micd: scale sound volume with ambient noise level (#26399)
* test changing sound volume * test changing sound volume * create system/hardware/pc/hardware.h * implement Hardware::set_volume using pactl * soundd: use Hardware::set_volume * add sounddevice dependency * sounddevice example * simple micd * cleanup * remove this * fix process config * add to release files * hardware: get sound input device * no more offroad * debug * calculate volume from all measurements since last update * use microphone noise level to update sound volume * fix scale * mute microphone during alerts * log raw noise level * hardware: reduce tici min volume * improve scale * add package * clear measurements on muted * change default to min volume and respond quicker * fixes Co-authored-by: Shane Smiskol <shane@smiskol.com> * logarithmic scaling * fix * respond quicker * fixes * tweak scaling * specify default device * Revert "hardware: get sound input device" This reverts commit 50f594f7a3bab005023482bc793147a8c8dae5d7. * tuning * forgot to update submaster * tuning * don't mute microphone, and clip measurement * remove submaster * fixes * tuning * implement Hardware::set_volume using pactl * Revert "test changing sound volume" This reverts commit 4bbd870746ec86d1c9871a6175def96cf7f751a6. * draft * draft * calculate sound pressure level in dB * fix setting * faster filter * start at initial value * don't run command in background * pactl: use default sink * use sound pressure db * tuning * bump up max volume threshold * update filter slower * fix divide by zero * bump cereal Co-authored-by: Shane Smiskol <shane@smiskol.com>pull/214/head
Cameron Clough
3 years ago
committed by
GitHub
parent
3d2f6c1dc0
commit
108ff15f5d
9 changed files with 98 additions and 15 deletions
@ -1 +1 @@ |
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Subproject commit 19a0c46b71150a8dabc5644eb24f261feee45b9c |
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Subproject commit dbc9846ac9c9e735ee2f4a281ce079cfff7ea285 |
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@ -0,0 +1,67 @@ |
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#!/usr/bin/env python3 |
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import sounddevice as sd |
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import numpy as np |
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from cereal import messaging |
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from common.filter_simple import FirstOrderFilter |
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from common.realtime import Ratekeeper |
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from system.swaglog import cloudlog |
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RATE = 10 |
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DT_MIC = 1. / RATE |
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REFERENCE_SPL = 2 * 10 ** -5 # newtons/m^2 |
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class Mic: |
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def __init__(self, pm): |
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self.pm = pm |
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self.rk = Ratekeeper(RATE) |
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self.measurements = np.empty(0) |
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self.spl_filter = FirstOrderFilter(0, 4, DT_MIC, initialized=False) |
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def update(self): |
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# self.measurements contains amplitudes from -1 to 1 which we use to |
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# calculate an uncalibrated sound pressure level |
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if len(self.measurements) > 0: |
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# https://www.engineeringtoolbox.com/sound-pressure-d_711.html |
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sound_pressure = np.sqrt(np.mean(self.measurements ** 2)) # RMS of amplitudes |
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sound_pressure_level = 20 * np.log10(sound_pressure / REFERENCE_SPL) if sound_pressure > 0 else 0 # dB |
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self.spl_filter.update(sound_pressure_level) |
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else: |
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sound_pressure = 0 |
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sound_pressure_level = 0 |
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self.measurements = np.empty(0) |
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msg = messaging.new_message('microphone') |
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msg.microphone.soundPressure = float(sound_pressure) |
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msg.microphone.soundPressureDb = float(sound_pressure_level) |
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msg.microphone.filteredSoundPressureDb = float(self.spl_filter.x) |
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self.pm.send('microphone', msg) |
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self.rk.keep_time() |
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def callback(self, indata, frames, time, status): |
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self.measurements = np.concatenate((self.measurements, indata[:, 0])) |
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def micd_thread(self, device=None): |
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if device is None: |
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device = "sysdefault" |
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with sd.InputStream(device=device, channels=1, samplerate=44100, callback=self.callback) as stream: |
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cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}") |
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while True: |
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self.update() |
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def main(pm=None, sm=None): |
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if pm is None: |
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pm = messaging.PubMaster(['microphone']) |
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mic = Mic(pm) |
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mic.micd_thread() |
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if __name__ == "__main__": |
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main() |
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