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69 lines
2.1 KiB
69 lines
2.1 KiB
#!/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.hardware import HARDWARE
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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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if not HARDWARE.is_sound_playing():
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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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