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2024-04-27 13:43:16 -05:00
parent 21363ce751
commit ea1aad5ed1
128 changed files with 3533 additions and 1918 deletions
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114
selfdrive/ui/soundd.py Executable file → Normal file
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@@ -1,10 +1,9 @@
import math
import numpy as np
import os
import time
import threading
import wave
from typing import Dict, Optional, Tuple
from cereal import car, messaging
from openpilot.common.basedir import BASEDIR
@@ -29,7 +28,7 @@ DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
sound_list: Dict[int, Tuple[str, Optional[int], float]] = {
sound_list: dict[int, tuple[str, int | None, float]] = {
# AudibleAlert, file name, play count (none for infinite)
AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME),
@@ -42,11 +41,21 @@ sound_list: Dict[int, Tuple[str, Optional[int], float]] = {
AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
AudibleAlert.firefox: ("firefox.wav", None, MAX_VOLUME),
# Random Events
AudibleAlert.angry: ("angry.wav", 1, MAX_VOLUME),
AudibleAlert.doc: ("doc.wav", 1, MAX_VOLUME),
AudibleAlert.fart: ("fart.wav", 1, MAX_VOLUME),
AudibleAlert.firefox: ("firefox.wav", 1, MAX_VOLUME),
AudibleAlert.nessie: ("nessie.wav", 1, MAX_VOLUME),
AudibleAlert.noice: ("noice.wav", 1, MAX_VOLUME),
AudibleAlert.uwu: ("uwu.wav", 1, MAX_VOLUME),
# Other
AudibleAlert.goat: ("goat.wav", None, MAX_VOLUME),
}
def check_controls_timeout_alert(sm):
controls_missing = time.monotonic() - sm.rcv_time['controlsState']
controls_missing = time.monotonic() - sm.recv_time['controlsState']
if controls_missing > CONTROLS_TIMEOUT:
if sm['controlsState'].enabled and (controls_missing - CONTROLS_TIMEOUT) < 10:
@@ -61,9 +70,20 @@ class Soundd:
self.params = Params()
self.params_memory = Params("/dev/shm/params")
self.update_frogpilot_params()
self.previous_sound_directory = None
self.random_events_directory = BASEDIR + "/selfdrive/frogpilot/assets/random_events/sounds/"
self.load_sounds()
self.random_events_map = {
AudibleAlert.angry: MAX_VOLUME,
AudibleAlert.doc: MAX_VOLUME,
AudibleAlert.fart: MAX_VOLUME,
AudibleAlert.firefox: MAX_VOLUME,
AudibleAlert.nessie: MAX_VOLUME,
AudibleAlert.noice: MAX_VOLUME,
AudibleAlert.uwu: MAX_VOLUME,
}
self.update_frogpilot_params()
self.current_alert = AudibleAlert.none
self.current_volume = MIN_VOLUME
@@ -74,13 +94,22 @@ class Soundd:
self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
def load_sounds(self):
self.loaded_sounds: Dict[int, np.ndarray] = {}
self.loaded_sounds: dict[int, np.ndarray] = {}
# Load all sounds
for sound in sound_list:
if sound == AudibleAlert.goat and not self.goat_scream:
continue
filename, play_count, volume = sound_list[sound]
wavefile = wave.open(self.sound_directory + filename, 'r')
if sound in self.random_events_map:
wavefile = wave.open(self.random_events_directory + filename, 'r')
else:
try:
wavefile = wave.open(self.sound_directory + filename, 'r')
except FileNotFoundError:
wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r')
assert wavefile.getnchannels() == 1
assert wavefile.getsampwidth() == 2
@@ -156,9 +185,15 @@ class Soundd:
while True:
sm.update(0)
if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
if sm.updated['microphone'] and self.current_alert == AudibleAlert.none and not self.alert_volume_control: # only update volume filter when not playing alert
self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x)) if not self.silent_mode else 0
self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
elif self.alert_volume_control and self.current_alert in self.volume_map:
self.current_volume = self.volume_map[self.current_alert] / 100.0
elif self.current_alert in self.random_events_map:
self.current_volume = self.random_events_map[self.current_alert]
self.get_audible_alert(sm)
@@ -166,28 +201,67 @@ class Soundd:
assert stream.active
# Update FrogPilot parameters
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
updateFrogPilotParams = threading.Thread(target=self.update_frogpilot_params)
updateFrogPilotParams.start()
# Update FrogPilot parameters
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
self.update_frogpilot_params()
def update_frogpilot_params(self):
self.silent_mode = self.params.get_bool("SilentMode")
self.alert_volume_control = self.params.get_bool("AlertVolumeControl")
self.volume_map = {
AudibleAlert.engage: self.params.get_int("EngageVolume"),
AudibleAlert.disengage: self.params.get_int("DisengageVolume"),
AudibleAlert.refuse: self.params.get_int("RefuseVolume"),
AudibleAlert.prompt: self.params.get_int("PromptVolume"),
AudibleAlert.promptRepeat: self.params.get_int("PromptVolume"),
AudibleAlert.promptDistracted: self.params.get_int("PromptDistractedVolume"),
AudibleAlert.warningSoft: self.params.get_int("WarningSoftVolume"),
AudibleAlert.warningImmediate: self.params.get_int("WarningImmediateVolume"),
AudibleAlert.goat: self.params.get_int("PromptVolume"),
}
custom_theme = self.params.get_bool("CustomTheme")
custom_sounds = self.params.get_int("CustomSounds") if custom_theme else 0
self.goat_scream = custom_sounds == 1 and self.params.get_bool("GoatScream")
theme_configuration = {
0: "stock",
1: "frog_theme",
2: "tesla_theme",
3: "stalin_theme"
}
theme_name = theme_configuration.get(custom_sounds, "stock")
self.sound_directory = (f"{BASEDIR}/selfdrive/frogpilot/assets/custom_themes/{theme_name}/sounds/" if custom_sounds else f"{BASEDIR}/selfdrive/assets/sounds/")
holiday_themes = custom_theme and self.params.get_bool("HolidayThemes")
current_holiday_theme = self.params_memory.get_int("CurrentHolidayTheme") if holiday_themes else 0
self.load_sounds()
holiday_theme_configuration = {
1: "april_fools",
2: "christmas",
3: "cinco_de_mayo",
4: "easter",
5: "fourth_of_july",
6: "halloween",
7: "new_years_day",
8: "st_patricks_day",
9: "thanksgiving",
10: "valentines_day",
11: "world_frog_day",
}
if current_holiday_theme != 0:
theme_name = holiday_theme_configuration.get(current_holiday_theme)
self.sound_directory = BASEDIR + ("/selfdrive/frogpilot/assets/holiday_themes/" + theme_name + "/sounds/")
self.goat_scream = False
else:
theme_name = theme_configuration.get(custom_sounds)
self.sound_directory = BASEDIR + ("/selfdrive/frogpilot/assets/custom_themes/" + theme_name + "/sounds/" if custom_sounds != 0 else "/selfdrive/assets/sounds/")
if self.sound_directory != self.previous_sound_directory:
self.load_sounds()
self.previous_sound_directory = self.sound_directory
def main():
s = Soundd()