onepilot/dragonpilot/selfdrive/ui/beepd.py

#!/usr/bin/env python3
"""
Copyright (c) 2025, Rick Lan

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, and/or sublicense,
for non-commercial purposes only, subject to the following conditions:

- The above copyright notice and this permission notice shall be included in
  all copies or substantial portions of the Software.
- Commercial use (e.g. use in a product, service, or activity intended to
  generate revenue) is prohibited without explicit written permission from
  the copyright holder.

THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
"""

import subprocess
import time
from cereal import car, messaging
from openpilot.common.realtime import Ratekeeper
import threading

AudibleAlert = car.CarControl.HUDControl.AudibleAlert

class Beepd:
  def __init__(self, test=False):
    self.current_alert = AudibleAlert.none
    self._test = test
    self.enable_gpio()

  def enable_gpio(self):
    try:
      if self._test:
        print("enabling GPIO")
      subprocess.run("echo 42 | sudo tee /sys/class/gpio/export",
                     shell=True,
                     stderr=subprocess.DEVNULL,
                     stdout=subprocess.DEVNULL,
                     encoding='utf8')
    except Exception:
      if self._test:
        print("GPIO failed to enable")
      pass
    subprocess.run("echo \"out\" | sudo tee /sys/class/gpio/gpio42/direction",
                   shell=True,
                   stderr=subprocess.DEVNULL,
                   stdout=subprocess.DEVNULL,
                   encoding='utf8')

  def _beep(self, on):
    val = "1" if on else "0"
    subprocess.run(f"echo \"{val}\" | sudo tee /sys/class/gpio/gpio42/value",
                   shell=True,
                   stderr=subprocess.DEVNULL,
                   stdout=subprocess.DEVNULL,
                   encoding='utf8')

  def engage(self):
    if self._test:
      print("beepd: engage")
    self._beep(True)
    time.sleep(0.05)
    self._beep(False)

  def disengage(self):
    if self._test:
      print("beepd: disengage")
    for _ in range(2):
      self._beep(True)
      time.sleep(0.01)
      self._beep(False)
      time.sleep(0.01)

  def prompt(self):
    if self._test:
      print("beepd: prompt")
    for _ in range(3):
      self._beep(True)
      time.sleep(0.01)
      self._beep(False)
      time.sleep(0.01)

  def warning_immediate(self):
    if self._test:
      print("beepd: warning_immediate")
    for _ in range(5):
      self._beep(True)
      time.sleep(0.01)
      self._beep(False)
      time.sleep(0.01)

  def dispatch_beep(self, func):
    threading.Thread(target=func, daemon=True).start()

  def update_alert(self, new_alert):
    current_alert_played_once = self.current_alert == AudibleAlert.none
    if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
      self.current_alert = new_alert
      if new_alert == AudibleAlert.engage:
        self.dispatch_beep(self.engage)
      if new_alert == AudibleAlert.disengage:
        self.dispatch_beep(self.disengage)
      if new_alert == AudibleAlert.prompt:
        self.dispatch_beep(self.prompt)
      if new_alert == AudibleAlert.warningImmediate:
        self.dispatch_beep(self.warning_immediate)

  def get_audible_alert(self, sm):
    if sm.updated['selfdriveState']:
      new_alert = sm['selfdriveState'].alertSound.raw
      self.update_alert(new_alert)

  def test_beepd_thread(self):
    frame = 0
    rk = Ratekeeper(20)
    pm = messaging.PubMaster(['selfdriveState'])
    while True:
      cs = messaging.new_message('selfdriveState')
      if frame == 20:
        cs.selfdriveState.alertSound = AudibleAlert.engage
      if frame == 40:
        cs.selfdriveState.alertSound = AudibleAlert.disengage
      if frame == 60:
        cs.selfdriveState.alertSound = AudibleAlert.prompt
      if frame == 80:
        cs.selfdriveState.alertSound = AudibleAlert.warningImmediate

      pm.send("selfdriveState", cs)
      frame += 1
      rk.keep_time()

  def beepd_thread(self):
    if self._test:
      threading.Thread(target=self.test_beepd_thread).start()

    sm = messaging.SubMaster(['selfdriveState'])
    rk = Ratekeeper(20)

    while True:
      sm.update(0)
      self.get_audible_alert(sm)
      rk.keep_time()

def main():
  s = Beepd(test=False)
  s.beepd_thread()

if __name__ == "__main__":
  main()