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102 lines
3.3 KiB
102 lines
3.3 KiB
#include <sys/resource.h>
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#include <map>
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#include <QApplication>
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#include <QString>
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#include <QSoundEffect>
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#include "selfdrive/ui/qt/util.h"
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#include "cereal/messaging/messaging.h"
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#include "selfdrive/common/util.h"
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#include "selfdrive/hardware/hw.h"
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#include "selfdrive/ui/ui.h"
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// TODO: detect when we can't play sounds
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// TODO: detect when we can't display the UI
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void sigHandler(int s) {
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qApp->quit();
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}
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class Sound : public QObject {
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public:
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explicit Sound(QObject *parent = 0) : sm({"carState", "controlsState"}) {
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// TODO: merge again and add EQ in the amp config
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const QString sound_asset_path = Hardware::TICI() ? "../assets/sounds_tici/" : "../assets/sounds/";
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std::tuple<AudibleAlert, QString, bool> sound_list[] = {
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{AudibleAlert::CHIME_DISENGAGE, "disengaged.wav", false},
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{AudibleAlert::CHIME_ENGAGE, "engaged.wav", false},
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{AudibleAlert::CHIME_WARNING1, "warning_1.wav", false},
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{AudibleAlert::CHIME_WARNING2, "warning_2.wav", false},
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{AudibleAlert::CHIME_WARNING2_REPEAT, "warning_2.wav", true},
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{AudibleAlert::CHIME_WARNING_REPEAT, "warning_repeat.wav", true},
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{AudibleAlert::CHIME_ERROR, "error.wav", false},
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{AudibleAlert::CHIME_PROMPT, "error.wav", false}};
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for (auto &[alert, fn, loops] : sound_list) {
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QSoundEffect *s = new QSoundEffect(this);
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QObject::connect(s, &QSoundEffect::statusChanged, [=]() { assert(s->status() != QSoundEffect::Error); });
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s->setSource(QUrl::fromLocalFile(sound_asset_path + fn));
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sounds[alert] = {s, loops ? QSoundEffect::Infinite : 0};
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}
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QTimer *timer = new QTimer(this);
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QObject::connect(timer, &QTimer::timeout, this, &Sound::update);
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timer->start();
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};
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void update() {
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sm.update(100);
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if (sm.updated("carState")) {
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// scale volume with speed
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float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 0.f, 20.f,
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Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
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for (auto &[s, loops] : sounds) {
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s->setVolume(std::round(100 * volume) / 100);
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}
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}
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if (sm.updated("controlsState")) {
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setAlert(sm["controlsState"].getControlsState().getAlertSound());
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} else if (sm.rcv_frame("controlsState") > 0 && sm["controlsState"].getControlsState().getEnabled() &&
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((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT)) {
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setAlert(CONTROLS_UNRESPONSIVE_ALERT.sound);
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}
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}
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void setAlert(AudibleAlert sound) {
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if (current_sound_ != sound) {
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current_sound_ = sound;
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// stop sounds
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for (auto &[s, loops] : sounds) {
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// Only stop repeating sounds
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if (s->loopsRemaining() == QSoundEffect::Infinite) {
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s->stop();
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}
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}
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// play sound
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if (sound != AudibleAlert::NONE) {
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auto &[s, loops] = sounds[sound];
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s->setLoopCount(loops);
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s->play();
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}
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}
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}
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private:
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AudibleAlert current_sound_ = AudibleAlert::NONE;
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QMap<AudibleAlert, QPair<QSoundEffect*, int>> sounds;
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SubMaster sm;
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};
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int main(int argc, char **argv) {
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qInstallMessageHandler(swagLogMessageHandler);
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setpriority(PRIO_PROCESS, 0, -20);
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QApplication a(argc, argv);
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std::signal(SIGINT, sigHandler);
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std::signal(SIGTERM, sigHandler);
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Sound sound;
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return a.exec();
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}
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