pass AudibleAlert to setAlert

selfdrive/ui/soundd.cc

@@ -21,67 +21,51 @@ void sigHandler(int s) {
 
 class Sound : public QObject {
 public:
-  explicit Sound(QObject *parent = 0) {
+  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/";
     std::tuple<AudibleAlert, QString, bool> sound_list[] = {
-      {AudibleAlert::CHIME_DISENGAGE, sound_asset_path + "disengaged.wav", false},
-      {AudibleAlert::CHIME_ENGAGE, sound_asset_path + "engaged.wav", false},
-      {AudibleAlert::CHIME_WARNING1, sound_asset_path + "warning_1.wav", false},
-      {AudibleAlert::CHIME_WARNING2, sound_asset_path + "warning_2.wav", false},
-      {AudibleAlert::CHIME_WARNING2_REPEAT, sound_asset_path + "warning_2.wav", true},
-      {AudibleAlert::CHIME_WARNING_REPEAT, sound_asset_path + "warning_repeat.wav", true},
-      {AudibleAlert::CHIME_ERROR, sound_asset_path + "error.wav", false},
-      {AudibleAlert::CHIME_PROMPT, sound_asset_path + "error.wav", false}
-    };
+        {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}};
     for (auto &[alert, fn, loops] : sound_list) {
       QSoundEffect *s = new QSoundEffect(this);
-      QObject::connect(s, &QSoundEffect::statusChanged, this, &Sound::checkStatus);
-      s->setSource(QUrl::fromLocalFile(fn));
+      QObject::connect(s, &QSoundEffect::statusChanged, [=]() { assert(s->status() != QSoundEffect::Error); });
+      s->setSource(QUrl::fromLocalFile(sound_asset_path + fn));
       sounds[alert] = {s, loops ? QSoundEffect::Infinite : 0};
     }
 
-    sm = new SubMaster({"carState", "controlsState"});
-
     QTimer *timer = new QTimer(this);
     QObject::connect(timer, &QTimer::timeout, this, &Sound::update);
     timer->start();
   };
-  ~Sound() {
-    delete sm;
-  };
-
-private slots:
-  void checkStatus() {
-    QSoundEffect *s = qobject_cast<QSoundEffect*>(sender());
-    assert(s->status() != QSoundEffect::Error);
-  }
 
   void update() {
-    sm->update(100);
-    if (sm->updated("carState")) {
+    sm.update(100);
+    if (sm.updated("carState")) {
       // scale volume with speed
-      volume = util::map_val((*sm)["carState"].getCarState().getVEgo(), 0.f, 20.f,
+      float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 0.f, 20.f,
                                    Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
       for (auto &[s, loops] : sounds) {
         s->setVolume(std::round(100 * volume) / 100);
       }
     }
-    if (sm->updated("controlsState")) {
-      const cereal::ControlsState::Reader &cs = (*sm)["controlsState"].getControlsState();
-      setAlert({QString::fromStdString(cs.getAlertText1()),
-                QString::fromStdString(cs.getAlertText2()),
-                QString::fromStdString(cs.getAlertType()),
-                cs.getAlertSize(), cs.getAlertSound()});
-    } else if (sm->rcv_frame("controlsState") > 0 && (*sm)["controlsState"].getControlsState().getEnabled() &&
-               ((nanos_since_boot() - sm->rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT)) {
-      setAlert(CONTROLS_UNRESPONSIVE_ALERT);
+    if (sm.updated("controlsState")) {
+      setAlert(sm["controlsState"].getControlsState().getAlertSound());
+    } else if (sm.rcv_frame("controlsState") > 0 && sm["controlsState"].getControlsState().getEnabled() &&
+               ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT)) {
+      setAlert(CONTROLS_UNRESPONSIVE_ALERT.sound);
     }
   }
 
-  void setAlert(Alert a) {
-    if (!alert.equal(a)) {
-      alert = a;
+  void setAlert(AudibleAlert sound) {
+    if (current_sound_ != sound) {
+      current_sound_ = sound;
       // stop sounds
       for (auto &[s, loops] : sounds) {
         // Only stop repeating sounds
@@ -91,8 +75,8 @@ private slots:
       }
 
       // play sound
-      if (alert.sound != AudibleAlert::NONE) {
-        auto &[s, loops] = sounds[alert.sound];
+      if (sound != AudibleAlert::NONE) {
+        auto &[s, loops] = sounds[sound];
         s->setLoopCount(loops);
         s->play();
       }
@@ -100,10 +84,9 @@ private slots:
   }
 
 private:
-  Alert alert;
-  float volume = Hardware::MIN_VOLUME;
+  AudibleAlert current_sound_ = AudibleAlert::NONE;
   QMap<AudibleAlert, QPair<QSoundEffect*, int>> sounds;
-  SubMaster *sm;
+  SubMaster sm;
 };
 
 int main(int argc, char **argv) {