store/send mic audio with toggle

cereal/log.capnp

@@ -2479,6 +2479,11 @@ struct Microphone {
   filteredSoundPressureWeightedDb @2 :Float32;
 }
 
+struct AudioData {
+  sampleRate @0 :UInt32;
+  data @1 :Data;
+}
+
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2557,6 +2562,8 @@ struct Event {
 
     # microphone data
     microphone @103 :Microphone;
+    audioData @147 :AudioData;
+    audioDataNoLog @148 :AudioData;
 
     # systems stuff
     androidLog @20 :AndroidLogEntry;

cereal/services.py

@@ -74,6 +74,8 @@ _services: dict[str, tuple] = {
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
+  "audioData": (True, 20.),
+  "audioDataNoLog": (False, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),

common/params_keys.h

@@ -99,6 +99,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"PrimeType", PERSISTENT},
+    {"RecordAudio", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"SecOCKey", PERSISTENT | DONT_LOG},

selfdrive/ui/layouts/settings/toggles.py

@@ -21,6 +21,7 @@ DESCRIPTIONS = {
   "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.",
   'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
   "IsMetric": "Display speed in km/h instead of mph.",
+  "RecordAudio": "Records microphone audio.",
 }
 
 
@@ -76,6 +77,12 @@ class TogglesLayout(Widget):
       toggle_item(
         "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png"
       ),
+      toggle_item(
+        "Record Microphone Audio",
+        DESCRIPTIONS["RecordAudio"],
+        self._params.get_bool("RecordAudio"),
+        icon="monitoring.png",
+      ),
     ]
 
     self._list_widget = ListView(items)

selfdrive/ui/qt/offroad/settings.cc

@@ -68,6 +68,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "../assets/icons/metric.png",
       false,
     },
+    {
+      "RecordAudio",
+      tr("Record Microphone Audio"),
+      tr("Records microphone audio."),
+      "../assets/icons/monitoring.png",
+      true,
+    },
   };
 
 

system/micd.py

@@ -7,12 +7,13 @@ from cereal import messaging
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.retry import retry
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
 
 RATE = 10
 FFT_SAMPLES = 4096
 REFERENCE_SPL = 2e-5  # newtons/m^2
-SAMPLE_RATE = 44100
-SAMPLE_BUFFER = 4096  # approx 100ms
+SAMPLE_RATE = 16000
+SAMPLE_BUFFER = 800  # 50ms
 
 
 @cache
@@ -45,7 +46,7 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray:
 class Mic:
   def __init__(self):
     self.rk = Ratekeeper(RATE)
-    self.pm = messaging.PubMaster(['microphone'])
+    self.pm = messaging.PubMaster(['microphone', 'audioData', 'audioDataNoLog'])
 
     self.measurements = np.empty(0)
 
@@ -88,6 +89,14 @@ class Mic:
 
         self.measurements = self.measurements[FFT_SAMPLES:]
 
+    audio_data_service = 'audioData' if Params().get_bool("RecordAudio") else 'audioDataNoLog'
+    msg = messaging.new_message(audio_data_service, valid=True)
+    audio_field = getattr(msg, audio_data_service)
+    audio_field.sampleRate = SAMPLE_RATE
+    audio_data_int_16 = (indata[:, 0] * 32767).astype(np.int16)
+    audio_field.data = audio_data_int_16.tobytes()
+    self.pm.send(audio_data_service, msg)
+
   @retry(attempts=7, delay=3)
   def get_stream(self, sd):
     # reload sounddevice to reinitialize portaudio