From c442c34afe6c193ee044bc59e1212c5d18215372 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 29 Nov 2022 19:53:44 -0800
Subject: [PATCH] implement Hardware::set_volume using pactl

---
 selfdrive/ui/soundd/sound.cc    |  4 +++-
 system/hardware/base.h          | 10 +++++++++-
 system/hardware/pc/hardware.h   |  5 ++++-
 system/hardware/tici/hardware.h |  3 +++
 4 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc
index fe7bfe780036ee..841bea3b8b630c 100644
--- a/selfdrive/ui/soundd/sound.cc
+++ b/selfdrive/ui/soundd/sound.cc
@@ -48,7 +48,9 @@ void Sound::update() {
 
   // scale volume with speed
   if (sm.updated("carState")) {
-    Hardware::set_volume(util::map_val(sm["carState"].getCarState().getVEgo(), 11.f, 20.f, 0.f, 1.f));
+    float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 11.f, 20.f, 0.f, 1.f);
+    volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale);
+    Hardware::set_volume(volume);
   }
 
   setAlert(Alert::get(sm, started_frame));
diff --git a/system/hardware/base.h b/system/hardware/base.h
index 33f360130cfb8a..14708906faf5df 100644
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -1,8 +1,11 @@
 #pragma once
 
+#include <cmath>
 #include <cstdlib>
 #include <fstream>
+
 #include "cereal/messaging/messaging.h"
+#include "common/util.h"
 
 // no-op base hw class
 class HardwareNone {
@@ -20,7 +23,7 @@ class HardwareNone {
   static void poweroff() {}
   static void set_brightness(int percent) {}
   static void set_display_power(bool on) {}
-  static void set_volume(float percent) {}
+  static void set_volume(float volume) {}
 
   static bool get_ssh_enabled() { return false; }
   static void set_ssh_enabled(bool enabled) {}
@@ -28,4 +31,9 @@ class HardwareNone {
   static bool PC() { return false; }
   static bool TICI() { return false; }
   static bool AGNOS() { return false; }
+
+protected:
+  static float map_volume(float volume) {
+    return util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME);
+  }
 };
diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h
index 68f965ee2f3bed..0ad2fabbb4582c 100644
--- a/system/hardware/pc/hardware.h
+++ b/system/hardware/pc/hardware.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include "common/util.h"
 #include "system/hardware/base.h"
 
 class HardwarePC : public HardwareNone {
@@ -11,4 +10,8 @@ class HardwarePC : public HardwareNone {
   static bool PC() { return true; }
   static bool TICI() { return util::getenv("TICI", 0) == 1; }
   static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
+
+  static void set_volume(float volume) {
+    std::system(std::format("pactl set-sink-volume 1 %.3f &", map_volume(volume)).c_str());
+  }
 };
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index dcccb9f3d1f6fb..6e3dbed2c525e2 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -38,6 +38,9 @@ class HardwareTici : public HardwareNone {
       bl_power_control.close();
     }
   };
+  static void set_volume(float volume) {
+    std::system(std::format("pactl set-sink-volume 1 %.3f &", map_volume(volume)).c_str());
+  }
 
   static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); };
   static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); };