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https://github.com/firestar5683/StarPilot.git
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firestar5683
fd4ca85d61
Provide alert playback and volume control with a native audio callback that does not depend on the Python GIL. Co-authored-by: Daniel Koepping <elkoled@gmail.com>
67 lines
3.1 KiB
Python
67 lines
3.1 KiB
Python
from openpilot.cereal import log
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from openpilot.starpilot.aol.runtime import current_intent
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from openpilot.starpilot.aol.wire import INTENT_SERVICE
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AudibleAlert = log.SelfdriveState.AudibleAlert
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COALESCE_NS = 250_000_000
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class _Transition:
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def __init__(self):
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self.session = None
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self.sequence = 0
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self.active = False
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self.observed_at = 0
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def update(self, session, sequence: int, active: bool, now_ns: int) -> int:
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changed = 0
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if session is None:
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self.session = None
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elif session != self.session or now_ns - self.observed_at > COALESCE_NS:
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self.session, self.sequence, self.active, self.observed_at = session, sequence, active, now_ns
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elif sequence > self.sequence:
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changed = int(active) - int(self.active)
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self.sequence, self.active, self.observed_at = sequence, active, now_ns
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return changed
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class AxisAlerts:
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def __init__(self):
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self.lateral = _Transition()
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self.longitudinal = _Transition()
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self.last_sound = AudibleAlert.none
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self.last_sound_at = 0
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self.native_sound = AudibleAlert.none
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def update(self, sm, native_sound: int, now_ns: int) -> int:
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intent = (current_intent(sm, car_state_ns=int(sm.logMonoTime[INTENT_SERVICE]), now_ns=now_ns)
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if INTENT_SERVICE in sm.logMonoTime else None)
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# Engagement is persistent driver intent. Temporary native permission loss,
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# pedal override and output suppression must not replay engagement sounds.
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state_ns = int(sm.logMonoTime.get('selfdriveState', 0))
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state_fresh = (state_ns > 0 and 0 <= now_ns - state_ns <= 100_000_000 and
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sm.valid['selfdriveState'] and sm.alive['selfdriveState'])
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lateral_known = intent is not None and (intent.pauseLateral or intent.lateralArmed or state_fresh)
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lateral = self.lateral.update(intent.producerSessionId if lateral_known else None, intent.sequence if intent else 0,
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bool(intent and not intent.pauseLateral and
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(intent.lateralArmed or (state_fresh and sm['selfdriveState'].active))), now_ns)
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longitudinal = self.longitudinal.update(
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intent.producerSessionId if intent is not None and state_fresh else None,
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intent.sequence if intent is not None else 0,
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bool(intent is not None and state_fresh and sm['selfdriveState'].enabled and not intent.pauseLongitudinal), now_ns)
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extra_sound = (AudibleAlert.disengage if min(lateral, longitudinal) < 0 else
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AudibleAlert.engage if max(lateral, longitudinal) > 0 else AudibleAlert.none)
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if native_sound != AudibleAlert.none:
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if native_sound != self.native_sound and native_sound in (AudibleAlert.engage, AudibleAlert.disengage):
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self.last_sound, self.last_sound_at = native_sound, now_ns
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self.native_sound = native_sound
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return native_sound
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self.native_sound = native_sound
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if extra_sound != AudibleAlert.none:
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if extra_sound == self.last_sound and now_ns - self.last_sound_at < COALESCE_NS:
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return AudibleAlert.none
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self.last_sound, self.last_sound_at = extra_sound, now_ns
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return extra_sound
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