successive command line errors (don't use portaudio but X or Y) syntax doesn't work neither, whatever the suggested subdevice or device (portaudioPlayer audioPlayerWrapper or deviceBundler with subdevice and attached-device etc). And when you find a solution that does not complain syntactically, nothing is heared (but saving the data received by say yarphear is correct if you found the right chain/IDs !!!)

I wrote a dummy test code (open portaudio device, receive a Sound bottle, play it...) just to check that it works on the same machine: portaudio device is opened, and it automatically finds a route through pulseaudio to be heared. So, no hardware nor system configuration trouble there (no need for pasuspender).
Is there an uptodate documentation that matchs the current implementation and succeeds with hearable stream? What is the recommended way of finding the right id (various portaudio tools can give differently ordered lists...)

I was about to write a dummy audiorecorder, but maybe there is a hope to use yarp tools/devices out of the box?

Thanks in advance

[traversaro]

Hello @EliseiFrederic , are you using the yarp conda-forge packages? This repository is just for tracking the yarp packaging in conda-forge, for generic YARP-related questions I suggest to open an issue or discussion in https://github.com/robotology/yarp, thanks!