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from cereal import car, log
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from common.realtime import DT_CTRL
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from selfdrive.swaglog import cloudlog
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import copy
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AlertSize = log.ControlsState.AlertSize
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AlertStatus = log.ControlsState.AlertStatus
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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class AlertManager():
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def __init__(self):
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self.activealerts = []
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def alert_present(self):
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return len(self.activealerts) > 0
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def add_many(self, frame, alerts, enabled=True):
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for a in alerts:
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self.add(frame, a, enabled=enabled)
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def add(self, frame, alert, enabled=True):
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added_alert = copy.copy(alert)
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added_alert.start_time = frame * DT_CTRL
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# if new alert is higher priority, log it
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if not self.alert_present() or added_alert.alert_priority > self.activealerts[0].alert_priority:
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cloudlog.event('alert_add', alert_type=added_alert.alert_type, enabled=enabled)
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self.activealerts.append(added_alert)
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# sort by priority first and then by start_time
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self.activealerts.sort(key=lambda k: (k.alert_priority, k.start_time), reverse=True)
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def process_alerts(self, frame):
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cur_time = frame * DT_CTRL
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# first get rid of all the expired alerts
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self.activealerts = [a for a in self.activealerts if a.start_time +
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max(a.duration_sound, a.duration_hud_alert, a.duration_text) > cur_time]
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current_alert = self.activealerts[0] if self.alert_present() else None
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# start with assuming no alerts
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self.alert_type = ""
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self.alert_text_1 = ""
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self.alert_text_2 = ""
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self.alert_status = AlertStatus.normal
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self.alert_size = AlertSize.none
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self.visual_alert = VisualAlert.none
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self.audible_alert = AudibleAlert.none
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self.alert_rate = 0.
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if current_alert:
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self.alert_type = current_alert.alert_type
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if current_alert.start_time + current_alert.duration_sound > cur_time:
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self.audible_alert = current_alert.audible_alert
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if current_alert.start_time + current_alert.duration_hud_alert > cur_time:
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self.visual_alert = current_alert.visual_alert
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if current_alert.start_time + current_alert.duration_text > cur_time:
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self.alert_text_1 = current_alert.alert_text_1
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self.alert_text_2 = current_alert.alert_text_2
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self.alert_status = current_alert.alert_status
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self.alert_size = current_alert.alert_size
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self.alert_rate = current_alert.alert_rate
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