more verbose debug alerts (#24126)

selfdrive/controls/lib/events.py

@@ -251,6 +251,32 @@ def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
 
+# *** debug alerts ***
+
+def out_of_space_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  full_perc = round(100. - sm['deviceState'].freeSpacePercent)
+  return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")
+
+
+def overheat_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  cpu = max(sm['deviceState'].cpuTempC, default=0.)
+  gpu = max(sm['deviceState'].gpuTempC, default=0.)
+  temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
+  return NormalPermanentAlert("System Overheated", f"{temp} °C")
+
+
+def low_memory_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
+
+
+def high_cpu_usage_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  x = max(sm['deviceState'].cpuUsagePercent, default=0.)
+  return NormalPermanentAlert("High CPU Usage", f"{x}% used")
+
+
+def modeld_lagging_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  return NormalPermanentAlert("Driving model lagging", f"{sm['modelV2'].frameDropPerc}% frames dropped")
+
 
 def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
   text = "Cruise Mode Disabled"
@@ -578,7 +604,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   },
 
   EventName.outOfSpace: {
-    ET.PERMANENT: NormalPermanentAlert("Out of Storage"),
+    ET.PERMANENT: out_of_space_alert,
     ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
   },
 
@@ -609,7 +635,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   },
 
   EventName.overheat: {
-    ET.PERMANENT: NormalPermanentAlert("System Overheated"),
+    ET.PERMANENT: overheat_alert,
     ET.SOFT_DISABLE: soft_disable_alert("System Overheated"),
     ET.NO_ENTRY: NoEntryAlert("System Overheated"),
   },
@@ -685,6 +711,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   EventName.modeldLagging: {
     ET.SOFT_DISABLE: soft_disable_alert("Driving model lagging"),
     ET.NO_ENTRY: NoEntryAlert("Driving model lagging"),
+    ET.PERMANENT: modeld_lagging_alert,
   },
 
   # Besides predicting the path, lane lines and lead car data the model also
@@ -706,14 +733,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   EventName.lowMemory: {
     ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"),
-    ET.PERMANENT: NormalPermanentAlert("Low Memory", "Reboot your Device"),
+    ET.PERMANENT: low_memory_alert,
     ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
   },
 
   EventName.highCpuUsage: {
     #ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"),
     #ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
-    ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"),
+    ET.NO_ENTRY: high_cpu_usage_alert,
   },
 
   EventName.accFaulted: {

selfdrive/debug/cycle_alerts.py

@@ -1,15 +1,11 @@
 #!/usr/bin/env python3
-# flake8: noqa
-# pylint: skip-file
-# type: ignore
-
 import time
 
 from cereal import car, log
 import cereal.messaging as messaging
 from common.realtime import DT_CTRL
 from selfdrive.car.honda.interface import CarInterface
-from selfdrive.controls.lib.events import ET, EVENTS, Events
+from selfdrive.controls.lib.events import ET, Events
 from selfdrive.controls.lib.alertmanager import AlertManager
 
 EventName = car.CarEvent.EventName
@@ -33,10 +29,26 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.driverDistracted, ET.WARNING),
   ]
 
+  # debug alerts
+  alerts = [
+    (EventName.highCpuUsage, ET.NO_ENTRY),
+    (EventName.lowMemory, ET.PERMANENT),
+    (EventName.overheat, ET.PERMANENT),
+    (EventName.outOfSpace, ET.PERMANENT),
+    (EventName.modeldLagging, ET.PERMANENT),
+  ]
+
   CP = CarInterface.get_params("HONDA CIVIC 2016")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
                             'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
 
+  sm['deviceState'].freeSpacePercent = 55
+  sm['deviceState'].memoryUsagePercent = 55
+  sm['deviceState'].cpuTempC = [1, 2, 100]
+  sm['deviceState'].gpuTempC = [211, 2, 100]
+  sm['deviceState'].cpuUsagePercent = [23, 54]
+  sm['modelV2'].frameDropPerc = 20
+
   pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
 
   events = Events()
@@ -44,30 +56,27 @@ def cycle_alerts(duration=200, is_metric=False):
 
   frame = 0
   while True:
-    current_alert_types = [ET.PERMANENT, ET.USER_DISABLE, ET.IMMEDIATE_DISABLE,
-                           ET.SOFT_DISABLE, ET.PRE_ENABLE, ET.NO_ENTRY,
-                           ET.ENABLE, ET.WARNING]
-
     for alert, et in alerts:
       events.clear()
       events.add(alert)
 
       a = events.create_alerts([et, ], [CP, sm, is_metric, 0])
       AM.add_many(frame, a)
-      AM.process_alerts(frame)
-      print(AM.alert)
+      alert = AM.process_alerts(frame, [])
+      print(alert)
       for _ in range(duration):
         dat = messaging.new_message()
         dat.init('controlsState')
-        dat.controlsState.enabled = True
-
-        dat.controlsState.alertText1 = AM.alert_text_1
-        dat.controlsState.alertText2 = AM.alert_text_2
-        dat.controlsState.alertSize = AM.alert_size
-        dat.controlsState.alertStatus = AM.alert_status
-        dat.controlsState.alertBlinkingRate = AM.alert_rate
-        dat.controlsState.alertType = AM.alert_type
-        dat.controlsState.alertSound = AM.audible_alert
+        dat.controlsState.enabled = False
+
+        if alert:
+          dat.controlsState.alertText1 = alert.alert_text_1
+          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)
 
         dat = messaging.new_message()