mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-18 22:33:42 +08:00
Jason Wen
14318d2f09
# Conflicts: # .github/labeler.yaml # .github/workflows/auto_pr_review.yaml # .github/workflows/docs.yaml # .github/workflows/release.yaml # .github/workflows/repo-maintenance.yaml # .github/workflows/tests.yaml # .github/workflows/ui_preview.yaml # README.md # SConstruct # conftest.py # docs/CARS.md # msgq_repo # opendbc_repo # openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py # openpilot/common/api.py # openpilot/common/hardware/hw.py # openpilot/common/version.py # openpilot/selfdrive/assets/fonts/Audiowide-Regular.ttf # openpilot/selfdrive/assets/sounds/prompt_single_high.wav # openpilot/selfdrive/assets/sounds/prompt_single_low.wav # openpilot/selfdrive/car/card.py # openpilot/selfdrive/car/helpers.py # openpilot/selfdrive/car/tests/test_car_interfaces.py # openpilot/selfdrive/car/tests/test_cruise_speed.py # openpilot/selfdrive/controls/lib/desire_helper.py # openpilot/selfdrive/controls/lib/longcontrol.py # openpilot/selfdrive/controls/plannerd.py # openpilot/selfdrive/controls/radard.py # openpilot/selfdrive/controls/tests/test_longcontrol.py # openpilot/selfdrive/modeld/compile_warp.py # openpilot/selfdrive/modeld/modeld.py # openpilot/selfdrive/monitoring/policy.py # openpilot/selfdrive/monitoring/test_monitoring.py # openpilot/selfdrive/selfdrived/events.py # openpilot/selfdrive/selfdrived/selfdrived.py # openpilot/selfdrive/ui/layouts/onboarding.py # openpilot/selfdrive/ui/mici/layouts/onboarding.py # openpilot/selfdrive/ui/soundd.py # openpilot/selfdrive/ui/tests/diff/replay.py # openpilot/selfdrive/ui/translations/app.pot # openpilot/system/athena/athenad.py # openpilot/system/athena/manage_athenad.py # openpilot/system/hardware/hardwared.py # openpilot/system/loggerd/config.py # openpilot/system/manager/github_runner.sh # openpilot/system/manager/manager.py # openpilot/system/updated/updated.py # panda # pyproject.toml # scripts/lint/lint.sh # system/manager/process_config.py # system/statsd.py # tinygrad_repo # tools/release/build_release.sh # tools/release/build_stripped.sh # uv.lock
73 lines
3.0 KiB
Python
Executable File
73 lines
3.0 KiB
Python
Executable File
#!/usr/bin/env python3
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import openpilot.cereal.messaging as messaging
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from opendbc.car.structs import car
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from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
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FEEDBACK_MAX_DURATION = 10.0
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ButtonType = car.CarState.ButtonEvent.Type
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def main():
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params = Params()
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pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
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sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState', 'selfdriveStateSP'])
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should_record_audio = False
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block_num = 0
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waiting_for_release = False
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early_stop_triggered = False
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while True:
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sm.update()
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should_send_bookmark = False
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# TODO: https://github.com/commaai/openpilot/issues/36015
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# only allow the LKAS button to record feedback when MADS is disabled
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if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
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for be in sm['carState'].buttonEvents:
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if be.type == ButtonType.lkas:
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if be.pressed:
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if not should_record_audio:
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if params.get_bool("RecordAudioFeedback"): # Start recording on first press if toggle set
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should_record_audio = True
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block_num = 0
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waiting_for_release = False
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early_stop_triggered = False
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cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
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else:
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should_send_bookmark = True # immediately send bookmark if toggle false
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cloudlog.info("LKAS button pressed - bookmarking")
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elif should_record_audio and not waiting_for_release: # Wait for release of second press to stop recording early
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waiting_for_release = True
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elif waiting_for_release: # Second press released
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waiting_for_release = False
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early_stop_triggered = True
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cloudlog.info("LKAS button released - ending recording early")
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if should_record_audio and sm.updated['rawAudioData']:
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raw_audio = sm['rawAudioData']
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msg = messaging.new_message('audioFeedback', valid=True)
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msg.audioFeedback.audio.data = raw_audio.data
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msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
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msg.audioFeedback.blockNum = block_num
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block_num += 1
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if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered: # Check for timeout or early stop
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should_send_bookmark = True # send bookmark at end of audio segment
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should_record_audio = False
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early_stop_triggered = False
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cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
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pm.send('audioFeedback', msg)
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if sm.updated['bookmarkButton']:
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cloudlog.info("Bookmark button pressed!")
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should_send_bookmark = True
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if should_send_bookmark:
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msg = messaging.new_message('userBookmark', valid=True)
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pm.send('userBookmark', msg)
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if __name__ == '__main__':
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main()
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