type hints for alerts and fix community feature alert (#2196)

* fix startup alert for community features

* type hints for alerts

* more type hints

* fix dashcam only alerts

* more type hints
old-commit-hash: a81a18205e

selfdrive/car/mazda/interface.py

@@ -25,9 +25,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.radarOffCan = True
 
-    # Mazda port is a community feature for now
-    ret.communityFeature = True
-
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 1.0
     ret.steerLimitTimer = 0.8

selfdrive/controls/controlsd.py

@@ -83,7 +83,7 @@ class Controls:
 
     car_recognized = self.CP.carName != 'mock'
     # If stock camera is disconnected, we loaded car controls and it's not dashcam mode
-    controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive
+    controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
     community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
     self.read_only = not car_recognized or not controller_available or \
                        self.CP.dashcamOnly or community_feature_disallowed
@@ -138,7 +138,7 @@ class Controls:
       self.events.add(EventName.internetConnectivityNeeded, static=True)
     if community_feature_disallowed:
       self.events.add(EventName.communityFeatureDisallowed, static=True)
-    if self.read_only and not passive:
+    if not car_recognized:
       self.events.add(EventName.carUnrecognized, static=True)
     if hw_type == HwType.whitePanda:
       self.events.add(EventName.whitePandaUnsupported, static=True)

selfdrive/controls/lib/events.py

@@ -1,6 +1,8 @@
 from functools import total_ordering
+from typing import Dict, Union, Callable, Any
 
 from cereal import log, car
+import cereal.messaging as messaging
 from common.realtime import DT_CTRL
 from selfdrive.config import Conversions as CV
 from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
@@ -97,18 +99,18 @@ class Events:
 @total_ordering
 class Alert:
   def __init__(self,
-               alert_text_1,
-               alert_text_2,
+               alert_text_1: str,
+               alert_text_2: str,
                alert_status,
                alert_size,
                alert_priority,
                visual_alert,
                audible_alert,
-               duration_sound,
-               duration_hud_alert,
-               duration_text,
-               alert_rate=0.,
-               creation_delay=0.):
+               duration_sound: float,
+               duration_hud_alert: float,
+               duration_text: float,
+               alert_rate: float = 0.,
+               creation_delay: float = 0.):
 
     self.alert_type = ""
     self.alert_text_1 = alert_text_1
@@ -131,14 +133,14 @@ class Alert:
     tst = car.CarControl.new_message()
     tst.hudControl.visualAlert = self.visual_alert
 
-  def __str__(self):
+  def __str__(self) -> str:
     return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_priority) + "  " + str(
       self.visual_alert) + " " + str(self.audible_alert)
 
-  def __gt__(self, alert2):
+  def __gt__(self, alert2) -> bool:
     return self.alert_priority > alert2.alert_priority
 
-  def __eq__(self, alert2):
+  def __eq__(self, alert2) -> bool:
     return self.alert_priority == alert2.alert_priority
 
 class NoEntryAlert(Alert):
@@ -174,7 +176,7 @@ class EngagementAlert(Alert):
 
 # ********** alert callback functions **********
 
-def below_steer_speed_alert(CP, sm, metric):
+def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
   speed = int(round(CP.minSteerSpeed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
   unit = "km/h" if metric else "mph"
   return Alert(
@@ -183,7 +185,7 @@ def below_steer_speed_alert(CP, sm, metric):
     AlertStatus.userPrompt, AlertSize.mid,
     Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3)
 
-def calibration_incomplete_alert(CP, sm, metric):
+def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
   speed = int(MIN_SPEED_FILTER * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
   unit = "km/h" if metric else "mph"
   return Alert(
@@ -192,7 +194,7 @@ def calibration_incomplete_alert(CP, sm, metric):
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
 
-def no_gps_alert(CP, sm, metric):
+def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
   gps_integrated = sm['health'].hwType in [log.HealthData.HwType.uno, log.HealthData.HwType.dos]
   return Alert(
     "Poor GPS reception",
@@ -200,13 +202,13 @@ def no_gps_alert(CP, sm, metric):
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=300.)
 
-def wrong_car_mode_alert(CP, sm, metric):
+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.)
 
-EVENTS = {
+EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, bool], Alert]]]] = {
   # ********** events with no alerts **********
 
   # ********** events only containing alerts displayed in all states **********
@@ -287,7 +289,6 @@ EVENTS = {
   EventName.communityFeatureDisallowed: {
     # LOW priority to overcome Cruise Error
     ET.PERMANENT: Alert(
-      "",
       "Community Feature Detected",
       "Enable Community Features in Developer Settings",
       AlertStatus.normal, AlertSize.mid,

selfdrive/controls/tests/test_startup.py

@@ -26,11 +26,11 @@ class TestStartup(unittest.TestCase):
 
     # community supported car
     (EventName.startupMaster, HYUNDAI.KIA_STINGER, True),
-    (EventName.startupMaster, HYUNDAI.KIA_STINGER, False),
+    (EventName.communityFeatureDisallowed, HYUNDAI.KIA_STINGER, False),
 
     # dashcamOnly car
-    (EventName.startupMaster, MAZDA.CX5, True),
-    (EventName.startupMaster, MAZDA.CX5, False),
+    (EventName.startupNoControl, MAZDA.CX5, True),
+    (EventName.startupNoControl, MAZDA.CX5, False),
 
     # unrecognized car
     (EventName.startupNoCar, None, True),