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micd: fix thread safety by adding locking for shared state (#35148)

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* fix thread safety by adding locking for shared state

* Update system/micd.py

---------

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
This commit is contained in:
Dean Lee
2025-05-08 23:09:44 +08:00
committed by GitHub
parent f123e7ed75
commit e7f7675458
1 changed files with 20 additions and 13 deletions
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33
system/micd.py
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@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import numpy as np
from functools import cache
import threading
from cereal import messaging
from openpilot.common.realtime import Ratekeeper
@@ -52,12 +53,18 @@ class Mic:
self.sound_pressure_weighted = 0
self.sound_pressure_level_weighted = 0
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)
self.lock = threading.Lock()
msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted)
def update(self):
with self.lock:
sound_pressure = self.sound_pressure
sound_pressure_weighted = self.sound_pressure_weighted
sound_pressure_level_weighted = self.sound_pressure_level_weighted
msg = messaging.new_message('microphone', valid=True)
msg.microphone.soundPressure = float(sound_pressure)
msg.microphone.soundPressureWeighted = float(sound_pressure_weighted)
msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted)
self.pm.send('microphone', msg)
self.rk.keep_time()
@@ -69,17 +76,17 @@ class Mic:
Logged A-weighted equivalents are rough approximations of the human-perceived loudness.
"""
with self.lock:
self.measurements = np.concatenate((self.measurements, indata[:, 0]))
self.measurements = np.concatenate((self.measurements, indata[:, 0]))
while self.measurements.size >= FFT_SAMPLES:
measurements = self.measurements[:FFT_SAMPLES]
while self.measurements.size >= FFT_SAMPLES:
measurements = self.measurements[:FFT_SAMPLES]
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.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.measurements = self.measurements[FFT_SAMPLES:]
self.measurements = self.measurements[FFT_SAMPLES:]
@retry(attempts=7, delay=3)
def get_stream(self, sd):