Newer sounds (#23091)

* new prompt sound

* padding

* prompt distracted

* debug

* fix spelling

* lower min volume

* better volume at low speeds

* revert debug

* revert that

* fix tests

* update refs

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/controls/lib/events.py

@@ -375,7 +375,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       "KEEP EYES ON ROAD",
       "Driver Distracted",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.prompt, .1),
+      Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
   EventName.driverDistracted: {
@@ -399,7 +399,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       "TOUCH STEERING WHEEL",
       "Driver Unresponsive",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.prompt, .1),
+      Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
   EventName.driverUnresponsive: {

selfdrive/hardware/tici/hardware.h

@@ -10,7 +10,7 @@
 class HardwareTici : public HardwareNone {
 public:
   static constexpr float MAX_VOLUME = 0.9;
-  static constexpr float MIN_VOLUME = 0.3;
+  static constexpr float MIN_VOLUME = 0.15;
   static bool TICI() { return true; }
   static std::string get_os_version() {
     return "AGNOS " + util::read_file("/VERSION");

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-6da38baefb2741902f8b10fbf2b5e64fd15ced1f
+e15e446543ea74cce4864f07902a39bdb8b10688

selfdrive/ui/soundd/sound.cc

@@ -47,7 +47,7 @@ void Sound::update() {
 
   // scale volume with speed
   if (sm.updated("carState")) {
-    float volume = std::clamp(sm["carState"].getCarState().getVEgo() / 29.f, 0.1f, 1.0f);
+    float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 11.f, 29.f, 0.f, 1.0f);
     volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale);
     volume = util::map_val(volume, 0.f, 1.f, Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
     for (auto &[s, loops] : sounds) {

selfdrive/ui/soundd/sound.h

@@ -13,6 +13,7 @@ const std::tuple<AudibleAlert, QString, int> sound_list[] = {
 
   {AudibleAlert::PROMPT, "prompt.wav", 0},
   {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite},
+  {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", 0},
 
   {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite},
   {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", 10},

selfdrive/ui/tests/test_soundd.py

@@ -17,9 +17,10 @@ SOUNDS = {
   AudibleAlert.none: 0,
   AudibleAlert.engage: 197,
   AudibleAlert.disengage: 230,
-  AudibleAlert.refuse: 223,
+  AudibleAlert.refuse: 189,
   AudibleAlert.prompt: 217,
   AudibleAlert.promptRepeat: 475,
+  AudibleAlert.promptDistracted: 187,
   AudibleAlert.warningSoft: 477,
   AudibleAlert.warningImmediate: 468,
 }
@@ -39,7 +40,7 @@ class TestSoundd(unittest.TestCase):
     pm = messaging.PubMaster(['deviceState', 'controlsState'])
 
     # make sure they're all defined
-    alert_sounds = {v: k for k, v in car.CarControl.HUDControl.AudibleAlert.schema.enumerants.items() if not k.endswith('DEPRECATED')}
+    alert_sounds = {v: k for k, v in car.CarControl.HUDControl.AudibleAlert.schema.enumerants.items()}
     diff = set(SOUNDS.keys()).symmetric_difference(alert_sounds.keys())
     assert len(diff) == 0, f"not all sounds defined in test: {diff}"