From a6bcd14abd7579b2e98bb57d580fc796c9a658bd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 16 May 2022 22:01:04 -0700
Subject: [PATCH] show which cameras are malfunctioning (#24558)

old-commit-hash: 0b1f6e3620793a0a06708464387613cec2937591
---
 selfdrive/controls/lib/events.py | 14 ++++++++++----
 selfdrive/debug/cycle_alerts.py  | 19 ++++++++++++-------
 2 files changed, 22 insertions(+), 11 deletions(-)

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 2fcb34f36d..4a67978daf 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -282,6 +282,12 @@ def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaste
   return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes")
 
 
+def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+  bad_cams = [s for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
+  return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams))
+
+
 def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
   rpy = sm['liveCalibration'].rpyCalib
   yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
@@ -551,7 +557,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   # Camera is not outputting frames
   EventName.cameraMalfunction: {
-    ET.PERMANENT: NormalPermanentAlert("Camera Malfunction", "Likely Hardware Issue"),
+    ET.PERMANENT: camera_malfunction_alert,
   },
   # Camera framerate too low
   EventName.cameraFrameRate: {
@@ -882,9 +888,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   # are received on the car side this usually means the relay hasn't opened correctly
   # and this alert is thrown.
   EventName.relayMalfunction: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Malfunction"),
-    ET.PERMANENT: NormalPermanentAlert("Harness Malfunction", "Check Hardware"),
-    ET.NO_ENTRY: NoEntryAlert("Harness Malfunction"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Relay Malfunction"),
+    ET.PERMANENT: NormalPermanentAlert("Harness Relay Malfunction", "Check Hardware"),
+    ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"),
   },
 
   EventName.noTarget: {
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index f764139f69..b40c8e304c 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -42,15 +42,19 @@ def cycle_alerts(duration=200, is_metric=False):
     #(EventName.outOfSpace, ET.PERMANENT),
     #(EventName.modeldLagging, ET.PERMANENT),
     #(EventName.processNotRunning, ET.NO_ENTRY),
-    (EventName.commIssue, ET.NO_ENTRY),
-    (EventName.calibrationInvalid, ET.PERMANENT),
-    (EventName.posenetInvalid, ET.NO_ENTRY),
+    #(EventName.commIssue, ET.NO_ENTRY),
+    #(EventName.calibrationInvalid, ET.PERMANENT),
+    (EventName.cameraMalfunction, ET.PERMANENT),
+    (EventName.cameraFrameRate, ET.PERMANENT),
   ]
 
+  cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
+
   CS = car.CarState.new_message()
   CP = CarInterface.get_params("HONDA CIVIC 2016")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
-                            'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', 'managerState'])
+                            'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+                            'managerState'] + cameras)
 
   pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
 
@@ -84,9 +88,10 @@ def cycle_alerts(duration=200, is_metric=False):
       sm['liveCalibration'].rpyCalib = [-1 * random.random() for _ in range(random.randint(0, 3))]
 
       for s in sm.data.keys():
-        sm.alive[s] = random.random() > 0.08
-        sm.valid[s] = random.random() > 0.08
-        sm.freq_ok[s] = random.random() > 0.08
+        prob = 0.3 if s in cameras else 0.08
+        sm.alive[s] = random.random() > prob
+        sm.valid[s] = random.random() > prob
+        sm.freq_ok[s] = random.random() > prob
 
       a = events.create_alerts([et, ], [CP, CS, sm, is_metric, 0])
       AM.add_many(frame, a)