from cereal import car
from selfdrive . swaglog import cloudlog
import copy
class ET :
ENABLE = 0
NO_ENTRY = 1
WARNING = 2
USER_DISABLE = 3
SOFT_DISABLE = 4
IMMEDIATE_DISABLE = 5
class alert ( object ) :
def __init__ ( self , alert_text_1 , alert_text_2 , alert_type , visual_alert , audible_alert , duration_sound , duration_hud_alert , duration_text ) :
self . alert_text_1 = alert_text_1
self . alert_text_2 = alert_text_2
self . alert_type = alert_type
self . visual_alert = visual_alert if visual_alert is not None else " none "
self . audible_alert = audible_alert if audible_alert is not None else " none "
self . duration_sound = duration_sound
self . duration_hud_alert = duration_hud_alert
self . duration_text = duration_text
# typecheck that enums are valid on startup
tst = car . CarControl . new_message ( )
tst . hudControl . visualAlert = self . visual_alert
tst . hudControl . audibleAlert = self . audible_alert
def __str__ ( self ) :
return self . alert_text_1 + " / " + self . alert_text_2 + " " + str ( self . alert_type ) + " " + str ( self . visual_alert ) + " " + str ( self . audible_alert )
def __gt__ ( self , alert2 ) :
return self . alert_type > alert2 . alert_type
class AlertManager ( object ) :
alerts = {
" enable " : alert ( " " , " " , ET . ENABLE , None , " beepSingle " , .2 , 0. , 0. ) ,
" disable " : alert ( " " , " " , ET . USER_DISABLE , None , " beepSingle " , .2 , 0. , 0. ) ,
" pedalPressed " : alert ( " Comma Unavailable " , " Pedal Pressed " , ET . NO_ENTRY , " brakePressed " , " chimeDouble " , .4 , 2. , 3. ) ,
" preDriverDistracted " : alert ( " Take Control " , " User Distracted " , ET . WARNING , " steerRequired " , " chimeDouble " , .4 , 2. , 3. ) ,
" driverDistracted " : alert ( " Take Control to Regain Speed " , " User Distracted " , ET . WARNING , " steerRequired " , " chimeRepeated " , .5 , .5 , .5 ) ,
" steerSaturated " : alert ( " Take Control " , " Turn Exceeds Limit " , ET . WARNING , " steerRequired " , " chimeSingle " , 1. , 2. , 3. ) ,
" overheat " : alert ( " Take Control Immediately " , " System Overheated " , ET . SOFT_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" controlsMismatch " : alert ( " Take Control Immediately " , " Controls Mismatch " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" radarCommIssue " : alert ( " Take Control Immediately " , " Radar Error: Restart the Car " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" calibrationInvalid " : alert ( " Take Control Immediately " , " Calibration Invalid: Reposition Neo and Recalibrate " , ET . SOFT_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" calibrationInProgress " : alert ( " Take Control Immediately " , " Calibration in Progress: " , ET . SOFT_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" modelCommIssue " : alert ( " Take Control Immediately " , " Model Error: Restart the Car " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" controlsFailed " : alert ( " Take Control Immediately " , " Controls Failed " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" fcw " : alert ( " " , " " , ET . WARNING , None , None , .1 , .1 , .1 ) ,
# car errors
" commIssue " : alert ( " Take Control Immediately " , " CAN Error: Restart the Car " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" steerUnavailable " : alert ( " Take Control Immediately " , " Steer Error: Restart the Car " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" steerTempUnavailable " : alert ( " Take Control " , " Steer Temporarily Unavailable " , ET . WARNING , " steerRequired " , " chimeDouble " , .4 , 2. , 3. ) ,
" brakeUnavailable " : alert ( " Take Control Immediately " , " Brake Error: Restart the Car " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" gasUnavailable " : alert ( " Take Control Immediately " , " Gas Error: Restart the Car " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" wrongGear " : alert ( " Take Control Immediately " , " Gear not D " , ET . SOFT_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" reverseGear " : alert ( " Take Control Immediately " , " Car in Reverse " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" doorOpen " : alert ( " Take Control Immediately " , " Door Open " , ET . SOFT_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" seatbeltNotLatched " : alert ( " Take Control Immediately " , " Seatbelt Unlatched " , ET . SOFT_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" espDisabled " : alert ( " Take Control Immediately " , " ESP Off " , ET . SOFT_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" cruiseDisabled " : alert ( " Take Control Immediately " , " Cruise Is Off " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" wrongCarMode " : alert ( " Comma Unavailable " , " Main Switch Off " , ET . NO_ENTRY , None , " chimeDouble " , .4 , 0. , 3. ) ,
" outOfSpace " : alert ( " Comma Unavailable " , " Out of Space " , ET . NO_ENTRY , None , " chimeDouble " , .4 , 0. , 3. ) ,
" dataNeeded " : alert ( " Comma Unavailable " , " Data needed for calibration. Upload drive, try again " , ET . NO_ENTRY , None , " chimeDouble " , .4 , 0. , 3. ) ,
" ethicalDilemma " : alert ( " Take Control Immediately " , " Ethical Dilemma Detected " , ET . IMMEDIATE_DISABLE , " steerRequired " , " chimeRepeated " , 1. , 3. , 3. ) ,
" startup " : alert ( " Always Keep Hands on Wheel " , " Be Ready to Take Over Any Time " , ET . NO_ENTRY , None , None , 0. , 0. , 15. ) ,
}
def __init__ ( self ) :
self . activealerts = [ ]
self . current_alert = None
self . add ( " startup " , False )
def alertPresent ( self ) :
return len ( self . activealerts ) > 0
def alertShouldSoftDisable ( self ) :
return len ( self . activealerts ) > 0 and any ( a . alert_type == ET . SOFT_DISABLE for a in self . activealerts )
def alertShouldDisable ( self ) :
return len ( self . activealerts ) > 0 and any ( a . alert_type in [ ET . IMMEDIATE_DISABLE , ET . USER_DISABLE ] for a in self . activealerts )
def add ( self , alert_type , enabled = True , extra_text = ' ' ) :
alert_type = str ( alert_type )
this_alert = copy . copy ( self . alerts [ alert_type ] )
this_alert . alert_text_2 + = extra_text
# downgrade the alert if we aren't enabled, except if it's FCW, which remains the same
# TODO: remove this 'if' by adding more alerts
if not enabled and this_alert . alert_type in [ ET . WARNING , ET . SOFT_DISABLE , ET . IMMEDIATE_DISABLE ] \
and this_alert != self . alerts [ ' fcw ' ] :
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. )
# ignore no entries if we are enabled
if enabled and this_alert . alert_type in [ ET . ENABLE , ET . NO_ENTRY ] :
return
# if new alert is higher priority, log it
if self . current_alert is None or this_alert > self . current_alert :
cloudlog . event ( ' alert_add ' ,
alert_type = alert_type ,
enabled = enabled )
self . activealerts . append ( this_alert )
self . activealerts . sort ( )
def process_alerts ( self , cur_time ) :
if self . alertPresent ( ) :
self . alert_start_time = cur_time
self . current_alert = self . activealerts [ 0 ]
print self . current_alert
alert_text_1 = " "
alert_text_2 = " "
visual_alert = " none "
audible_alert = " none "
if self . current_alert is not None :
# ewwwww
if self . alert_start_time + self . current_alert . duration_sound > cur_time :
audible_alert = self . current_alert . audible_alert
if self . alert_start_time + self . current_alert . duration_hud_alert > cur_time :
visual_alert = self . current_alert . visual_alert
if self . alert_start_time + self . current_alert . duration_text > cur_time :
alert_text_1 = self . current_alert . alert_text_1
alert_text_2 = self . current_alert . alert_text_2
# disable current alert
if self . alert_start_time + max ( self . current_alert . duration_sound , self . current_alert . duration_hud_alert , self . current_alert . duration_text ) < cur_time :
self . current_alert = None
# reset
self . activealerts = [ ]
return alert_text_1 , alert_text_2 , visual_alert , audible_alert
