soundd: misc cleanup + tests (#22796)
* pass AudibleAlert to setAlert * apply reviews * remove trailing underscore * add current_alert_type * common function get_alert * same freq as ui * small cleanup * setvolumne on change * static Alert::get * test_sounds * remove old test files * loop twice * assert loopsRemaining * assert stop * init to min_volumne * Revert "remove old test files" This reverts commit 12e8bfefae1ae7f8649d3eda1e4126ff8eb1fe17. * move to ui/soundd * move test to tests/test_sound.cc * remove old tests * cleanup * lower volume * Revert "remove old tests" This reverts commitpull/22844/heade6bb12abfa. * return Alert * cleanup * remove #include <optional> * cleanup .gitignore * revert to std::optional * Revert "revert to std::optional" This reverts commita66291c51f. * cleanup * remove volume check Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Dean Lee
4 years ago
committed by
GitHub
parent
fb8ba34f31
commit
797bb1acb0
17 changed files with 230 additions and 160 deletions
@ -1,119 +0,0 @@ |
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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 "selfdrive/ui/qt/util.h" |
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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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void sigHandler(int s) { |
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qApp->quit(); |
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} |
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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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// TODO: merge again and add EQ in the amp config
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const QString sound_asset_path = Hardware::TICI() ? "../assets/sounds_tici/" : "../assets/sounds/"; |
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std::tuple<AudibleAlert, QString, bool> sound_list[] = { |
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{AudibleAlert::CHIME_DISENGAGE, sound_asset_path + "disengaged.wav", false}, |
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{AudibleAlert::CHIME_ENGAGE, sound_asset_path + "engaged.wav", false}, |
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{AudibleAlert::CHIME_WARNING1, sound_asset_path + "warning_1.wav", false}, |
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{AudibleAlert::CHIME_WARNING2, sound_asset_path + "warning_2.wav", false}, |
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{AudibleAlert::CHIME_WARNING2_REPEAT, sound_asset_path + "warning_2.wav", true}, |
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{AudibleAlert::CHIME_WARNING_REPEAT, sound_asset_path + "warning_repeat.wav", true}, |
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{AudibleAlert::CHIME_ERROR, sound_asset_path + "error.wav", false}, |
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{AudibleAlert::CHIME_PROMPT, sound_asset_path + "error.wav", false} |
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}; |
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for (auto &[alert, fn, loops] : sound_list) { |
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QSoundEffect *s = new QSoundEffect(this); |
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QObject::connect(s, &QSoundEffect::statusChanged, this, &Sound::checkStatus); |
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s->setSource(QUrl::fromLocalFile(fn)); |
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sounds[alert] = {s, 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 checkStatus() { |
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QSoundEffect *s = qobject_cast<QSoundEffect*>(sender()); |
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assert(s->status() != QSoundEffect::Error); |
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} |
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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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for (auto &[s, loops] : sounds) { |
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s->setVolume(std::round(100 * volume) / 100); |
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} |
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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 &[s, loops] : sounds) { |
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// Only stop repeating sounds
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if (s->loopsRemaining() == QSoundEffect::Infinite) { |
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s->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 &[s, loops] = sounds[alert.sound]; |
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s->setLoopCount(loops); |
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s->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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QMap<AudibleAlert, QPair<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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qInstallMessageHandler(swagLogMessageHandler); |
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setpriority(PRIO_PROCESS, 0, -20); |
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QApplication a(argc, argv); |
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std::signal(SIGINT, sigHandler); |
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std::signal(SIGTERM, sigHandler); |
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Sound sound; |
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return a.exec(); |
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} |
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@ -0,0 +1 @@ |
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_soundd |
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@ -0,0 +1,22 @@ |
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#include <sys/resource.h> |
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#include <QApplication> |
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#include "selfdrive/ui/qt/util.h" |
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#include "selfdrive/ui/soundd/sound.h" |
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void sigHandler(int s) { |
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qApp->quit(); |
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} |
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int main(int argc, char **argv) { |
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qInstallMessageHandler(swagLogMessageHandler); |
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setpriority(PRIO_PROCESS, 0, -20); |
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QApplication a(argc, argv); |
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std::signal(SIGINT, sigHandler); |
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std::signal(SIGTERM, sigHandler); |
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Sound sound; |
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return a.exec(); |
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} |
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@ -0,0 +1,58 @@ |
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#include "selfdrive/ui/soundd/sound.h" |
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#include "cereal/messaging/messaging.h" |
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#include "selfdrive/common/util.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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Sound::Sound(QObject *parent) : sm({"carState", "controlsState"}) { |
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const QString sound_asset_path = Hardware::TICI() ? "../../assets/sounds_tici/" : "../../assets/sounds/"; |
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for (auto &[alert, fn, loops] : sound_list) { |
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QSoundEffect *s = new QSoundEffect(this); |
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QObject::connect(s, &QSoundEffect::statusChanged, [=]() { |
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assert(s->status() != QSoundEffect::Error); |
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}); |
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s->setSource(QUrl::fromLocalFile(sound_asset_path + fn)); |
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s->setVolume(Hardware::MIN_VOLUME); |
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sounds[alert] = {s, loops ? QSoundEffect::Infinite : 0}; |
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} |
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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(1000 / UI_FREQ); |
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}; |
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void Sound::update() { |
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sm.update(0); |
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if (sm.updated("carState")) { |
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// scale volume with speed
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float 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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for (auto &[s, loops] : sounds) { |
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s->setVolume(std::round(100 * volume) / 100); |
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} |
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} |
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setAlert(Alert::get(sm, 1)); |
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} |
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void Sound::setAlert(const Alert &alert) { |
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if (!current_alert.equal(alert)) { |
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current_alert = alert; |
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// stop sounds
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for (auto &[s, loops] : sounds) { |
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// Only stop repeating sounds
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if (s->loopsRemaining() == QSoundEffect::Infinite) { |
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s->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 &[s, loops] = sounds[alert.sound]; |
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s->setLoopCount(loops); |
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s->play(); |
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} |
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} |
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} |
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#include <QMap> |
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#include <QSoundEffect> |
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#include <QString> |
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#include "selfdrive/hardware/hw.h" |
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#include "selfdrive/ui/ui.h" |
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const std::tuple<AudibleAlert, QString, bool> sound_list[] = { |
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{AudibleAlert::CHIME_DISENGAGE, "disengaged.wav", false}, |
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{AudibleAlert::CHIME_ENGAGE, "engaged.wav", false}, |
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{AudibleAlert::CHIME_WARNING1, "warning_1.wav", false}, |
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{AudibleAlert::CHIME_WARNING2, "warning_2.wav", false}, |
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{AudibleAlert::CHIME_WARNING2_REPEAT, "warning_2.wav", true}, |
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{AudibleAlert::CHIME_WARNING_REPEAT, "warning_repeat.wav", true}, |
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{AudibleAlert::CHIME_ERROR, "error.wav", false}, |
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{AudibleAlert::CHIME_PROMPT, "error.wav", false}, |
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}; |
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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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protected: |
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void update(); |
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void setAlert(const Alert &alert); |
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Alert current_alert = {}; |
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QMap<AudibleAlert, QPair<QSoundEffect *, int>> sounds; |
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SubMaster sm; |
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}; |
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@ -1,2 +1,3 @@ |
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test |
test |
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play_sound |
playsound |
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test_sound |
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#define CATCH_CONFIG_RUNNER |
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#include "catch2/catch.hpp" |
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#include <QCoreApplication> |
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int main(int argc, char **argv) { |
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// unit tests for Qt
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QCoreApplication app(argc, argv); |
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const int res = Catch::Session().run(argc, argv); |
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return (res < 0xff ? res : 0xff); |
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} |
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#include <QEventLoop> |
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#include <QMap> |
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#include <QThread> |
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#include "catch2/catch.hpp" |
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#include "selfdrive/ui/soundd/sound.h" |
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class TestSound : public Sound { |
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public: |
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TestSound() : Sound() { |
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for (auto i = sounds.constBegin(); i != sounds.constEnd(); ++i) { |
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QObject::connect(i.value().first, &QSoundEffect::playingChanged, [=, s = i.value().first, a = i.key()]() { |
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if (s->isPlaying()) { |
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bool repeat = a == AudibleAlert::CHIME_WARNING_REPEAT || a == AudibleAlert::CHIME_WARNING2_REPEAT; |
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REQUIRE((s->loopsRemaining() == repeat ? QSoundEffect::Infinite : 1)); |
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sound_stats[a].first++; |
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} else { |
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sound_stats[a].second++; |
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} |
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}); |
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} |
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} |
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QMap<AudibleAlert, std::pair<int, int>> sound_stats; |
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}; |
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void controls_thread(int loop_cnt) { |
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PubMaster pm({"controlsState"}); |
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const int DT_CTRL = 10; // ms
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for (int i = 0; i < loop_cnt; ++i) { |
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for (auto &[alert, fn, loops] : sound_list) { |
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printf("testing %s\n", qPrintable(fn)); |
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for (int j = 0; j < 1000 / DT_CTRL; ++j) { |
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MessageBuilder msg; |
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auto cs = msg.initEvent().initControlsState(); |
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cs.setAlertSound(alert); |
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cs.setAlertType(fn.toStdString()); |
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pm.send("controlsState", msg); |
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QThread::msleep(DT_CTRL); |
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} |
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} |
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} |
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QThread::currentThread()->quit(); |
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} |
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TEST_CASE("test sound") { |
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QEventLoop loop; |
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TestSound test_sound; |
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const int test_loop_cnt = 2; |
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QThread t; |
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QObject::connect(&t, &QThread::started, [=]() { controls_thread(test_loop_cnt); }); |
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QObject::connect(&t, &QThread::finished, [&]() { loop.quit(); }); |
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t.start(); |
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loop.exec(); |
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for (auto [play, stop] : test_sound.sound_stats) { |
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REQUIRE(play == test_loop_cnt); |
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REQUIRE(stop == test_loop_cnt); |
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} |
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} |
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