soundd (#21619)
* refactor alerts * doesn't go here anymore * soudd * handle controls unresponsive * same check * fix path * update sound test * nice * fix c2 * add script * update tests Co-authored-by: Comma Device <device@comma.ai>pull/214/head
Adeeb Shihadeh
4 years ago
committed by
GitHub
parent
0f93cb12ac
commit
12948e661a
12 changed files with 169 additions and 110 deletions
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#!/bin/sh |
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export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH" |
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exec ./_soundd |
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#include <sys/resource.h> |
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#include <map> |
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#include <QApplication> |
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#include <QString> |
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#include <QSoundEffect> |
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#include "cereal/messaging/messaging.h" |
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#include "selfdrive/common/util.h" |
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#include "selfdrive/hardware/hw.h" |
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#include "selfdrive/ui/ui.h" |
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// TODO: detect when we can't play sounds
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// TODO: detect when we can't display the UI
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class Sound : public QObject { |
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public: |
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explicit Sound(QObject *parent = 0) { |
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std::tuple<AudibleAlert, QString, bool> sound_list[] = { |
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{AudibleAlert::CHIME_DISENGAGE, "../assets/sounds/disengaged.wav", false}, |
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{AudibleAlert::CHIME_ENGAGE, "../assets/sounds/engaged.wav", false}, |
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{AudibleAlert::CHIME_WARNING1, "../assets/sounds/warning_1.wav", false}, |
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{AudibleAlert::CHIME_WARNING2, "../assets/sounds/warning_2.wav", false}, |
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{AudibleAlert::CHIME_WARNING2_REPEAT, "../assets/sounds/warning_2.wav", true}, |
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{AudibleAlert::CHIME_WARNING_REPEAT, "../assets/sounds/warning_repeat.wav", true}, |
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{AudibleAlert::CHIME_ERROR, "../assets/sounds/error.wav", false}, |
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{AudibleAlert::CHIME_PROMPT, "../assets/sounds/error.wav", false} |
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}; |
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for (auto &[alert, fn, loops] : sound_list) { |
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sounds[alert].first.setSource(QUrl::fromLocalFile(fn)); |
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sounds[alert].second = loops ? QSoundEffect::Infinite : 0; |
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} |
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sm = new SubMaster({"carState", "controlsState"}); |
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QTimer *timer = new QTimer(this); |
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QObject::connect(timer, &QTimer::timeout, this, &Sound::update); |
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timer->start(); |
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}; |
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~Sound() { |
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delete sm; |
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}; |
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private slots: |
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void update() { |
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sm->update(100); |
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if (sm->updated("carState")) { |
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// scale volume with speed
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volume = util::map_val((*sm)["carState"].getCarState().getVEgo(), 0.f, 20.f, |
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Hardware::MIN_VOLUME, Hardware::MAX_VOLUME); |
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} |
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if (sm->updated("controlsState")) { |
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const cereal::ControlsState::Reader &cs = (*sm)["controlsState"].getControlsState(); |
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setAlert({QString::fromStdString(cs.getAlertText1()), |
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QString::fromStdString(cs.getAlertText2()), |
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QString::fromStdString(cs.getAlertType()), |
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cs.getAlertSize(), cs.getAlertSound()}); |
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} else if (sm->rcv_frame("controlsState") > 0 && (*sm)["controlsState"].getControlsState().getEnabled() && |
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((nanos_since_boot() - sm->rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT)) { |
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setAlert(CONTROLS_UNRESPONSIVE_ALERT); |
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} |
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} |
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void setAlert(Alert a) { |
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if (!alert.equal(a)) { |
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alert = a; |
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// stop sounds
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for (auto &kv : sounds) { |
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// Only stop repeating sounds
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auto &[sound, loops] = kv.second; |
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if (sound.loopsRemaining() == QSoundEffect::Infinite) { |
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sound.stop(); |
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} |
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} |
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// play sound
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if (alert.sound != AudibleAlert::NONE) { |
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auto &[sound, loops] = sounds[alert.sound]; |
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sound.setLoopCount(loops); |
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sound.setVolume(volume); |
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sound.play(); |
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} |
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} |
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} |
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private: |
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Alert alert; |
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float volume = Hardware::MIN_VOLUME; |
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std::map<AudibleAlert, std::pair<QSoundEffect, int>> sounds; |
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SubMaster *sm; |
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}; |
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int main(int argc, char **argv) { |
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setpriority(PRIO_PROCESS, 0, -20); |
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QApplication a(argc, argv); |
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Sound sound; |
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return a.exec(); |
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} |
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