debug alert

cereal/log.capnp

@@ -2304,6 +2304,11 @@ struct EncodeData {
   height @5 :UInt32;
 }
 
+struct DebugAlert {
+  alertText1 @0 :Text;
+  alertText2 @1 :Text;
+}
+
 struct UserFlag {
 }
 
@@ -2411,7 +2416,7 @@ struct Event {
     driverEncodeData @87 :EncodeData;
     wideRoadEncodeData @88 :EncodeData;
     qRoadEncodeData @89 :EncodeData;
-    # debugAlert @104 :DebugAlert;
+    alertDebug @133 :DebugAlert;
 
     livestreamRoadEncodeData @120 :EncodeData;
     livestreamWideRoadEncodeData @121 :EncodeData;

cereal/services.py

@@ -75,6 +75,7 @@ _services: dict[str, tuple] = {
 
   # debug
   "uiDebug": (True, 0., 1),
+  "alertDebug": (True, 0.),
   "testJoystick": (True, 0.),
   "roadEncodeData": (False, 20.),
   "driverEncodeData": (False, 20.),

examples/longitudinal_profiles.py

@@ -80,6 +80,10 @@ class Maneuver:
   def finished(self):
     return self._finished
 
+  @property
+  def active(self):
+    return self._active
+
 
 MANEUVERS = [
   Maneuver(
@@ -176,7 +180,7 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
   sm = messaging.SubMaster(['carState', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug'])
 
   maneuvers = iter(MANEUVERS)
   maneuver = None
@@ -190,6 +194,9 @@ def main():
     if maneuver is None:
       print('We are done!')
 
+    alert_msg = messaging.new_message('alertDebug')
+    alert_msg.valid = True
+
     plan_send = messaging.new_message('longitudinalPlan')
     plan_send.valid = sm.all_checks()
 
@@ -200,6 +207,12 @@ def main():
     if maneuver is not None:
       accel = maneuver.get_accel(cs.vEgo, cs.cruiseState.enabled, cs.cruiseState.standstill)
 
+      if maneuver.active:
+        alert_msg.alertDebug.alertText1 = 'Maneuver: Active'
+      else:
+        alert_msg.alertDebug.alertText1 = f'Reaching Target Speed: {maneuver.initial_speed * Conversions.MS_TO_MPH:0.2f} mph'
+      alert_msg.alertDebug.alertText2 = f'Requesting {accel:0.2f} m/s^2'
+
     longitudinalPlan.aTarget = accel
     longitudinalPlan.shouldStop = cs.vEgo < CP.vEgoStopping and accel < 0  # should_stop
 
@@ -215,6 +228,7 @@ def main():
 
     print('finished?', maneuver is not None and maneuver.finished)
     print('aTarget:', longitudinalPlan.aTarget)
+    print('shouldStop:', longitudinalPlan.shouldStop)
 
     if maneuver is not None and maneuver.finished:
       maneuver = None

selfdrive/selfdrived/selfdrived.py

@@ -27,6 +27,10 @@ TESTING_CLOSET = "TESTING_CLOSET" in os.environ
 IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
 
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.SelfdriveState.OpenpilotState
 PandaType = log.PandaState.PandaType
@@ -61,7 +65,7 @@ class SelfdriveD:
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets
+    ignore = self.sensor_packets + self.gps_packets + ['debugAlert']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -70,7 +74,7 @@ class SelfdriveD:
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore+['radarState',],
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -431,6 +435,14 @@ class SelfdriveD:
     ss.alertType = self.AM.current_alert.alert_type
     ss.alertSound = self.AM.current_alert.audible_alert
 
+    if self.sm['alertDebug'].alertText1 != '':
+      ss.alertText1 = self.sm['alertDebug'].alertText1
+      ss.alertText2 = self.sm['alertDebug'].alertText2
+      ss.alertSize = AlertSize.mid
+      ss.alertStatus = AlertStatus.normal
+      ss.alertType = ''
+      ss.alertSound = AudibleAlert.none
+
     self.pm.send('selfdriveState', ss_msg)
 
     # onroadEvents - logged every second or on change