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https://github.com/sunnypilot/sunnypilot.git
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798e9071d8
# Conflicts: # .github/workflows/release.yaml # README.md # RELEASES.md # common/params_keys.h # docs/CARS.md # opendbc_repo # panda # release/build_stripped.sh # selfdrive/controls/lib/longitudinal_planner.py # selfdrive/modeld/modeld.py # selfdrive/ui/feedback/feedbackd.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # system/version.py # 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 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 cereal 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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