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509 lines
17 KiB
509 lines
17 KiB
from cereal import car, log
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from selfdrive.swaglog import cloudlog
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from common.realtime import sec_since_boot
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import copy
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# Priority
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class Priority:
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HIGH = 3
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MID = 2
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LOW = 1
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LOWEST = 0
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AlertSize = log.Live100Data.AlertSize
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AlertStatus = log.Live100Data.AlertStatus
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class Alert(object):
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def __init__(self,
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alert_text_1,
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alert_text_2,
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alert_status,
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alert_size,
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alert_priority,
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visual_alert,
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audible_alert,
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duration_sound,
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duration_hud_alert,
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duration_text):
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self.alert_text_1 = alert_text_1
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self.alert_text_2 = alert_text_2
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self.alert_status = alert_status
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self.alert_size = alert_size
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self.alert_priority = alert_priority
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self.visual_alert = visual_alert if visual_alert is not None else "none"
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self.audible_alert = audible_alert if audible_alert is not None else "none"
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self.duration_sound = duration_sound
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self.duration_hud_alert = duration_hud_alert
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self.duration_text = duration_text
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self.start_time = 0.
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# typecheck that enums are valid on startup
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tst = car.CarControl.new_message()
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tst.hudControl.visualAlert = self.visual_alert
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tst.hudControl.audibleAlert = self.audible_alert
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def __str__(self):
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return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_priority) + " " + str(
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self.visual_alert) + " " + str(self.audible_alert)
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def __gt__(self, alert2):
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return self.alert_priority > alert2.alert_priority
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class AlertManager(object):
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alerts = {
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# Miscellaneous alerts
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"enable": Alert(
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"",
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"",
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AlertStatus.normal, AlertSize.none,
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Priority.MID, None, "beepSingle", .2, 0., 0.),
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"disable": Alert(
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"",
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"",
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AlertStatus.normal, AlertSize.none,
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Priority.MID, None, "beepSingle", .2, 0., 0.),
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"fcw": Alert(
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"Brake!",
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"Risk of Collision",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "fcw", "chimeRepeated", 1., 2., 2.),
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"steerSaturated": Alert(
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"TAKE CONTROL",
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"Turn Exceeds Steering Limit",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, "steerRequired", "chimeSingle", 1., 2., 3.),
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"steerTempUnavailable": Alert(
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"TAKE CONTROL",
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"Steering Temporarily Unavailable",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, "steerRequired", "chimeDouble", .4, 2., 3.),
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"steerTempUnavailableMute": Alert(
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"TAKE CONTROL",
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"Steering Temporarily Unavailable",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, None, None, .2, .2, .2),
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"preDriverDistracted": Alert(
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"TAKE CONTROL",
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"User Appears Distracted",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, "steerRequired", None, 0., .1, .1),
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"driverDistracted": Alert(
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"TAKE CONTROL TO REGAIN SPEED",
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"User Appears Distracted",
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AlertStatus.critical, AlertSize.full,
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Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
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"startup": Alert(
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"Be ready to take over at any time",
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"Always keep hands on wheel and eyes on road",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWEST, None, None, 0., 0., 15.),
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"ethicalDilemma": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Ethical Dilemma Detected",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"steerTempUnavailableNoEntry": Alert(
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"openpilot Unavailable",
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"Steering Temporarily Unavailable",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 0., 3.),
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"manualRestart": Alert(
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"TAKE CONTROL",
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"Resume Driving Manually",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, None, None, 0., 0., .2),
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"resumeRequired": Alert(
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"STOPPED",
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"Press Resume to Move",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, None, None, 0., 0., .2),
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"debugAlert": Alert(
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"DEBUG ALERT",
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"",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, None, None, .1, .1, .1),
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# Non-entry only alerts
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"wrongCarModeNoEntry": Alert(
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"openpilot Unavailable",
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"Main Switch Off",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 0., 3.),
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"dataNeededNoEntry": Alert(
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"openpilot Unavailable",
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"Data Needed for Calibration. Upload Drive, Try Again",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 0., 3.),
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"outOfSpaceNoEntry": Alert(
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"openpilot Unavailable",
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"Out of Storage Space",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 0., 3.),
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"pedalPressedNoEntry": Alert(
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"openpilot Unavailable",
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"Pedal Pressed During Attempt",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, "brakePressed", "chimeDouble", .4, 2., 3.),
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"speedTooLowNoEntry": Alert(
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"openpilot Unavailable",
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"Speed Too Low",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"brakeHoldNoEntry": Alert(
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"openpilot Unavailable",
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"Brake Hold Active",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"parkBrakeNoEntry": Alert(
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"openpilot Unavailable",
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"Park Brake Engaged",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"lowSpeedLockoutNoEntry": Alert(
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"openpilot Unavailable",
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"Cruise Fault: Restart the Car",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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# Cancellation alerts causing soft disabling
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"overheat": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"System Overheated",
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AlertStatus.critical, AlertSize.full,
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Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"wrongGear": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Gear not D",
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AlertStatus.critical, AlertSize.full,
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Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"calibrationInvalid": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Calibration Invalid: Reposition EON and Recalibrate",
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AlertStatus.critical, AlertSize.full,
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Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"calibrationInProgress": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Calibration in Progress",
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AlertStatus.critical, AlertSize.full,
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Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"doorOpen": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Door Open",
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AlertStatus.critical, AlertSize.full,
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Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"seatbeltNotLatched": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Seatbelt Unlatched",
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AlertStatus.critical, AlertSize.full,
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Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"espDisabled": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"ESP Off",
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AlertStatus.critical, AlertSize.full,
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Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
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# Cancellation alerts causing immediate disabling
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"radarCommIssue": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Radar Error: Restart the Car",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"radarFault": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Radar Error: Restart the Car",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"modelCommIssue": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Model Error: Check Internet Connection",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"controlsFailed": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Controls Failed",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"controlsMismatch": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Controls Mismatch",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"commIssue": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"CAN Error: Check Connections",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"steerUnavailable": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Steer Fault: Restart the Car",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"brakeUnavailable": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Brake Fault: Restart the Car",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"gasUnavailable": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Gas Fault: Restart the Car",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"reverseGear": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Reverse Gear",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"cruiseDisabled": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Cruise Is Off",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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"plannerError": Alert(
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"TAKE CONTROL IMMEDIATELY",
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"Planner Solution Error",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),
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# not loud cancellations (user is in control)
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"noTarget": Alert(
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"openpilot Canceled",
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"No close lead car",
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AlertStatus.normal, AlertSize.mid,
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Priority.HIGH, None, "chimeDouble", .4, 2., 3.),
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"speedTooLow": Alert(
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"openpilot Canceled",
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"Speed too low",
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AlertStatus.normal, AlertSize.mid,
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Priority.HIGH, None, "chimeDouble", .4, 2., 3.),
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# Cancellation alerts causing non-entry
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"overheatNoEntry": Alert(
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"openpilot Unavailable",
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"System overheated",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"wrongGearNoEntry": Alert(
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"openpilot Unavailable",
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"Gear not D",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"calibrationInvalidNoEntry": Alert(
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"openpilot Unavailable",
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"Calibration Invalid: Reposition EON and Recalibrate",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"calibrationInProgressNoEntry": Alert(
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"openpilot Unavailable",
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"Calibration in Progress",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"doorOpenNoEntry": Alert(
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"openpilot Unavailable",
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"Door open",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"seatbeltNotLatchedNoEntry": Alert(
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"openpilot Unavailable",
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"Seatbelt unlatched",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"espDisabledNoEntry": Alert(
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"openpilot Unavailable",
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"ESP Off",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"radarCommIssueNoEntry": Alert(
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"openpilot Unavailable",
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"Radar Error: Restart the Car",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"radarFaultNoEntry": Alert(
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"openpilot Unavailable",
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"Radar Error: Restart the Car",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"modelCommIssueNoEntry": Alert(
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"openpilot Unavailable",
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"Model Error: Check Internet Connection",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"controlsFailedNoEntry": Alert(
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"openpilot Unavailable",
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"Controls Failed",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"commIssueNoEntry": Alert(
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"openpilot Unavailable",
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"CAN Error: Check Connections",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"steerUnavailableNoEntry": Alert(
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"openpilot Unavailable",
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"Steer Fault: Restart the Car",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"brakeUnavailableNoEntry": Alert(
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"openpilot Unavailable",
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"Brake Fault: Restart the Car",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"gasUnavailableNoEntry": Alert(
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"openpilot Unavailable",
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"Gas Error: Restart the Car",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"reverseGearNoEntry": Alert(
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"openpilot Unavailable",
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"Reverse Gear",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"cruiseDisabledNoEntry": Alert(
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"openpilot Unavailable",
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"Cruise is Off",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"noTargetNoEntry": Alert(
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"openpilot Unavailable",
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"No Close Lead Car",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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"plannerErrorNoEntry": Alert(
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"openpilot Unavailable",
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"Planner Solution Error",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, None, "chimeDouble", .4, 2., 3.),
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# permanent alerts to display on small UI upper box
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"steerUnavailablePermanent": Alert(
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"STEER FAULT: Restart the car to engage",
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOWEST, None, None, 0., 0., .2),
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"brakeUnavailablePermanent": Alert(
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"BRAKE FAULT: Restart the car to engage",
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOWEST, None, None, 0., 0., .2),
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"lowSpeedLockoutPermanent": Alert(
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"CRUISE FAULT: Restart the car to engage",
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOWEST, None, None, 0., 0., .2),
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}
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def __init__(self):
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self.activealerts = []
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def alertPresent(self):
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return len(self.activealerts) > 0
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def add(self, alert_type, enabled=True, extra_text=''):
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alert_type = str(alert_type)
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added_alert = copy.copy(self.alerts[alert_type])
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added_alert.alert_text_2 += extra_text
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added_alert.start_time = sec_since_boot()
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# if new alert is higher priority, log it
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if not self.alertPresent() or \
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added_alert.alert_priority > self.activealerts[0].alert_priority:
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cloudlog.event('alert_add',
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alert_type=alert_type,
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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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# TODO: cycle through alerts?
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def process_alerts(self, cur_time):
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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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ca = self.activealerts[0] if self.alertPresent() else None
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# start with assuming no alerts
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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 = "none"
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self.audible_alert = "none"
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if ca:
|
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if ca.start_time + ca.duration_sound > cur_time:
|
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self.audible_alert = ca.audible_alert
|
|
|
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if ca.start_time + ca.duration_hud_alert > cur_time:
|
|
self.visual_alert = ca.visual_alert
|
|
|
|
if ca.start_time + ca.duration_text > cur_time:
|
|
self.alert_text_1 = ca.alert_text_1
|
|
self.alert_text_2 = ca.alert_text_2
|
|
self.alert_status = ca.alert_status
|
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self.alert_size = ca.alert_size
|
|
|