|
|
|
|
#!/usr/bin/env python3
|
|
|
|
|
import time
|
|
|
|
|
|
|
|
|
|
from cereal import car, log
|
|
|
|
|
import cereal.messaging as messaging
|
|
|
|
|
from common.realtime import DT_CTRL
|
|
|
|
|
from selfdrive.car.honda.interface import CarInterface
|
|
|
|
|
from selfdrive.controls.lib.events import ET, Events
|
|
|
|
|
from selfdrive.controls.lib.alertmanager import AlertManager
|
|
|
|
|
|
|
|
|
|
EventName = car.CarEvent.EventName
|
|
|
|
|
|
|
|
|
|
def cycle_alerts(duration=200, is_metric=False):
|
|
|
|
|
# all alerts
|
|
|
|
|
#alerts = list(EVENTS.keys())
|
|
|
|
|
|
|
|
|
|
# this plays each type of audible alert
|
|
|
|
|
alerts = [
|
|
|
|
|
(EventName.buttonEnable, ET.ENABLE),
|
|
|
|
|
(EventName.buttonCancel, ET.USER_DISABLE),
|
|
|
|
|
(EventName.wrongGear, ET.NO_ENTRY),
|
|
|
|
|
|
|
|
|
|
(EventName.vehicleModelInvalid, ET.SOFT_DISABLE),
|
|
|
|
|
(EventName.accFaulted, ET.IMMEDIATE_DISABLE),
|
|
|
|
|
|
|
|
|
|
# DM sequence
|
|
|
|
|
(EventName.preDriverDistracted, ET.WARNING),
|
|
|
|
|
(EventName.promptDriverDistracted, ET.WARNING),
|
|
|
|
|
(EventName.driverDistracted, ET.WARNING),
|
|
|
|
|
]
|
|
|
|
|
|
|
|
|
|
# debug alerts
|
|
|
|
|
alerts = [
|
|
|
|
|
(EventName.highCpuUsage, ET.NO_ENTRY),
|
|
|
|
|
(EventName.lowMemory, ET.PERMANENT),
|
|
|
|
|
(EventName.overheat, ET.PERMANENT),
|
|
|
|
|
(EventName.outOfSpace, ET.PERMANENT),
|
|
|
|
|
(EventName.modeldLagging, ET.PERMANENT),
|
|
|
|
|
]
|
|
|
|
|
|
|
|
|
|
CP = CarInterface.get_params("HONDA CIVIC 2016")
|
|
|
|
|
sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
|
|
|
|
|
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
|
|
|
|
|
|
|
|
|
|
sm['deviceState'].freeSpacePercent = 55
|
|
|
|
|
sm['deviceState'].memoryUsagePercent = 55
|
|
|
|
|
sm['deviceState'].cpuTempC = [1, 2, 100]
|
|
|
|
|
sm['deviceState'].gpuTempC = [211, 2, 100]
|
|
|
|
|
sm['deviceState'].cpuUsagePercent = [23, 54]
|
|
|
|
|
sm['modelV2'].frameDropPerc = 20
|
|
|
|
|
|
|
|
|
|
pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
|
|
|
|
|
|
|
|
|
|
events = Events()
|
|
|
|
|
AM = AlertManager()
|
|
|
|
|
|
|
|
|
|
frame = 0
|
|
|
|
|
while True:
|
|
|
|
|
for alert, et in alerts:
|
|
|
|
|
events.clear()
|
|
|
|
|
events.add(alert)
|
|
|
|
|
|
|
|
|
|
a = events.create_alerts([et, ], [CP, sm, is_metric, 0])
|
|
|
|
|
AM.add_many(frame, a)
|
|
|
|
|
alert = AM.process_alerts(frame, [])
|
|
|
|
|
print(alert)
|
|
|
|
|
for _ in range(duration):
|
|
|
|
|
dat = messaging.new_message()
|
|
|
|
|
dat.init('controlsState')
|
|
|
|
|
dat.controlsState.enabled = False
|
|
|
|
|
|
|
|
|
|
if alert:
|
|
|
|
|
dat.controlsState.alertText1 = alert.alert_text_1
|
|
|
|
|
dat.controlsState.alertText2 = alert.alert_text_2
|
|
|
|
|
dat.controlsState.alertSize = alert.alert_size
|
|
|
|
|
dat.controlsState.alertStatus = alert.alert_status
|
|
|
|
|
dat.controlsState.alertBlinkingRate = alert.alert_rate
|
|
|
|
|
dat.controlsState.alertType = alert.alert_type
|
|
|
|
|
dat.controlsState.alertSound = alert.audible_alert
|
|
|
|
|
pm.send('controlsState', dat)
|
|
|
|
|
|
|
|
|
|
dat = messaging.new_message()
|
|
|
|
|
dat.init('deviceState')
|
|
|
|
|
dat.deviceState.started = True
|
|
|
|
|
pm.send('deviceState', dat)
|
|
|
|
|
|
|
|
|
|
dat = messaging.new_message('pandaStates', 1)
|
|
|
|
|
dat.pandaStates[0].ignitionLine = True
|
|
|
|
|
dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
|
|
|
|
|
pm.send('pandaStates', dat)
|
|
|
|
|
|
|
|
|
|
frame += 1
|
|
|
|
|
time.sleep(DT_CTRL)
|
|
|
|
|
|
|
|
|
|
if __name__ == '__main__':
|
|
|
|
|
cycle_alerts()
|
