controlsd: deprecate alertBlinkingRate (#33422)

* controlsd: deprecate alertBlinkingRate

* simplify

* update refs
old-commit-hash: f4e101c67d

cereal/log.capnp

@@ -713,7 +713,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   alertText2 @25 :Text;
   alertStatus @38 :AlertStatus;
   alertSize @39 :AlertSize;
-  alertBlinkingRate @42 :Float32;
   alertType @44 :Text;
   alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
   engageable @41 :Bool;  # can OP be engaged?
@@ -865,6 +864,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   desiredCurvatureRateDEPRECATED @62 :Float32;
   canErrorCounterDEPRECATED @57 :UInt32;
   vPidDEPRECATED @2 :Float32;
+  alertBlinkingRateDEPRECATED @42 :Float32;
 }
 
 struct DrivingModelData {

selfdrive/controls/controlsd.py

@@ -746,7 +746,6 @@ class Controls:
       controlsState.alertText2 = current_alert.alert_text_2
       controlsState.alertSize = current_alert.alert_size
       controlsState.alertStatus = current_alert.alert_status
-      controlsState.alertBlinkingRate = current_alert.alert_rate
       controlsState.alertType = current_alert.alert_type
       controlsState.alertSound = current_alert.audible_alert
 

selfdrive/controls/lib/events.py

@@ -116,7 +116,6 @@ class Alert:
                visual_alert: car.CarControl.HUDControl.VisualAlert,
                audible_alert: car.CarControl.HUDControl.AudibleAlert,
                duration: float,
-               alert_rate: float = 0.,
                creation_delay: float = 0.):
 
     self.alert_text_1 = alert_text_1
@@ -129,7 +128,6 @@ class Alert:
 
     self.duration = int(duration / DT_CTRL)
 
-    self.alert_rate = alert_rate
     self.creation_delay = creation_delay
 
     self.alert_type = ""
@@ -456,7 +454,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Touch Steering Wheel: No Face Detected",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
   },
 
   EventName.promptDriverUnresponsive: {
@@ -500,7 +498,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Steer Left to Start Lane Change Once Safe",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
   EventName.preLaneChangeRight: {
@@ -508,7 +506,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Steer Right to Start Lane Change Once Safe",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
   EventName.laneChangeBlocked: {

selfdrive/debug/cycle_alerts.py

@@ -108,7 +108,6 @@ def cycle_alerts(duration=200, is_metric=False):
           dat.controlsState.alertText2 = alert.alert_text_2
           dat.controlsState.alertSize = alert.alert_size
           dat.controlsState.alertStatus = alert.alert_status
-          dat.controlsState.alertBlinkingRate = alert.alert_rate
           dat.controlsState.alertType = alert.alert_type
           dat.controlsState.alertSound = alert.audible_alert
         pm.send('controlsState', dat)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-51a1a4716fdd6d58fc69c586aaa62c5c25a3d93e
+a8b4c81ec1df5135ae448c8273ce14c1a98b1bfc