New sounds

cereal/log.capnp

@@ -89,6 +89,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     stockAeb @52;
     stockLkas @98;
     lateralManeuver @99;
+    laneChangeStarted @100;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -771,13 +772,31 @@ struct SelfdriveState {
   alertStatus @5 :AlertStatus;
   alertSize @6 :AlertSize;
   alertType @7 :Text;
-  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  alertSound @13 :AudibleAlert;
   alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
 
   # configurable driving settings
   experimentalMode @10 :Bool;
   personality @11 :LongitudinalPersonality;
 
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    confirmation @9;
+    preAlert @10;
+  }
+
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
     disabled @0;
     preEnabled @1;
@@ -798,6 +817,10 @@ struct SelfdriveState {
     mid @2;
     full @3;
   }
+
+  deprecated :group {
+    alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  }
 }
 
 struct ControlsState @0x97ff69c53601abf1 {
@@ -918,7 +941,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     alertStatus @38 :SelfdriveState.AlertStatus;
     alertSize @39 :SelfdriveState.AlertSize;
     alertType @44 :Text;
-    alertSound2 @56 :Car.CarControl.HUDControl.AudibleAlert;
+    alertSound2 @56 :SelfdriveState.AudibleAlert;
     engageable @41 :Bool;  # can OP be engaged?
     state @31 :SelfdriveState.OpenpilotState;
     enabled @19 :Bool;
@@ -2431,6 +2454,13 @@ struct SoundPressure @0xdc24138990726023 {
   }
 }
 
+struct SoundDebug {
+  volume @0 :Float32;
+  ambientDb @1 :Float32;
+  rawDb @2 :Float32;
+  alert @3 :SelfdriveState.AudibleAlert;
+}
+
 struct AudioData {
   data @0 :Data;
   sampleRate @1 :UInt32;
@@ -2515,6 +2545,7 @@ struct Event {
     # microphone data
     soundPressure @103 :SoundPressure;
     rawAudioData @147 :AudioData;
+    soundDebug @152 :SoundDebug;
 
     # systems stuff
     androidLog @20 :AndroidLogEntry;

cereal/services.py

@@ -75,6 +75,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
   "rawAudioData": (False, 20.),
+  "soundDebug": (False, 20.),
   "bookmarkButton": (True, 0., 1),
   "audioFeedback": (True, 0., 1),
   "roadEncodeData": (False, 20., None, QueueSize.BIG),

common/params_keys.h

@@ -37,6 +37,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"SingleToneSounds", {PERSISTENT, BOOL}},
     {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY, BOOL}},
     {"ExperimentalMode", {PERSISTENT, BOOL}},
     {"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
@@ -111,6 +112,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
     {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
     {"ShowDebugInfo", {PERSISTENT, BOOL}},
+    {"ShowSoundDebug", {PERSISTENT, BOOL}},
     {"RouteCount", {PERSISTENT, INT, "0"}},
     {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"SshEnabled", {PERSISTENT, BOOL}},

selfdrive/selfdrived/events.py

@@ -18,7 +18,7 @@
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 EventName = log.OnroadEvent.EventName
 
 
@@ -117,7 +117,7 @@ def __init__(self,
                alert_size: log.SelfdriveState.AlertSize,
                priority: Priority,
                visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert,
+               audible_alert: log.SelfdriveState.AudibleAlert,
                duration: float,
                creation_delay: float = 0.):
 
@@ -182,7 +182,7 @@ def __init__(self, alert_text_2: str):
 
 
 class EngagementAlert(Alert):
-  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
+  def __init__(self, audible_alert: log.SelfdriveState.AudibleAlert):
     super().__init__("", "",
                      AlertStatus.normal, AlertSize.none,
                      Priority.MID, VisualAlert.none,
@@ -517,7 +517,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       "Pay Attention",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+      Priority.LOW, VisualAlert.none, AudibleAlert.preAlert, .1),
   },
 
   EventName.driverDistracted2: {
@@ -612,6 +612,14 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
+  EventName.laneChangeStarted: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.confirmation, .2),
+  },
+
   EventName.steerSaturated: {
     ET.WARNING: Alert(
       "Take Control",
@@ -1037,7 +1045,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
         "Pay Attention",
         "",
         AlertStatus.normal, AlertSize.small,
-        Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
+        Priority.LOW, VisualAlert.none, AudibleAlert.preAlert, 2),
     },
     EventName.driverDistracted2: {
       ET.PERMANENT: Alert(

selfdrive/selfdrived/selfdrived.py

@@ -293,6 +293,9 @@ def update_events(self, CS):
           self.events.add(EventName.preLaneChangeRight)
     elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
                                                     LaneChangeState.laneChangeFinishing):
+      # one-off event to prevent lanechange alert from being played repeatedly during lanechange
+      if EventName.laneChange not in self.events_prev:
+        self.events.add(EventName.laneChangeStarted)
       self.events.add(EventName.laneChange)
 
     for i, pandaState in enumerate(self.sm['pandaStates']):

selfdrive/ui/layouts/settings/developer.py

@@ -88,9 +88,17 @@ def __init__(self):
       initial_state=self._params.get_bool("ShowDebugInfo"),
       callback=self._on_enable_ui_debug,
     )
+
+    self._single_tone_toggle = toggle_item(
+      lambda: tr("Single Tone Sounds"),
+      description="",
+      initial_state=self._params.get_bool("SingleToneSounds"),
+      callback=self._on_single_tone_sounds,
+    )
     self._on_enable_ui_debug(self._params.get_bool("ShowDebugInfo"))
 
     self._scroller = Scroller([
+      self._single_tone_toggle,
       self._adb_toggle,
       self._ssh_toggle,
       self._ssh_keys,
@@ -147,9 +155,13 @@ def _update_toggles(self):
       ("LateralManeuverMode", self._lat_maneuver_toggle),
       ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
       ("ShowDebugInfo", self._ui_debug_toggle),
+      ("SingleToneSounds", self._single_tone_toggle),
     ):
       item.action_item.set_state(self._params.get_bool(key))
 
+  def _on_single_tone_sounds(self, state: bool):
+    self._params.put_bool("SingleToneSounds", state, block=True)
+
   def _on_enable_ui_debug(self, state: bool):
     self._params.put_bool("ShowDebugInfo", state, block=True)
     gui_app.set_show_touches(state)

selfdrive/ui/mici/layouts/settings/developer.py

@@ -82,11 +82,15 @@ def ssh_keys_callback():
     self._alpha_long_toggle = BigToggle("alpha longitudinal",
                                         initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
                                         toggle_callback=self._on_alpha_long_enabled)
+    self._sound_debug_toggle = BigParamControl("show sound debug", "ShowSoundDebug")
+    self._single_tone_toggle = BigParamControl("single tone sounds", "SingleToneSounds")
     self._debug_mode_toggle = BigParamControl("ui debug mode", "ShowDebugInfo",
                                               toggle_callback=lambda checked: (gui_app.set_show_touches(checked),
                                                                                gui_app.set_show_fps(checked)))
 
     self._scroller.add_widgets([
+      self._sound_debug_toggle,
+      self._single_tone_toggle,
       self._adb_toggle,
       self._ssh_toggle,
       self._ssh_keys_btn,

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -9,6 +9,7 @@
 from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
+from openpilot.selfdrive.ui.mici.onroad.sound_debug import SoundDebug
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
 from openpilot.system.ui.widgets.label import UnifiedLabel
@@ -151,6 +152,7 @@ def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = Visio
     self._alert_renderer = AlertRenderer()
     self._driver_state_renderer = DriverStateRenderer()
     self._confidence_ball = ConfidenceBall()
+    self._sound_debug = SoundDebug()
     self._offroad_label = UnifiedLabel("start the car to\nuse openpilot", 54, FontWeight.DISPLAY,
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
@@ -243,6 +245,8 @@ def _render(self, _):
 
     self._bookmark_icon.render(self.rect)
 
+    self._sound_debug.render(self._content_rect)
+
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo

selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -1,5 +1,5 @@
 import pyray as rl
-from cereal import car, log, messaging
+from cereal import log, messaging
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
@@ -104,8 +104,9 @@ def _publish_alert_sound(self, dm_state):
     if self._pm is None:
       return
 
-    AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+    AudibleAlert = log.SelfdriveState.AudibleAlert
     ALERT_SOUNDS = {
+      'one': AudibleAlert.preAlert,
       'two': AudibleAlert.promptDistracted,
       'three': AudibleAlert.warningImmediate,
     }

selfdrive/ui/mici/onroad/sound_debug.py

@@ -0,0 +1,43 @@
+import pyray as rl
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+class SoundDebug(Widget):
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self._enabled = self._params.get_bool("ShowSoundDebug")
+    self._font = gui_app.font(FontWeight.MEDIUM)
+
+  def _render(self, rect):
+    if gui_app.frame % 30 == 0:
+      self._enabled = self._params.get_bool("ShowSoundDebug")
+    if not self._enabled:
+      return
+
+    sd = ui_state.sm["soundDebug"]
+    alert = str(sd.alert).split(".")[-1]
+    rows = [
+      ("volume", f"{sd.volume * 100:.0f}%"),
+      ("ambient", f"{sd.ambientDb:.1f} dB"),
+      ("mic raw", f"{sd.rawDb:.1f} dB"),
+      ("alert", alert),
+    ]
+    fs, pad, gap, lh = 32, 14, 24, 40
+
+    label_w = max(measure_text_cached(self._font, lbl, fs).x for lbl, _ in rows)
+    value_w = max(measure_text_cached(self._font, val, fs).x for _, val in rows)
+    w = 2 * pad + label_w + gap + value_w
+    h = 2 * pad + lh * len(rows)
+    x0, y0 = rect.x + rect.width - w - 6, rect.y + 6
+
+    rl.draw_rectangle_rounded(rl.Rectangle(x0, y0, w, h), 0.12, 10, rl.Color(0, 0, 0, 210))
+    for i, (label, value) in enumerate(rows):
+      y = y0 + pad + lh * i
+      rl.draw_text_ex(self._font, label, rl.Vector2(x0 + pad, y), fs, 0, rl.Color(170, 170, 170, 255))
+      vx = x0 + w - pad - measure_text_cached(self._font, value, fs).x
+      rl.draw_text_ex(self._font, value, rl.Vector2(vx, y), fs, 0, rl.WHITE)