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system/ui: fix timeout logc and add pre-defined alerts (#35417)

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fix timeout logc and add pre-defined alerts
pull/35418/head
Dean Lee 1 week ago committed by GitHub
parent 1935871267
commit 74541e677c
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1 changed files with 51 additions and 64 deletions
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  1. 115
      system/ui/onroad/alert_renderer.py

115
system/ui/onroad/alert_renderer.py
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@ -1,14 +1,15 @@
import numpy as np
import time
import pyray as rl
from dataclasses import dataclass
from cereal import messaging, log
from openpilot.system.hardware import TICI
from openpilot.system.ui.lib.application import gui_app, FontWeight
# Constants
ALERT_COLORS = {
log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 150), # Black
log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 100), # Orange
log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 150), # Red
log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 220), # Black
log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 220), # Orange
log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 220), # Red
}
ALERT_HEIGHTS = {
@ -16,6 +17,7 @@ ALERT_HEIGHTS = {
log.SelfdriveState.AlertSize.mid: 420,
}
ALERT_BORDER_RADIUS = 30
SELFDRIVE_STATE_TIMEOUT = 5 # Seconds
SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10 # Seconds
@ -28,95 +30,80 @@ class Alert:
size: log.SelfdriveState.AlertSize = log.SelfdriveState.AlertSize.none
status: log.SelfdriveState.AlertStatus = log.SelfdriveState.AlertStatus.normal
def is_equal(self, other: 'Alert') -> bool:
"""Check if two alerts are equal."""
return (
self.text1 == other.text1
and self.text2 == other.text2
and self.alert_type == other.alert_type
and self.size == other.size
and self.status == other.status
)
# Pre-defined alert instances
ALERT_STARTUP_PENDING = Alert(
text1="openpilot Unavailable",
text2="Waiting to start",
alert_type="selfdriveWaiting",
size=log.SelfdriveState.AlertSize.mid,
status=log.SelfdriveState.AlertStatus.normal,
)
ALERT_CRITICAL_TIMEOUT = Alert(
text1="TAKE CONTROL IMMEDIATELY",
text2="System Unresponsive",
alert_type="selfdriveUnresponsive",
size=log.SelfdriveState.AlertSize.full,
status=log.SelfdriveState.AlertStatus.critical,
)
ALERT_CRITICAL_REBOOT = Alert(
text1="System Unresponsive",
text2="Reboot Device",
alert_type="selfdriveUnresponsivePermanent",
size=log.SelfdriveState.AlertSize.full,
status=log.SelfdriveState.AlertStatus.critical,
)
class AlertRenderer:
def __init__(self):
"""Initialize the alert renderer."""
self.alert: Alert = Alert()
# TODO: use ui_state to determine when to start
self.started_frame: int = 0
self.font_regular: rl.Font = gui_app.font(FontWeight.NORMAL)
self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
self.font_metrics_cache: dict[tuple[str, int, str], rl.Vector2] = {}
def clear(self) -> None:
"""Reset the alert to its default state."""
self.alert = Alert()
def update_state(self, sm: messaging.SubMaster, started_frame: int) -> None:
def update_state(self, sm: messaging.SubMaster) -> None:
"""Update alert state based on SubMaster data."""
self.started_frame = started_frame
new_alert = self.get_alert(sm)
if not self.alert.is_equal(new_alert):
self.alert = new_alert
self.alert = self.get_alert(sm)
def get_alert(self, sm: messaging.SubMaster) -> Alert:
"""Generate the current alert based on selfdrive state."""
if not sm.valid['selfdriveState']:
return Alert()
ss = sm['selfdriveState']
selfdrive_frame = sm.recv_frame['selfdriveState']
alert_status = self._get_enum_value(ss.alertStatus, log.SelfdriveState.AlertStatus)
# Return current alert if selfdrive state is recent
if selfdrive_frame >= self.started_frame:
return Alert(
# Check if waiting to start
if sm.recv_frame['selfdriveState'] < self.started_frame:
return ALERT_STARTUP_PENDING
# Handle selfdrive timeout
ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
if TICI:
if ss_missing > SELFDRIVE_STATE_TIMEOUT:
if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
return ALERT_CRITICAL_TIMEOUT
return ALERT_CRITICAL_REBOOT
# Return current alert from selfdrive state
return Alert(
text1=ss.alertText1,
text2=ss.alertText2,
alert_type=ss.alertType,
size=self._get_enum_value(ss.alertSize, log.SelfdriveState.AlertSize),
status=alert_status,
)
# Handle selfdrive timeout
ss_missing = (np.uint64(rl.get_time() * 1e9) - sm.recv_time['selfdriveState']) / 1e9
if selfdrive_frame < self.started_frame:
return Alert(
text1="openpilot Unavailable",
text2="Waiting to start",
alert_type="selfdriveWaiting",
size=log.SelfdriveState.AlertSize.mid,
status=log.SelfdriveState.AlertStatus.normal,
)
elif ss_missing > SELFDRIVE_STATE_TIMEOUT:
if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
return Alert(
text1="TAKE CONTROL IMMEDIATELY",
text2="System Unresponsive",
alert_type="selfdriveUnresponsive",
size=log.SelfdriveState.AlertSize.full,
status=log.SelfdriveState.AlertStatus.critical,
)
return Alert(
text1="System Unresponsive",
text2="Reboot Device",
alert_type="selfdriveUnresponsivePermanent",
size=log.SelfdriveState.AlertSize.mid,
status=log.SelfdriveState.AlertStatus.normal,
)
return Alert()
status=self._get_enum_value(ss.alertStatus, log.SelfdriveState.AlertStatus))
def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster) -> None:
"""Render the alert within the specified rectangle."""
self.update_state(sm, sm.recv_frame['selfdriveState'])
self.update_state(sm)
alert_size = self._get_enum_value(self.alert.size, log.SelfdriveState.AlertSize)
if alert_size == log.SelfdriveState.AlertSize.none:
return
# Calculate alert rectangle
margin = 0 if alert_size == log.SelfdriveState.AlertSize.full else 40
radius = 0 if alert_size == log.SelfdriveState.AlertSize.full else 30
height = ALERT_HEIGHTS.get(alert_size, rect.height)
alert_rect = rl.Rectangle(
rect.x + margin,
@ -129,7 +116,7 @@ class AlertRenderer:
alert_status = self._get_enum_value(self.alert.status, log.SelfdriveState.AlertStatus)
color = ALERT_COLORS.get(alert_status, ALERT_COLORS[log.SelfdriveState.AlertStatus.normal])
if alert_size != log.SelfdriveState.AlertSize.full:
roundness = radius / (min(alert_rect.width, alert_rect.height) / 2)
roundness = ALERT_BORDER_RADIUS / (min(alert_rect.width, alert_rect.height) / 2)
rl.draw_rectangle_rounded(alert_rect, roundness, 10, color)
else:
rl.draw_rectangle_rec(alert_rect, color)

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