clear irrelevant alerts on state transition (#2318)

* cleanup

* clear warnings

* more types

* needs refactor

* update refs

* update refs

selfdrive/controls/controlsd.py

@@ -447,9 +447,10 @@ class Controls:
     if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
       self.events.add(EventName.ldw)
 
+    clear_event = ET.WARNING if ET.WARNING in self.current_alert_types else None
     alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric])
     self.AM.add_many(self.sm.frame, alerts, self.enabled)
-    self.AM.process_alerts(self.sm.frame)
+    self.AM.process_alerts(self.sm.frame, clear_event)
     CC.hudControl.visualAlert = self.AM.visual_alert
 
     if not self.read_only:

selfdrive/controls/lib/alertmanager.py

@@ -32,9 +32,6 @@ class AlertManager:
     self.activealerts: List[Alert] = []
     self.clear_current_alert()
 
-  def alert_present(self) -> bool:
-    return len(self.activealerts) > 0
-
   def clear_current_alert(self) -> None:
     self.alert_type: str = ""
     self.alert_text_1: str = ""
@@ -46,34 +43,32 @@ class AlertManager:
     self.alert_rate: float = 0.
 
   def add_many(self, frame: int, alerts: List[Alert], enabled: bool = True) -> None:
-    for a in alerts:
+    for alert in alerts:
-      self.add(frame, a, enabled=enabled)
+      added_alert = copy.copy(alert)
-
+      added_alert.start_time = frame * DT_CTRL
-  def add(self, frame: int, alert: Alert, enabled: bool = True) -> None:
-    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)
+      # if new alert is higher priority, log it
+      if not len(self.activealerts) or added_alert.alert_priority > self.activealerts[0].alert_priority:
+        cloudlog.event('alert_add', alert_type=added_alert.alert_type, enabled=enabled)
 
-    # sort by priority first and then by start_time
+      self.activealerts.append(added_alert)
-    self.activealerts.sort(key=lambda k: (k.alert_priority, k.start_time), reverse=True)
 
-  def process_alerts(self, frame: int) -> None:
+  def process_alerts(self, frame: int, clear_event_type=None) -> None:
     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 +
+    self.activealerts = [a for a in self.activealerts if a.event_type != clear_event_type and
-                         max(a.duration_sound, a.duration_hud_alert, a.duration_text) > cur_time]
+                         a.start_time + max(a.duration_sound, a.duration_hud_alert, a.duration_text) > cur_time]
+
+    # sort by priority first and then by start_time
+    self.activealerts.sort(key=lambda k: (k.alert_priority, k.start_time), reverse=True)
 
     # start with assuming no alerts
     self.clear_current_alert()
 
-    current_alert = self.activealerts[0] if self.alert_present() else None
+    if len(self.activealerts):
-    if current_alert is not None:
+      current_alert = self.activealerts[0]
+
       self.alert_type = current_alert.alert_type
 
       if current_alert.start_time + current_alert.duration_sound > cur_time:

selfdrive/controls/lib/events.py

@@ -1,4 +1,4 @@
-from functools import total_ordering
+from enum import IntEnum
 from typing import Dict, Union, Callable, Any
 
 from cereal import log, car
@@ -14,7 +14,7 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 EventName = car.CarEvent.EventName
 
 # Alert priorities
-class Priority:
+class Priority(IntEnum):
   LOWEST = 0
   LOWER = 1
   LOW = 2
@@ -79,6 +79,7 @@ class Events:
 
           if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay:
             alert.alert_type = f"{EVENT_NAME[e]}/{et}"
+            alert.event_type = et
             ret.append(alert)
     return ret
 
@@ -96,23 +97,21 @@ class Events:
       ret.append(event)
     return ret
 
-@total_ordering
 class Alert:
   def __init__(self,
                alert_text_1: str,
                alert_text_2: str,
-               alert_status,
+               alert_status: log.ControlsState.AlertStatus,
-               alert_size,
+               alert_size: log.ControlsState.AlertSize,
-               alert_priority,
+               alert_priority: Priority,
-               visual_alert,
+               visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert,
                duration_sound: float,
                duration_hud_alert: float,
                duration_text: float,
                alert_rate: float = 0.,
                creation_delay: float = 0.):
 
-    self.alert_type = ""
     self.alert_text_1 = alert_text_1
     self.alert_text_2 = alert_text_2
     self.alert_status = alert_status
@@ -125,24 +124,19 @@ class Alert:
     self.duration_hud_alert = duration_hud_alert
     self.duration_text = duration_text
 
-    self.start_time = 0.
     self.alert_rate = alert_rate
     self.creation_delay = creation_delay
 
-    # typecheck that enums are valid on startup
+    self.start_time = 0.
-    tst = car.CarControl.new_message()
+    self.alert_type = ""
-    tst.hudControl.visualAlert = self.visual_alert
+    self.event_type = None
 
   def __str__(self) -> str:
-    return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_priority) + "  " + str(
+    return f"{self.alert_text_1}/{self.alert_text_2} {self.alert_priority} {self.visual_alert} {self.audible_alert}"
-      self.visual_alert) + " " + str(self.audible_alert)
 
   def __gt__(self, alert2) -> bool:
     return self.alert_priority > alert2.alert_priority
 
-  def __eq__(self, alert2) -> bool:
-    return self.alert_priority == alert2.alert_priority
-
 class NoEntryAlert(Alert):
   def __init__(self, alert_text_2, audible_alert=AudibleAlert.chimeError,
                visual_alert=VisualAlert.none, duration_hud_alert=2.):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-1ca0db37c9fab1328fe1f86cc884b9bc7123aaee
+6f90ffa4970c48edc018ee733bf81b3231b4c463