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improved alert verbosity (#24434)

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* improved alert verbosity

* better testing script

* better description

* speed diff

* touch ups

* fix that
old-commit-hash: b1858df00e
taco
Adeeb Shihadeh 3 years ago committed by GitHub
parent 46d11a2583
commit cfc16a88c5
4 changed files with 101 additions and 42 deletions
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  1. 2
      selfdrive/controls/controlsd.py
  2. 80
      selfdrive/controls/lib/events.py
  3. 5
      selfdrive/controls/tests/test_alerts.py
  4. 56
      selfdrive/debug/cycle_alerts.py

2
selfdrive/controls/controlsd.py
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@ -683,7 +683,7 @@ class Controls:
if self.enabled:
clear_event_types.add(ET.NO_ENTRY)
alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric, self.soft_disable_timer])
alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer])
self.AM.add_many(self.sm.frame, alerts)
current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types)
if current_alert:

80
selfdrive/controls/lib/events.py
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@ -1,3 +1,4 @@
import math
import os
from enum import IntEnum
from typing import Dict, Union, Callable, List, Optional
@ -141,8 +142,10 @@ class Alert:
class NoEntryAlert(Alert):
def __init__(self, alert_text_2: str, visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
super().__init__("openpilot Unavailable", alert_text_2, AlertStatus.normal,
def __init__(self, alert_text_2: str,
alert_text_1: str = "openpilot Unavailable",
visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
AlertSize.mid, Priority.LOW, visual_alert,
AudibleAlert.refuse, 3.)
@ -201,35 +204,35 @@ def get_display_speed(speed_ms: float, metric: bool) -> str:
# ********** alert callback functions **********
AlertCallbackType = Callable[[car.CarParams, messaging.SubMaster, bool, int], Alert]
AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int], Alert]
def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
def func(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
if soft_disable_time < int(0.5 / DT_CTRL):
return ImmediateDisableAlert(alert_text_2)
return SoftDisableAlert(alert_text_2)
return func
def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
def func(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
if soft_disable_time < int(0.5 / DT_CTRL):
return ImmediateDisableAlert(alert_text_2)
return UserSoftDisableAlert(alert_text_2)
return func
def startup_master_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
branch = get_short_branch("")
if "REPLAY" in os.environ:
branch = "replay"
return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt)
def below_engage_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NoEntryAlert(f"Speed Below {get_display_speed(CP.minEnableSpeed, metric)}")
def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return Alert(
f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
"",
@ -237,7 +240,7 @@ def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric:
Priority.MID, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return Alert(
"Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc,
f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
@ -245,7 +248,7 @@ def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, met
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos)
return Alert(
"Poor GPS reception",
@ -255,39 +258,66 @@ def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_
# *** debug alerts ***
def out_of_space_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def out_of_space_alert(CP: car.CarParams, CS: car.CarState, 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:
def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan
err = CS.vEgo - mdl
msg = f"Speed Error: {err:.1f} m/s"
return NoEntryAlert(msg, alert_text_1="Posenet Speed Invalid")
def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
msg = ', '.join(not_running)
return NoEntryAlert(msg, alert_text_1="Process Not Running")
def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])]
msg = ', '.join(bs[:4]) # can't fit too many on one line
return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes")
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)
pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
angles = f"Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°"
return NormalPermanentAlert("Calibration Invalid", angles)
def overheat_alert(CP: car.CarParams, CS: car.CarState, 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:.0f} °C")
def low_memory_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def low_memory_alert(CP: car.CarParams, CS: car.CarState, 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:
def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, 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:.1f}% frames dropped")
def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
text = "Cruise Mode Disabled"
if CP.carName == "honda":
text = "Main Switch Off"
return NoEntryAlert(text)
def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
axes = sm['testJoystick'].axes
gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
@ -653,7 +683,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
# and attaching while making sure the device is pointed straight forward and is level.
# See https://comma.ai/setup for more information
EventName.calibrationInvalid: {
ET.PERMANENT: NormalPermanentAlert("Calibration Invalid", "Remount Device and Recalibrate"),
ET.PERMANENT: calibration_invalid_alert,
ET.SOFT_DISABLE: soft_disable_alert("Calibration Invalid: Remount Device & Recalibrate"),
ET.NO_ENTRY: NoEntryAlert("Calibration Invalid: Remount Device & Recalibrate"),
},
@ -690,7 +720,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
# ten times the regular interval, or the average interval is more than 10% too high.
EventName.commIssue: {
ET.SOFT_DISABLE: soft_disable_alert("Communication Issue between Processes"),
ET.NO_ENTRY: NoEntryAlert("Communication Issue between Processes"),
ET.NO_ENTRY: comm_issue_alert,
},
EventName.commIssueAvgFreq: {
ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate between Processes"),
@ -704,7 +734,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
# Thrown when manager detects a service exited unexpectedly while driving
EventName.processNotRunning: {
ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"),
ET.NO_ENTRY: process_not_running_alert,
},
EventName.radarFault: {
@ -716,8 +746,8 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
# is not processing frames fast enough they have to be dropped. This alert is
# thrown when over 20% of frames are dropped.
EventName.modeldLagging: {
ET.SOFT_DISABLE: soft_disable_alert("Driving model lagging"),
ET.NO_ENTRY: NoEntryAlert("Driving model lagging"),
ET.SOFT_DISABLE: soft_disable_alert("Driving Model Lagging"),
ET.NO_ENTRY: NoEntryAlert("Driving Model Lagging"),
ET.PERMANENT: modeld_lagging_alert,
},
@ -727,8 +757,8 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
# usually means the model has trouble understanding the scene. This is used
# as a heuristic to warn the driver.
EventName.posenetInvalid: {
ET.SOFT_DISABLE: soft_disable_alert("Model Output Uncertain"),
ET.NO_ENTRY: NoEntryAlert("Model Output Uncertain"),
ET.SOFT_DISABLE: soft_disable_alert("Posenet Speed Invalid"),
ET.NO_ENTRY: posenet_invalid_alert,
},
# When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we

5
selfdrive/controls/tests/test_alerts.py
Unescape View File

@ -31,6 +31,7 @@ class TestAlerts(unittest.TestCase):
cls.offroad_alerts = json.loads(f.read())
# Create fake objects for callback
cls.CS = car.CarState.new_message()
cls.CP = car.CarParams.new_message()
cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0]
cls.sm = FakeSubMaster(cfg.pub_sub.keys())
@ -53,7 +54,7 @@ class TestAlerts(unittest.TestCase):
max_text_width = 1920 - 300 # full screen width is useable, minus sidebar
# TODO: get exact scale factor. found this empirically, works well enough
font_scale_factor = 1.85 # factor to scale from nanovg units to PIL
font_scale_factor = 1.55 # factor to scale from nanovg units to PIL
draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
@ -65,7 +66,7 @@ class TestAlerts(unittest.TestCase):
for alert in ALERTS:
if not isinstance(alert, Alert):
alert = alert(self.CP, self.sm, metric=False, soft_disable_time=100)
alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100)
# for full size alerts, both text fields wrap the text,
# so it's unlikely that they would go past the max width

56
selfdrive/debug/cycle_alerts.py
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@ -1,5 +1,6 @@
#!/usr/bin/env python3
import time
import random
from cereal import car, log
import cereal.messaging as messaging
@ -7,9 +8,13 @@ from common.realtime import DT_CTRL
from selfdrive.car.honda.interface import CarInterface
from selfdrive.controls.lib.events import ET, Events
from selfdrive.controls.lib.alertmanager import AlertManager
from selfdrive.manager.process_config import managed_processes
EventName = car.CarEvent.EventName
def randperc() -> float:
return 100. * random.random()
def cycle_alerts(duration=200, is_metric=False):
# all alerts
#alerts = list(EVENTS.keys())
@ -31,23 +36,21 @@ def cycle_alerts(duration=200, is_metric=False):
# debug alerts
alerts = [
(EventName.highCpuUsage, ET.NO_ENTRY),
(EventName.lowMemory, ET.PERMANENT),
(EventName.overheat, ET.PERMANENT),
(EventName.outOfSpace, ET.PERMANENT),
(EventName.modeldLagging, ET.PERMANENT),
#(EventName.highCpuUsage, ET.NO_ENTRY),
#(EventName.lowMemory, ET.PERMANENT),
#(EventName.overheat, ET.PERMANENT),
#(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),
]
CS = car.CarState.new_message()
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
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', 'managerState'])
pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
@ -60,7 +63,32 @@ def cycle_alerts(duration=200, is_metric=False):
events.clear()
events.add(alert)
a = events.create_alerts([et, ], [CP, sm, is_metric, 0])
sm['deviceState'].freeSpacePercent = randperc()
sm['deviceState'].memoryUsagePercent = int(randperc())
sm['deviceState'].cpuTempC = [randperc() for _ in range(3)]
sm['deviceState'].gpuTempC = [randperc() for _ in range(3)]
sm['deviceState'].cpuUsagePercent = [int(randperc()) for _ in range(8)]
sm['modelV2'].frameDropPerc = randperc()
if random.random() > 0.25:
sm['modelV2'].velocity.x = [random.random(), ]
if random.random() > 0.25:
CS.vEgo = random.random()
procs = [p.get_process_state_msg() for p in managed_processes.values()]
random.shuffle(procs)
for i in range(random.randint(0, 10)):
procs[i].shouldBeRunning = True
sm['managerState'].processes = procs
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
a = events.create_alerts([et, ], [CP, CS, sm, is_metric, 0])
AM.add_many(frame, a)
alert = AM.process_alerts(frame, [])
print(alert)

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