140 lines
4.3 KiB
Python
Executable File
140 lines
4.3 KiB
Python
Executable File
#!/usr/bin/env python3
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import subprocess
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import time
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from cereal import car, messaging
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from openpilot.common.realtime import Ratekeeper
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import threading
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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class Beepd:
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def __init__(self):
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self.current_alert = AudibleAlert.none
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self.enable_gpio()
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self.startup_beep()
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def enable_gpio(self):
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# 尝试 export，忽略已 export 的错误
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try:
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subprocess.run("echo 42 | sudo tee /sys/class/gpio/export",
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shell=True,
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stderr=subprocess.DEVNULL,
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stdout=subprocess.DEVNULL,
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encoding='utf8')
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except Exception:
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pass
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subprocess.run("echo \"out\" | sudo tee /sys/class/gpio/gpio42/direction",
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shell=True,
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stderr=subprocess.DEVNULL,
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stdout=subprocess.DEVNULL,
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encoding='utf8')
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def _beep(self, on):
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val = "1" if on else "0"
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subprocess.run(f"echo \"{val}\" | sudo tee /sys/class/gpio/gpio42/value",
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shell=True,
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stderr=subprocess.DEVNULL,
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stdout=subprocess.DEVNULL,
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encoding='utf8')
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def engage(self):
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self._beep(True)
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time.sleep(0.05)
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self._beep(False)
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def disengage(self):
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for _ in range(2):
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self._beep(True)
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time.sleep(0.01)
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self._beep(False)
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time.sleep(0.01)
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def warning(self):
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for _ in range(3):
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self._beep(True)
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time.sleep(0.01)
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self._beep(False)
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time.sleep(0.01)
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def startup_beep(self):
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self._beep(True)
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time.sleep(0.1)
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self._beep(False)
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def ding(self):
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self._beep(True)
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time.sleep(0.02)
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self._beep(False)
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def dong(self):
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self._beep(True)
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time.sleep(0.03)
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self._beep(False)
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def beep(self):
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self._beep(True)
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time.sleep(0.04)
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self._beep(False)
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def dispatch_beep(self, func):
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threading.Thread(target=func, daemon=True).start()
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def update_alert(self, new_alert):
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if new_alert != self.current_alert:
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self.current_alert = new_alert
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print(f"[BEEP] New alert: {new_alert}")
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if new_alert == AudibleAlert.engage:
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self.dispatch_beep(self.engage)
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elif new_alert == AudibleAlert.disengage:
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self.dispatch_beep(self.disengage)
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elif new_alert in [AudibleAlert.refuse, AudibleAlert.prompt, AudibleAlert.warningImmediate,AudibleAlert.warningSoft]:
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self.dispatch_beep(self.warning)
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elif new_alert in [AudibleAlert.longEngaged, AudibleAlert.longDisengaged, AudibleAlert.trafficSignGreen, AudibleAlert.trafficSignChanged, AudibleAlert.trafficError, AudibleAlert.bsdWarning, AudibleAlert.laneChange]:
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self.dispatch_beep(self.ding)
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elif new_alert in [AudibleAlert.stopStop, AudibleAlert.stopping, AudibleAlert.autoHold, AudibleAlert.engage2, AudibleAlert.disengage2, AudibleAlert.speedDown, AudibleAlert.audioTurn, AudibleAlert.reverseGear]:
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self.dispatch_beep(self.dong)
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elif new_alert in [AudibleAlert.audio1, AudibleAlert.audio2, AudibleAlert.audio3, AudibleAlert.audio4, AudibleAlert.audio5,
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AudibleAlert.audio6, AudibleAlert.audio7, AudibleAlert.audio8, AudibleAlert.audio9, AudibleAlert.audio10]:
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self.dispatch_beep(self.beep)
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def get_audible_alert(self, sm):
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if sm.updated['selfdriveState']:
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new_alert = sm['selfdriveState'].alertSound.raw
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self.update_alert(new_alert)
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def test_beepd_thread(self):
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frame = 0
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rk = Ratekeeper(20)
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pm = messaging.PubMaster(['selfdriveState'])
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while True:
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cs = messaging.new_message('selfdriveState')
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if frame == 40:
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cs.selfdriveState.alertSound = AudibleAlert.engage
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if frame == 60:
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cs.selfdriveState.alertSound = AudibleAlert.disengage
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if frame == 80:
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cs.selfdriveState.alertSound = AudibleAlert.prompt
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pm.send("selfdriveState", cs)
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frame += 1
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rk.keep_time()
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def beepd_thread(self, test=False):
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if test:
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threading.Thread(target=self.test_beepd_thread, daemon=True).start()
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sm = messaging.SubMaster(['selfdriveState'])
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rk = Ratekeeper(20)
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while True:
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sm.update(0)
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self.get_audible_alert(sm)
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rk.keep_time()
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def main():
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s = Beepd()
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s.beepd_thread(test=False) # 改成 True 可启用模拟测试数据
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if __name__ == "__main__":
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main()
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