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 4bbd870746.
* 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/26652/head
Cameron Clough
2 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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