move to ui/soundd

.gitignore

@@ -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

release/files_common

@@ -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

selfdrive/manager/process_config.py

@@ -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"),

selfdrive/ui/SConscript

@@ -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)
 

selfdrive/ui/soundd.cc

@@ -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();
-}

selfdrive/ui/soundd/.gitignore

@@ -0,0 +1 @@
+_soundd

selfdrive/ui/soundd/main.cc

@@ -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();
+}

selfdrive/ui/soundd/sound.cc

@@ -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();
+// }

selfdrive/ui/soundd/sound.h

@@ -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;
+};