Abstract common events + event cleanup (#1129)

* too many if

* unused

* whitespace

* key

* sefldrive/car/*

* no more gctx

* lower

* start abstracting common events

* all cars

* start small

* all cars

* reverse gear

* wrongCarMode

* wrongGear

* espDisabled

* steerUnvailable

* make linter happy

* c isn't used

* fix esp_disabled in VW

* update ref

* more red

* more cleanup

* fix subaru

* update ref

old-commit-hash: e8cb6ea06a

selfdrive/athena/athenad.py

@@ -294,7 +294,7 @@ def ws_send(ws, end_event):
 def backoff(retries):
   return random.randrange(0, min(128, int(2 ** retries)))
 
-def main(gctx=None):
+def main():
   params = Params()
   dongle_id = params.get("DongleId").decode('utf-8')
   ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id

selfdrive/boardd/tests/boardd_old.py

@@ -232,7 +232,7 @@ def boardd_proxy_loop(rate=100, address="192.168.2.251"):
 
     rk.keep_time()
 
-def main(gctx=None):
+def main():
   if os.getenv("MOCK") is not None:
     boardd_mock_loop()
   elif os.getenv("PROXY") is not None:

selfdrive/car/chrysler/interface.py

@@ -6,14 +6,7 @@ from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINT
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
-GearShifter = car.CarState.GearShifter
-ButtonType = car.CarState.ButtonEvent.Type
-
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-
-    self.low_speed_alert = False
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -76,24 +69,8 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = []
 
-    self.low_speed_alert = (ret.vEgo < self.CP.minSteerSpeed)
-
     # events
-    events = []
+    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
-    if not (ret.gearShifter in (GearShifter.drive, GearShifter.low)):
-      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if self.CS.esp_disabled:
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not ret.cruiseState.available:
-      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == GearShifter.reverse:
-      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steer_error:
-      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
 
     if ret.cruiseState.enabled and not self.cruise_enabled_prev:
       events.append(create_event('pcmEnable', [ET.ENABLE]))
@@ -105,7 +82,7 @@ class CarInterface(CarInterfaceBase):
     if (ret.gasPressed and (not self.gas_pressed_prev) and ret.vEgo > 2.0):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if self.low_speed_alert:
+    if ret.vEgo < self.CP.minSteerSpeed:
       events.append(create_event('belowSteerSpeed', [ET.WARNING]))
 
     ret.events = events

selfdrive/car/ford/interface.py

@@ -59,10 +59,7 @@ class CarInterface(CarInterfaceBase):
     ret.canValid = self.cp.can_valid
 
     # events
-    events = []
+    events = self.create_common_events(ret)
-
-    if self.CS.steer_error:
-      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
 
     # enable request in prius is simple, as we activate when Toyota is active (rising edge)
     if ret.cruiseState.enabled and not self.cruise_enabled_prev:

selfdrive/car/gm/carstate.py

@@ -79,7 +79,7 @@ class CarState(CarStateBase):
 
     # 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
     self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
-    self.steer_not_allowed = not is_eps_status_ok(self.lkas_status, self.car_fingerprint)
+    self.steer_warning = not is_eps_status_ok(self.lkas_status, self.car_fingerprint)
 
     return ret
 

selfdrive/car/gm/interface.py

@@ -163,13 +163,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = buttonEvents
 
-    events = []
+    events = self.create_common_events(ret)
-    if self.CS.steer_not_allowed:
-      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
     if self.CS.car_fingerprint in SUPERCRUISE_CARS:
       if self.CS.acc_active and not self.acc_active_prev:
@@ -178,14 +172,7 @@ class CarInterface(CarInterfaceBase):
         events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
     else:
-      if ret.gearShifter != car.CarState.GearShifter.drive:
+      # TODO: why is this only not supercruise? ignore supercruise?
-        events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-      if self.CS.esp_disabled:
-        events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-      if not ret.cruiseState.available:
-        events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-      if ret.gearShifter == car.CarState.GearShifter.reverse:
-        events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
       if ret.vEgo < self.CP.minEnableSpeed:
         events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
       if self.CS.park_brake:

selfdrive/car/honda/interface.py

@@ -14,7 +14,6 @@ from selfdrive.car.interfaces import CarInterfaceBase
 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
 
 ButtonType = car.CarState.ButtonEvent.Type
-GearShifter = car.CarState.GearShifter
 
 def compute_gb_honda(accel, speed):
   creep_brake = 0.0
@@ -440,25 +439,9 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = buttonEvents
 
     # events
-    events = []
+    events = self.create_common_events(ret)
-    if self.CS.steer_error:
-      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    elif self.CS.steer_warning:
-      events.append(create_event('steerTempUnavailable', [ET.WARNING]))
     if self.CS.brake_error:
       events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    if not ret.gearShifter == GearShifter.drive:
-      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if self.CS.esp_disabled:
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not ret.cruiseState.available:
-      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == GearShifter.reverse:
-      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if self.CS.brake_hold and self.CS.CP.carFingerprint not in HONDA_BOSCH:
       events.append(create_event('brakeHold', [ET.NO_ENTRY, ET.USER_DISABLE]))
     if self.CS.park_brake:

selfdrive/car/hyundai/carstate.py

@@ -103,7 +103,7 @@ class CarState(CarStateBase):
     self.esp_disabled = cp.vl["TCS15"]['ESC_Off_Step']
     self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
     self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
-    self.steer_error = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
+    self.steer_warning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
     self.brake_error = 0
 
     return ret

selfdrive/car/hyundai/interface.py

@@ -6,16 +6,10 @@ from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, get_hud_aler
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
-GearShifter = car.CarState.GearShifter
-ButtonType = car.CarState.ButtonEvent.Type
-
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
-    self.idx = 0
-    self.lanes = 0
-    self.lkas_request = 0
     self.low_speed_alert = False
 
   @staticmethod
@@ -121,21 +115,7 @@ class CarInterface(CarInterfaceBase):
     if ret.vEgo > (self.CP.minSteerSpeed + 4.):
       self.low_speed_alert = False
 
-    events = []
+    events = self.create_common_events(ret)
-    if not ret.gearShifter == GearShifter.drive:
-      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if self.CS.esp_disabled:
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not ret.cruiseState.available:
-      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == GearShifter.reverse:
-      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steer_error:
-      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
 
     if ret.cruiseState.enabled and not self.cruise_enabled_prev:
       events.append(create_event('pcmEnable', [ET.ENABLE]))

selfdrive/car/interfaces.py

@@ -4,6 +4,7 @@ from cereal import car
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
+from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 
 GearShifter = car.CarState.GearShifter
@@ -79,6 +80,30 @@ class CarInterfaceBase():
   def apply(self, c):
     raise NotImplementedError
 
+  def create_common_events(self, cs_out, extra_gears=[]):
+    events = []
+
+    if cs_out.doorOpen:
+      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+    if cs_out.seatbeltUnlatched:
+      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+    if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
+      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+    if cs_out.gearShifter == GearShifter.reverse:
+      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+    if not cs_out.cruiseState.available:
+      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
+
+    # TODO: move this stuff to the capnp strut
+    if getattr(self.CS, "steer_error", False):
+      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
+    elif getattr(self.CS, "steer_warning", False):
+      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
+    if getattr(self.CS, "esp_disabled", False):
+      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+
+    return events
+
 class RadarInterfaceBase():
   def __init__(self, CP):
     self.pts = {}

selfdrive/car/subaru/interface.py

@@ -6,12 +6,7 @@ from selfdrive.car.subaru.values import CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
-
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-    self.enabled_prev = 0
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -65,17 +60,13 @@ class CarInterface(CarInterfaceBase):
 
     buttonEvents = []
     be = car.CarState.ButtonEvent.new_message()
-    be.type = ButtonType.accelCruise
+    be.type = car.CarState.ButtonEvent.Type.accelCruise
     buttonEvents.append(be)
 
-    events = []
+    # TODO: add gearShifter to carState
-    if ret.seatbeltUnlatched:
+    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.unknown])
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
-    if ret.cruiseState.enabled and not self.enabled_prev:
+    if ret.cruiseState.enabled and not self.cruise_enabled_prev:
       events.append(create_event('pcmEnable', [ET.ENABLE]))
     if not ret.cruiseState.enabled:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
@@ -90,7 +81,7 @@ class CarInterface(CarInterfaceBase):
     ret.events = events
 
     self.gas_pressed_prev = ret.gasPressed
-    self.enabled_prev = ret.cruiseState.enabled
+    self.cruise_enabled_prev = ret.cruiseState.enabled
 
     self.CS.out = ret.as_reader()
     return self.CS.out

selfdrive/car/toyota/carstate.py

@@ -89,7 +89,7 @@ class CarState(CarStateBase):
     self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
-    self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
+    self.steer_warning = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
     self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
 
     return ret

selfdrive/car/toyota/interface.py

@@ -7,9 +7,6 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness,
 from selfdrive.swaglog import cloudlog
 from selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
-GearShifter = car.CarState.GearShifter
-
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
@@ -300,24 +297,10 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = []
 
     # events
-    events = []
+    events = self.create_common_events(ret)
 
     if self.cp_cam.can_invalid_cnt >= 200 and self.CP.enableCamera:
       events.append(create_event('invalidGiraffeToyota', [ET.PERMANENT]))
-    if not ret.gearShifter == GearShifter.drive and self.CP.openpilotLongitudinalControl:
-      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if self.CS.esp_disabled and self.CP.openpilotLongitudinalControl:
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not ret.cruiseState.available and self.CP.openpilotLongitudinalControl:
-      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gearShifter == GearShifter.reverse and self.CP.openpilotLongitudinalControl:
-      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steer_error:
-      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
     if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
       events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
     if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:

selfdrive/car/volkswagen/carstate.py

@@ -116,7 +116,7 @@ class CarState(CarStateBase):
 
     # Additional safety checks performed in CarInterface.
     self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]['KBI_Handbremse']) # FIXME: need to include an EPB check as well
-    self.stabilityControlDisabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv']
+    self.esp_disabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv']
 
     return ret
 

selfdrive/car/volkswagen/interface.py

@@ -75,7 +75,6 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def update(self, c, can_strings):
     canMonoTimes = []
-    events = []
     buttonEvents = []
     params = Params()
 
@@ -103,17 +102,9 @@ class CarInterface(CarInterfaceBase):
         be.pressed = self.CS.buttonStates[button]
         buttonEvents.append(be)
 
+    events = self.create_common_events(ret, extra_gears=[GEAR.eco, GEAR.sport])
+
     # Vehicle operation safety checks and events
-    if ret.doorOpen:
-      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.seatbeltUnlatched:
-      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if ret.gearShifter == GEAR.reverse:
-      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if not ret.gearShifter in [GEAR.drive, GEAR.eco, GEAR.sport]:
-      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if self.CS.stabilityControlDisabled:
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if self.CS.parkingBrakeSet:
       events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
 

selfdrive/controls/gps_plannerd.py

@@ -362,7 +362,7 @@ def gps_planner_plan():
     gps_planner_plan.send(m.to_bytes())
 
 
-def main(gctx=None):
+def main():
   cloudlog.info("Starting gps_plannerd main thread")
 
   point_thread = Thread(target=gps_planner_point_selection)

selfdrive/controls/lib/alerts.py

@@ -3,7 +3,7 @@ from cereal import car, log
 # Priority
 class Priority:
   LOWEST = 0
-  LOW_LOWEST = 1
+  LOWER = 1
   LOW = 2
   MID = 3
   HIGH = 4
@@ -169,28 +169,28 @@ ALERTS = [
       "Be ready to take over at any time",
       "Always keep hands on wheel and eyes on road",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
 
   Alert(
       "startupMaster",
       "WARNING: This branch is not tested",
       "Always keep hands on wheel and eyes on road",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
 
   Alert(
       "startupNoControl",
       "Dashcam mode",
       "Always keep hands on wheel and eyes on road",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
 
   Alert(
       "startupNoCar",
       "Dashcam mode with unsupported car",
       "Always keep hands on wheel and eyes on road",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
 
   Alert(
       "ethicalDilemma",
@@ -693,21 +693,21 @@ ALERTS = [
       "LKAS Fault: Restart the car to engage",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "brakeUnavailablePermanent",
       "Cruise Fault: Restart the car to engage",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "lowSpeedLockoutPermanent",
       "Cruise Fault: Restart the car to engage",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "calibrationIncompletePermanent",
@@ -721,14 +721,14 @@ ALERTS = [
       "Unsupported Giraffe Configuration",
       "Visit comma.ai/tg",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "internetConnectivityNeededPermanent",
       "Please connect to Internet",
       "An Update Check Is Required to Engage",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "communityFeatureDisallowedPermanent",
@@ -742,28 +742,28 @@ ALERTS = [
       "No Data from Device Sensors",
       "Reboot your Device",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "soundsUnavailablePermanent",
       "Speaker not found",
       "Reboot your Device",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "lowMemoryPermanent",
       "RAM Critically Low",
       "Reboot your Device",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "carUnrecognizedPermanent",
       "Dashcam Mode",
       "Car Unrecognized",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
   Alert(
       "vehicleModelInvalid",

selfdrive/locationd/test/ubloxd.py

@@ -276,7 +276,7 @@ def handle_msg(dev, msg, nav_frame_buffer):
   #if dev is not None and dev.dev is not None:
   #  dev.close()
 
-def main(gctx=None):
+def main():
   global gpsLocationExternal, ubloxGnss
   nav_frame_buffer = {}
   nav_frame_buffer[0] = {}

selfdrive/locationd/test/ubloxd_easy.py

@@ -10,7 +10,7 @@ import cereal.messaging as messaging
 
 unlogger = os.getenv("UNLOGGER") is not None   # debug prints
 
-def main(gctx=None):
+def main():
   poller = zmq.Poller()
 
   gpsLocationExternal = messaging.pub_sock('gpsLocationExternal')

selfdrive/loggerd/deleter.py

@@ -35,7 +35,7 @@ def deleter_thread(exit_event):
       exit_event.wait(30)
 
 
-def main(gctx=None):
+def main():
   deleter_thread(threading.Event())
 
 

selfdrive/loggerd/ethernetsniffer.py

@@ -4,7 +4,7 @@ import cereal.messaging as messaging
 from cereal.services import service_list
 import pcap
 
-def main(gctx=None):
+def main():
   ethernetData = messaging.pub_sock('ethernetData')
 
   for ts, pkt in pcap.pcap('eth0'):

selfdrive/loggerd/uploader.py

@@ -266,7 +266,7 @@ def uploader_fn(exit_event):
       backoff = min(backoff*2, 120)
     cloudlog.info("upload done, success=%r", success)
 
-def main(gctx=None):
+def main():
   uploader_fn(threading.Event())
 
 if __name__ == "__main__":

selfdrive/logmessaged.py

@@ -3,7 +3,7 @@ import zmq
 from logentries import LogentriesHandler
 import cereal.messaging as messaging
 
-def main(gctx=None):
+def main():
   # setup logentries. we forward log messages to it
   le_token = "e8549616-0798-4d7e-a2ca-2513ae81fa17"
   le_handler = LogentriesHandler(le_token, use_tls=False, verbose=False)

selfdrive/manager.py

@@ -475,40 +475,29 @@ def main():
   params = Params()
   params.manager_start()
 
+  default_params = [
+    ("CommunityFeaturesToggle", "0"),
+    ("CompletedTrainingVersion", "0"),
+    ("IsMetric", "0"),
+    ("RecordFront", "0"),
+    ("HasAcceptedTerms", "0"),
+    ("HasCompletedSetup", "0"),
+    ("IsUploadRawEnabled", "1"),
+    ("IsLdwEnabled", "1"),
+    ("IsGeofenceEnabled", "-1"),
+    ("SpeedLimitOffset", "0"),
+    ("LongitudinalControl", "0"),
+    ("LimitSetSpeed", "0"),
+    ("LimitSetSpeedNeural", "0"),
+    ("LastUpdateTime", datetime.datetime.now().isoformat().encode('utf8')),
+    ("OpenpilotEnabledToggle", "1"),
+    ("LaneChangeEnabled", "1"),
+  ]
+
   # set unset params
-  if params.get("CommunityFeaturesToggle") is None:
+  for k, v in default_params:
-    params.put("CommunityFeaturesToggle", "0")
+    if params.get(k) is None:
-  if params.get("CompletedTrainingVersion") is None:
+      params.put(k, v)
-    params.put("CompletedTrainingVersion", "0")
-  if params.get("IsMetric") is None:
-    params.put("IsMetric", "0")
-  if params.get("RecordFront") is None:
-    params.put("RecordFront", "0")
-  if params.get("HasAcceptedTerms") is None:
-    params.put("HasAcceptedTerms", "0")
-  if params.get("HasCompletedSetup") is None:
-    params.put("HasCompletedSetup", "0")
-  if params.get("IsUploadRawEnabled") is None:
-    params.put("IsUploadRawEnabled", "1")
-  if params.get("IsLdwEnabled") is None:
-    params.put("IsLdwEnabled", "1")
-  if params.get("IsGeofenceEnabled") is None:
-    params.put("IsGeofenceEnabled", "-1")
-  if params.get("SpeedLimitOffset") is None:
-    params.put("SpeedLimitOffset", "0")
-  if params.get("LongitudinalControl") is None:
-    params.put("LongitudinalControl", "0")
-  if params.get("LimitSetSpeed") is None:
-    params.put("LimitSetSpeed", "0")
-  if params.get("LimitSetSpeedNeural") is None:
-    params.put("LimitSetSpeedNeural", "0")
-  if params.get("LastUpdateTime") is None:
-    t = datetime.datetime.now().isoformat()
-    params.put("LastUpdateTime", t.encode('utf8'))
-  if params.get("OpenpilotEnabledToggle") is None:
-    params.put("OpenpilotEnabledToggle", "1")
-  if params.get("LaneChangeEnabled") is None:
-    params.put("LaneChangeEnabled", "1")
 
   # is this chffrplus?
   if os.getenv("PASSIVE") is not None:

selfdrive/mapd/mapd.py

@@ -273,7 +273,7 @@ def mapsd_thread():
     map_data_sock.send(dat.to_bytes())
 
 
-def main(gctx=None):
+def main():
   params = Params()
   dongle_id = params.get("DongleId")
   crash.bind_user(id=dongle_id)

selfdrive/pandad.py

@@ -86,7 +86,7 @@ def update_panda():
     raise AssertionError
 
 
-def main(gctx=None):
+def main():
   update_panda()
 
   os.chdir("boardd")

selfdrive/test/longitudinal_maneuvers/test_longitudinal.py

@@ -333,7 +333,6 @@ class LongitudinalControl(unittest.TestCase):
     params.put("OpenpilotEnabledToggle", "1")
     params.put("CommunityFeaturesToggle", "1")
 
-    manager.gctx = {}
     manager.prepare_managed_process('radard')
     manager.prepare_managed_process('controlsd')
     manager.prepare_managed_process('plannerd')

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-8e94b45bbadf4355135e13905f3e8219ff122f7f
+0491cad238025a44b7fc636cf03efc27d80dcdae

selfdrive/thermald.py

@@ -393,7 +393,7 @@ def thermald_thread():
     count += 1
 
 
-def main(gctx=None):
+def main():
   thermald_thread()
 
 if __name__ == "__main__":

selfdrive/tombstoned.py

@@ -101,7 +101,7 @@ def report_tombstone(fn, client):
   cloudlog.error({'tombstone': message})
 
 
-def main(gctx=None):
+def main():
   initial_tombstones = set(get_tombstones())
 
   client = Client('https://d3b175702f62402c91ade04d1c547e68:b20d68c813c74f63a7cdf9c4039d8f56@sentry.io/157615',

selfdrive/ui/SConscript

@@ -1,7 +1,7 @@
 Import('env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')
 
 src = ['ui.cc', 'paint.cc', '#phonelibs/nanovg/nanovg.c']
-libs = [common, 'zmq', 'czmq', 'capnp', 'capnp_c', 'm', cereal, 'json', messaging, gpucommon, visionipc]
+libs = [common, 'zmq', 'czmq', 'capnp', 'capnp_c', 'm', cereal, messaging, gpucommon, visionipc]
 
 if arch == "aarch64":
   src += ['sound.cc', 'slplay.c']
@@ -11,7 +11,7 @@ else:
   src += ['linux.cc']
   libs += ['pthread', 'glfw']
   linkflags = []
-  
+
 env.Program('_ui', src,
   LINKFLAGS=linkflags,
   LIBS=libs)

selfdrive/ui/ui.cc

@@ -6,7 +6,6 @@
 #include <sys/mman.h>
 #include <sys/resource.h>
 
-#include <json.h>
 #include <czmq.h>
 
 #include "common/util.h"

selfdrive/updated.py

@@ -292,7 +292,7 @@ def attempt_update():
   set_update_available_params(new_version=new_version)
 
 
-def main(gctx=None):
+def main():
   update_failed_count = 0
   overlay_init_done = False
   wait_helper = WaitTimeHelper()