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alerts: use a single duration for sound, text, and HUD (#22856)

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* alerts: use a single duration for sound, text, and HUD

* little cleanup

* update refs
old-commit-hash: c5d6b85c90
commatwo_master
Adeeb Shihadeh 4 years ago committed by GitHub
parent 450471058b
commit 448d5f9e93
4 changed files with 67 additions and 89 deletions
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  1. 3
      selfdrive/controls/lib/alertmanager.py
  2. 149
      selfdrive/controls/lib/events.py
  3. 2
      selfdrive/controls/tests/test_alerts.py
  4. 2
      selfdrive/test/process_replay/ref_commit

3
selfdrive/controls/lib/alertmanager.py
Unescape View File

@ -52,10 +52,9 @@ class AlertManager:
def add_many(self, frame: int, alerts: List[Alert], enabled: bool = True) -> None:
for alert in alerts:
alert_duration = max(alert.duration_sound, alert.duration_hud_alert, alert.duration_text)
self.activealerts[alert.alert_type].alert = alert
self.activealerts[alert.alert_type].start_frame = frame
self.activealerts[alert.alert_type].end_frame = frame + int(alert_duration / DT_CTRL)
self.activealerts[alert.alert_type].end_frame = frame + int(alert.duration / DT_CTRL)
def process_alerts(self, frame: int, clear_event_type=None) -> None:
current_alert = AlertEntry()

149
selfdrive/controls/lib/events.py
Unescape View File

@ -111,9 +111,7 @@ class Alert:
priority: Priority,
visual_alert: car.CarControl.HUDControl.VisualAlert,
audible_alert: car.CarControl.HUDControl.AudibleAlert,
duration_sound: float,
duration_hud_alert: float,
duration_text: float,
duration: float,
alert_rate: float = 0.,
creation_delay: float = 0.):
@ -125,9 +123,7 @@ class Alert:
self.visual_alert = visual_alert
self.audible_alert = audible_alert
self.duration_sound = duration_sound
self.duration_hud_alert = duration_hud_alert
self.duration_text = duration_text
self.duration = duration
self.alert_rate = alert_rate
self.creation_delay = creation_delay
@ -144,10 +140,10 @@ class Alert:
class NoEntryAlert(Alert):
def __init__(self, alert_text_2, audible_alert=AudibleAlert.chimeError,
visual_alert=VisualAlert.none, duration_hud_alert=2.):
visual_alert=VisualAlert.none):
super().__init__("openpilot Unavailable", alert_text_2, AlertStatus.normal,
AlertSize.mid, Priority.LOW, visual_alert,
audible_alert, .4, duration_hud_alert, 3.)
audible_alert, 3.)
class SoftDisableAlert(Alert):
@ -155,30 +151,30 @@ class SoftDisableAlert(Alert):
super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
AlertStatus.critical, AlertSize.full,
Priority.MID, VisualAlert.steerRequired,
AudibleAlert.chimeWarningRepeatInfinite, .1, 2., 2.),
AudibleAlert.chimeWarningRepeatInfinite, 2.),
class ImmediateDisableAlert(Alert):
def __init__(self, alert_text_2, alert_text_1="TAKE CONTROL IMMEDIATELY"):
super().__init__(alert_text_1, alert_text_2,
def __init__(self, alert_text_2):
super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.steerRequired,
AudibleAlert.chimeWarningRepeatInfinite, 2.2, 3., 4.),
AudibleAlert.chimeWarningRepeatInfinite, 4.),
class EngagementAlert(Alert):
def __init__(self, audible_alert=True):
def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
super().__init__("", "",
AlertStatus.normal, AlertSize.none,
Priority.MID, VisualAlert.none,
audible_alert, .2, 0., 0.),
audible_alert, .02),
class NormalPermanentAlert(Alert):
def __init__(self, alert_text_1: str, alert_text_2: str, duration_text: float = 0.2):
def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2):
super().__init__(alert_text_1, alert_text_2,
AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., duration_text),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, duration),
# ********** helper functions **********
def get_display_speed(speed_ms: float, metric: bool) -> str:
@ -197,7 +193,7 @@ def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric:
f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 0., 0.4, .3)
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 0.4)
def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
@ -205,7 +201,7 @@ def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, met
"Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc,
f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
@ -214,24 +210,21 @@ def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Al
"Poor GPS reception",
"If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=300.)
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
text = "Cruise Mode Disabled"
if CP.carName == "honda":
text = "Main Switch Off"
return NoEntryAlert(text, duration_hud_alert=0.)
return NoEntryAlert(text)
def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
axes = sm['testJoystick'].axes
gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
return Alert(
"Joystick Mode",
f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .1)
vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
return NormalPermanentAlert("Joystick Mode", vals)
EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, bool], Alert]]]] = {
@ -243,11 +236,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
EventName.joystickDebug: {
ET.WARNING: joystick_alert,
ET.PERMANENT: Alert(
"Joystick Mode",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 0.1),
ET.PERMANENT: NormalPermanentAlert("Joystick Mode"),
},
EventName.controlsInitializing: {
@ -259,7 +248,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Be ready to take over at any time",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 10.),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
},
EventName.startupMaster: {
@ -267,7 +256,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"WARNING: This branch is not tested",
"Always keep hands on wheel and eyes on road",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 10.),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
},
# Car is recognized, but marked as dashcam only
@ -276,7 +265,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Dashcam mode",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 10.),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
},
# Car is not recognized
@ -285,7 +274,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Dashcam mode for unsupported car",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 10.),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
},
EventName.startupNoFw: {
@ -293,7 +282,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Car Unrecognized",
"Check comma power connections",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 10.),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
},
EventName.dashcamMode: {
@ -301,7 +290,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Dashcam Mode",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2),
},
EventName.invalidLkasSetting: {
@ -309,7 +298,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Stock LKAS is turned on",
"Turn off stock LKAS to engage",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2),
},
# Some features or cars are marked as community features. If openpilot
@ -321,7 +310,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"openpilot Not Available",
"Enable Community Features in Settings to Engage",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
},
# openpilot doesn't recognize the car. This switches openpilot into a
@ -332,7 +321,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Dashcam Mode",
"Car Unrecognized",
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2),
},
EventName.stockAeb: {
@ -340,7 +329,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"BRAKE!",
"Stock AEB: Risk of Collision",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.),
ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
},
@ -349,7 +338,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"BRAKE!",
"Risk of Collision",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeatInfinite, 1., 2., 2.),
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeatInfinite, 2.),
},
EventName.ldw: {
@ -357,7 +346,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"TAKE CONTROL",
"Lane Departure Detected",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.ldw, AudibleAlert.chimePrompt, 1., 2., 3.),
Priority.LOW, VisualAlert.ldw, AudibleAlert.chimePrompt, 3.),
},
# ********** events only containing alerts that display while engaged **********
@ -367,7 +356,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"openpilot will not brake while gas pressed",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .0, .0, .1, creation_delay=1.),
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
},
# openpilot tries to learn certain parameters about your car by observing
@ -385,7 +374,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Vehicle Parameter Identification Failed",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
},
EventName.steerTempUnavailableSilent: {
@ -393,7 +382,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Steering Temporarily Unavailable",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1.),
},
EventName.preDriverDistracted: {
@ -401,7 +390,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"KEEP EYES ON ROAD: Driver Distracted",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1),
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
},
EventName.promptDriverDistracted: {
@ -409,7 +398,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"KEEP EYES ON ROAD",
"Driver Distracted",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, .1, .1, .1),
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, .1),
},
EventName.driverDistracted: {
@ -417,7 +406,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"DISENGAGE IMMEDIATELY",
"Driver Distracted",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeatInfinite, .1, .1, .1),
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeatInfinite, .1),
},
EventName.preDriverUnresponsive: {
@ -425,7 +414,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"TOUCH STEERING WHEEL: No Face Detected",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75),
},
EventName.promptDriverUnresponsive: {
@ -433,7 +422,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"TOUCH STEERING WHEEL",
"Driver Unresponsive",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, .1, .1, .1),
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, .1),
},
EventName.driverUnresponsive: {
@ -441,7 +430,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"DISENGAGE IMMEDIATELY",
"Driver Unresponsive",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeatInfinite, .1, .1, .1),
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeatInfinite, .1),
},
EventName.manualRestart: {
@ -449,7 +438,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"TAKE CONTROL",
"Resume Driving Manually",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
},
EventName.resumeRequired: {
@ -457,7 +446,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"STOPPED",
"Press Resume to Move",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
},
EventName.belowSteerSpeed: {
@ -469,7 +458,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Steer Left to Start Lane Change Once Safe",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
},
EventName.preLaneChangeRight: {
@ -477,7 +466,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Steer Right to Start Lane Change Once Safe",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
},
EventName.laneChangeBlocked: {
@ -485,7 +474,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Car Detected in Blindspot",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.chimePrompt, .1, .1, .1),
Priority.LOW, VisualAlert.none, AudibleAlert.chimePrompt, .1),
},
EventName.laneChange: {
@ -493,7 +482,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Changing Lanes",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1),
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
},
EventName.steerSaturated: {
@ -501,7 +490,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"TAKE CONTROL",
"Turn Exceeds Steering Limit",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1.),
},
# Thrown when the fan is driven at >50% but is not rotating
@ -572,18 +561,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
EventName.steerTempUnavailable: {
ET.SOFT_DISABLE: SoftDisableAlert("Steering Temporarily Unavailable"),
ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable",
duration_hud_alert=0.),
ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"),
},
EventName.outOfSpace: {
ET.PERMANENT: Alert(
"Out of Storage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.NO_ENTRY: NoEntryAlert("Out of Storage Space",
duration_hud_alert=0.),
ET.PERMANENT: NormalPermanentAlert("Out of Storage"),
ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
},
EventName.belowEngageSpeed: {
@ -595,7 +578,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"No Data from Device Sensors",
"Reboot your Device",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=1.),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
ET.NO_ENTRY: NoEntryAlert("No Data from Device Sensors"),
},
@ -613,11 +596,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
},
EventName.overheat: {
ET.PERMANENT: Alert(
"System Overheated",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.PERMANENT: NormalPermanentAlert("System Overheated"),
ET.SOFT_DISABLE: SoftDisableAlert("System Overheated"),
ET.NO_ENTRY: NoEntryAlert("System Overheated"),
},
@ -736,17 +715,17 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
EventName.roadCameraError: {
ET.PERMANENT: NormalPermanentAlert("Road Camera Error", "",
duration_text=10.),
duration=10.),
},
EventName.driverCameraError: {
ET.PERMANENT: NormalPermanentAlert("Driver Camera Error", "",
duration_text=10.),
duration=10.),
},
EventName.wideRoadCameraError: {
ET.PERMANENT: NormalPermanentAlert("Wide Road Camera Error", "",
duration_text=10.),
duration=10.),
},
# Sometimes the USB stack on the device can get into a bad state
@ -767,7 +746,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"CAN Error: Check Connections",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=1.),
Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
},
@ -777,7 +756,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"LKAS Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2),
ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"),
},
@ -787,7 +766,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Cruise Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2),
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
},
@ -796,7 +775,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Reverse\nGear",
"",
AlertStatus.normal, AlertSize.full,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=0.5),
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"),
ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
},
@ -830,7 +809,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"openpilot Canceled",
"No close lead car",
AlertStatus.normal, AlertSize.mid,
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, 3.),
ET.NO_ENTRY: NoEntryAlert("No Close Lead Car"),
},
@ -839,7 +818,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"openpilot Canceled",
"Speed too low",
AlertStatus.normal, AlertSize.mid,
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, 3.),
},
# When the car is driving faster than most cars in the training data the model outputs can be unpredictable
@ -848,12 +827,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Speed Too High",
"Model uncertain at this speed",
AlertStatus.userPrompt, AlertSize.mid,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, 2.2, 3., 4.),
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, 4.),
ET.NO_ENTRY: Alert(
"Speed Too High",
"Slow down to engage",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, 3.),
},
EventName.lowSpeedLockout: {
@ -861,7 +840,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"Cruise Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2),
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
},

2
selfdrive/controls/tests/test_alerts.py
Unescape View File

@ -82,7 +82,7 @@ class TestAlerts(unittest.TestCase):
if a.alert_size == AlertSize.small:
self.assertEqual(0, len(a.alert_text_2))
self.assertTrue(all([n >= 0. for n in [a.duration_sound, a.duration_hud_alert, a.duration_text]]))
self.assertGreaterEqual(a.duration, 0.)
def test_offroad_alerts(self):
params = Params()

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
e3619d2382fa67c2c2d5b7a3d89f74f7d85c411d
0ee2d1f6b658ecb823212827f5fd6b996f143119
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