New sounds

cereal/log.capnp

@@ -771,13 +771,31 @@ struct SelfdriveState {
   alertStatus @5 :AlertStatus;
   alertSize @6 :AlertSize;
   alertType @7 :Text;
-  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  alertSoundDEPRECATED @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;
+
+    laneChangeConfirmed @9;
+  }
+
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
     disabled @0;
     preEnabled @1;
@@ -918,7 +936,7 @@ 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;

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,
@@ -609,7 +609,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
       "Changing Lanes",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+      Priority.LOW, VisualAlert.none, AudibleAlert.laneChangeConfirmed, .1),
   },
 
   EventName.steerSaturated: {

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
@@ -104,7 +104,7 @@ def _publish_alert_sound(self, dm_state):
     if self._pm is None:
       return
 
-    AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+    AudibleAlert = log.SelfdriveState.AudibleAlert
     ALERT_SOUNDS = {
       'two': AudibleAlert.promptDistracted,
       'three': AudibleAlert.warningImmediate,

selfdrive/ui/soundd.py

@@ -4,7 +4,7 @@
 import wave
 
 
-from cereal import car, messaging
+from cereal import log, messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -30,7 +30,7 @@
   AMBIENT_DB = 30
   VOLUME_BASE = 10
 
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 
 
 sound_list: dict[int, tuple[str, int | None, float]] = {
@@ -45,6 +45,8 @@
 
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+
+  AudibleAlert.laneChangeConfirmed: ("chime.wav", 1, MAX_VOLUME),
 }
 if HARDWARE.get_device_type() == "tizi":
   sound_list.update({
@@ -74,6 +76,7 @@ def __init__(self):
     self.ramp_start_time = 0.
 
     self.selfdrive_timeout_alert = False
+    self.pending_stop = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
@@ -112,6 +115,10 @@ def get_sound_data(self, frames): # get "frames" worth of data from the current
         self.current_sound_frame += frames_to_write
         current_sound_frame = self.current_sound_frame % len(sound_data)
         loops = self.current_sound_frame // len(sound_data)
+        if self.pending_stop and current_sound_frame == 0:
+          self.current_alert = AudibleAlert.none
+          self.pending_stop = False
+          break
 
     return ret * self.current_volume
 
@@ -121,6 +128,11 @@ def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
     data_out[:frames, 0] = self.get_sound_data(frames)
 
   def update_alert(self, new_alert):
+    # let looping sounds complete instead of cutting off when there is no new alert pending
+    if new_alert == AudibleAlert.none and self.current_alert != AudibleAlert.none and sound_list[self.current_alert][1] is None:
+      self.pending_stop = True
+      return
+    self.pending_stop = False
     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):
       if new_alert == AudibleAlert.warningImmediate:

selfdrive/ui/tests/test_soundd.py

@@ -1,11 +1,11 @@
-from cereal import car
+from cereal import log
 from cereal import messaging
 from cereal.messaging import SubMaster, PubMaster
 from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
 
 import time
 
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 
 
 class TestSoundd: