from cereal import car , log
from common . realtime import DT_CTRL
from selfdrive . swaglog import cloudlog
import copy
AlertSize = log . ControlsState . AlertSize
AlertStatus = log . ControlsState . AlertStatus
VisualAlert = car . CarControl . HUDControl . VisualAlert
AudibleAlert = car . CarControl . HUDControl . AudibleAlert
class AlertManager ( ) :
def __init__ ( self ) :
self . activealerts = [ ]
def alert_present ( self ) :
return len ( self . activealerts ) > 0
def add_many ( self , frame , alerts , enabled = True ) :
for a in alerts :
self . add ( frame , a , enabled = enabled )
def add ( self , frame , alert , enabled = True ) :
added_alert = copy . copy ( alert )
added_alert . start_time = frame * DT_CTRL
# if new alert is higher priority, log it
if not self . alert_present ( ) or added_alert . alert_priority > self . activealerts [ 0 ] . alert_priority :
cloudlog . event ( ' alert_add ' , alert_type = added_alert . alert_type , enabled = enabled )
self . activealerts . append ( added_alert )
# sort by priority first and then by start_time
self . activealerts . sort ( key = lambda k : ( k . alert_priority , k . start_time ) , reverse = True )
def process_alerts ( self , frame ) :
cur_time = frame * DT_CTRL
# first get rid of all the expired alerts
self . activealerts = [ a for a in self . activealerts if a . start_time +
max ( a . duration_sound , a . duration_hud_alert , a . duration_text ) > cur_time ]
current_alert = self . activealerts [ 0 ] if self . alert_present ( ) else None
# start with assuming no alerts
self . alert_type = " "
self . alert_text_1 = " "
self . alert_text_2 = " "
self . alert_status = AlertStatus . normal
self . alert_size = AlertSize . none
self . visual_alert = VisualAlert . none
self . audible_alert = AudibleAlert . none
self . alert_rate = 0.
if current_alert :
self . alert_type = current_alert . alert_type
if current_alert . start_time + current_alert . duration_sound > cur_time :
self . audible_alert = current_alert . audible_alert
if current_alert . start_time + current_alert . duration_hud_alert > cur_time :
self . visual_alert = current_alert . visual_alert
if current_alert . start_time + current_alert . duration_text > cur_time :
self . alert_text_1 = current_alert . alert_text_1
self . alert_text_2 = current_alert . alert_text_2
self . alert_status = current_alert . alert_status
self . alert_size = current_alert . alert_size
self . alert_rate = current_alert . alert_rate
