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Compile FrogPilot

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This commit is contained in:
FrogAi
2024-03-10 20:59:55 -07:00
parent 69e7feaf01
commit f1acd339d7
1485 changed files with 426154 additions and 398339 deletions
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83
selfdrive/ui/soundd.py
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@@ -46,12 +46,12 @@ sound_list: Dict[int, Tuple[str, Optional[int], float]] = {
AudibleAlert.angry: ("angry.wav", 1, MAX_VOLUME),
AudibleAlert.fart: ("fart.wav", 1, MAX_VOLUME),
AudibleAlert.firefox: ("firefox.wav", 1, MAX_VOLUME),
AudibleAlert.noice: ("noice.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", 1, MAX_VOLUME),
AudibleAlert.goat: ("goat.wav", None, MAX_VOLUME),
}
def check_controls_timeout_alert(sm):
@@ -72,9 +72,16 @@ class Soundd:
self.random_events_directory = BASEDIR + "/selfdrive/frogpilot/assets/random_events/sounds/"
self.update_frogpilot_params()
self.random_events_map = {
AudibleAlert.angry: MAX_VOLUME,
AudibleAlert.fart: MAX_VOLUME,
AudibleAlert.firefox: MAX_VOLUME,
AudibleAlert.nessie: MAX_VOLUME,
AudibleAlert.noice: MAX_VOLUME,
AudibleAlert.uwu: MAX_VOLUME,
}
self.load_sounds()
self.update_frogpilot_params()
self.current_alert = AudibleAlert.none
self.current_volume = MIN_VOLUME
@@ -89,12 +96,18 @@ class Soundd:
# 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]
if os.path.exists(os.path.join(self.random_events_directory, filename)):
if sound in self.random_events_map:
wavefile = wave.open(self.random_events_directory + filename, 'r')
else:
wavefile = wave.open(self.sound_directory + filename, 'r')
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
@@ -163,44 +176,40 @@ class Soundd:
sm = messaging.SubMaster(['controlsState', 'microphone'])
with self.get_stream(sd) as stream:
rk = Ratekeeper(20)
try:
with self.get_stream(sd) as stream:
rk = Ratekeeper(20)
cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
while True:
sm.update(0)
cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
while True:
sm.update(0)
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 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))
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.alert_volume_control and self.current_alert in self.volume_map:
self.current_volume = self.volume_map[self.current_alert] / 100.0
# Increase the volume for Random Events
elif self.current_alert in self.random_events_map:
self.current_volume = self.random_events_map[self.current_alert]
# Increase the volume for Random Events
elif self.current_alert in self.random_events_map:
self.current_volume = self.random_events_map[self.current_alert]
self.get_audible_alert(sm)
self.get_audible_alert(sm)
rk.keep_time()
rk.keep_time()
assert stream.active
if not stream.active:
raise AssertionError("Stream is not active")
# Update FrogPilot parameters
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
self.update_frogpilot_params()
# Update FrogPilot parameters
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
self.update_frogpilot_params()
except AssertionError:
pass
def update_frogpilot_params(self):
self.random_events_map = {
AudibleAlert.angry: MAX_VOLUME,
AudibleAlert.fart: MAX_VOLUME,
AudibleAlert.firefox: MAX_VOLUME,
AudibleAlert.nessie: MAX_VOLUME,
AudibleAlert.noice: MAX_VOLUME,
AudibleAlert.uwu: MAX_VOLUME,
}
self.alert_volume_control = self.params.get_bool("AlertVolumeControl")
self.volume_map = {
@@ -215,11 +224,12 @@ class Soundd:
AudibleAlert.warningSoft: self.params.get_int("WarningSoftVolume"),
AudibleAlert.warningImmediate: self.params.get_int("WarningImmediateVolume"),
AudibleAlert.goat: self.params.get_int("WarningSoftVolume"),
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 = {
1: "frog_theme",
@@ -247,9 +257,10 @@ class Soundd:
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 else "/selfdrive/assets/sounds/")
self.sound_directory = BASEDIR + ("/selfdrive/frogpilot/assets/custom_themes/" + theme_name + "/sounds/" if custom_sounds != 0 else "/selfdrive/assets/sounds/")
self.load_sounds()