New sounds (#22652)
* new engage/disengage + amp config * first family * cleanup audible alerts * tici isn't special * fix up debug cycle alerts * these were better * extend range * use distracted sound * log scaling * getting closer * slightly louder * prompt * update tests * update refs * fix c2 test * resolve todo * adjust tolerance * revert for now * should work Co-authored-by: Comma Device <device@comma.ai>pull/23092/head
Adeeb Shihadeh
GitHub
parent
b3b5beb627
commit
e679d05d9e
2
cereal
2
cereal
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@ -1 +1 @@
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Subproject commit d6f233bf7bd6d1ee3508b17667e44420ce38de0d
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Subproject commit 9ce45916c6c27e8cfbbe2aa6b796fac41eeeba00
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@ -4,7 +4,6 @@ selfdrive/timezoned.py
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selfdrive/assets/navigation/*
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selfdrive/assets/training_wide/*
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selfdrive/assets/sounds_tici/*
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selfdrive/camerad/cameras/camera_qcom2.cc
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selfdrive/camerad/cameras/camera_qcom2.h
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@ -41,6 +41,7 @@ class AlertManager:
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self.activealerts: Dict[str, AlertEntry] = defaultdict(AlertEntry)
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def reset(self) -> None:
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self.alert: Optional[Alert] = None
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self.alert_type: str = ""
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self.alert_text_1: str = ""
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self.alert_text_2: str = ""
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@ -74,13 +75,13 @@ class AlertManager:
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# clear current alert
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self.reset()
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a = current_alert.alert
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if a is not None:
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self.alert_type = a.alert_type
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self.audible_alert = a.audible_alert
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self.visual_alert = a.visual_alert
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self.alert_text_1 = a.alert_text_1
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self.alert_text_2 = a.alert_text_2
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self.alert_status = a.alert_status
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self.alert_size = a.alert_size
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self.alert_rate = a.alert_rate
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self.alert = current_alert.alert
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if self.alert is not None:
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self.alert_type = self.alert.alert_type
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self.audible_alert = self.alert.audible_alert
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self.visual_alert = self.alert.visual_alert
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self.alert_text_1 = self.alert.alert_text_1
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self.alert_text_2 = self.alert.alert_text_2
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self.alert_status = self.alert.alert_status
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self.alert_size = self.alert.alert_size
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self.alert_rate = self.alert.alert_rate
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@ -139,11 +139,10 @@ class Alert:
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class NoEntryAlert(Alert):
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def __init__(self, alert_text_2, audible_alert=AudibleAlert.chimeError,
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visual_alert=VisualAlert.none):
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def __init__(self, alert_text_2, visual_alert=VisualAlert.none):
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super().__init__("openpilot Unavailable", alert_text_2, AlertStatus.normal,
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AlertSize.mid, Priority.LOW, visual_alert,
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audible_alert, 3.)
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AudibleAlert.refuse, 3.)
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class SoftDisableAlert(Alert):
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@ -151,7 +150,7 @@ class SoftDisableAlert(Alert):
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super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
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AlertStatus.userPrompt, AlertSize.full,
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Priority.MID, VisualAlert.steerRequired,
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AudibleAlert.chimeWarningRepeatInfinite, 2.),
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AudibleAlert.warningSoft, 2.),
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class ImmediateDisableAlert(Alert):
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@ -159,7 +158,7 @@ class ImmediateDisableAlert(Alert):
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super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.steerRequired,
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AudibleAlert.chimeWarningRepeatInfinite, 4.),
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AudibleAlert.warningImmediate, 4.),
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class EngagementAlert(Alert):
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@ -201,7 +200,7 @@ def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric:
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f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
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"",
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AlertStatus.userPrompt, AlertSize.small,
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 0.4)
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
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def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
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@ -321,7 +320,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"BRAKE!",
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"Risk of Collision",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeatInfinite, 2.),
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Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.warningSoft, 2.),
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},
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EventName.ldw: {
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@ -329,7 +328,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"TAKE CONTROL",
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"Lane Departure Detected",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.ldw, AudibleAlert.chimePrompt, 3.),
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Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.),
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},
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# ********** events only containing alerts that display while engaged **********
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@ -360,7 +359,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"Steering Temporarily Unavailable",
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"",
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AlertStatus.userPrompt, AlertSize.small,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1.),
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.),
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},
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EventName.preDriverDistracted: {
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@ -376,7 +375,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"KEEP EYES ON ROAD",
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"Driver Distracted",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, .1),
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.prompt, .1),
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},
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EventName.driverDistracted: {
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@ -384,7 +383,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"DISENGAGE IMMEDIATELY",
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"Driver Distracted",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeatInfinite, .1),
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
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},
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EventName.preDriverUnresponsive: {
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@ -400,7 +399,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"TOUCH STEERING WHEEL",
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"Driver Unresponsive",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, .1),
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.prompt, .1),
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},
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EventName.driverUnresponsive: {
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@ -408,7 +407,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"DISENGAGE IMMEDIATELY",
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"Driver Unresponsive",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeatInfinite, .1),
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
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},
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EventName.manualRestart: {
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@ -452,7 +451,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"Car Detected in Blindspot",
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"",
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AlertStatus.userPrompt, AlertSize.small,
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Priority.LOW, VisualAlert.none, AudibleAlert.chimePrompt, .1),
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Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
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},
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EventName.laneChange: {
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@ -468,7 +467,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"TAKE CONTROL",
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"Turn Exceeds Steering Limit",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, 1.),
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.),
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},
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# Thrown when the fan is driven at >50% but is not rotating
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@ -496,44 +495,44 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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# ********** events that affect controls state transitions **********
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EventName.pcmEnable: {
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ET.ENABLE: EngagementAlert(AudibleAlert.chimeEngage),
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ET.ENABLE: EngagementAlert(AudibleAlert.engage),
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},
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EventName.buttonEnable: {
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ET.ENABLE: EngagementAlert(AudibleAlert.chimeEngage),
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ET.ENABLE: EngagementAlert(AudibleAlert.engage),
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},
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EventName.pcmDisable: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
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},
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EventName.buttonCancel: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
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},
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EventName.brakeHold: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
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ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
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},
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EventName.parkBrake: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
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ET.NO_ENTRY: NoEntryAlert("Park Brake Engaged"),
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},
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EventName.pedalPressed: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
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ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt",
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visual_alert=VisualAlert.brakePressed),
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},
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EventName.wrongCarMode: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
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ET.NO_ENTRY: wrong_car_mode_alert,
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},
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EventName.wrongCruiseMode: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
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ET.NO_ENTRY: NoEntryAlert("Enable Adaptive Cruise"),
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},
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@ -627,14 +626,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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# ten times the regular interval, or the average interval is more than 10% too high.
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EventName.commIssue: {
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ET.SOFT_DISABLE: SoftDisableAlert("Communication Issue between Processes"),
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ET.NO_ENTRY: NoEntryAlert("Communication Issue between Processes",
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audible_alert=AudibleAlert.chimeDisengage),
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ET.NO_ENTRY: NoEntryAlert("Communication Issue between Processes"),
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},
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# Thrown when manager detects a service exited unexpectedly while driving
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EventName.processNotRunning: {
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ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device",
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audible_alert=AudibleAlert.chimeDisengage),
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ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"),
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},
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EventName.radarFault: {
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@ -670,15 +667,13 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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EventName.lowMemory: {
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ET.SOFT_DISABLE: SoftDisableAlert("Low Memory: Reboot Your Device"),
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ET.PERMANENT: NormalPermanentAlert("Low Memory", "Reboot your Device"),
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ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device",
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audible_alert=AudibleAlert.chimeDisengage),
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ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
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},
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EventName.highCpuUsage: {
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#ET.SOFT_DISABLE: SoftDisableAlert("System Malfunction: Reboot Your Device"),
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#ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
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ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device",
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audible_alert=AudibleAlert.chimeDisengage),
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ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"),
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},
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EventName.accFaulted: {
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@ -782,7 +777,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"openpilot Canceled",
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"No close lead car",
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AlertStatus.normal, AlertSize.mid,
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Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, 3.),
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Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.),
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ET.NO_ENTRY: NoEntryAlert("No Close Lead Car"),
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},
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@ -791,7 +786,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"openpilot Canceled",
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"Speed too low",
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AlertStatus.normal, AlertSize.mid,
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Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, 3.),
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Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.),
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},
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# When the car is driving faster than most cars in the training data the model outputs can be unpredictable
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@ -800,7 +795,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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"Speed Too High",
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"Model uncertain at this speed",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, 4.),
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 4.),
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ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
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},
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@ -7,18 +7,31 @@ import time
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from cereal import car, log
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import cereal.messaging as messaging
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from common.realtime import DT_CTRL
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from selfdrive.car.honda.interface import CarInterface
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from selfdrive.controls.lib.events import ET, EVENTS, Events
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from selfdrive.controls.lib.alertmanager import AlertManager
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EventName = car.CarEvent.EventName
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def cycle_alerts(duration=2000, is_metric=False):
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alerts = list(EVENTS.keys())
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print(alerts)
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def cycle_alerts(duration=200, is_metric=False):
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# all alerts
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#alerts = list(EVENTS.keys())
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alerts = [EventName.preDriverDistracted, EventName.promptDriverDistracted, EventName.driverDistracted]
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#alerts = [EventName.preLaneChangeLeft, EventName.preLaneChangeRight]
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# this plays each type of audible alert
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alerts = [
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(EventName.buttonEnable, ET.ENABLE),
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(EventName.buttonCancel, ET.USER_DISABLE),
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(EventName.wrongGear, ET.NO_ENTRY),
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(EventName.vehicleModelInvalid, ET.SOFT_DISABLE),
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(EventName.accFaulted, ET.IMMEDIATE_DISABLE),
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# DM sequence
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(EventName.preDriverDistracted, ET.WARNING),
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(EventName.promptDriverDistracted, ET.WARNING),
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(EventName.driverDistracted, ET.WARNING),
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]
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CP = CarInterface.get_params("HONDA CIVIC 2016")
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sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
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@ -30,43 +43,45 @@ def cycle_alerts(duration=2000, is_metric=False):
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AM = AlertManager()
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frame = 0
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idx, last_alert_millis = 0, 0
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while 1:
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if frame % duration == 0:
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idx = (idx + 1) % len(alerts)
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events.clear()
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events.add(alerts[idx])
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while True:
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current_alert_types = [ET.PERMANENT, ET.USER_DISABLE, ET.IMMEDIATE_DISABLE,
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ET.SOFT_DISABLE, ET.PRE_ENABLE, ET.NO_ENTRY,
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ET.ENABLE, ET.WARNING]
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a = events.create_alerts(current_alert_types, [CP, sm, is_metric])
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AM.add_many(frame, a)
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AM.process_alerts(frame)
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dat = messaging.new_message()
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dat.init('controlsState')
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dat.controlsState.alertText1 = AM.alert_text_1
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dat.controlsState.alertText2 = AM.alert_text_2
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dat.controlsState.alertSize = AM.alert_size
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dat.controlsState.alertStatus = AM.alert_status
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dat.controlsState.alertBlinkingRate = AM.alert_rate
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dat.controlsState.alertType = AM.alert_type
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dat.controlsState.alertSound = AM.audible_alert
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pm.send('controlsState', dat)
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for alert, et in alerts:
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events.clear()
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events.add(alert)
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dat = messaging.new_message()
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dat.init('deviceState')
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dat.deviceState.started = True
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pm.send('deviceState', dat)
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a = events.create_alerts([et, ], [CP, sm, is_metric])
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AM.add_many(frame, a)
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AM.process_alerts(frame)
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print(AM.alert)
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for _ in range(duration):
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dat = messaging.new_message()
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dat.init('controlsState')
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dat.controlsState.enabled = True
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dat = messaging.new_message('pandaStates', 1)
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dat.pandaStates[0].ignitionLine = True
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dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
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pm.send('pandaStates', dat)
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dat.controlsState.alertText1 = AM.alert_text_1
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dat.controlsState.alertText2 = AM.alert_text_2
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dat.controlsState.alertSize = AM.alert_size
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dat.controlsState.alertStatus = AM.alert_status
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dat.controlsState.alertBlinkingRate = AM.alert_rate
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dat.controlsState.alertType = AM.alert_type
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dat.controlsState.alertSound = AM.audible_alert
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pm.send('controlsState', dat)
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||||
|
||||
time.sleep(0.01)
|
||||
dat = messaging.new_message()
|
||||
dat.init('deviceState')
|
||||
dat.deviceState.started = True
|
||||
pm.send('deviceState', dat)
|
||||
|
||||
dat = messaging.new_message('pandaStates', 1)
|
||||
dat.pandaStates[0].ignitionLine = True
|
||||
dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
|
||||
pm.send('pandaStates', dat)
|
||||
|
||||
frame += 1
|
||||
time.sleep(DT_CTRL)
|
||||
|
||||
if __name__ == '__main__':
|
||||
cycle_alerts()
|
||||
|
|
|
|||
|
|
@ -31,17 +31,18 @@ BASE_CONFIG = [
|
|||
AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
|
||||
AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
|
||||
AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
|
||||
AmpConfig("Right speaker output volume", 0x1a, 0x3E, 0, 0b00011111),
|
||||
AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
|
||||
AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
|
||||
AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
|
||||
AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
|
||||
AmpConfig("DAI2 attenuation (DV2)", 0x0, 0x31, 0, 0b00001111),
|
||||
AmpConfig("DAI2: DC blocking", 0b1, 0x20, 0, 0b00000001),
|
||||
AmpConfig("DAI2: High sample rate", 0b0, 0x20, 3, 0b00001000),
|
||||
AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
|
||||
AmpConfig("ALC enable", 0b1, 0x43, 7, 0b10000000),
|
||||
AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
|
||||
AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
|
||||
AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
|
||||
AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
|
||||
AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
|
||||
AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
|
||||
AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
|
||||
AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
|
||||
|
|
@ -62,11 +63,11 @@ BASE_CONFIG = [
|
|||
AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
|
||||
]
|
||||
|
||||
BASE_CONFIG += configs_from_eq_params(0x84, EQParams(0x65C4, 0xC07C, 0x3D66, 0x07D9, 0x120F))
|
||||
BASE_CONFIG += configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656))
|
||||
BASE_CONFIG += configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF))
|
||||
BASE_CONFIG += configs_from_eq_params(0x98, EQParams(0x2822, 0xC1C7, 0x3B50, 0x0EF8, 0x180A))
|
||||
BASE_CONFIG += configs_from_eq_params(0xA2, EQParams(0x1009, 0xC5C2, 0x271F, 0x1A87, 0x32A6))
|
||||
BASE_CONFIG += configs_from_eq_params(0xAC, EQParams(0x2000, 0xCA1E, 0x4000, 0x2287, 0x0000))
|
||||
BASE_CONFIG += configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42))
|
||||
BASE_CONFIG += configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807))
|
||||
BASE_CONFIG += configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B))
|
||||
|
||||
class Amplifier:
|
||||
AMP_I2C_BUS = 0
|
||||
|
|
|
|||
|
|
@ -9,8 +9,8 @@
|
|||
|
||||
class HardwareTici : public HardwareNone {
|
||||
public:
|
||||
static constexpr float MAX_VOLUME = 1.0;
|
||||
static constexpr float MIN_VOLUME = 0.4;
|
||||
static constexpr float MAX_VOLUME = 0.9;
|
||||
static constexpr float MIN_VOLUME = 0.3;
|
||||
static bool TICI() { return true; }
|
||||
static std::string get_os_version() {
|
||||
return "AGNOS " + util::read_file("/VERSION");
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
e0926a8b9f7cffc35808109a710648a7f57c0b71
|
||||
9cbef406393a83b35a8f25aa75099da8f8d68276
|
||||
|
|
@ -1,5 +1,9 @@
|
|||
#include "selfdrive/ui/soundd/sound.h"
|
||||
|
||||
#include <QAudio>
|
||||
#include <QAudioDeviceInfo>
|
||||
#include <QDebug>
|
||||
|
||||
#include "cereal/messaging/messaging.h"
|
||||
#include "selfdrive/common/util.h"
|
||||
|
||||
|
|
@ -7,14 +11,15 @@
|
|||
// TODO: detect when we can't display the UI
|
||||
|
||||
Sound::Sound(QObject *parent) : sm({"carState", "controlsState", "deviceState"}) {
|
||||
const QString sound_asset_path = Hardware::TICI() ? "../../assets/sounds_tici/" : "../../assets/sounds/";
|
||||
qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName();
|
||||
|
||||
for (auto &[alert, fn, loops] : sound_list) {
|
||||
QSoundEffect *s = new QSoundEffect(this);
|
||||
QObject::connect(s, &QSoundEffect::statusChanged, [=]() {
|
||||
assert(s->status() != QSoundEffect::Error);
|
||||
});
|
||||
s->setVolume(Hardware::MIN_VOLUME);
|
||||
s->setSource(QUrl::fromLocalFile(sound_asset_path + fn));
|
||||
s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn));
|
||||
sounds[alert] = {s, loops};
|
||||
}
|
||||
|
||||
|
|
@ -42,8 +47,9 @@ void Sound::update() {
|
|||
|
||||
// scale volume with speed
|
||||
if (sm.updated("carState")) {
|
||||
float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 0.f, 20.f,
|
||||
Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
|
||||
float volume = std::clamp(sm["carState"].getCarState().getVEgo() / 29.f, 0.1f, 1.0f);
|
||||
volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale);
|
||||
volume = util::map_val(volume, 0.f, 1.f, Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
|
||||
for (auto &[s, loops] : sounds) {
|
||||
s->setVolume(std::round(100 * volume) / 100);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -7,14 +7,15 @@
|
|||
|
||||
const std::tuple<AudibleAlert, QString, int> sound_list[] = {
|
||||
// AudibleAlert, file name, loop count
|
||||
{AudibleAlert::CHIME_DISENGAGE, "disengaged.wav", 0},
|
||||
{AudibleAlert::CHIME_ENGAGE, "engaged.wav", 0},
|
||||
{AudibleAlert::CHIME_WARNING1, "warning_1.wav", 0},
|
||||
{AudibleAlert::CHIME_WARNING_REPEAT, "warning_repeat.wav", 10},
|
||||
{AudibleAlert::CHIME_WARNING_REPEAT_INFINITE, "warning_repeat.wav", QSoundEffect::Infinite},
|
||||
{AudibleAlert::CHIME_WARNING2_REPEAT_INFINITE, "warning_2.wav", QSoundEffect::Infinite},
|
||||
{AudibleAlert::CHIME_ERROR, "error.wav", 0},
|
||||
{AudibleAlert::CHIME_PROMPT, "error.wav", 0},
|
||||
{AudibleAlert::ENGAGE, "engage.wav", 0},
|
||||
{AudibleAlert::DISENGAGE, "disengage.wav", 0},
|
||||
{AudibleAlert::REFUSE, "refuse.wav", 0},
|
||||
|
||||
{AudibleAlert::PROMPT, "prompt.wav", 0},
|
||||
{AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite},
|
||||
|
||||
{AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite},
|
||||
{AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", 10},
|
||||
};
|
||||
|
||||
class Sound : public QObject {
|
||||
|
|
|
|||
|
|
@ -15,14 +15,13 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
|||
SOUNDS = {
|
||||
# sound: total writes
|
||||
AudibleAlert.none: 0,
|
||||
AudibleAlert.chimeEngage: 173,
|
||||
AudibleAlert.chimeDisengage: 173,
|
||||
AudibleAlert.chimeError: 173,
|
||||
AudibleAlert.chimePrompt: 173,
|
||||
AudibleAlert.chimeWarning1: 163,
|
||||
AudibleAlert.chimeWarningRepeat: 468,
|
||||
AudibleAlert.chimeWarningRepeatInfinite: 468,
|
||||
AudibleAlert.chimeWarning2RepeatInfinite: 470,
|
||||
AudibleAlert.engage: 197,
|
||||
AudibleAlert.disengage: 230,
|
||||
AudibleAlert.refuse: 223,
|
||||
AudibleAlert.prompt: 217,
|
||||
AudibleAlert.promptRepeat: 475,
|
||||
AudibleAlert.warningSoft: 477,
|
||||
AudibleAlert.warningImmediate: 468,
|
||||
}
|
||||
|
||||
def get_total_writes():
|
||||
|
|
@ -40,7 +39,7 @@ class TestSoundd(unittest.TestCase):
|
|||
pm = messaging.PubMaster(['deviceState', 'controlsState'])
|
||||
|
||||
# make sure they're all defined
|
||||
alert_sounds = {v: k for k, v in car.CarControl.HUDControl.AudibleAlert.schema.enumerants.items()}
|
||||
alert_sounds = {v: k for k, v in car.CarControl.HUDControl.AudibleAlert.schema.enumerants.items() if not k.endswith('DEPRECATED')}
|
||||
diff = set(SOUNDS.keys()).symmetric_difference(alert_sounds.keys())
|
||||
assert len(diff) == 0, f"not all sounds defined in test: {diff}"
|
||||
|
||||
|
|
@ -65,7 +64,7 @@ class TestSoundd(unittest.TestCase):
|
|||
pm.send('controlsState', msg)
|
||||
time.sleep(DT_CTRL)
|
||||
|
||||
tolerance = (expected_writes % 100) * 2
|
||||
tolerance = expected_writes / 10
|
||||
actual_writes = get_total_writes() - start_writes
|
||||
assert abs(expected_writes - actual_writes) <= tolerance, f"{alert_sounds[sound]}: expected {expected_writes} writes, got {actual_writes}"
|
||||
|
||||
|
|
|
|||
|
|
@ -78,7 +78,7 @@ struct Alert {
|
|||
// car is started, but controls is lagging or died
|
||||
return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
|
||||
"controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
|
||||
AudibleAlert::CHIME_WARNING_REPEAT};
|
||||
AudibleAlert::WARNING_IMMEDIATE};
|
||||
}
|
||||
}
|
||||
return {};
|
||||
|
|
|
|||
Loading…
Reference in New Issue