266 lines
9.7 KiB
Python
266 lines
9.7 KiB
Python
from collections import deque
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import math
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import numpy as np
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import time
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import threading
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import wave
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from iqpilot.cereal import car, messaging, custom
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from iqpilot.common.basedir import BASEDIR
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from iqpilot.common.filter_simple import FirstOrderFilter
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from iqpilot.common.realtime import Ratekeeper
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from iqpilot.common.utils import retry
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from iqpilot.common.swaglog import cloudlog
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from iqpilot.system import micd
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from iqpilot.system.hardware import HARDWARE
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from iqpilot.selfdrive.ui.alert_sound_filter import AlertSoundFilter
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SAMPLE_RATE = 48000
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SAMPLE_BUFFER = 4096 # (approx 100ms)
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WEBRTC_AUDIO_BUFFER_FRAMES = SAMPLE_RATE # 1s max queued remote audio
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WEBRTC_AUDIO_PREBUFFER_FRAMES = SAMPLE_RATE // 5 # 200ms before starting remote audio playback
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MAX_VOLUME = 1.0
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MIN_VOLUME = 0.1
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ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
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SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
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FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
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AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
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DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
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VOLUME_BASE = 20
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if HARDWARE.get_device_type() == "tizi":
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VOLUME_BASE = 10
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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AudibleAlertIQ = custom.IQState.AudibleAlert
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sound_list_iq: dict[int, tuple[str, int | None, float]] = {
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# AudibleAlertIQ, file name, play count (none for infinite)
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AudibleAlertIQ.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
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AudibleAlertIQ.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
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}
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sound_list: dict[int, tuple[str, int | None, float]] = {
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# AudibleAlert, file name, play count (none for infinite)
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AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
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AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME),
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AudibleAlert.refuse: ("refuse.wav", 1, MAX_VOLUME),
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AudibleAlert.prompt: ("prompt.wav", 1, MAX_VOLUME),
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AudibleAlert.promptRepeat: ("prompt.wav", None, MAX_VOLUME),
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AudibleAlert.promptDistracted: ("prompt_distracted.wav", None, MAX_VOLUME),
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AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
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AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
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**sound_list_iq,
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}
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def check_selfdrive_timeout_alert(sm):
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ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
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if ss_missing > SELFDRIVE_STATE_TIMEOUT:
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if sm['selfdriveState'].enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
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return True
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return False
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class Soundd(AlertSoundFilter):
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def __init__(self):
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super().__init__()
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self.load_sounds()
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self.current_alert = AudibleAlert.none
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self.current_volume = MIN_VOLUME
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self.current_sound_frame = 0
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self.ramp_start_volume = MIN_VOLUME
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self.ramp_start_time = 0.
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self.selfdrive_timeout_alert = False
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self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
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self.webrtc_audio: deque[np.ndarray] = deque()
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self.webrtc_audio_frames = 0
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self.webrtc_audio_lock = threading.Lock()
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self.webrtc_audio_playing = False
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def load_sounds(self):
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self.loaded_sounds: dict[int, np.ndarray] = {}
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# Load all sounds
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for sound in sound_list:
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filename, play_count, volume = sound_list[sound]
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with wave.open(BASEDIR + "/iqpilot/selfdrive/assets/sounds/" + filename, 'r') as wavefile:
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assert wavefile.getnchannels() == 1
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assert wavefile.getsampwidth() == 2
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assert wavefile.getframerate() == SAMPLE_RATE
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length = wavefile.getnframes()
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self.loaded_sounds[sound] = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2)
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def get_sound_data(self, frames): # get "frames" worth of data from the current alert sound, looping when required
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ret = np.zeros(frames, dtype=np.float32)
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if self.permits(self.current_alert):
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num_loops = sound_list[self.current_alert][1]
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sound_data = self.loaded_sounds[self.current_alert]
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written_frames = 0
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current_sound_frame = self.current_sound_frame % len(sound_data)
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loops = self.current_sound_frame // len(sound_data)
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while written_frames < frames and (num_loops is None or loops < num_loops):
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available_frames = sound_data.shape[0] - current_sound_frame
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frames_to_write = min(available_frames, frames - written_frames)
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ret[written_frames:written_frames+frames_to_write] = sound_data[current_sound_frame:current_sound_frame+frames_to_write]
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written_frames += frames_to_write
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self.current_sound_frame += frames_to_write
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current_sound_frame = self.current_sound_frame % len(sound_data)
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loops = self.current_sound_frame // len(sound_data)
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return ret * self.current_volume
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def add_webrtc_audio(self, audio_data) -> None:
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data = np.frombuffer(audio_data.data, dtype=np.int16).astype(np.float32) / 32768.0
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if data.size == 0:
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return
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with self.webrtc_audio_lock:
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self.webrtc_audio.append(data)
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self.webrtc_audio_frames += data.size
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while self.webrtc_audio_frames > WEBRTC_AUDIO_BUFFER_FRAMES:
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self.webrtc_audio_frames -= self.webrtc_audio.popleft().size
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def get_webrtc_audio_data(self, frames: int) -> np.ndarray:
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ret = np.zeros(frames, dtype=np.float32)
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with self.webrtc_audio_lock:
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if not self.webrtc_audio_playing:
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if self.webrtc_audio_frames < WEBRTC_AUDIO_PREBUFFER_FRAMES:
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return ret
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self.webrtc_audio_playing = True
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written_frames = 0
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while written_frames < frames and self.webrtc_audio:
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data = self.webrtc_audio[0]
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frames_to_write = min(data.size, frames - written_frames)
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ret[written_frames:written_frames+frames_to_write] = data[:frames_to_write]
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written_frames += frames_to_write
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self.webrtc_audio_frames -= frames_to_write
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if frames_to_write == data.size:
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self.webrtc_audio.popleft()
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else:
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self.webrtc_audio[0] = data[frames_to_write:]
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if written_frames < frames:
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self.webrtc_audio_playing = False
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return ret
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def webrtc_audio_thread(self) -> None:
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webrtc_audio_sock = messaging.sub_sock('webrtcAudioData')
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while True:
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msg = messaging.recv_one(webrtc_audio_sock)
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if msg is not None:
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self.add_webrtc_audio(msg.webrtcAudioData)
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def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
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if status:
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cloudlog.warning(f"soundd stream over/underflow: {status}")
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audio = self.get_sound_data(frames) + self.get_webrtc_audio_data(frames)
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data_out[:frames, 0] = np.clip(audio, -1.0, 1.0)
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def update_alert(self, new_alert):
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current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
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if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
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if new_alert == AudibleAlert.warningImmediate:
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self.ramp_start_volume = self.current_volume
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self.ramp_start_time = time.monotonic()
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self.current_alert = new_alert
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self.current_sound_frame = 0
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def get_audible_alert(self, sm):
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if sm.updated['selfdriveState']:
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new_alert = sm['selfdriveState'].alertSound.raw
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self.update_alert(new_alert)
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elif check_selfdrive_timeout_alert(sm):
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self.update_alert(AudibleAlert.warningImmediate)
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self.selfdrive_timeout_alert = True
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elif self.selfdrive_timeout_alert:
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self.update_alert(AudibleAlert.none)
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self.selfdrive_timeout_alert = False
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def calculate_volume(self, weighted_db):
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volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME
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return math.pow(VOLUME_BASE, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1))
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@retry(attempts=10, delay=3)
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def get_stream(self, sd):
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# reload sounddevice to reinitialize portaudio
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sd._terminate()
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sd._initialize()
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return sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER)
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def soundd_thread(self):
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# sounddevice must be imported after forking processes
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import sounddevice as sd
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sm = messaging.SubMaster(['selfdriveState', 'soundPressure'])
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threading.Thread(target=self.webrtc_audio_thread, daemon=True).start()
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while True:
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try:
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self._stream_loop(sd, sm)
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except Exception:
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# Some A1s wedge the audio DSP (ALSA EINVAL / ADSP_EFAILED until reboot). Dying here
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# crash-loops the process and selfdrived raises a takeover alert mid-drive over alert
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# sounds - stay alive and keep retrying instead; recovers if the DSP comes back.
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cloudlog.exception("soundd: audio stream unavailable, retrying")
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time.sleep(10)
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def _stream_loop(self, sd, sm):
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with self.get_stream(sd) as stream:
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rk = Ratekeeper(20)
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cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
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while True:
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sm.update(0)
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self.refresh()
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if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
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self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
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self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
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self.get_audible_alert(sm)
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# Ramp up immediate warning sound over 4s
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if self.current_alert == AudibleAlert.warningImmediate:
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elapsed = time.monotonic() - self.ramp_start_time
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ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME]))
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self.current_volume = max(self.current_volume, ramp_vol)
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rk.keep_time()
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assert stream.active
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def main():
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s = Soundd()
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s.soundd_thread()
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if __name__ == "__main__":
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main()
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