Record feedback with LKAS button (#35888)
* record feedback with LKAS button * fix alert test * slightly simplify feedbackd * "Audio Feedback Saved" upon time expiration or early stop * earlySend --> earlyStop * userFlag --> userBookmark * RecordAudioFeedback param/toggle * add audioFeedback test * simplify feedbackd * send bookmark regardless of toggle, show feedback event with higher priority * add userBookmark to selfdrived sm * fix mispelled param name * default off and move to main * segmentNum --> blockNum, earlyStop --> lastBlock * preserve audioFeedback * get rid of lastBlock and just send bookmark saved at the end * update raylib side * update toggle description and add raylib toggle --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/35925/head
Jimmy
3 days ago
committed by
GitHub
parent
112d615ac9
commit
d7b0a5fa7e
24 changed files with 217 additions and 44 deletions
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#!/usr/bin/env python3 |
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import cereal.messaging as messaging |
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from openpilot.common.params import Params |
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from openpilot.common.swaglog import cloudlog |
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from cereal import car |
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from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER |
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FEEDBACK_MAX_DURATION = 10.0 |
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ButtonType = car.CarState.ButtonEvent.Type |
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def main(): |
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params = Params() |
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pm = messaging.PubMaster(['userBookmark', 'audioFeedback']) |
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sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState']) |
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should_record_audio = False |
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block_num = 0 |
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waiting_for_release = False |
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early_stop_triggered = False |
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while True: |
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sm.update() |
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should_send_bookmark = False |
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if sm.updated['carState'] and sm['carState'].canValid: |
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for be in sm['carState'].buttonEvents: |
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if be.type == ButtonType.lkas: |
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if be.pressed: |
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if not should_record_audio: |
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if params.get_bool("RecordAudioFeedback"): # Start recording on first press if toggle set |
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should_record_audio = True |
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block_num = 0 |
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waiting_for_release = False |
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early_stop_triggered = False |
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cloudlog.info("LKAS button pressed - starting 10-second audio feedback") |
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else: |
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should_send_bookmark = True # immediately send bookmark if toggle false |
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cloudlog.info("LKAS button pressed - bookmarking") |
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elif should_record_audio and not waiting_for_release: # Wait for release of second press to stop recording early |
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waiting_for_release = True |
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elif waiting_for_release: # Second press released |
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waiting_for_release = False |
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early_stop_triggered = True |
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cloudlog.info("LKAS button released - ending recording early") |
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if should_record_audio and sm.updated['rawAudioData']: |
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raw_audio = sm['rawAudioData'] |
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msg = messaging.new_message('audioFeedback', valid=True) |
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msg.audioFeedback.audio.data = raw_audio.data |
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msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate |
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msg.audioFeedback.blockNum = block_num |
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block_num += 1 |
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if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered: # Check for timeout or early stop |
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should_send_bookmark = True # send bookmark at end of audio segment |
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should_record_audio = False |
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early_stop_triggered = False |
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cloudlog.info("10-second recording completed or second button press - stopping audio feedback") |
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pm.send('audioFeedback', msg) |
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if sm.updated['bookmarkButton']: |
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cloudlog.info("Bookmark button pressed!") |
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should_send_bookmark = True |
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if should_send_bookmark: |
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msg = messaging.new_message('userBookmark', valid=True) |
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pm.send('userBookmark', msg) |
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if __name__ == '__main__': |
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main() |
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@ -0,0 +1,52 @@ |
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import pytest |
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import cereal.messaging as messaging |
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from cereal import car |
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from openpilot.common.params import Params |
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from openpilot.system.manager.process_config import managed_processes |
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class TestFeedbackd: |
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def setup_method(self): |
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self.pm = messaging.PubMaster(['carState', 'rawAudioData']) |
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self.sm = messaging.SubMaster(['audioFeedback']) |
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def _send_lkas_button(self, pressed: bool): |
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msg = messaging.new_message('carState') |
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msg.carState.canValid = True |
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msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}] |
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self.pm.send('carState', msg) |
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def _send_audio_data(self, count: int = 5): |
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for _ in range(count): |
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audio_msg = messaging.new_message('rawAudioData') |
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audio_msg.rawAudioData.data = bytes(1600) # 800 samples of int16 |
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audio_msg.rawAudioData.sampleRate = 16000 |
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self.pm.send('rawAudioData', audio_msg) |
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self.sm.update(timeout=100) |
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@pytest.mark.parametrize("record_feedback", [False, True]) |
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def test_audio_feedback(self, record_feedback): |
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Params().put_bool("RecordAudioFeedback", record_feedback) |
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managed_processes["feedbackd"].start() |
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assert self.pm.wait_for_readers_to_update('carState', timeout=5) |
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assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5) |
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self._send_lkas_button(pressed=True) |
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self._send_audio_data() |
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self._send_lkas_button(pressed=False) |
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self._send_audio_data() |
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if record_feedback: |
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assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled" |
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else: |
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assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled" |
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self._send_lkas_button(pressed=True) |
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self._send_audio_data() |
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self._send_lkas_button(pressed=False) |
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self._send_audio_data() |
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assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press" |
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managed_processes["feedbackd"].stop() |
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