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https://github.com/firestar5683/StarPilot.git
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firestar5683
80 lines
3.3 KiB
Python
Executable File
80 lines
3.3 KiB
Python
Executable File
#!/usr/bin/env python3
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import cereal.messaging as messaging
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from cereal import car
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from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
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FEEDBACK_MAX_DURATION = 10.0
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ButtonType = car.CarState.ButtonEvent.Type
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def main():
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params = Params()
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params_memory = Params(memory=True)
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pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
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sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState'])
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should_record_audio = False
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block_num = 0
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waiting_for_release = False
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early_stop_triggered = False
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last_wheel_bookmark_counter = params_memory.get_int("WheelButtonBookmarkCounter")
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while True:
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sm.update()
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bookmark_requests = 0
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# TODO: https://github.com/commaai/openpilot/issues/36015
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if False and sm.updated['carState'] and sm['carState'].canValid:
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for be in sm['carState'].buttonEvents:
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if be.type == ButtonType.lkas:
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if be.pressed:
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if not should_record_audio:
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if params.get_bool("RecordAudioFeedback"): # Start recording on first press if toggle set
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should_record_audio = True
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block_num = 0
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waiting_for_release = False
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early_stop_triggered = False
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cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
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else:
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bookmark_requests += 1 # immediately send bookmark if toggle false
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cloudlog.info("LKAS button pressed - bookmarking")
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elif should_record_audio and not waiting_for_release: # Wait for release of second press to stop recording early
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waiting_for_release = True
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elif waiting_for_release: # Second press released
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waiting_for_release = False
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early_stop_triggered = True
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cloudlog.info("LKAS button released - ending recording early")
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if should_record_audio and sm.updated['rawAudioData']:
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raw_audio = sm['rawAudioData']
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msg = messaging.new_message('audioFeedback', valid=True)
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msg.audioFeedback.audio.data = raw_audio.data
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msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
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msg.audioFeedback.blockNum = block_num
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block_num += 1
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if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered: # Check for timeout or early stop
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bookmark_requests += 1 # send bookmark at end of audio segment
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should_record_audio = False
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early_stop_triggered = False
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cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
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pm.send('audioFeedback', msg)
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if sm.updated['bookmarkButton']:
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cloudlog.info("Bookmark button pressed!")
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bookmark_requests += 1
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wheel_bookmark_counter = params_memory.get_int("WheelButtonBookmarkCounter")
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if wheel_bookmark_counter > last_wheel_bookmark_counter:
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bookmark_requests += wheel_bookmark_counter - last_wheel_bookmark_counter
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last_wheel_bookmark_counter = wheel_bookmark_counter
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cloudlog.info("Wheel button bookmark requested!")
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for _ in range(bookmark_requests):
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msg = messaging.new_message('userBookmark', valid=True)
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pm.send('userBookmark', msg)
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if __name__ == '__main__':
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main()
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