rename carEvents -> onroadEvents (#30577)

* rename carEvents -> onroadEvents

* bump cereal

* bump cereal

cereal

@@ -1 +1 @@
-Subproject commit 2cb2bfb0154874775e56715ecf81f0e6b00538e9
+Subproject commit 65b34b4d152bcea6d49b821bf1da7189f6086b0f

selfdrive/controls/controlsd.py

@@ -64,7 +64,7 @@ class Controls:
 
     # Setup sockets
     self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
-                                   'carControl', 'carEvents', 'carParams'])
+                                   'carControl', 'onroadEvents', 'carParams'])
 
     self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
@@ -212,7 +212,7 @@ class Controls:
         self.state = State.enabled
 
   def update_events(self, CS):
-    """Compute carEvents from carState"""
+    """Compute onroadEvents from carState"""
 
     self.events.clear()
 
@@ -823,11 +823,11 @@ class Controls:
     cs_send.carState.events = car_events
     self.pm.send('carState', cs_send)
 
-    # carEvents - logged every second or on change
+    # onroadEvents - logged every second or on change
     if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
-      ce_send = messaging.new_message('carEvents', len(self.events))
+      ce_send = messaging.new_message('onroadEvents', len(self.events))
-      ce_send.carEvents = car_events
+      ce_send.onroadEvents = car_events
-      self.pm.send('carEvents', ce_send)
+      self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
     # carParams - logged every 50 seconds (> 1 per segment)

selfdrive/debug/count_events.py

@@ -32,8 +32,8 @@ if __name__ == "__main__":
       end_time = max(end_time, msg.logMonoTime)
       start_time = min(start_time, msg.logMonoTime)
 
-      if msg.which() == 'carEvents':
+      if msg.which() == 'onroadEvents':
-        for e in msg.carEvents:
+        for e in msg.onroadEvents:
           cnt_events[e.name] += 1
       elif msg.which() == 'controlsState':
         if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType:

selfdrive/test/process_replay/README.md

@@ -31,7 +31,7 @@ optional arguments:
   --blacklist-procs BLACKLIST_PROCS     Blacklist given processes from the test (e.g. controlsd)
   --blacklist-cars BLACKLIST_CARS       Blacklist given cars from the test (e.g. HONDA)
   --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. carState.events)
-  --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. carEvents)
+  --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. onroadEvents)
   --update-refs                         Updates reference logs using current commit
   --upload-only                         Skips testing processes and uploads logs from previous test run
 ```

selfdrive/test/process_replay/conftest.py

@@ -16,7 +16,7 @@ def pytest_addoption(parser: pytest.Parser):
   parser.addoption("--ignore-fields", type=str, nargs="*", default=[],
                       help="Extra fields or msgs to ignore (e.g. carState.events)")
   parser.addoption("--ignore-msgs", type=str, nargs="*", default=[],
-                      help="Msgs to ignore (e.g. carEvents)")
+                      help="Msgs to ignore (e.g. onroadEvents)")
   parser.addoption("--update-refs", action="store_true",
                       help="Updates reference logs using current commit")
   parser.addoption("--upload-only", action="store_true",

selfdrive/test/process_replay/process_replay.py

@@ -442,8 +442,8 @@ def controlsd_config_callback(params, cfg, lr):
       controlsState = msg.controlsState
       if initialized:
         break
-    elif msg.which() == "carEvents":
+    elif msg.which() == "onroadEvents":
-      initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents]
+      initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents]
 
   assert controlsState is not None and initialized, "controlsState never initialized"
   params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
@@ -465,7 +465,7 @@ CONFIGS = [
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope"
     ],
-    subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
+    subs=["controlsState", "carState", "carControl", "sendcan", "onroadEvents", "carParams"],
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     config_callback=controlsd_config_callback,
     init_callback=controlsd_fingerprint_callback,

selfdrive/test/test_onroad.py

@@ -408,7 +408,7 @@ class TestOnroad(unittest.TestCase):
   def test_startup(self):
     startup_alert = None
     for msg in self.lrs[0]:
-      # can't use carEvents because the first msg can be dropped while loggerd is starting up
+      # can't use onroadEvents because the first msg can be dropped while loggerd is starting up
       if msg.which() == "controlsState":
         startup_alert = msg.controlsState.alertText1
         break
@@ -417,8 +417,8 @@ class TestOnroad(unittest.TestCase):
 
   def test_engagable(self):
     no_entries = Counter()
-    for m in self.service_msgs['carEvents']:
+    for m in self.service_msgs['onroadEvents']:
-      for evt in m.carEvents:
+      for evt in m.onroadEvents:
         if evt.noEntry:
           no_entries[evt.name] += 1
 

selfdrive/test/test_time_to_onroad.py

@@ -18,7 +18,7 @@ def test_time_to_onroad():
   proc = subprocess.Popen(["python", manager_path])
 
   start_time = time.monotonic()
-  sm = messaging.SubMaster(['controlsState', 'deviceState', 'carEvents'])
+  sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents'])
   try:
     # wait for onroad
     with Timeout(20, "timed out waiting to go onroad"):
@@ -40,7 +40,7 @@ def test_time_to_onroad():
     # once we're enageable, must be for the next few seconds
     for _ in range(500):
       sm.update(100)
-      assert sm['controlsState'].engageable, f"events: {sm['carEvents']}"
+      assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
   finally:
     proc.terminate()
     if proc.wait(60) is None:

tools/sim/tests/test_sim_bridge.py

@@ -24,7 +24,7 @@ class TestSimBridgeBase(unittest.TestCase):
     p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
     self.processes.append(p_manager)
 
-    sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState'])
+    sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState'])
     q = Queue()
     carla_bridge = self.create_bridge()
     p_bridge = carla_bridge.run(q, retries=10)
@@ -46,7 +46,7 @@ class TestSimBridgeBase(unittest.TestCase):
       sm.update()
 
       not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
-      car_event_issues = [event.name for event in sm['carEvents'] if any([event.noEntry, event.softDisable, event.immediateDisable])]
+      car_event_issues = [event.name for event in sm['onroadEvents'] if any([event.noEntry, event.softDisable, event.immediateDisable])]
 
       if sm.all_alive() and len(car_event_issues) == 0 and len(not_running) == 0:
         no_car_events_issues_once = True