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controlsState: add override state with grey border (#24030)

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* Squashed commit of the following:

commit f0cf822666fb8f78a486d721fe474e8f37da6970
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Apr 4 17:24:00 2022 -0700

    clean up

commit 4364bdb79b1b055daa7542267eb3f37740723fd4
Merge: d448664cf e85f82af3
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Apr 4 17:21:41 2022 -0700

    Merge remote-tracking branch 'upstream/master' into override-alert-type

commit d448664cfdacbdfd3c99f8e12d96f2ba7b24abb5
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Apr 4 17:20:44 2022 -0700

    revert tests changes

commit 40ab8c2d912ccbeb12286ca272e3737656388ac8
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 19:03:39 2022 -0700

    sort

commit 5abd4448b420e91eda57e3c4edb6794893dab42f
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 19:02:59 2022 -0700

    bump cereal

commit fcffc42082b1460676554924461c63c881c31501
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 19:02:25 2022 -0700

    pass in CI

commit f47dd63bc597e18c05d2d9365eb996c13ec70c17
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 12:06:00 2022 -0700

    update refs

commit f1c54e16ccfa37f770b422ad77e2fc940f8ea7f2
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 11:51:04 2022 -0700

    move to tuple

commit bebafc6ed223a67e59daa7c2105f8cb28c4f9c5f
Merge: b0578dc54 0e983562d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 11:45:19 2022 -0700

    Merge remote-tracking branch 'upstream/master' into override-alert-type

commit b0578dc54f9d943e0ab2182b0b79d076129468a7
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Apr 1 11:44:37 2022 -0700

    make global variables of states in controlsd

    make global variables of states in controlsd

commit 32b7e293e88f001ef44c9197dfc68b7240ae129e
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 23:41:41 2022 -0700

    test individual event types

    fix

commit 1fbf66fc8ba7e5a0a25d34a1f30a2cb3ccb86a02
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 23:03:09 2022 -0700

    clean up

    test state machine

    test state machine

commit 33856bef69b1c2e637e58032b1358f275a6cd6bb
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 22:59:05 2022 -0700

    clean up

commit d64cd664980edd6cff0038379a5c3965409ebda0
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 22:40:25 2022 -0700

    test few more things

commit 72a3e57a9a8813b348a8ae9648e283983f7ba56b
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 22:17:22 2022 -0700

    default transitions

commit ce0051fde8296dab6417d9ef175fdf039d09a8f3
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 22:05:21 2022 -0700

    remove

commit 56de4f8a87e9b96dd99739772da1dddaa873ceb1
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 22:05:15 2022 -0700

    this way we can test any combo of event types

commit bdfd47738e5a3c0e22817047cc2d804ca0fe2785
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 21:36:33 2022 -0700

    add some state machine tests

commit 81a72d1773b204cc984fb0631ac30fb00555962d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 17:43:03 2022 -0700

    update refs

commit 00018708714b156c29f963011a6193fa9028b308
Merge: fa97ffa67 fa934d846
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 17:31:51 2022 -0700

    Merge remote-tracking branch 'upstream/master' into override-alert-type

commit fa97ffa67eec1556b2b255ee68bdf46fc101596e
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 31 17:30:23 2022 -0700

    revert todo

commit b0dcd49b0b0254a4754ddc5ea61618246686327d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 30 00:07:11 2022 -0700

    move back

commit ef12853ceed8c8aa37b16af406e510d172269226
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Mar 29 23:09:05 2022 -0700

    bump cereal

commit 2658f557e2fac79563b74385b8676a659f31f7dc
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 20:54:48 2022 -0700

    fix

commit ed2db85acd34cd78017c6bae0db5df3356c2c19c
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 20:47:18 2022 -0700

    add alert to pass unit tests

commit dc970f55f5f69ecbca7095099bd50ff21ba02610
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 20:26:18 2022 -0700

    bump

commit e9a3c73d61590120cc5e5c16a3d1a0bbbd51e19d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 20:25:33 2022 -0700

    normal

commit 4ecfbf18d5e6436f9be6bd3b1c4ea3bca8c1a572
Merge: 47e0ad3cb 02b968ed9
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Mar 28 20:14:08 2022 -0700

    Merge remote-tracking branch 'upstream/master' into override-alert-type

commit 47e0ad3cbe4fee81b7a6e4c284973c25b144ddf7
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 10:50:34 2022 -0700

    only rename

commit 8c46435630c1bfba5c5b911bc1d3c8d4b24c9fdd
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 10:49:26 2022 -0700

    bump cereal

commit eb48440843d6a4b09e1f34d8eb2ed4c7f7a8274c
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Mar 24 10:29:49 2022 -0700

    fix

commit 231afe3e6f211e866216a557f2ec2787760d2607
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 23 23:57:40 2022 -0700

    clean up

commit 7a3f49db1bdb58c8ef59a9376306ef1157ba2e57
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 23 23:57:10 2022 -0700

    fix logic

commit eab4f8b46e6c22033ac4ae433b6ba94e6a4ff322
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 23 21:05:05 2022 -0700

    clean up

commit 51e189a27268364e051c6d9231ae6f181ec7f95b
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Mar 23 20:51:23 2022 -0700

    override state testing

* clean up
old-commit-hash: 2624b4cb27
taco
Shane Smiskol 3 years ago committed by GitHub
parent 8e11fbe2db
commit 20d823d18a
2 changed files with 16 additions and 3 deletions
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  1. 17
      selfdrive/controls/controlsd.py
  2. 2
      selfdrive/ui/ui.cc

17
selfdrive/controls/controlsd.py
Unescape View File

@ -421,7 +421,7 @@ class Controls:
self.current_alert_types = [ET.PERMANENT] self.current_alert_types = [ET.PERMANENT]
# ENABLED, SOFT DISABLING, PRE ENABLING # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING
if self.state != State.disabled: if self.state != State.disabled:
# user and immediate disable always have priority in a non-disabled state # user and immediate disable always have priority in a non-disabled state
if self.events.any(ET.USER_DISABLE): if self.events.any(ET.USER_DISABLE):
@ -440,6 +440,10 @@ class Controls:
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.current_alert_types.append(ET.SOFT_DISABLE) self.current_alert_types.append(ET.SOFT_DISABLE)
elif self.events.any(ET.OVERRIDE):
self.state = State.overriding
self.current_alert_types.append(ET.OVERRIDE)
# SOFT DISABLING # SOFT DISABLING
elif self.state == State.softDisabling: elif self.state == State.softDisabling:
if not self.events.any(ET.SOFT_DISABLE): if not self.events.any(ET.SOFT_DISABLE):
@ -462,6 +466,13 @@ class Controls:
else: else:
self.current_alert_types.append(ET.PRE_ENABLE) self.current_alert_types.append(ET.PRE_ENABLE)
# OVERRIDING
elif self.state == State.overriding:
if not self.events.any(ET.OVERRIDE):
self.state = State.enabled
else:
self.current_alert_types.append(ET.OVERRIDE)
# DISABLED # DISABLED
elif self.state == State.disabled: elif self.state == State.disabled:
if self.events.any(ET.ENABLE): if self.events.any(ET.ENABLE):
@ -471,6 +482,8 @@ class Controls:
else: else:
if self.events.any(ET.PRE_ENABLE): if self.events.any(ET.PRE_ENABLE):
self.state = State.preEnabled self.state = State.preEnabled
elif self.events.any(ET.OVERRIDE):
self.state = State.overriding
else: else:
self.state = State.enabled self.state = State.enabled
self.current_alert_types.append(ET.ENABLE) self.current_alert_types.append(ET.ENABLE)
@ -500,7 +513,7 @@ class Controls:
# Check which actuators can be enabled # Check which actuators can be enabled
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CS.vEgo > self.CP.minSteerSpeed and not CS.standstill CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
CC.longActive = self.active CC.longActive = self.active and self.state != State.overriding
actuators = CC.actuators actuators = CC.actuators
actuators.longControlState = self.LoC.long_control_state actuators.longControlState = self.LoC.long_control_state

2
selfdrive/ui/ui.cc
Unescape View File

@ -203,7 +203,7 @@ void UIState::updateStatus() {
status = STATUS_WARNING; status = STATUS_WARNING;
} else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) { } else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) {
status = STATUS_ALERT; status = STATUS_ALERT;
} else if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED) { } else if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
status = STATUS_OVERRIDE; status = STATUS_OVERRIDE;
} else { } else {
status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;

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