Cleaner lane change alerts (#21857)

* less is more

* small

* remove HUD warnings

* update ref

* safe

* update refs

* update again

Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/controls/lib/events.py

@@ -481,34 +481,34 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
 
   EventName.preLaneChangeLeft: {
     ET.WARNING: Alert(
-      "Steer Left to Start Lane Change",
+      "Steer Left to Start Lane Change Once Safe",
-      "Monitor Other Vehicles",
+      "",
-      AlertStatus.normal, AlertSize.mid,
+      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
   },
 
   EventName.preLaneChangeRight: {
     ET.WARNING: Alert(
-      "Steer Right to Start Lane Change",
+      "Steer Right to Start Lane Change Once Safe",
-      "Monitor Other Vehicles",
+      "",
-      AlertStatus.normal, AlertSize.mid,
+      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
   },
 
   EventName.laneChangeBlocked: {
     ET.WARNING: Alert(
       "Car Detected in Blindspot",
-      "Monitor Other Vehicles",
+      "",
-      AlertStatus.userPrompt, AlertSize.mid,
+      AlertStatus.userPrompt, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, .1, .1, .1),
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimePrompt, .1, .1, .1),
   },
 
   EventName.laneChange: {
     ET.WARNING: Alert(
-      "Changing Lane",
+      "Changing Lanes",
-      "Monitor Other Vehicles",
+      "",
-      AlertStatus.normal, AlertSize.mid,
+      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1),
   },
 
   EventName.steerSaturated: {

selfdrive/debug/cycle_alerts.py

@@ -24,16 +24,13 @@ def cycle_alerts(duration=2000, is_metric=False):
   sm = messaging.SubMaster(['deviceState', 'pandaState', 'roadCameraState', 'modelV2', 'liveCalibration',
                             'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
 
-  controls_state = messaging.pub_sock('controlsState')
+  pm = messaging.PubMaster(['controlsState', 'pandaState', 'deviceState'])
-  deviceState = messaging.pub_sock('deviceState')
-
-  idx, last_alert_millis = 0, 0
 
   events = Events()
   AM = AlertManager()
 
   frame = 0
-
+  idx, last_alert_millis = 0, 0
   while 1:
     if frame % duration == 0:
       idx = (idx + 1) % len(alerts)
@@ -50,7 +47,6 @@ def cycle_alerts(duration=2000, is_metric=False):
 
     dat = messaging.new_message()
     dat.init('controlsState')
-
     dat.controlsState.alertText1 = AM.alert_text_1
     dat.controlsState.alertText2 = AM.alert_text_2
     dat.controlsState.alertSize = AM.alert_size
@@ -58,14 +54,18 @@ def cycle_alerts(duration=2000, is_metric=False):
     dat.controlsState.alertBlinkingRate = AM.alert_rate
     dat.controlsState.alertType = AM.alert_type
     dat.controlsState.alertSound = AM.audible_alert
-    controls_state.send(dat.to_bytes())
+    pm.send('controlsState', dat)
 
     dat = messaging.new_message()
     dat.init('deviceState')
     dat.deviceState.started = True
-    deviceState.send(dat.to_bytes())
+    pm.send('deviceState', dat)
+
+    dat = messaging.new_message()
+    dat.init('pandaState')
+    dat.pandaState.ignitionLine = True
+    pm.send('pandaState', dat)
 
-    frame += 1
     time.sleep(0.01)
 
 if __name__ == '__main__':

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-658824c1198bd9e4c2b2c6d1c9de9bcae04c7057
+dd32c3e4f189e08e2bb20fcf3c0c16116077a959