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>
old-commit-hash: 12948e661a
commatwo_master
Adeeb Shihadeh
4 years ago
committed by
GitHub
parent
b1d4b80f01
commit
6eea281a19
12 changed files with 169 additions and 110 deletions
@ -0,0 +1,3 @@ |
||||
#!/bin/sh |
||||
export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH" |
||||
exec ./_soundd |
||||
@ -0,0 +1,100 @@ |
||||
#include <sys/resource.h> |
||||
|
||||
#include <map> |
||||
|
||||
#include <QApplication> |
||||
#include <QString> |
||||
#include <QSoundEffect> |
||||
|
||||
#include "cereal/messaging/messaging.h" |
||||
#include "selfdrive/common/util.h" |
||||
#include "selfdrive/hardware/hw.h" |
||||
#include "selfdrive/ui/ui.h" |
||||
|
||||
// TODO: detect when we can't play sounds
|
||||
// TODO: detect when we can't display the UI
|
||||
|
||||
class Sound : public QObject { |
||||
public: |
||||
explicit Sound(QObject *parent = 0) { |
||||
std::tuple<AudibleAlert, QString, bool> sound_list[] = { |
||||
{AudibleAlert::CHIME_DISENGAGE, "../assets/sounds/disengaged.wav", false}, |
||||
{AudibleAlert::CHIME_ENGAGE, "../assets/sounds/engaged.wav", false}, |
||||
{AudibleAlert::CHIME_WARNING1, "../assets/sounds/warning_1.wav", false}, |
||||
{AudibleAlert::CHIME_WARNING2, "../assets/sounds/warning_2.wav", false}, |
||||
{AudibleAlert::CHIME_WARNING2_REPEAT, "../assets/sounds/warning_2.wav", true}, |
||||
{AudibleAlert::CHIME_WARNING_REPEAT, "../assets/sounds/warning_repeat.wav", true}, |
||||
{AudibleAlert::CHIME_ERROR, "../assets/sounds/error.wav", false}, |
||||
{AudibleAlert::CHIME_PROMPT, "../assets/sounds/error.wav", false} |
||||
}; |
||||
for (auto &[alert, fn, loops] : sound_list) { |
||||
sounds[alert].first.setSource(QUrl::fromLocalFile(fn)); |
||||
sounds[alert].second = loops ? QSoundEffect::Infinite : 0; |
||||
} |
||||
|
||||
sm = new SubMaster({"carState", "controlsState"}); |
||||
|
||||
QTimer *timer = new QTimer(this); |
||||
QObject::connect(timer, &QTimer::timeout, this, &Sound::update); |
||||
timer->start(); |
||||
}; |
||||
~Sound() { |
||||
delete sm; |
||||
}; |
||||
|
||||
private slots: |
||||
void update() { |
||||
sm->update(100); |
||||
if (sm->updated("carState")) { |
||||
// scale volume with speed
|
||||
volume = util::map_val((*sm)["carState"].getCarState().getVEgo(), 0.f, 20.f, |
||||
Hardware::MIN_VOLUME, Hardware::MAX_VOLUME); |
||||
} |
||||
if (sm->updated("controlsState")) { |
||||
const cereal::ControlsState::Reader &cs = (*sm)["controlsState"].getControlsState(); |
||||
setAlert({QString::fromStdString(cs.getAlertText1()), |
||||
QString::fromStdString(cs.getAlertText2()), |
||||
QString::fromStdString(cs.getAlertType()), |
||||
cs.getAlertSize(), cs.getAlertSound()}); |
||||
} else if (sm->rcv_frame("controlsState") > 0 && (*sm)["controlsState"].getControlsState().getEnabled() && |
||||
((nanos_since_boot() - sm->rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT)) { |
||||
setAlert(CONTROLS_UNRESPONSIVE_ALERT); |
||||
} |
||||
} |
||||
|
||||
void setAlert(Alert a) { |
||||
if (!alert.equal(a)) { |
||||
alert = a; |
||||
// stop sounds
|
||||
for (auto &kv : sounds) { |
||||
// Only stop repeating sounds
|
||||
auto &[sound, loops] = kv.second; |
||||
if (sound.loopsRemaining() == QSoundEffect::Infinite) { |
||||
sound.stop(); |
||||
} |
||||
} |
||||
|
||||
// play sound
|
||||
if (alert.sound != AudibleAlert::NONE) { |
||||
auto &[sound, loops] = sounds[alert.sound]; |
||||
sound.setLoopCount(loops); |
||||
sound.setVolume(volume); |
||||
sound.play(); |
||||
} |
||||
} |
||||
} |
||||
|
||||
private: |
||||
Alert alert; |
||||
float volume = Hardware::MIN_VOLUME; |
||||
std::map<AudibleAlert, std::pair<QSoundEffect, int>> sounds; |
||||
SubMaster *sm; |
||||
}; |
||||
|
||||
int main(int argc, char **argv) { |
||||
setpriority(PRIO_PROCESS, 0, -20); |
||||
|
||||
QApplication a(argc, argv); |
||||
Sound sound; |
||||
return a.exec(); |
||||
} |
||||
Loading…
Reference in new issue