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>
2026-09-30 19:33:49 +08:00 · 2025-08-05 13:41:41 -07:00
parent 112d615ac9
commit d7b0a5fa7e
24 changed files with 217 additions and 44 deletions
@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from cereal import car
+from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
+
+FEEDBACK_MAX_DURATION = 10.0
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+def main():
+  params = Params()
+  pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
+  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState'])
+  should_record_audio = False
+  block_num = 0
+  waiting_for_release = False
+  early_stop_triggered = False
+
+  while True:
+    sm.update()
+    should_send_bookmark = False
+
+    if sm.updated['carState'] and sm['carState'].canValid:
+      for be in sm['carState'].buttonEvents:
+        if be.type == ButtonType.lkas:
+          if be.pressed:
+            if not should_record_audio:
+              if params.get_bool("RecordAudioFeedback"):  # Start recording on first press if toggle set
+                should_record_audio = True
+                block_num = 0
+                waiting_for_release = False
+                early_stop_triggered = False
+                cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
+              else:
+                should_send_bookmark = True  # immediately send bookmark if toggle false
+                cloudlog.info("LKAS button pressed - bookmarking")
+            elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
+              waiting_for_release = True
+          elif waiting_for_release:  # Second press released
+            waiting_for_release = False
+            early_stop_triggered = True
+            cloudlog.info("LKAS button released - ending recording early")
+
+    if should_record_audio and sm.updated['rawAudioData']:
+      raw_audio = sm['rawAudioData']
+      msg = messaging.new_message('audioFeedback', valid=True)
+      msg.audioFeedback.audio.data = raw_audio.data
+      msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
+      msg.audioFeedback.blockNum = block_num
+      block_num += 1
+      if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered:  # Check for timeout or early stop
+        should_send_bookmark = True  # send bookmark at end of audio segment
+        should_record_audio = False
+        early_stop_triggered = False
+        cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
+      pm.send('audioFeedback', msg)
+
+    if sm.updated['bookmarkButton']:
+      cloudlog.info("Bookmark button pressed!")
+      should_send_bookmark = True
+
+    if should_send_bookmark:
+      msg = messaging.new_message('userBookmark', valid=True)
+      pm.send('userBookmark', msg)
+
+
+if __name__ == '__main__':
+  main()