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108 lines
3.5 KiB
108 lines
3.5 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 "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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class Sound : public QObject {
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public:
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explicit Sound(QObject *parent = 0) {
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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, sound_asset_path + "disengaged.wav", false},
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{AudibleAlert::CHIME_ENGAGE, sound_asset_path + "engaged.wav", false},
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{AudibleAlert::CHIME_WARNING1, sound_asset_path + "warning_1.wav", false},
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{AudibleAlert::CHIME_WARNING2, sound_asset_path + "warning_2.wav", false},
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{AudibleAlert::CHIME_WARNING2_REPEAT, sound_asset_path + "warning_2.wav", true},
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{AudibleAlert::CHIME_WARNING_REPEAT, sound_asset_path + "warning_repeat.wav", true},
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{AudibleAlert::CHIME_ERROR, sound_asset_path + "error.wav", false},
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{AudibleAlert::CHIME_PROMPT, sound_asset_path + "error.wav", false}
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};
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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, this, &Sound::checkStatus);
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s->setSource(QUrl::fromLocalFile(fn));
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sounds[alert] = {s, loops ? QSoundEffect::Infinite : 0};
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}
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sm = new SubMaster({"carState", "controlsState"});
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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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~Sound() {
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delete sm;
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};
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private slots:
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void checkStatus() {
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QSoundEffect *s = qobject_cast<QSoundEffect*>(sender());
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assert(s->status() != QSoundEffect::Error);
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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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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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}
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if (sm->updated("controlsState")) {
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const cereal::ControlsState::Reader &cs = (*sm)["controlsState"].getControlsState();
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setAlert({QString::fromStdString(cs.getAlertText1()),
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QString::fromStdString(cs.getAlertText2()),
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QString::fromStdString(cs.getAlertType()),
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cs.getAlertSize(), cs.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);
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}
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}
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void setAlert(Alert a) {
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if (!alert.equal(a)) {
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alert = a;
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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 (alert.sound != AudibleAlert::NONE) {
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auto &[s, loops] = sounds[alert.sound];
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s->setLoopCount(loops);
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s->setVolume(volume);
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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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Alert alert;
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float volume = Hardware::MIN_VOLUME;
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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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setpriority(PRIO_PROCESS, 0, -20);
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QApplication a(argc, argv);
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Sound sound;
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return a.exec();
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}
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