soundd/micd: more robust setup procedure (#30640)

* just use the default device :/

* Ruff

* this seems like the most reliable way

* Ruff

* move comments too

* wait for devices

* fix that

* and that

* ruff

* add logging for avaliable devices

---------

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/ui/soundd.py

@@ -10,9 +10,9 @@ 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.system.hardware import PC
 from openpilot.common.swaglog import cloudlog
 
 SAMPLE_RATE = 48000
@@ -130,16 +130,13 @@ class Soundd:
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    rk = Ratekeeper(20)
+    if TICI:
+      micd.wait_for_devices(sd) # wait for alsa to be initialized on device
 
+    with sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream:
+      rk = Ratekeeper(20)
       sm = messaging.SubMaster(['controlsState', 'microphone'])
 
-    if PC:
-      device = None
-    else:
-      device = "sdm845-tavil-snd-card: - (hw:0,0)"
-
-    with sd.OutputStream(device=device, channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream:
       cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}")
       while True:
         sm.update(0)

system/micd.py

@@ -3,7 +3,9 @@ import numpy as np
 
 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
@@ -11,6 +13,18 @@ REFERENCE_SPL = 2e-5  # newtons/m^2
 SAMPLE_RATE = 44100
 
 
+@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
@@ -81,6 +95,9 @@ class Mic:
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
+    if TICI:
+      wait_for_devices(sd) # wait for alsa to be initialized on device
+
     with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback)  as stream:
       cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}")
       while True: