Soundd: move to python #30567
Soundd: move to python #30567
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jnewb1
commented
Dec 1, 2023
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jnewb1
commented
- match c++ impl
- same sound scale? audible test seems equivalent between c++ and python version
- test cpu usage
- cpu usage is higher (1.5% -> 5%), but still reasonable considering it's now in python
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Looks like this doesn't need it, but if we do need it, Hardware::set_volume needs to be updated to not use pulse. If this doesn't end up needing it, let's just remove it. openpilot/system/hardware/tici/hardware.h Line 75 in afd5877 |
yea we will just remove it and scale the sound within soundd |
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Why is the CPU now 5%? Is that at idle or constantly playing a sound? 5% is fine on its own, but we should always understand why it increased and why it’s so high. |
at idle, but its constantly streaming zeros even while idle through sounddevice.OutputStream. I can look at switching to the non-streaming api, though looping and stopping at a specific time might be a bit more tricky |
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Oh nice, does that make the CPU constant? |
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| def new_alert(self, new_alert): | ||
| current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert]) | ||
| if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once): |
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is this the same as soundd? should consider alertType, alertSize, etc.
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this should match the current soundd
- let current alert finish if its playing and the alert status goes to none
- newer (non-none) alert overrides old alert even if the old alert hasn't stopped playing
| sm = messaging.SubMaster(['controlsState', 'microphone']) | ||
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| with sd.OutputStream(device="pulse", channels=1, samplerate=SAMPLE_RATE, callback=self.callback): | ||
| while True: |
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this is missing handling of a controlsState timeout
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Needs to handle this: Line 78 in 33ee753 We also need to add a unit test for this. |
selfdrive/ui/soundd.py
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| sm = messaging.SubMaster(['controlsState', 'microphone']) | ||
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| if PC: | ||
| device = "pulse" |
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can we use the default one on PC?
selfdrive/ui/soundd.py
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| else: | ||
| self.update_alert(AudibleAlert.none) |
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I think you want to remove this branch. looks like if soundd was running at >100Hz for example, it would cut the sounds immediately after starting them
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this is for stopping the timeout alert, I made a flag to make that more clear and also more robust if we are running >100hz
selfdrive/ui/soundd.py
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| assert wavefile.getframerate() == SAMPLE_RATE | ||
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| length = wavefile.getnframes() | ||
| self.loaded_sounds[sound] = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / 32767 |
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2^16/2 for converting the int16 to float. I put that in
selfdrive/ui/soundd.py
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| AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME), | ||
| } | ||
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| def check_controls_state(sm): |
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make this name more specific
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