Qt UI: scale volume with speed

selfdrive/common/util.h

@@ -2,18 +2,19 @@
 
 #include <cstdio>
 #include <csignal>
+#include <cassert>
 #include <cstring>
-#include <cstdlib>
+#include <unistd.h>
+#include <fcntl.h>
+
 #include <string>
 #include <memory>
 #include <atomic>
 #include <sstream>
 #include <fstream>
 #include <thread>
 #include <chrono>
-#include <cassert>
-#include <unistd.h>
-#include <fcntl.h>
+#include <algorithm>
 
 #ifndef sighandler_t
 typedef void (*sighandler_t)(int sig);
@@ -38,6 +39,19 @@ int set_core_affinity(int core);
 
 namespace util {
 
+// ***** math helpers *****
+
+// map x from [a1, a2] to [b1, b2]
+template<typename T>
+T map_val(T x, T a1, T a2, T b1, T b2) {
+  x = std::clamp(x, a1, a2);
+  T ra = a2 - a1;
+  T rb = b2 - b1;
+  return (x - a1)*rb / ra + b1;
+}
+
+// ***** string helpers *****
+
 inline bool starts_with(const std::string &s, const std::string &prefix) {
   return s.compare(0, prefix.size(), prefix) == 0;
 }

selfdrive/hardware/hw.h

@@ -17,6 +17,9 @@
 // no-op base hw class
 class HardwareNone {
 public:
+  static constexpr float MAX_VOLUME = 0;
+  static constexpr float MIN_VOLUME = 0;
+
   static std::string get_os_version() { return "openpilot for PC"; };
 
   static void reboot() {};
@@ -29,6 +32,9 @@ class HardwareNone {
 
 class HardwareEon : public HardwareNone {
 public:
+  static constexpr float MAX_VOLUME = 1.0;
+  static constexpr float MIN_VOLUME = 0.5;
+
   static std::string get_os_version() {
     return "NEOS " + util::read_file("/VERSION");
   };
@@ -54,6 +60,9 @@ class HardwareEon : public HardwareNone {
 
 class HardwareTici : public HardwareNone {
 public:
+  static constexpr float MAX_VOLUME = 0.5;
+  static constexpr float MIN_VOLUME = 0.4;
+
   static std::string get_os_version() {
     return "AGNOS " + util::read_file("/VERSION");
   };

selfdrive/ui/qt/home.cc

@@ -278,6 +278,10 @@ void GLWindow::timerUpdate() {
 
   handle_display_state(&ui_state, false);
 
+  // scale volume with speed
+  sound.volume = util::map_val(ui_state.scene.car_state.getVEgo(), 0.f, 20.f,
+                               Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
+
   ui_update(&ui_state);
   repaint();
   watchdog_kick();

selfdrive/ui/qt/qt_sound.cc

@@ -11,7 +11,7 @@ QtSound::QtSound() {
 bool QtSound::play(AudibleAlert alert) {
   int loops = sound_map[alert].second> - 1 ? sound_map[alert].second : QSoundEffect::Infinite;
   sounds[alert].setLoopCount(loops);
-  sounds[alert].setVolume(0.45);
+  sounds[alert].setVolume(volume);
   sounds[alert].play();
   return true;
 }

selfdrive/ui/qt/qt_sound.hpp

@@ -9,6 +9,7 @@ class QtSound : public Sound {
   bool play(AudibleAlert alert);
   void stop();
   void setVolume(int volume);
+  float volume = 0;
 
 private:
   std::map<AudibleAlert, QSoundEffect> sounds;