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Soundd: only update ambient db when not playing an alert (#30620) 

* move to soundd + only when quiet

* not filtered
old-commit-hash: 5600a82889
This commit is contained in:
Justin Newberry 2023-12-06 14:59:16 -08:00 committed by GitHub
parent f945b8ebaa
commit db3fbdae18
2 changed files with 11 additions and 9 deletions
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14
selfdrive/ui/soundd.py
View File

@ -1,12 +1,16 @@
import math
import time
import numpy as np
import time
import wave
from typing import Dict, Optional, Tuple
from cereal import car, messaging
from openpilot.common.basedir import BASEDIR
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.system import micd
from openpilot.common.realtime import Ratekeeper
from openpilot.system.hardware import PC
from openpilot.system.swaglog import cloudlog
@ -15,6 +19,7 @@ SAMPLE_RATE = 48000
MAX_VOLUME = 1.0
MIN_VOLUME = 0.1
CONTROLS_TIMEOUT = 5 # 5 seconds
FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
@ -56,6 +61,8 @@ class Soundd:
self.controls_timeout_alert = False
self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
def load_sounds(self):
self.loaded_sounds: Dict[int, np.ndarray] = {}
@ -137,8 +144,9 @@ class Soundd:
while True:
sm.update(0)
if sm.updated['microphone']:
self.current_volume = self.calculate_volume(sm["microphone"].filteredSoundPressureWeightedDb)
if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
self.get_audible_alert(sm)

6
system/micd.py
View File

@ -2,7 +2,6 @@
import numpy as np
from cereal import messaging
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import Ratekeeper
from openpilot.system.swaglog import cloudlog
@ -10,7 +9,6 @@ RATE = 10
FFT_SAMPLES = 4096
REFERENCE_SPL = 2e-5 # newtons/m^2
SAMPLE_RATE = 44100
FILTER_DT = 1. / (SAMPLE_RATE / FFT_SAMPLES)
def calculate_spl(measurements):
@ -50,15 +48,12 @@ class Mic:
self.sound_pressure_weighted = 0
self.sound_pressure_level_weighted = 0
self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
def update(self):
msg = messaging.new_message('microphone', valid=True)
msg.microphone.soundPressure = float(self.sound_pressure)
msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted)
msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted)
msg.microphone.filteredSoundPressureWeightedDb = float(self.spl_filter_weighted.x)
self.pm.send('microphone', msg)
self.rk.keep_time()
@ -79,7 +74,6 @@ class Mic:
self.sound_pressure, _ = calculate_spl(measurements)
measurements_weighted = apply_a_weighting(measurements)
self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted)
self.spl_filter_weighted.update(self.sound_pressure_level_weighted)
self.measurements = self.measurements[FFT_SAMPLES:]