nocrash

This reverts commit 63c725d507.

openpilot/selfdrive/ui/soundd.py

@@ -211,7 +211,9 @@ class Soundd(QuietMode):
 
 
 def main():
-  s = Soundd()
+  from openpilot.sunnypilot.selfdrive.ui.soundd import SounddSP
+
+  s = SounddSP()
   s.soundd_thread()
 
 

openpilot/sunnypilot/selfdrive/ui/custom_audio.py

@@ -0,0 +1,125 @@
+from concurrent.futures import ThreadPoolExecutor
+from pathlib import Path
+import os
+import sys
+import threading
+import time
+import wave
+
+import numpy as np
+
+from openpilot.common.swaglog import cloudlog
+
+AUDIO_DIR = Path("/data/media/0/custom_audio")
+SAMPLE_RATE = 48000
+MAX_SECONDS = 300
+GEAR_TIMEOUT = 0.5
+DUCK_FRAMES = int(0.05 * SAMPLE_RATE)
+RESTORE_FRAMES = int(0.15 * SAMPLE_RATE)
+
+
+class GearTransition:
+  def __init__(self):
+    self.previous = None
+    self.last_time = None
+
+  def update(self, gear, timestamp, valid=True):
+    if not valid or gear == "unknown":
+      self.previous = self.last_time = None
+      return None
+    if self.last_time is None or not 0 < timestamp - self.last_time <= GEAR_TIMEOUT:
+      self.previous = None
+    transition = gear if self.previous is not None and gear != self.previous else None
+    self.previous = gear
+    self.last_time = timestamp
+    return transition
+
+
+def lower_loader_priority():
+  if sys.platform == "linux":
+    try:
+      tid = threading.get_native_id()
+      os.sched_setscheduler(tid, os.SCHED_OTHER, os.sched_param(0))
+      os.setpriority(os.PRIO_PROCESS, tid, max(10, os.getpriority(os.PRIO_PROCESS, tid)))
+    except OSError:
+      cloudlog.exception("Unable to lower custom audio loader priority")
+
+
+def load_audio(filename):
+  path = AUDIO_DIR / filename
+  if not path.is_file():
+    return None
+  with wave.open(str(path), "rb") as wav:
+    if (wav.getnchannels(), wav.getsampwidth(), wav.getframerate(), wav.getcomptype()) != (1, 2, SAMPLE_RATE, "NONE"):
+      raise ValueError("Custom audio requires 48 kHz mono 16-bit PCM WAV")
+    count = wav.getnframes()
+    if not 0 < count <= MAX_SECONDS * SAMPLE_RATE:
+      raise ValueError("Custom audio must be between 0 and 300 seconds")
+    raw = wav.readframes(count)
+    if len(raw) != count * 2:
+      raise ValueError("Truncated custom audio")
+    return np.frombuffer(raw, dtype="<i2").astype(np.float32) / 32768
+
+
+class AudioPlayer:
+  def __init__(self):
+    self.command = None
+    self.seen_command = None
+    self.samples = np.empty(0, dtype=np.float32)
+    self.position = 0
+    self.gain = 1.0
+
+  def render(self, frames, alert_active):
+    command = self.command
+    if command is not self.seen_command:
+      self.seen_command = command
+      self.samples = command if command is not None else np.empty(0, dtype=np.float32)
+      self.position = 0
+      self.gain = 1.0
+    out = np.zeros(frames, dtype=np.float32)
+    if self.position == len(self.samples):
+      return out
+    n = min(frames, len(self.samples) - self.position)
+    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
+    self.gain = float(np.clip(self.gain + n * step, 0.5, 1.0))
+    return out
+
+
+class CustomAudio:
+  def __init__(self):
+    self.player = AudioPlayer()
+    self.transition = GearTransition()
+    self.loader = ThreadPoolExecutor(max_workers=1, thread_name_prefix="custom-audio-source", initializer=lower_loader_priority)
+    self.pending = None
+
+  def update(self, messages):
+    now = time.monotonic()
+    event = None
+    if self.transition.last_time is not None and now - self.transition.last_time > GEAR_TIMEOUT:
+      self.transition.update(None, now, False)
+    for msg in messages:
+      timestamp = msg.logMonoTime / 1e9
+      valid = msg.valid and msg.carState.canValid and msg.carState.gearShifter != "unknown" and 0 <= now - timestamp <= GEAR_TIMEOUT
+      transition = self.transition.update(str(msg.carState.gearShifter), timestamp, valid)
+      if not valid:
+        event = None
+      elif transition:
+        event = transition
+
+    if event:
+      self.player.command = None
+      if self.pending:
+        self.pending.cancel()
+      self.pending = self.loader.submit(load_audio, f"{event}.wav")
+
+    if self.pending and self.pending.done():
+      try:
+        samples = self.pending.result()
+        if samples is not None:
+          self.player.command = samples
+      except Exception:
+        cloudlog.exception("Unable to load custom audio")
+      self.pending = None

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

@@ -0,0 +1,22 @@
+# Custom Audio
+
+Put short **48 kHz, mono, 16-bit PCM WAV** files in `/data/media/0/custom_audio/` (maximum five minutes each).
+
+Each gear change plays `<gear>.wav`: `park.wav`, `drive.wav`, `sport.wav`, `reverse.wav`, `neutral.wav`, `low.wav`, `brake.wav`, `eco.wav`, or `manumatic.wav`.
+
+- Entering a gear starts its audio from the beginning at 25% 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.
+- While any alert sounds, custom audio keeps playing and fades to **half its normal level (12.5%) over 50 ms**. Afterward it fades back to 25% 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.
+
+WAV loading runs on a low-priority worker thread on Linux (nice +10). Playback shares the existing safety-alert output callback; its priority is unchanged.
+
+No settings or dismiss control. Replace or remove files to change future playback.
+
+Convert files with:
+
+```sh
+ffmpeg -i input_audio -ar 48000 -ac 1 -c:a pcm_s16le drive.wav
+```

openpilot/sunnypilot/selfdrive/ui/soundd.py

@@ -0,0 +1,25 @@
+import numpy as np
+
+from openpilot.cereal import messaging
+from openpilot.selfdrive.ui.soundd import Soundd
+from openpilot.sunnypilot.selfdrive.ui.custom_audio import CustomAudio
+
+
+class SounddSP(Soundd):
+  def __init__(self):
+    super().__init__()
+    self.custom_audio = CustomAudio()
+    self.gear_sock = messaging.sub_sock("carState", conflate=False)
+
+  def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
+    super().callback(data_out, frames, time, status)
+    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) * 0.25
+    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)
+    self.custom_audio.update(messaging.drain_sock(self.gear_sock, wait_for_one=False))