mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 07:43:57 +08:00
d7b0a5fa7e
* record feedback with LKAS button * fix alert test * slightly simplify feedbackd * "Audio Feedback Saved" upon time expiration or early stop * earlySend --> earlyStop * userFlag --> userBookmark * RecordAudioFeedback param/toggle * add audioFeedback test * simplify feedbackd * send bookmark regardless of toggle, show feedback event with higher priority * add userBookmark to selfdrived sm * fix mispelled param name * default off and move to main * segmentNum --> blockNum, earlyStop --> lastBlock * preserve audioFeedback * get rid of lastBlock and just send bookmark saved at the end * update raylib side * update toggle description and add raylib toggle --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
71 lines
2.8 KiB
Python
Executable File
71 lines
2.8 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import cereal.messaging as messaging
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.swaglog import cloudlog
|
|
from cereal import car
|
|
from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
|
|
|
|
FEEDBACK_MAX_DURATION = 10.0
|
|
ButtonType = car.CarState.ButtonEvent.Type
|
|
|
|
|
|
def main():
|
|
params = Params()
|
|
pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
|
|
sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState'])
|
|
should_record_audio = False
|
|
block_num = 0
|
|
waiting_for_release = False
|
|
early_stop_triggered = False
|
|
|
|
while True:
|
|
sm.update()
|
|
should_send_bookmark = False
|
|
|
|
if sm.updated['carState'] and sm['carState'].canValid:
|
|
for be in sm['carState'].buttonEvents:
|
|
if be.type == ButtonType.lkas:
|
|
if be.pressed:
|
|
if not should_record_audio:
|
|
if params.get_bool("RecordAudioFeedback"): # Start recording on first press if toggle set
|
|
should_record_audio = True
|
|
block_num = 0
|
|
waiting_for_release = False
|
|
early_stop_triggered = False
|
|
cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
|
|
else:
|
|
should_send_bookmark = True # immediately send bookmark if toggle false
|
|
cloudlog.info("LKAS button pressed - bookmarking")
|
|
elif should_record_audio and not waiting_for_release: # Wait for release of second press to stop recording early
|
|
waiting_for_release = True
|
|
elif waiting_for_release: # Second press released
|
|
waiting_for_release = False
|
|
early_stop_triggered = True
|
|
cloudlog.info("LKAS button released - ending recording early")
|
|
|
|
if should_record_audio and sm.updated['rawAudioData']:
|
|
raw_audio = sm['rawAudioData']
|
|
msg = messaging.new_message('audioFeedback', valid=True)
|
|
msg.audioFeedback.audio.data = raw_audio.data
|
|
msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
|
|
msg.audioFeedback.blockNum = block_num
|
|
block_num += 1
|
|
if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered: # Check for timeout or early stop
|
|
should_send_bookmark = True # send bookmark at end of audio segment
|
|
should_record_audio = False
|
|
early_stop_triggered = False
|
|
cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
|
|
pm.send('audioFeedback', msg)
|
|
|
|
if sm.updated['bookmarkButton']:
|
|
cloudlog.info("Bookmark button pressed!")
|
|
should_send_bookmark = True
|
|
|
|
if should_send_bookmark:
|
|
msg = messaging.new_message('userBookmark', valid=True)
|
|
pm.send('userBookmark', msg)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
main()
|