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refactor

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This commit is contained in:
nayan
2025-08-12 13:29:06 -04:00
parent 9685b0aa9b
commit dc86f35957
1 changed files with 33 additions and 25 deletions
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selfdrive/ui/feedback/feedbackd.py
+33 -25
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@@ -1,5 +1,6 @@
#!/usr/bin/env python3
import cereal.messaging as messaging
from enum import Enum
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from cereal import car, custom
@@ -12,6 +13,11 @@ ButtonTypeSP = custom.CarStateSP.ButtonEvent.Type
# TODO-SP: Use common python enum when we move to raylib?
CUSTOM_MAPPING_BOOKMARK = 1 # Custom button mapping value for bookmark action
class ButtonPressType(Enum):
NONE = 'NONE'
LKAS = 'LKAS'
CUSTOM = 'CUSTOM'
def main():
params = Params()
@@ -21,49 +27,29 @@ def main():
block_num = 0
waiting_for_release = False
early_stop_triggered = False
custom_button_mapping = params.get("SteeringCustomButtonMapping")
while True:
sm.update()
if sm.frame % 60 == 0: # update params once every 60 frames
custom_button_mapping = params.get("SteeringCustomButtonMapping")
custom_mapped = custom_button_mapping == CUSTOM_MAPPING_BOOKMARK
should_send_bookmark = False
btn_pressed = False
btn_pressed = get_button_event(sm, params)
# use custom button mapping if available
use_custom = custom_mapped and sm.updated['carStateSP']
# only allow the LKAS button to record feedback when MADS is disabled & custom button mapping is not set
use_lkas = sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available and not custom_mapped
if use_custom:
for be in sm['carStateSP'].buttonEvents:
if be.type == ButtonTypeSP.customButton:
btn_pressed = be.pressed
elif use_lkas:
for be in sm['carState'].buttonEvents:
if be.type == ButtonType.lkas:
btn_pressed = be.pressed
if btn_pressed:
if btn_pressed is not ButtonPressType.NONE:
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(f"{'LKAS' if use_lkas else 'CUSTOM'} button pressed - starting 10-second audio feedback")
cloudlog.info(f"{btn_pressed.value} button pressed - starting 10-second audio feedback")
else:
should_send_bookmark = True # immediately send bookmark if toggle false
cloudlog.info(f"{'LKAS' if use_lkas else 'CUSTOM'} button pressed - bookmarking")
cloudlog.info(f"{btn_pressed.value} 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(f"{'LKAS' if use_lkas else 'CUSTOM'} button released - ending recording early")
cloudlog.info(f"{btn_pressed.value} button released - ending recording early")
if should_record_audio and sm.updated['rawAudioData']:
raw_audio = sm['rawAudioData']
@@ -88,5 +74,27 @@ def main():
pm.send('userBookmark', msg)
def get_button_event(sm, params):
custom_button_mapping = params.get("SteeringCustomButtonMapping")
custom_mapped = custom_button_mapping == CUSTOM_MAPPING_BOOKMARK
btn_pressed = ButtonPressType.NONE
# use custom button mapping if available
use_custom = custom_mapped and sm.updated['carStateSP']
# only allow the LKAS button to record feedback when MADS is disabled & custom button mapping is not set
use_lkas = sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available and not custom_mapped
if use_custom:
for be in sm['carStateSP'].buttonEvents:
if be.type == ButtonTypeSP.customButton:
btn_pressed = ButtonPressType.CUSTOM if be.pressed else ButtonPressType.NONE
elif use_lkas:
for be in sm['carState'].buttonEvents:
if be.type == ButtonType.lkas:
btn_pressed = ButtonPressType.LKAS if be.pressed else ButtonPressType.NONE
return btn_pressed
if __name__ == '__main__':
main()