Merge remote-tracking branch 'origin/master' into retry-clone

Jenkinsfile

@@ -15,7 +15,7 @@ export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n 1"
+export PYTEST_ADDOPTS="-n 0"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
@@ -235,8 +235,8 @@ node {
         pcStage("car tests") {
           sh label: "build", script: "selfdrive/manager/build.py"
           sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
-              pytest -n auto --dist=loadscope selfdrive/car/tests/test_models.py"
-          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n auto --dist=load selfdrive/car/tests/test_car_interfaces.py"
+              pytest selfdrive/car/tests/test_models.py"
+          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest selfdrive/car/tests/test_car_interfaces.py"
         }
       },
 

RELEASES.md

@@ -1,6 +1,7 @@
-Version 0.9.6 (2023-XX-XX)
+Version 0.9.6 (2023-12-14)
 ========================
 * AGNOS 9
+* comma body streaming and controls over WebRTC
 
 Version 0.9.5 (2023-11-17)
 ========================

conftest.py

@@ -45,8 +45,9 @@ def pytest_collection_modifyitems(config, items):
       item.add_marker(skipper)
 
     if "xdist_group_class_property" in item.keywords:
-      class_property = item.get_closest_marker('xdist_group_class_property').args[0]
-      item.add_marker(pytest.mark.xdist_group(getattr(item.cls, class_property)))
+      class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
+      class_property_value = getattr(item.cls, class_property_name)
+      item.add_marker(pytest.mark.xdist_group(class_property_value))
 
 
 @pytest.hookimpl(trylast=True)

pyproject.toml

@@ -190,6 +190,7 @@ exclude = [
   "rednose_repo",
   "tinygrad_repo",
   "teleoprtc",
+  "teleoprtc_repo",
   "third_party",
 ]
 flake8-implicit-str-concat.allow-multiline=false

selfdrive/car/tests/test_models.py

@@ -382,7 +382,7 @@ class TestCarModelBase(unittest.TestCase):
 
 
 @parameterized_class(('car_model', 'test_route'), get_test_cases())
-@pytest.mark.xdist_group_class_property('car_model')
+@pytest.mark.xdist_group_class_property('test_route')
 class TestCarModel(TestCarModelBase):
   pass
 

selfdrive/ui/soundd.py

@@ -1,12 +1,16 @@
 import math
-import time
 import numpy as np
+import time
 import wave
 
 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.common.realtime import Ratekeeper
 from openpilot.system.hardware import PC
 from openpilot.system.swaglog import cloudlog
@@ -15,6 +19,7 @@ SAMPLE_RATE = 48000
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
 CONTROLS_TIMEOUT = 5 # 5 seconds
+FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
 AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
@@ -56,6 +61,8 @@ class Soundd:
 
     self.controls_timeout_alert = False
 
+    self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
+
   def load_sounds(self):
     self.loaded_sounds: Dict[int, np.ndarray] = {}
 
@@ -137,8 +144,9 @@ class Soundd:
       while True:
         sm.update(0)
 
-        if sm.updated['microphone']:
-          self.current_volume = self.calculate_volume(sm["microphone"].filteredSoundPressureWeightedDb)
+        if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+          self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
+          self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 
         self.get_audible_alert(sm)
 

system/micd.py

@@ -2,7 +2,6 @@
 import numpy as np
 
 from cereal import messaging
-from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
 from openpilot.system.swaglog import cloudlog
 
@@ -10,7 +9,6 @@ RATE = 10
 FFT_SAMPLES = 4096
 REFERENCE_SPL = 2e-5  # newtons/m^2
 SAMPLE_RATE = 44100
-FILTER_DT = 1. / (SAMPLE_RATE / FFT_SAMPLES)
 
 
 def calculate_spl(measurements):
@@ -50,15 +48,12 @@ class Mic:
     self.sound_pressure_weighted = 0
     self.sound_pressure_level_weighted = 0
 
-    self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
-
   def update(self):
     msg = messaging.new_message('microphone', valid=True)
     msg.microphone.soundPressure = float(self.sound_pressure)
     msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted)
 
     msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted)
-    msg.microphone.filteredSoundPressureWeightedDb = float(self.spl_filter_weighted.x)
 
     self.pm.send('microphone', msg)
     self.rk.keep_time()
@@ -79,7 +74,6 @@ class Mic:
       self.sound_pressure, _ = calculate_spl(measurements)
       measurements_weighted = apply_a_weighting(measurements)
       self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted)
-      self.spl_filter_weighted.update(self.sound_pressure_level_weighted)
 
       self.measurements = self.measurements[FFT_SAMPLES:]