micd: revert check playing sound (high cpu usage) (#26672)

* don't use hardware

* check micd proc

* use pactl package

* cleanup

* Revert "cleanup"

This reverts commit baf9887e2d3e7dce8c24a93e970bb5a2d3609d50.

* Revert "use pactl package"

This reverts commit 0c1f3a4b865e44052affa57323ae4a21d274d6e3.

* Revert "micd: don't update filtered sound level if playing sound (#26652)"

This reverts commit 86cd919a57.

* Revert "check micd proc"

This reverts commit 9ebbe2aa42bdfd2f7f8bf226978a518d984fb154.

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>

system/hardware/base.py

@@ -43,10 +43,6 @@ class HardwareBase(ABC):
   def get_sound_card_online(self):
     pass
 
-  @abstractmethod
-  def is_sound_playing(self):
-    pass
-
   @abstractmethod
   def get_imei(self, slot) -> str:
     pass

system/hardware/pc/hardware.py

@@ -1,5 +1,4 @@
 import random
-import subprocess
 
 from cereal import log
 from system.hardware.base import HardwareBase, ThermalConfig
@@ -18,9 +17,6 @@ class Pc(HardwareBase):
   def get_sound_card_online(self):
     return True
 
-  def is_sound_playing(self):
-    return "RUNNING" in subprocess.check_output(["pactl", "list", "short", "sinks"]).decode('utf8')
-
   def reboot(self, reason=None):
     print("REBOOT!")
 

system/hardware/tici/hardware.py

@@ -96,9 +96,6 @@ class Tici(HardwareBase):
     return (os.path.isfile('/proc/asound/card0/state') and
             open('/proc/asound/card0/state').read().strip() == 'ONLINE')
 
-  def is_sound_playing(self):
-    return "RUNNING" in subprocess.check_output(["pactl", "list", "short", "sinks"]).decode('utf8')
-
   def reboot(self, reason=None):
     subprocess.check_output(["sudo", "reboot"])
 

system/micd.py

@@ -5,7 +5,6 @@ import numpy as np
 from cereal import messaging
 from common.filter_simple import FirstOrderFilter
 from common.realtime import Ratekeeper
-from system.hardware import HARDWARE
 from system.swaglog import cloudlog
 
 RATE = 10
@@ -60,8 +59,7 @@ class Mic:
       sound_pressure, _ = calculate_spl(self.measurements)
       measurements_weighted = apply_a_weighting(self.measurements)
       sound_pressure_weighted, sound_pressure_level_weighted = calculate_spl(measurements_weighted)
-      if not HARDWARE.is_sound_playing():
-        self.spl_filter_weighted.update(sound_pressure_level_weighted)
+      self.spl_filter_weighted.update(sound_pressure_level_weighted)
     else:
       sound_pressure = 0
       sound_pressure_weighted = 0