remove audio feedback (#38401)

* remove audio feedback

* rm feedbackd

* backwards

openpilot/cereal/deprecated.capnp

@@ -775,3 +775,13 @@ struct GpsTrajectory @0x8cfeb072f5301000 {
   x @0 :List(Float32);
   y @1 :List(Float32);
 }
+
+struct AudioFeedbackDEPRECATED @0xed47e3c075be372a {
+  audio @0 :AudioData;
+  blockNum @1 :UInt16;
+
+  struct AudioData {
+    data @0 :Data;
+    sampleRate @1 :UInt32;
+  }
+}

openpilot/cereal/log.capnp

@@ -131,9 +131,9 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     aeb @92;
     userBookmark @95;
     excessiveActuation @96;
-    audioFeedback @97;
 
     soundsUnavailableDEPRECATED @47;
+    audioFeedbackDEPRECATED @97;
   }
 }
 
@@ -2485,11 +2485,6 @@ struct AudioData {
   sampleRate @1 :UInt32;
 }
 
-struct AudioFeedback {
-  audio @0 :AudioData;
-  blockNum @1 :UInt16;
-}
-
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2583,7 +2578,6 @@ struct Event {
     # driving feedback
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
-    audioFeedback @149 :AudioFeedback;
 
     lateralManeuverPlan @150 :LateralManeuverPlan;
 
@@ -2633,6 +2627,7 @@ struct Event {
 
     # *********** legacy + deprecated ***********
     model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    audioFeedbackDEPRECATED @149 :Deprecated.AudioFeedbackDEPRECATED;
     liveMpcDEPRECATED @36 :Deprecated.LiveMpcData;
     liveLongitudinalMpcDEPRECATED @37 :Deprecated.LiveLongitudinalMpcData;
     liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;

openpilot/cereal/services.py

@@ -75,7 +75,6 @@ _services: dict[str, tuple] = {
   "soundPressure": (True, 10., 10),
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
-  "audioFeedback": (True, 0., 1),
   "roadEncodeData": (False, 20., None, QueueSize.BIG),
   "driverEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),

openpilot/common/params_keys.h

@@ -105,7 +105,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT, BOOL}},
-    {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
     {"RecordFront", {PERSISTENT, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
     {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},

openpilot/selfdrive/selfdrived/events.py

@@ -12,8 +12,6 @@ from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
-from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
 from openpilot.common.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -272,14 +270,6 @@ def too_distracted_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   return NoEntryAlert("Pay Attention to Engage", priority=Priority.HIGH)
 
 
-def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
-  return NormalPermanentAlert(
-    "Recording Audio Feedback",
-    f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.",
-    priority=Priority.LOW)
-
-
 # *** debug alerts ***
 
 def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -1032,10 +1022,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   EventName.userBookmark: {
     ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
   },
-
-  EventName.audioFeedback: {
-    ET.PERMANENT: audio_feedback_alert,
-  },
 }
 
 

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -86,7 +86,7 @@ class SelfdriveD:
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark',
                                    'lateralManeuverPlan'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
@@ -171,13 +171,10 @@ class SelfdriveD:
       self.events.add(EventName.selfdriveInitializing)
       return
 
-    # Check for user bookmark press (bookmark button or end of LKAS button feedback)
+    # Check for user bookmark press
     if self.sm.updated['userBookmark']:
       self.events.add(EventName.userBookmark)
 
-    if self.sm.updated['audioFeedback']:
-      self.events.add(EventName.audioFeedback)
-
     # Don't add any more events while in dashcam mode
     if self.CP.passive:
       return

openpilot/selfdrive/test/process_replay/process_replay.py

@@ -436,7 +436,7 @@ CONFIGS = [
       "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2",
       "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
       "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
-      "carControl", "driverAssistance", "alertDebug", "audioFeedback",
+      "carControl", "driverAssistance", "alertDebug",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],

openpilot/selfdrive/test/test_onroad.py

@@ -57,7 +57,6 @@ PROCS = {
   "openpilot.selfdrive.locationd.paramsd": 9.0,
   "openpilot.selfdrive.locationd.lagd": 11.0,
   "openpilot.selfdrive.ui.soundd": 3.0,
-  "openpilot.selfdrive.ui.feedback.feedbackd": 1.0,
   "openpilot.selfdrive.monitoring.dmonitoringd": 4.0,
   "openpilot.system.proclogd": 7.0,
   "openpilot.system.logmessaged": 1.0,

openpilot/selfdrive/ui/feedback/feedbackd.py

@@ -1,71 +0,0 @@
-#!/usr/bin/env python3
-import openpilot.cereal.messaging as messaging
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from opendbc.car.structs import car
-from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
-
-FEEDBACK_MAX_DURATION = 10.0
-ButtonType = car.CarState.ButtonEvent.Type
-
-
-def main():
-  params = Params()
-  pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
-  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState'])
-  should_record_audio = False
-  block_num = 0
-  waiting_for_release = False
-  early_stop_triggered = False
-
-  while True:
-    sm.update()
-    should_send_bookmark = False
-
-    # TODO: https://github.com/commaai/openpilot/issues/36015
-    if False and sm.updated['carState'] and sm['carState'].canValid:
-      for be in sm['carState'].buttonEvents:
-        if be.type == ButtonType.lkas:
-          if be.pressed:
-            if not should_record_audio:
-              if params.get_bool("RecordAudioFeedback"):  # Start recording on first press if toggle set
-                should_record_audio = True
-                block_num = 0
-                waiting_for_release = False
-                early_stop_triggered = False
-                cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
-              else:
-                should_send_bookmark = True  # immediately send bookmark if toggle false
-                cloudlog.info("LKAS button pressed - bookmarking")
-            elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
-              waiting_for_release = True
-          elif waiting_for_release:  # Second press released
-            waiting_for_release = False
-            early_stop_triggered = True
-            cloudlog.info("LKAS button released - ending recording early")
-
-    if should_record_audio and sm.updated['rawAudioData']:
-      raw_audio = sm['rawAudioData']
-      msg = messaging.new_message('audioFeedback', valid=True)
-      msg.audioFeedback.audio.data = raw_audio.data
-      msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
-      msg.audioFeedback.blockNum = block_num
-      block_num += 1
-      if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered:  # Check for timeout or early stop
-        should_send_bookmark = True  # send bookmark at end of audio segment
-        should_record_audio = False
-        early_stop_triggered = False
-        cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
-      pm.send('audioFeedback', msg)
-
-    if sm.updated['bookmarkButton']:
-      cloudlog.info("Bookmark button pressed!")
-      should_send_bookmark = True
-
-    if should_send_bookmark:
-      msg = messaging.new_message('userBookmark', valid=True)
-      pm.send('userBookmark', msg)
-
-
-if __name__ == '__main__':
-  main()

openpilot/selfdrive/ui/layouts/main.py

@@ -22,7 +22,7 @@ class MainLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._pm = messaging.PubMaster(['bookmarkButton'])
+    self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
 
     self._sidebar = Sidebar()
     self._current_mode = MainState.HOME
@@ -111,9 +111,9 @@ class MainLayout(Widget):
     self.open_settings(PanelType.DEVICE)
 
   def _on_bookmark_clicked(self):
-    user_bookmark = messaging.new_message('bookmarkButton')
-    user_bookmark.valid = True
-    self._pm.send('bookmarkButton', user_bookmark)
+    for service in ('bookmarkButton', 'userBookmark'):
+      msg = messaging.new_message(service, valid=True)
+      self._pm.send(service, msg)
 
   def _on_onroad_clicked(self):
     self._sidebar.set_visible(not self._sidebar.is_visible)

openpilot/selfdrive/ui/mici/layouts/main.py

@@ -19,7 +19,7 @@ class MiciMainLayout(Scroller):
   def __init__(self):
     super().__init__(snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
 
-    self._pm = messaging.PubMaster(['bookmarkButton'])
+    self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
 
     self._prev_onroad = False
     self._prev_standstill = False
@@ -140,9 +140,9 @@ class MiciMainLayout(Scroller):
       self._scroll_to(self._home_layout)
 
   def _on_bookmark_clicked(self):
-    user_bookmark = messaging.new_message('bookmarkButton')
-    user_bookmark.valid = True
-    self._pm.send('bookmarkButton', user_bookmark)
+    for service in ('bookmarkButton', 'userBookmark'):
+      msg = messaging.new_message(service, valid=True)
+      self._pm.send(service, msg)
 
   def _on_body_changed(self):
     self._car_onroad_layout.set_visible(not ui_state.is_body)

openpilot/selfdrive/ui/tests/test_feedbackd.py

@@ -1,55 +0,0 @@
-import unittest
-from openpilot.common.parameterized import parameterized
-from openpilot.common.test import OpenpilotTestCase
-import openpilot.cereal.messaging as messaging
-from opendbc.car.structs import car
-from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes
-
-
-@unittest.skip("tmp disabled")
-class TestFeedbackd(OpenpilotTestCase):
-  def setup_method(self):
-    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
-    self.sm = messaging.SubMaster(['audioFeedback'])
-
-  def _send_lkas_button(self, pressed: bool):
-    msg = messaging.new_message('carState')
-    msg.carState.canValid = True
-    msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}]
-    self.pm.send('carState', msg)
-
-  def _send_audio_data(self, count: int = 5):
-    for _ in range(count):
-      audio_msg = messaging.new_message('rawAudioData')
-      audio_msg.rawAudioData.data = bytes(1600)  # 800 samples of int16
-      audio_msg.rawAudioData.sampleRate = 16000
-      self.pm.send('rawAudioData', audio_msg)
-      self.sm.update(timeout=100)
-
-  @parameterized.expand([False, True])
-  def test_audio_feedback(self, record_feedback):
-    Params().put_bool("RecordAudioFeedback", record_feedback, block=True)
-
-    managed_processes["feedbackd"].start()
-    assert self.pm.wait_for_readers_to_update('carState', timeout=5)
-    assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5)
-
-    self._send_lkas_button(pressed=True)
-    self._send_audio_data()
-    self._send_lkas_button(pressed=False)
-    self._send_audio_data()
-
-    if record_feedback:
-      assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled"
-    else:
-      assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled"
-
-    self._send_lkas_button(pressed=True)
-    self._send_audio_data()
-    self._send_lkas_button(pressed=False)
-    self._send_audio_data()
-
-    assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press"
-
-    managed_processes["feedbackd"].stop()

openpilot/system/loggerd/loggerd.cc

@@ -246,7 +246,7 @@ void loggerd_thread() {
         .counter = 0,
         .freq = it.decimation,
         .encoder = encoder,
-        .preserve_segment = (it.name == "userBookmark") || (it.name == "audioFeedback"),
+        .preserve_segment = it.name == "userBookmark",
         .record_audio = record_audio,
       };
     }

openpilot/system/loggerd/tests/test_loggerd.py

@@ -308,7 +308,7 @@ class TestLoggerd(OpenpilotTestCase):
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
 
   def test_not_preserving_nonbookmarked_segments(self):
-    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark", "audioFeedback"}
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark"}
     self._publish_random_messages(services)
 
     segment_dir = self._get_latest_log_dir()

openpilot/system/manager/process_config.py

@@ -116,7 +116,6 @@ procs = [
   PythonProcess("tombstoned", "openpilot.system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "openpilot.system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "openpilot.system.loggerd.uploader", always_run),
-  PythonProcess("feedbackd", "openpilot.selfdrive.ui.feedback.feedbackd", only_onroad),
 
   # debug procs
   NativeProcess("bridge", "openpilot/cereal/messaging", ["./bridge"], notcar),