fade

openpilot/sunnypilot/selfdrive/ui/custom_audio.py

@@ -11,7 +11,8 @@ AUDIO_DIR = Path("/data/media/0/custom_audio")
 SAMPLE_RATE = 48000
 MAX_SECONDS = 300
 GEAR_TIMEOUT = 0.5
-RESUME_FRAMES = int(0.15 * SAMPLE_RATE)
+DUCK_FRAMES = int(0.05 * SAMPLE_RATE)
+RESTORE_FRAMES = int(0.15 * SAMPLE_RATE)
 
 
 class GearTransition:
@@ -54,7 +55,6 @@ class AudioPlayer:
     self.samples = np.empty(0, dtype=np.float32)
     self.position = 0
     self.gain = 1.0
-    self.paused = False
 
   def render(self, frames, alert_active):
     command = self.command
@@ -63,23 +63,15 @@ class AudioPlayer:
       self.samples = command if command is not None else np.empty(0, dtype=np.float32)
       self.position = 0
       self.gain = 1.0
-      self.paused = False
     out = np.zeros(frames, dtype=np.float32)
     if self.position == len(self.samples):
       return out
-    if alert_active:
-      self.paused = True
-      self.gain = 0.0
-      return out
-    if self.paused:
-      self.paused = False
-      self.gain = 0.0
     n = min(frames, len(self.samples) - self.position)
-    gains = np.minimum(1, self.gain + np.arange(n) / RESUME_FRAMES)
+    step = -0.5 / DUCK_FRAMES if alert_active else 0.5 / RESTORE_FRAMES
+    gains = np.clip(self.gain + np.arange(n) * step, 0.5, 1.0)
     out[:n] = self.samples[self.position:self.position + n] * gains
     self.position += n
-    if n:
-      self.gain = float(gains[-1])
+    self.gain = float(np.clip(self.gain + n * step, 0.5, 1.0))
     return out
 
 

openpilot/sunnypilot/selfdrive/ui/docs/custom_audio.md

@@ -7,7 +7,8 @@ Each gear change plays `<gear>.wav`: `park.wav`, `drive.wav`, `sport.wav`, `reve
 - Entering a gear starts its audio from the beginning at full volume, with no fade-in.
 - Changing gears cuts the previous audio without a fade-out. If the new file is missing or invalid, playback stays silent.
 - Returning to a previous gear restarts its audio from the beginning. Staying in the same gear does not replay it.
-- Safety alerts pause custom audio immediately. After the alert, it resumes from its saved position with a **150 ms fade-in**. Audio triggered during an alert waits, then fades in.
+- While any alert sounds, custom audio keeps playing and fades to **50% volume over 50 ms**. Afterward it fades back to full volume over **150 ms**.
+- Alert volume is unchanged. Custom audio may be reduced further to prevent clipping when both sounds are loud.
 - Startup and recovery from unknown/invalid gear data or data gaps establish a silent baseline.
 
 No settings or dismiss control. Replace or remove files to change future playback.

openpilot/sunnypilot/selfdrive/ui/soundd.py

@@ -1,7 +1,7 @@
 import numpy as np
 
 from openpilot.cereal import messaging
-from openpilot.selfdrive.ui.soundd import AudibleAlert, Soundd
+from openpilot.selfdrive.ui.soundd import Soundd
 from openpilot.sunnypilot.selfdrive.ui.custom_audio import CustomAudio
 
 
@@ -12,12 +12,13 @@ class SounddSP(Soundd):
     self.gear_sock = messaging.sub_sock("carState", conflate=False)
 
   def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
-    alert_active = self.current_alert != AudibleAlert.none
     super().callback(data_out, frames, time, status)
-    alert_active = alert_active or self.current_alert != AudibleAlert.none or bool(np.any(data_out[:frames, 0]))
-    custom_data = self.custom_audio.player.render(frames, alert_active)
-    if not alert_active:
-      data_out[:frames, 0] = custom_data
+    alert_data = data_out[:frames, 0]
+    alert_peak = float(np.max(np.abs(alert_data)))
+    custom_data = self.custom_audio.player.render(frames, alert_peak > 0)
+    custom_peak = float(np.max(np.abs(custom_data)))
+    gain = min(1.0, max(0.0, 1.0 - alert_peak) / max(custom_peak, 1e-9))
+    alert_data += custom_data * gain
 
   def get_audible_alert(self, sm):
     super().get_audible_alert(sm)