from cereal import car
from selfdrive.swaglog import cloudlog
class ET:
ENABLE = 0
NO_ENTRY = 1
WARNING = 2
SOFT_DISABLE = 3
IMMEDIATE_DISABLE = 4
USER_DISABLE = 5
class alert(object):
def __init__(self, alert_text_1, alert_text_2, alert_type, visual_alert, audible_alert, duration_sound, duration_hud_alert, duration_text):
self.alert_text_1 = alert_text_1
self.alert_text_2 = alert_text_2
self.alert_type = alert_type
self.visual_alert = visual_alert if visual_alert is not None else "none"
self.audible_alert = audible_alert if audible_alert is not None else "none"
self.duration_sound = duration_sound
self.duration_hud_alert = duration_hud_alert
self.duration_text = duration_text
# typecheck that enums are valid on startup
tst = car.CarControl.new_message()
tst.hudControl.visualAlert = self.visual_alert
tst.hudControl.audibleAlert = self.audible_alert
def __str__(self):
return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_type) + " " + str(self.visual_alert) + " " + str(self.audible_alert)
def __gt__(self, alert2):
return self.alert_type > alert2.alert_type
class AlertManager(object):
alerts = {
"enable": alert("", "", ET.ENABLE, None, "beepSingle", .2, 0., 0.),
"disable": alert("", "", ET.USER_DISABLE, None, "beepSingle", .2, 0., 0.),
"pedalPressed": alert("Comma Unavailable", "Pedal Pressed", ET.NO_ENTRY, "brakePressed", "chimeDouble", .4, 2., 3.),
"driverDistracted": alert("Take Control to Regain Speed", "User Distracted", ET.WARNING, "steerRequired", "chimeRepeated", 1., 1., 1.),
"steerSaturated": alert("Take Control", "Steer Control Saturated", ET.WARNING, "steerRequired", "chimeSingle", 1., 2., 3.),
"overheat": alert("Take Control Immediately", "System Overheated", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"controlsMismatch": alert("Take Control Immediately", "Controls Mismatch", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"radarCommIssue": alert("Take Control Immediately", "Radar Comm Issue", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"modelCommIssue": alert("Take Control Immediately", "Model Comm Issue", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"controlsFailed": alert("Take Control Immediately", "Controls Failed", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
# car errors
"commIssue": alert("Take Control Immediately","Communication Issues", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"steerUnavailable": alert("Take Control Immediately","Steer Error", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"steerTemporarilyUnavailable": alert("Take Control", "Steer Temporarily Unavailable", ET.WARNING, "steerRequired", "chimeRepeated", 1., 2., 3.),
"brakeUnavailable": alert("Take Control Immediately","Brake Error", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"gasUnavailable": alert("Take Control Immediately","Gas Error", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"wrongGear": alert("Take Control Immediately","Gear not D", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"reverseGear": alert("Take Control Immediately","Car in Reverse", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"doorOpen": alert("Take Control Immediately","Door Open", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"seatbeltNotLatched": alert("Take Control Immediately","Seatbelt Unlatched", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"espDisabled": alert("Take Control Immediately","ESP Off", ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"wrongCarMode": alert("Comma Unavailable","Main Switch Off", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
"outOfSpace": alert("Comma Unavailable","Out of Space", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
"dataNeeded": alert("Comma Unavailable","Data needed for calibration. Upload drive, try again", ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.),
"ethicalDilemma": alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
"startup": alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
}
def __init__(self):
self.activealerts = []
self.current_alert = None
self.add("startup", False)
def alertPresent(self):
return len(self.activealerts) > 0
def alertShouldSoftDisable(self):
return len(self.activealerts) > 0 and self.activealerts[0].alert_type == ET.SOFT_DISABLE
def alertShouldDisable(self):
return len(self.activealerts) > 0 and self.activealerts[0].alert_type >= ET.IMMEDIATE_DISABLE
def add(self, alert_type, enabled = True):
alert_type = str(alert_type)
this_alert = self.alerts[alert_type]
# downgrade the alert if we aren't enabled
if not enabled and this_alert.alert_type > ET.NO_ENTRY:
this_alert = alert("Comma Unavailable" if this_alert.alert_text_1 != "" else "", this_alert.alert_text_2, ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.)
# ignore no entries if we are enabled
if enabled and this_alert.alert_type < ET.WARNING:
return
# if new alert is different, log it
if self.current_alert is None or self.current_alert.alert_text_2 != this_alert.alert_text_2:
cloudlog.event('alert_add',
alert_type=alert_type,
enabled=enabled)
self.activealerts.append(this_alert)
self.activealerts.sort()
def process_alerts(self, cur_time):
if self.alertPresent():
self.alert_start_time = cur_time
self.current_alert = self.activealerts[0]
print self.current_alert
alert_text_1 = ""
alert_text_2 = ""
visual_alert = "none"
audible_alert = "none"
if self.current_alert is not None:
# ewwwww
if self.alert_start_time + self.current_alert.duration_sound > cur_time:
audible_alert = self.current_alert.audible_alert
if self.alert_start_time + self.current_alert.duration_hud_alert > cur_time:
visual_alert = self.current_alert.visual_alert
if self.alert_start_time + self.current_alert.duration_text > cur_time:
alert_text_1 = self.current_alert.alert_text_1
alert_text_2 = self.current_alert.alert_text_2
# disable current alert
if self.alert_start_time + max(self.current_alert.duration_sound, self.current_alert.duration_hud_alert, self.current_alert.duration_text) < cur_time:
self.current_alert = None
# reset
self.activealerts = []
return alert_text_1, alert_text_2, visual_alert, audible_alert