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from cereal import car
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from selfdrive.swaglog import cloudlog
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class ET:
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ENABLE = 0
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NO_ENTRY = 1
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WARNING = 2
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SOFT_DISABLE = 3
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IMMEDIATE_DISABLE = 4
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USER_DISABLE = 5
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class alert(object):
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def __init__(self, alert_text_1, alert_text_2, alert_type, visual_alert, audible_alert, duration_sound, duration_hud_alert, 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_type = alert_type
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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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# 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_type) + " " + str(self.visual_alert) + " " + str(self.audible_alert)
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def __gt__(self, alert2):
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return self.alert_type > alert2.alert_type
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class AlertManager(object):
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alerts = {
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"enable": alert("", "", ET.ENABLE, None, "beepSingle", .2, 0., 0.),
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"disable": alert("", "", ET.USER_DISABLE, None, "beepSingle", .2, 0., 0.),
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"pedalPressed": alert("Comma Unavailable", "Pedal Pressed", ET.NO_ENTRY, "brakePressed", "chimeDouble", .4, 2., 3.),
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"driverDistracted": alert("Take Control to Regain Speed", "User Distracted", ET.WARNING, "steerRequired", "chimeRepeated", 1., 1., 1.),
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"steerSaturated": alert("Take Control", "Steer Control Saturated", ET.WARNING, "steerRequired", "chimeSingle", 1., 2., 3.),
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"overheat": alert("Take Control Immediately", "System Overheated", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"controlsMismatch": alert("Take Control Immediately", "Controls Mismatch", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"radarCommIssue": alert("Take Control Immediately", "Radar Comm Issue", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"modelCommIssue": alert("Take Control Immediately", "Model Comm Issue", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"controlsFailed": alert("Take Control Immediately", "Controls Failed", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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# car errors
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"commIssue": alert("Take Control Immediately","Communication Issues", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"steerUnavailable": alert("Take Control Immediately","Steer Error", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"steerTemporarilyUnavailable": alert("Take Control", "Steer Temporarily Unavailable", ET.WARNING, "steerRequired", "chimeRepeated", 1., 2., 3.),
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"brakeUnavailable": alert("Take Control Immediately","Brake Error", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"gasUnavailable": alert("Take Control Immediately","Gas Error", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"wrongGear": alert("Take Control Immediately","Gear not D", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"reverseGear": alert("Take Control Immediately","Car in Reverse", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"doorOpen": alert("Take Control Immediately","Door Open", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"seatbeltNotLatched": alert("Take Control Immediately","Seatbelt Unlatched", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"espDisabled": alert("Take Control Immediately","ESP Off", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"wrongCarMode": alert("Comma Unavailable","Main Switch Off", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
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"outOfSpace": alert("Comma Unavailable","Out of Space", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
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"ethicalDilemma": alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
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"startup": alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
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}
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def __init__(self):
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self.activealerts = []
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self.current_alert = None
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self.add("startup", False)
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def alertPresent(self):
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return len(self.activealerts) > 0
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def alertShouldSoftDisable(self):
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return len(self.activealerts) > 0 and self.activealerts[0].alert_type == ET.SOFT_DISABLE
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def alertShouldDisable(self):
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return len(self.activealerts) > 0 and self.activealerts[0].alert_type >= ET.IMMEDIATE_DISABLE
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def add(self, alert_type, enabled = True):
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alert_type = str(alert_type)
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this_alert = self.alerts[alert_type]
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# downgrade the alert if we aren't enabled
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if not enabled and this_alert.alert_type > ET.NO_ENTRY:
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this_alert = alert("Comma Unavailable" if this_alert.alert_text_1 != "" else "", this_alert.alert_text_2, ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.)
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# ignore no entries if we are enabled
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if enabled and this_alert.alert_type < ET.WARNING:
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return
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# if new alert is different, log it
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if self.current_alert is None or self.current_alert.alert_text_2 != this_alert.alert_text_2:
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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(this_alert)
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self.activealerts.sort()
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def process_alerts(self, cur_time):
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if self.alertPresent():
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self.alert_start_time = cur_time
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self.current_alert = self.activealerts[0]
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print self.current_alert
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alert_text_1 = ""
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alert_text_2 = ""
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visual_alert = "none"
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audible_alert = "none"
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if self.current_alert is not None:
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# ewwwww
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if self.alert_start_time + self.current_alert.duration_sound > cur_time:
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audible_alert = self.current_alert.audible_alert
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if self.alert_start_time + self.current_alert.duration_hud_alert > cur_time:
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visual_alert = self.current_alert.visual_alert
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if self.alert_start_time + self.current_alert.duration_text > cur_time:
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alert_text_1 = self.current_alert.alert_text_1
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alert_text_2 = self.current_alert.alert_text_2
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# disable current alert
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if self.alert_start_time + max(self.current_alert.duration_sound, self.current_alert.duration_hud_alert, self.current_alert.duration_text) < cur_time:
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self.current_alert = None
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# reset
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self.activealerts = []
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return alert_text_1, alert_text_2, visual_alert, audible_alert
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