Merge branch 'master' into alert-dedup

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -576,7 +576,7 @@ class SelfdriveD(CruiseHelper):
     clear_event_types = set()
     if ET.WARNING not in self.state_machine.current_alert_types:
       clear_event_types.add(ET.WARNING)
-    if self.enabled:
+    if self.enabled or (ET.NO_ENTRY not in (c := self.state_machine.current_alert_types) and (ET.ENABLE in c or ET.USER_DISABLE in c)):
       clear_event_types.add(ET.NO_ENTRY)
 
     pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]

openpilot/selfdrive/ui/soundd.py

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

openpilot/sunnypilot/selfdrive/ui/custom_audio.py

@@ -1,113 +0,0 @@
-from concurrent.futures import ThreadPoolExecutor
-from pathlib import Path
-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 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")
-    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

@@ -1,20 +0,0 @@
-# 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.
-
-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

@@ -1,25 +0,0 @@
-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))