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move to ui/soundd

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pull/22796/head
deanlee 4 years ago
parent aeba310800
commit 9bac532ff9
10 changed files with 173 additions and 167 deletions
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  1. 1
      .gitignore
  2. 4
      release/files_common
  3. 2
      selfdrive/manager/process_config.py
  4. 2
      selfdrive/ui/SConscript
  5. 163
      selfdrive/ui/soundd.cc
  6. 1
      selfdrive/ui/soundd/.gitignore
  7. 19
      selfdrive/ui/soundd/main.cc
  8. 110
      selfdrive/ui/soundd/sound.cc
  9. 38
      selfdrive/ui/soundd/sound.h
  10. 0
      selfdrive/ui/soundd/soundd

1
.gitignore vendored
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@ -42,7 +42,6 @@ selfdrive/logcatd/logcatd
selfdrive/mapd/default_speeds_by_region.json
selfdrive/proclogd/proclogd
selfdrive/ui/_ui
selfdrive/ui/_soundd
selfdrive/test/longitudinal_maneuvers/out
selfdrive/visiond/visiond
selfdrive/loggerd/loggerd

4
release/files_common
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@ -340,7 +340,9 @@ selfdrive/ui/*.h
selfdrive/ui/ui
selfdrive/ui/text
selfdrive/ui/spinner
selfdrive/ui/soundd
selfdrive/ui/soundd/*.cc
selfdrive/ui/soundd/*.h
selfdrive/ui/soundd/soundd
selfdrive/ui/qt/*.cc
selfdrive/ui/qt/*.h

2
selfdrive/manager/process_config.py
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@ -19,7 +19,7 @@ procs = [
NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON),
NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(5 if TICI else None)),
NativeProcess("soundd", "selfdrive/ui", ["./soundd"]),
NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]),
NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),

2
selfdrive/ui/SConscript
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@ -44,7 +44,7 @@ qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src,
asset_obj = qt_env.Object("assets", assets)
# build soundd
qt_env.Program("_soundd", "soundd.cc", LIBS=qt_libs)
qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs)
if GetOption('test'):
qt_env.Program("tests/playsound", "tests/playsound.cc", LIBS=base_libs)

163
selfdrive/ui/soundd.cc
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@ -1,163 +0,0 @@
#include <sys/resource.h>
#include <map>
#include <QApplication>
#include <QString>
#include <QSoundEffect>
#include <QThread>
#include "selfdrive/ui/qt/util.h"
#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
void sigHandler(int s) {
qApp->quit();
}
static std::tuple<AudibleAlert, QString, bool> sound_list[] = {
{AudibleAlert::CHIME_DISENGAGE, "disengaged.wav", false},
{AudibleAlert::CHIME_ENGAGE, "engaged.wav", false},
{AudibleAlert::CHIME_WARNING1, "warning_1.wav", false},
{AudibleAlert::CHIME_WARNING2, "warning_2.wav", false},
{AudibleAlert::CHIME_WARNING2_REPEAT, "warning_2.wav", true},
{AudibleAlert::CHIME_WARNING_REPEAT, "warning_repeat.wav", true},
{AudibleAlert::CHIME_ERROR, "error.wav", false},
{AudibleAlert::CHIME_PROMPT, "error.wav", false},
};
class Sound : public QObject {
public:
explicit Sound(QObject *parent = 0) : sm({"carState", "controlsState"}) {
// TODO: merge again and add EQ in the amp config
const QString sound_asset_path = Hardware::TICI() ? "../assets/sounds_tici/" : "../assets/sounds/";
for (auto &[alert, fn, loops] : sound_list) {
QSoundEffect *s = new QSoundEffect(this);
QObject::connect(s, &QSoundEffect::statusChanged, [=]() {
assert(s->status() != QSoundEffect::Error);
});
s->setSource(QUrl::fromLocalFile(sound_asset_path + fn));
s->setVolume(current_volume);
sounds[alert] = {s, loops ? QSoundEffect::Infinite : 0};
}
QTimer *timer = new QTimer(this);
QObject::connect(timer, &QTimer::timeout, this, &Sound::update);
timer->start(1000 / UI_FREQ);
};
void update() {
sm.update(0);
if (sm.updated("carState")) {
// scale volume with speed
float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 0.f, 20.f,
Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
if (current_volume != volume) {
current_volume = volume;
for (auto &[s, loops] : sounds) {
s->setVolume(std::round(100 * volume) / 100);
}
}
}
if (auto alert = Alert::get(sm, 1)) {
setAlert(alert->type, alert->sound);
} else {
setAlert({}, AudibleAlert::NONE);
}
}
void setAlert(const QString &alert_type, AudibleAlert sound) {
if (alert_type != current_alert_type || current_sound != sound) {
current_alert_type = alert_type;
current_sound = sound;
// stop sounds
for (auto &[s, loops] : sounds) {
// Only stop repeating sounds
if (s->loopsRemaining() == QSoundEffect::Infinite) {
s->stop();
}
}
// play sound
if (sound != AudibleAlert::NONE) {
auto &[s, loops] = sounds[sound];
s->setLoopCount(loops);
s->play();
}
}
}
AudibleAlert current_sound = AudibleAlert::NONE;
QString current_alert_type;
float current_volume = Hardware::MIN_VOLUME;
QMap<AudibleAlert, QPair<QSoundEffect*, int>> sounds;
SubMaster sm;
};
const int test_loop_cnt = 2;
void test_sound() {
PubMaster pm({"controlsState"});
const int DT_CTRL = 10; // ms
for (int i = 0; i < test_loop_cnt; ++i) {
for (auto &[alert, fn, loops] : sound_list) {
printf("testing %s\n", qPrintable(fn));
for (int j = 0; j < 1000 / DT_CTRL; ++j) {
MessageBuilder msg;
auto cs = msg.initEvent().initControlsState();
cs.setAlertSound(alert);
cs.setAlertType(fn.toStdString());
pm.send("controlsState", msg);
QThread::msleep(DT_CTRL);
}
}
}
QThread::currentThread()->quit();
}
void run_test(Sound *sound) {
static QMap<AudibleAlert, std::pair<int, int>> stats;
for (auto i = sound->sounds.constBegin(); i != sound->sounds.constEnd(); ++i) {
QObject::connect(i.value().first, &QSoundEffect::playingChanged, [s = i.value().first, a = i.key()]() {
if (s->isPlaying()) {
bool repeat = a == AudibleAlert::CHIME_WARNING_REPEAT || a == AudibleAlert::CHIME_WARNING2_REPEAT;
assert(s->loopsRemaining() == repeat ? QSoundEffect::Infinite : 1);
stats[a].first++;
} else {
stats[a].second++;
}
});
}
QThread *t = new QThread(qApp);
QObject::connect(t, &QThread::started, [=]() { test_sound(); });
QObject::connect(t, &QThread::finished, [&]() {
for (auto [play, stop] : stats) {
assert(play == test_loop_cnt && stop == test_loop_cnt);
}
qApp->quit();
});
t->start();
}
int main(int argc, char **argv) {
qInstallMessageHandler(swagLogMessageHandler);
setpriority(PRIO_PROCESS, 0, -20);
QApplication a(argc, argv);
std::signal(SIGINT, sigHandler);
std::signal(SIGTERM, sigHandler);
Sound sound;
if (argc > 1 && strcmp(argv[1], "--test") == 0) {
run_test(&sound);
}
return a.exec();
}

1
selfdrive/ui/soundd/.gitignore vendored
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@ -0,0 +1 @@
_soundd

19
selfdrive/ui/soundd/main.cc
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@ -0,0 +1,19 @@
#include "selfdrive/ui/soundd/sound.h"
#include "selfdrive/ui/qt/util.h"
void sigHandler(int s) {
qApp->quit();
}
int main(int argc, char **argv) {
qInstallMessageHandler(swagLogMessageHandler);
setpriority(PRIO_PROCESS, 0, -20);
QApplication a(argc, argv);
std::signal(SIGINT, sigHandler);
std::signal(SIGTERM, sigHandler);
Sound sound;
return a.exec();
}

110
selfdrive/ui/soundd/sound.cc
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@ -0,0 +1,110 @@
#include "selfdrive/ui/soundd/sound.h"
// TODO: detect when we can't play sounds
// TODO: detect when we can't display the UI
Sound::Sound(QObject *parent) : sm({"carState", "controlsState"}) {
// TODO: merge again and add EQ in the amp config
const QString sound_asset_path = Hardware::TICI() ? "../../assets/sounds_tici/" : "../../assets/sounds/";
for (auto &[alert, fn, loops] : sound_list) {
QSoundEffect *s = new QSoundEffect(this);
QObject::connect(s, &QSoundEffect::statusChanged, [=]() {
assert(s->status() != QSoundEffect::Error);
});
s->setSource(QUrl::fromLocalFile(sound_asset_path + fn));
s->setVolume(current_volume);
sounds[alert] = {s, loops ? QSoundEffect::Infinite : 0};
}
QTimer *timer = new QTimer(this);
QObject::connect(timer, &QTimer::timeout, this, &Sound::update);
timer->start(1000 / UI_FREQ);
};
void Sound::update() {
sm.update(0);
if (sm.updated("carState")) {
// scale volume with speed
float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 0.f, 20.f,
Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
if (current_volume != volume) {
current_volume = volume;
for (auto &[s, loops] : sounds) {
s->setVolume(std::round(100 * volume) / 100);
}
}
}
if (auto alert = Alert::get(sm, 1)) {
setAlert(alert->type, alert->sound);
} else {
setAlert({}, AudibleAlert::NONE);
}
}
void Sound::setAlert(const QString &alert_type, AudibleAlert sound) {
if (alert_type != current_alert_type || current_sound != sound) {
current_alert_type = alert_type;
current_sound = sound;
// stop sounds
for (auto &[s, loops] : sounds) {
// Only stop repeating sounds
if (s->loopsRemaining() == QSoundEffect::Infinite) {
s->stop();
}
}
// play sound
if (sound != AudibleAlert::NONE) {
auto &[s, loops] = sounds[sound];
s->setLoopCount(loops);
s->play();
}
}
}
// const int test_loop_cnt = 2;
// void test_sound() {
// PubMaster pm({"controlsState"});
// const int DT_CTRL = 10; // ms
// for (int i = 0; i < test_loop_cnt; ++i) {
// for (auto &[alert, fn, loops] : sound_list) {
// printf("testing %s\n", qPrintable(fn));
// for (int j = 0; j < 1000 / DT_CTRL; ++j) {
// MessageBuilder msg;
// auto cs = msg.initEvent().initControlsState();
// cs.setAlertSound(alert);
// cs.setAlertType(fn.toStdString());
// pm.send("controlsState", msg);
// QThread::msleep(DT_CTRL);
// }
// }
// }
// QThread::currentThread()->quit();
// }
// void run_test(Sound *sound) {
// static QMap<AudibleAlert, std::pair<int, int>> stats;
// for (auto i = sound->sounds.constBegin(); i != sound->sounds.constEnd(); ++i) {
// QObject::connect(i.value().first, &QSoundEffect::playingChanged, [s = i.value().first, a = i.key()]() {
// if (s->isPlaying()) {
// bool repeat = a == AudibleAlert::CHIME_WARNING_REPEAT || a == AudibleAlert::CHIME_WARNING2_REPEAT;
// assert(s->loopsRemaining() == repeat ? QSoundEffect::Infinite : 1);
// stats[a].first++;
// } else {
// stats[a].second++;
// }
// });
// }
// QThread *t = new QThread(qApp);
// QObject::connect(t, &QThread::started, [=]() { test_sound(); });
// QObject::connect(t, &QThread::finished, [&]() {
// for (auto [play, stop] : stats) {
// assert(play == test_loop_cnt && stop == test_loop_cnt);
// }
// qApp->quit();
// });
// t->start();
// }

38
selfdrive/ui/soundd/sound.h
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@ -0,0 +1,38 @@
#include <sys/resource.h>
#include <QApplication>
#include <QSoundEffect>
#include <QString>
#include <QThread>
#include <map>
#include "cereal/messaging/messaging.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#include "selfdrive/ui/ui.h"
const std::tuple<AudibleAlert, QString, bool> sound_list[] = {
{AudibleAlert::CHIME_DISENGAGE, "disengaged.wav", false},
{AudibleAlert::CHIME_ENGAGE, "engaged.wav", false},
{AudibleAlert::CHIME_WARNING1, "warning_1.wav", false},
{AudibleAlert::CHIME_WARNING2, "warning_2.wav", false},
{AudibleAlert::CHIME_WARNING2_REPEAT, "warning_2.wav", true},
{AudibleAlert::CHIME_WARNING_REPEAT, "warning_repeat.wav", true},
{AudibleAlert::CHIME_ERROR, "error.wav", false},
{AudibleAlert::CHIME_PROMPT, "error.wav", false},
};
class Sound : public QObject {
public:
explicit Sound(QObject *parent = 0);
void update();
void setAlert(const QString &alert_type, AudibleAlert sound);
protected:
AudibleAlert current_sound = AudibleAlert::NONE;
QString current_alert_type;
float current_volume = Hardware::MIN_VOLUME;
QMap<AudibleAlert, QPair<QSoundEffect *, int>> sounds;
SubMaster sm;
};

0
selfdrive/ui/soundd → selfdrive/ui/soundd/soundd
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