remote teleop sound requests

cereal/log.capnp

@@ -2428,6 +2428,10 @@ struct AudioFeedback {
   blockNum @1 :UInt16;
 }
 
+struct SoundRequest {
+  sound @0 :Car.CarControl.HUDControl.AudibleAlert;
+}
+
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2537,6 +2541,8 @@ struct Event {
     livestreamWideRoadEncodeData @121 :EncodeData;
     livestreamDriverEncodeData @122 :EncodeData;
 
+    soundRequest @152 :SoundRequest;
+
     # *********** Custom: reserved for forks ***********
 
     # DO change the name of the field

cereal/services.py

@@ -77,6 +77,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
   "audioFeedback": (True, 0., 1),
+  "soundRequest": (False, 0.),
   "roadEncodeData": (False, 20., None, QueueSize.BIG),
   "driverEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),

selfdrive/ui/soundd.py

@@ -3,7 +3,6 @@
 import time
 import wave
 
-
 from cereal import car, messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -128,7 +127,9 @@ def update_alert(self, new_alert):
       self.current_sound_frame = 0
 
   def get_audible_alert(self, sm):
-    if sm.updated['selfdriveState']:
+    if sm.updated['soundRequest'] and sm['soundRequest'].sound.raw != AudibleAlert.none:
+        self.update_alert(sm['soundRequest'].sound.raw)
+    elif sm.updated['selfdriveState']:
       new_alert = sm['selfdriveState'].alertSound.raw
       self.update_alert(new_alert)
     elif check_selfdrive_timeout_alert(sm):
@@ -153,7 +154,7 @@ def soundd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    sm = messaging.SubMaster(['selfdriveState', 'soundPressure'])
+    sm = messaging.SubMaster(['selfdriveState', 'soundPressure', 'soundRequest'])
 
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)

system/athena/athenad.py

@@ -578,7 +578,7 @@ def startStream(sdp: str) -> dict:
   if cp_bytes is not None:
     with car.CarParams.from_bytes(cp_bytes) as CP:
       if CP.notCar:
-        bridge_services_in.append("testJoystick")
+        bridge_services_in += ["testJoystick", "soundRequest"]
 
   body = StreamRequestBody(sdp, ["driver"], bridge_services_in, ["carState"])
   try:

system/webrtc/webrtcd.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-
 import argparse
 import asyncio
 import contextlib