From f4e101c67d2e65863683a6d22a2cc80819308f08 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 31 Aug 2024 17:58:02 -0700
Subject: [PATCH] controlsd: deprecate alertBlinkingRate (#33422)

* controlsd: deprecate alertBlinkingRate

* simplify

* update refs
---
 cereal/log.capnp                         | 2 +-
 selfdrive/controls/controlsd.py          | 1 -
 selfdrive/controls/lib/events.py         | 8 +++-----
 selfdrive/debug/cycle_alerts.py          | 1 -
 selfdrive/test/process_replay/ref_commit | 2 +-
 5 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 077dddd897..57b56d5229 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -713,7 +713,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   alertText2 @25 :Text;
   alertStatus @38 :AlertStatus;
   alertSize @39 :AlertSize;
-  alertBlinkingRate @42 :Float32;
   alertType @44 :Text;
   alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
   engageable @41 :Bool;  # can OP be engaged?
@@ -865,6 +864,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   desiredCurvatureRateDEPRECATED @62 :Float32;
   canErrorCounterDEPRECATED @57 :UInt32;
   vPidDEPRECATED @2 :Float32;
+  alertBlinkingRateDEPRECATED @42 :Float32;
 }
 
 struct DrivingModelData {
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index fac978b970..7c6a3b4a11 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -746,7 +746,6 @@ class Controls:
       controlsState.alertText2 = current_alert.alert_text_2
       controlsState.alertSize = current_alert.alert_size
       controlsState.alertStatus = current_alert.alert_status
-      controlsState.alertBlinkingRate = current_alert.alert_rate
       controlsState.alertType = current_alert.alert_type
       controlsState.alertSound = current_alert.audible_alert
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 588e638c95..fa6528f659 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -116,7 +116,6 @@ class Alert:
                visual_alert: car.CarControl.HUDControl.VisualAlert,
                audible_alert: car.CarControl.HUDControl.AudibleAlert,
                duration: float,
-               alert_rate: float = 0.,
                creation_delay: float = 0.):
 
     self.alert_text_1 = alert_text_1
@@ -129,7 +128,6 @@ class Alert:
 
     self.duration = int(duration / DT_CTRL)
 
-    self.alert_rate = alert_rate
     self.creation_delay = creation_delay
 
     self.alert_type = ""
@@ -456,7 +454,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Touch Steering Wheel: No Face Detected",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
   },
 
   EventName.promptDriverUnresponsive: {
@@ -500,7 +498,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Steer Left to Start Lane Change Once Safe",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
   EventName.preLaneChangeRight: {
@@ -508,7 +506,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Steer Right to Start Lane Change Once Safe",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
   },
 
   EventName.laneChangeBlocked: {
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index efe01b7d7e..afd3fb9a25 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -108,7 +108,6 @@ def cycle_alerts(duration=200, is_metric=False):
           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)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index bc635df7dd..e2bd658ef5 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-51a1a4716fdd6d58fc69c586aaa62c5c25a3d93e
\ No newline at end of file
+a8b4c81ec1df5135ae448c8273ce14c1a98b1bfc
\ No newline at end of file