Update app.py

app.py

@@ -713,8 +713,11 @@ async def browser_stream_endpoint(ws: WebSocket):
         while True:
             # Get audio from the robot queue (non-blocking check)
             if not state.audio_queue.empty():
-                # We discard the timestamp for the raw browser stream to keep it simple
-                _, chunk_bytes, _ = state.audio_queue.get()
+                _, chunk_bytes, robot_timestamp = state.audio_queue.get(timeout=0.5)
+
+                # Track latency if we have a timestamp
+                if robot_timestamp is not None:
+                    state.track_audio_latency(robot_timestamp)
                 try:
                     # Send as binary message
                     await ws.send_bytes(chunk_bytes)
@@ -1387,7 +1390,11 @@ APP_JS = """
                     
                     const now = ctx.currentTime;
                     if (nextTime < now) nextTime = now;
-                    src.start(nextTime);
+
+                    if (nextTime > now + 0.15) {
+                        console.log("Catching up audio latency...");
+                        nextTime = now;
+                    }                    src.start(nextTime);
                     nextTime += floatBuffer.duration;
                 };