AHHHH

cereal/custom.capnp

@@ -265,6 +265,7 @@ struct StarPilotSelfdriveState @0xf416ec09499d9d19 {
   alertSize @3 :AlertSize;
   alertType @4 :Text;
   alertSound @5 :Car.CarControl.HUDControl.AudibleAlert;
+  vEgo @6 :Float32;
 
   enum AlertStatus {
     normal @0;

selfdrive/selfdrived/selfdrived.py

@@ -926,6 +926,7 @@ class SelfdriveD:
     fpss.alertSize = self.starpilot_AM.current_alert.alert_size
     fpss.alertStatus = self.starpilot_AM.current_alert.alert_status
     fpss.alertType = self.starpilot_AM.current_alert.alert_type
+    fpss.vEgo = self.sm["carState"].vEgo
     fpss.alertSound, self.forcing_stop_chime_played = filter_forcing_stop_alert_sound(
       fpss.alertType,
       self.starpilot_AM.current_alert.audible_alert,

selfdrive/ui/feedback/feedbackd.py

@@ -2,50 +2,24 @@
 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
+FEEDBACKD_SERVICES = ('rawAudioData', 'bookmarkButton', 'visionSpeedLimitBookmark')
 
 
 def main():
-  params = Params()
   params_memory = Params(memory=True)
   pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
-  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'visionSpeedLimitBookmark', 'carState'])
+  sm = messaging.SubMaster(list(FEEDBACKD_SERVICES))
   should_record_audio = False
   block_num = 0
-  waiting_for_release = False
-  early_stop_triggered = False
   last_wheel_bookmark_counter = params_memory.get_int("WheelButtonBookmarkCounter")
 
   while True:
     sm.update()
     bookmark_requests = 0
 
-    # TODO: https://github.com/commaai/openpilot/issues/36015
-    if False and 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:
-                bookmark_requests += 1  # 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)
@@ -53,11 +27,10 @@ def main():
       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
+      if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION:
         bookmark_requests += 1  # 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")
+        cloudlog.info("10-second recording completed - stopping audio feedback")
       pm.send('audioFeedback', msg)
 
     if sm.updated['bookmarkButton']:

selfdrive/ui/soundd.py

@@ -5,7 +5,7 @@ import wave
 
 from pathlib import Path
 
-from cereal import car, custom, log, messaging
+from cereal import custom, log, messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
@@ -41,6 +41,8 @@ StarPilotAudibleAlert = custom.StarPilotCarControl.HUDControl.AudibleAlert
 STARPILOT_CUSTOM_ALERT_OFFSET = 1000
 STARPILOT_CUSTOM_ALERT_START = int(StarPilotAudibleAlert.angry)
 TURN_STEERING_LIMIT_ALERT_SUFFIX = "steersaturated"
+# Keep carState out of this list; C4's onroad stack is near msgq's 15-reader limit.
+SOUNDD_SERVICES = ('selfdriveState', 'soundPressure', 'starpilotSelfdriveState', 'starpilotPlan')
 
 
 def starpilot_alert_key(alert):
@@ -301,9 +303,7 @@ class Soundd:
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    sm = messaging.SubMaster(['selfdriveState', 'soundPressure', 'carState'])
-
-    sm = sm.extend(['starpilotSelfdriveState', 'starpilotPlan'])
+    sm = messaging.SubMaster(list(SOUNDD_SERVICES))
 
     while True:
       stream = None
@@ -330,7 +330,7 @@ class Soundd:
           self.get_audible_alert(sm)
 
           if self.current_alert != AudibleAlert.none:
-            v_ego = max(float(getattr(sm["carState"], "vEgo", 0.0)), 0.0)
+            v_ego = max(float(getattr(sm["starpilotSelfdriveState"], "vEgo", 0.0)), 0.0)
             if should_mute_turn_steering_limit_alert(
               self.current_alert_type,
               v_ego,

selfdrive/ui/tests/test_feedbackd.py

@@ -3,6 +3,11 @@ import cereal.messaging as messaging
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACKD_SERVICES
+
+
+def test_feedbackd_does_not_consume_car_state_reader():
+  assert "carState" not in FEEDBACKD_SERVICES
 
 
 @pytest.mark.skip("tmp disabled")

selfdrive/ui/tests/test_soundd.py

@@ -3,6 +3,7 @@ from cereal import messaging
 from cereal.messaging import SubMaster, PubMaster
 from openpilot.selfdrive.ui.soundd import (
   SELFDRIVE_STATE_TIMEOUT,
+  SOUNDD_SERVICES,
   check_selfdrive_timeout_alert,
   is_turn_steering_limit_alert,
   should_mute_turn_steering_limit_alert,
@@ -14,6 +15,10 @@ AudibleAlert = log.SelfdriveState.AudibleAlert
 
 
 class TestSoundd:
+  def test_does_not_consume_car_state_reader(self):
+    assert "carState" not in SOUNDD_SERVICES
+    assert "starpilotSelfdriveState" in SOUNDD_SERVICES
+
   def test_turn_steering_limit_alert_detection(self):
     assert is_turn_steering_limit_alert("steerSaturated/warning")
     assert is_turn_steering_limit_alert("goatSteerSaturated/warning")