soundd/micd: retry getting stream (#30701)

retry soundd/micd
old-commit-hash: 4f3a186a6f

selfdrive/ui/soundd.py

@@ -8,13 +8,12 @@ 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.system.hardware import TICI
-
 from openpilot.common.realtime import Ratekeeper
+from openpilot.common.retry import retry
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.system import micd
+
 SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
@@ -127,16 +126,21 @@ class Soundd:
     volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME
     return math.pow(10, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1))
 
+  @retry(attempts=7, delay=3)
+  def get_stream(self, sd):
+    # reload sounddevice to reinitialize portaudio
+    sd._terminate()
+    sd._initialize()
+    return sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER)
+
   def soundd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    if TICI:
+    sm = messaging.SubMaster(['controlsState', 'microphone'])
-      micd.wait_for_devices(sd) # wait for alsa to be initialized on device
 
-    with sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) as stream:
+    with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
-      sm = messaging.SubMaster(['controlsState', 'microphone'])
 
       cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
       while True:

system/micd.py

@@ -5,7 +5,6 @@ from cereal import messaging
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.retry import retry
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
 
 RATE = 10
 FFT_SAMPLES = 4096
@@ -14,18 +13,6 @@ SAMPLE_RATE = 44100
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 
 
-@retry(attempts=7, delay=3)
-def wait_for_devices(sd):
-  # reload sounddevice to reinitialize portaudio
-  sd._terminate()
-  sd._initialize()
-
-  devices = sd.query_devices()
-  cloudlog.info(f"sounddevice available devices: {list(devices)}")
-
-  assert len(devices) > 0
-
-
 def calculate_spl(measurements):
   # https://www.engineeringtoolbox.com/sound-pressure-d_711.html
   sound_pressure = np.sqrt(np.mean(measurements ** 2))  # RMS of amplitudes
@@ -92,14 +79,18 @@ class Mic:
 
       self.measurements = self.measurements[FFT_SAMPLES:]
 
+  @retry(attempts=7, delay=3)
+  def get_stream(self, sd):
+    # reload sounddevice to reinitialize portaudio
+    sd._terminate()
+    sd._initialize()
+    return sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER)
+
   def micd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    if TICI:
+    with self.get_stream(sd) as stream:
-      wait_for_devices(sd) # wait for alsa to be initialized on device
-
-    with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) as stream:
       cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
       while True:
         self.update()