openpilot_comma/selfdrive/controls/lib/alerts.py

from cereal import car, log

# Priority
class Priority:
  LOWEST = 0
  LOWER = 1
  LOW = 2
  MID = 3
  HIGH = 4
  HIGHEST = 5

AlertSize = log.ControlsState.AlertSize
AlertStatus = log.ControlsState.AlertStatus
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
VisualAlert = car.CarControl.HUDControl.VisualAlert

class Alert():
  def __init__(self,
               alert_type,
               alert_text_1,
               alert_text_2,
               alert_status,
               alert_size,
               alert_priority,
               visual_alert,
               audible_alert,
               duration_sound,
               duration_hud_alert,
               duration_text,
               alert_rate=0.):

    self.alert_type = alert_type
    self.alert_text_1 = alert_text_1
    self.alert_text_2 = alert_text_2
    self.alert_status = alert_status
    self.alert_size = alert_size
    self.alert_priority = alert_priority
    self.visual_alert = visual_alert
    self.audible_alert = audible_alert

    self.duration_sound = duration_sound
    self.duration_hud_alert = duration_hud_alert
    self.duration_text = duration_text

    self.start_time = 0.
    self.alert_rate = alert_rate

    # typecheck that enums are valid on startup
    tst = car.CarControl.new_message()
    tst.hudControl.visualAlert = self.visual_alert

  def __str__(self):
    return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_priority) + "  " + str(
      self.visual_alert) + " " + str(self.audible_alert)

  def __gt__(self, alert2):
    return self.alert_priority > alert2.alert_priority


ALERTS = [
  # Miscellaneous alerts
  Alert(
      "enable",
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.MID, VisualAlert.none, AudibleAlert.chimeEngage, .2, 0., 0.),

  Alert(
      "disable",
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.MID, VisualAlert.none, AudibleAlert.chimeDisengage, .2, 0., 0.),

  Alert(
      "fcw",
      "BRAKE!",
      "Risk of Collision",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),

  Alert(
      "fcwStock",
      "BRAKE!",
      "Risk of Collision",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),  # no EON chime for stock FCW

  Alert(
      "steerSaturated",
      "TAKE CONTROL",
      "Turn Exceeds Steering Limit",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),

  Alert(
      "steerTempUnavailable",
      "TAKE CONTROL",
      "Steering Temporarily Unavailable",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),

  Alert(
      "steerTempUnavailableMute",
      "TAKE CONTROL",
      "Steering Temporarily Unavailable",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),

  Alert(
      "preDriverDistracted",
      "KEEP EYES ON ROAD: Driver Distracted",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "promptDriverDistracted",
      "KEEP EYES ON ROAD",
      "Driver Appears Distracted",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

  Alert(
      "driverDistracted",
      "DISENGAGE IMMEDIATELY",
      "Driver Was Distracted",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "preDriverUnresponsive",
      "TOUCH STEERING WHEEL: No Face Detected",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "promptDriverUnresponsive",
      "TOUCH STEERING WHEEL",
      "Driver Is Unresponsive",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

  Alert(
      "driverUnresponsive",
      "DISENGAGE IMMEDIATELY",
      "Driver Was Unresponsive",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "driverMonitorLowAcc",
      "CHECK DRIVER FACE VISIBILITY",
      "Driver Monitor Model Output Uncertain",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.),

  Alert(
      "geofence",
      "DISENGAGEMENT REQUIRED",
      "Not in Geofenced Area",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "startup",
      "Be ready to take over at any time",
      "Always keep hands on wheel and eyes on road",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "startupMaster",
      "WARNING: This branch is not tested",
      "Always keep hands on wheel and eyes on road",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "startupNoControl",
      "Dashcam mode",
      "Always keep hands on wheel and eyes on road",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "startupNoCar",
      "Dashcam mode for unsupported car",
      "Always keep hands on wheel and eyes on road",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "ethicalDilemma",
      "TAKE CONTROL IMMEDIATELY",
      "Ethical Dilemma Detected",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 3.),

  Alert(
      "steerTempUnavailableNoEntry",
      "openpilot Unavailable",
      "Steering Temporarily Unavailable",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "manualRestart",
      "TAKE CONTROL",
      "Resume Driving Manually",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "resumeRequired",
      "STOPPED",
      "Press Resume to Move",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "belowSteerSpeed",
      "TAKE CONTROL",
      "Steer Unavailable Below ",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3),

  Alert(
      "debugAlert",
      "DEBUG ALERT",
      "",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
  Alert(
      "preLaneChangeLeft",
      "Steer Left to Start Lane Change",
      "Monitor Other Vehicles",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "preLaneChangeRight",
      "Steer Right to Start Lane Change",
      "Monitor Other Vehicles",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "laneChange",
      "Changing Lane",
      "Monitor Other Vehicles",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),

  Alert(
      "posenetInvalid",
      "TAKE CONTROL",
      "Vision Model Output Uncertain",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),

  # Non-entry only alerts
  Alert(
      "wrongCarModeNoEntry",
      "openpilot Unavailable",
      "Main Switch Off",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "dataNeededNoEntry",
      "openpilot Unavailable",
      "Calibration Needs Data. Upload Drive, Try Again",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "outOfSpaceNoEntry",
      "openpilot Unavailable",
      "Out of Storage Space",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "pedalPressedNoEntry",
      "openpilot Unavailable",
      "Pedal Pressed During Attempt",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, "brakePressed", AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "speedTooLowNoEntry",
      "openpilot Unavailable",
      "Speed Too Low",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "brakeHoldNoEntry",
      "openpilot Unavailable",
      "Brake Hold Active",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "parkBrakeNoEntry",
      "openpilot Unavailable",
      "Park Brake Engaged",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "lowSpeedLockoutNoEntry",
      "openpilot Unavailable",
      "Cruise Fault: Restart the Car",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "lowBatteryNoEntry",
      "openpilot Unavailable",
      "Low Battery",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "sensorDataInvalidNoEntry",
      "openpilot Unavailable",
      "No Data from Device Sensors",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "soundsUnavailableNoEntry",
      "openpilot Unavailable",
      "Speaker not found",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "tooDistractedNoEntry",
      "openpilot Unavailable",
      "Distraction Level Too High",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  # Cancellation alerts causing soft disabling
  Alert(
      "overheat",
      "TAKE CONTROL IMMEDIATELY",
      "System Overheated",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "wrongGear",
      "TAKE CONTROL IMMEDIATELY",
      "Gear not D",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "calibrationInvalid",
      "TAKE CONTROL IMMEDIATELY",
      "Calibration Invalid: Reposition Device and Recalibrate",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "calibrationIncomplete",
      "TAKE CONTROL IMMEDIATELY",
      "Calibration in Progress",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "doorOpen",
      "TAKE CONTROL IMMEDIATELY",
      "Door Open",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "seatbeltNotLatched",
      "TAKE CONTROL IMMEDIATELY",
      "Seatbelt Unlatched",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "espDisabled",
      "TAKE CONTROL IMMEDIATELY",
      "ESP Off",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "lowBattery",
      "TAKE CONTROL IMMEDIATELY",
      "Low Battery",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "commIssue",
      "TAKE CONTROL IMMEDIATELY",
      "Communication Issue between Processes",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarCommIssue",
      "TAKE CONTROL IMMEDIATELY",
      "Radar Communication Issue",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarCanError",
      "TAKE CONTROL IMMEDIATELY",
      "Radar Error: Restart the Car",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarFault",
      "TAKE CONTROL IMMEDIATELY",
      "Radar Error: Restart the Car",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),


  Alert(
      "lowMemory",
      "TAKE CONTROL IMMEDIATELY",
      "Low Memory: Reboot Your Device",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  # Cancellation alerts causing immediate disabling
  Alert(
      "controlsFailed",
      "TAKE CONTROL IMMEDIATELY",
      "Controls Failed",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "controlsMismatch",
      "TAKE CONTROL IMMEDIATELY",
      "Controls Mismatch",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "canError",
      "TAKE CONTROL IMMEDIATELY",
      "CAN Error: Check Connections",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "steerUnavailable",
      "TAKE CONTROL IMMEDIATELY",
      "LKAS Fault: Restart the Car",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "brakeUnavailable",
      "TAKE CONTROL IMMEDIATELY",
      "Cruise Fault: Restart the Car",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "gasUnavailable",
      "TAKE CONTROL IMMEDIATELY",
      "Gas Fault: Restart the Car",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "reverseGear",
      "TAKE CONTROL IMMEDIATELY",
      "Reverse Gear",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "cruiseDisabled",
      "TAKE CONTROL IMMEDIATELY",
      "Cruise Is Off",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "plannerError",
      "TAKE CONTROL IMMEDIATELY",
      "Planner Solution Error",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),


  # not loud cancellations (user is in control)
  Alert(
      "noTarget",
      "openpilot Canceled",
      "No close lead car",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "speedTooLow",
      "openpilot Canceled",
      "Speed too low",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "speedTooHigh",
      "Speed Too High",
      "Slow down to resume operation",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  # Cancellation alerts causing non-entry
  Alert(
      "overheatNoEntry",
      "openpilot Unavailable",
      "System overheated",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "wrongGearNoEntry",
      "openpilot Unavailable",
      "Gear not D",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "calibrationInvalidNoEntry",
      "openpilot Unavailable",
      "Calibration Invalid: Reposition Device & Recalibrate",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "calibrationIncompleteNoEntry",
      "openpilot Unavailable",
      "Calibration in Progress",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "doorOpenNoEntry",
      "openpilot Unavailable",
      "Door open",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "seatbeltNotLatchedNoEntry",
      "openpilot Unavailable",
      "Seatbelt unlatched",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "espDisabledNoEntry",
      "openpilot Unavailable",
      "ESP Off",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "geofenceNoEntry",
      "openpilot Unavailable",
      "Not in Geofenced Area",
      AlertStatus.normal, AlertSize.mid,
      Priority.MID, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "radarCanErrorNoEntry",
      "openpilot Unavailable",
      "Radar Error: Restart the Car",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "radarFaultNoEntry",
      "openpilot Unavailable",
      "Radar Error: Restart the Car",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "posenetInvalidNoEntry",
      "openpilot Unavailable",
      "Vision Model Output Uncertain",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "controlsFailedNoEntry",
      "openpilot Unavailable",
      "Controls Failed",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "canErrorNoEntry",
      "openpilot Unavailable",
      "CAN Error: Check Connections",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "steerUnavailableNoEntry",
      "openpilot Unavailable",
      "LKAS Fault: Restart the Car",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "brakeUnavailableNoEntry",
      "openpilot Unavailable",
      "Cruise Fault: Restart the Car",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "gasUnavailableNoEntry",
      "openpilot Unavailable",
      "Gas Error: Restart the Car",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "reverseGearNoEntry",
      "openpilot Unavailable",
      "Reverse Gear",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "cruiseDisabledNoEntry",
      "openpilot Unavailable",
      "Cruise is Off",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "noTargetNoEntry",
      "openpilot Unavailable",
      "No Close Lead Car",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "plannerErrorNoEntry",
      "openpilot Unavailable",
      "Planner Solution Error",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "commIssueNoEntry",
      "openpilot Unavailable",
      "Communication Issue between Processes",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "radarCommIssueNoEntry",
      "openpilot Unavailable",
      "Radar Communication Issue",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "internetConnectivityNeededNoEntry",
      "openpilot Unavailable",
      "Please Connect to Internet",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "lowMemoryNoEntry",
      "openpilot Unavailable",
      "Low Memory: Reboot Your Device",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "speedTooHighNoEntry",
      "Speed Too High",
      "Slow down to engage",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  # permanent alerts
  Alert(
      "steerUnavailablePermanent",
      "LKAS Fault: Restart the car to engage",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "brakeUnavailablePermanent",
      "Cruise Fault: Restart the car to engage",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "lowSpeedLockoutPermanent",
      "Cruise Fault: Restart the car to engage",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "calibrationIncompletePermanent",
      "Calibration in Progress: ",
      "Drive Above ",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "invalidGiraffeToyotaPermanent",
      "Unsupported Giraffe Configuration",
      "Visit comma.ai/tg",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "invalidLkasSettingPermanent",
      "Stock LKAS is turned on",
      "Turn off stock LKAS to engage",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "internetConnectivityNeededPermanent",
      "Please connect to Internet",
      "An Update Check Is Required to Engage",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "communityFeatureDisallowedPermanent",
      "Community Feature Detected",
      "Enable Community Features in Developer Settings",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),  # LOW priority to overcome Cruise Error

  Alert(
      "sensorDataInvalidPermanent",
      "No Data from Device Sensors",
      "Reboot your Device",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "soundsUnavailablePermanent",
      "Speaker not found",
      "Reboot your Device",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "lowMemoryPermanent",
      "RAM Critically Low",
      "Reboot your Device",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "carUnrecognizedPermanent",
      "Dashcam Mode",
      "Car Unrecognized",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "vehicleModelInvalid",
      "Vehicle Parameter Identification Failed",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),

  # offroad alerts
  Alert(
      "ldwPermanent",
      "TAKE CONTROL",
      "Lane Departure Detected",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
]