Soundd: only update ambient db when not playing an alert (#30620)

* move to soundd + only when quiet

* not filtered

selfdrive/ui/soundd.py

@@ -1,12 +1,16 @@
 import math
-import time
 import numpy as np
+import time
 import wave
 
 from typing import Dict, Optional, Tuple
 
 from cereal import car, messaging
 from openpilot.common.basedir import BASEDIR
+from openpilot.common.filter_simple import FirstOrderFilter
+
+from openpilot.system import micd
+
 from openpilot.common.realtime import Ratekeeper
 from openpilot.system.hardware import PC
 from openpilot.system.swaglog import cloudlog
@@ -15,6 +19,7 @@ SAMPLE_RATE = 48000
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
 CONTROLS_TIMEOUT = 5 # 5 seconds
+FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
 AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
@@ -56,6 +61,8 @@ class Soundd:
 
     self.controls_timeout_alert = False
 
+    self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
+
   def load_sounds(self):
     self.loaded_sounds: Dict[int, np.ndarray] = {}
 
@@ -137,8 +144,9 @@ class Soundd:
       while True:
         sm.update(0)
 
-        if sm.updated['microphone']:
-          self.current_volume = self.calculate_volume(sm["microphone"].filteredSoundPressureWeightedDb)
+        if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # 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))
 
         self.get_audible_alert(sm)
 

system/micd.py

@@ -2,7 +2,6 @@
 import numpy as np
 
 from cereal import messaging
-from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
 from openpilot.system.swaglog import cloudlog
 
@@ -10,7 +9,6 @@ RATE = 10
 FFT_SAMPLES = 4096
 REFERENCE_SPL = 2e-5  # newtons/m^2
 SAMPLE_RATE = 44100
-FILTER_DT = 1. / (SAMPLE_RATE / FFT_SAMPLES)
 
 
 def calculate_spl(measurements):
@@ -50,15 +48,12 @@ class Mic:
     self.sound_pressure_weighted = 0
     self.sound_pressure_level_weighted = 0
 
-    self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
-
   def update(self):
     msg = messaging.new_message('microphone', valid=True)
     msg.microphone.soundPressure = float(self.sound_pressure)
     msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted)
 
     msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted)
-    msg.microphone.filteredSoundPressureWeightedDb = float(self.spl_filter_weighted.x)
 
     self.pm.send('microphone', msg)
     self.rk.keep_time()
@@ -79,7 +74,6 @@ class Mic:
       self.sound_pressure, _ = calculate_spl(measurements)
       measurements_weighted = apply_a_weighting(measurements)
       self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted)
-      self.spl_filter_weighted.update(self.sound_pressure_level_weighted)
 
       self.measurements = self.measurements[FFT_SAMPLES:]