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58 lines
1.8 KiB
58 lines
1.8 KiB
#!/usr/bin/env python3
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# flake8: noqa
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# pylint: skip-file
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# type: ignore
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import argparse
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import time
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import cereal.messaging as messaging
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from selfdrive.controls.lib.events import EVENTS, Alert
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def now_millis(): return time.time() * 1000
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ALERTS = [a for _, et in EVENTS.items() for _, a in et.items() if isinstance(a, Alert)]
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#from cereal import car
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#ALERTS = [a for a in ALERTS if a.audible_alert == car.CarControl.HUDControl.AudibleAlert.chimeWarningRepeat]
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default_alerts = sorted(ALERTS, key=lambda alert: (alert.alert_size, len(alert.alert_text_2)))
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def cycle_alerts(duration_millis, alerts=None):
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if alerts is None:
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alerts = default_alerts
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controls_state = messaging.pub_sock('controlsState')
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idx, last_alert_millis = 0, 0
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alert = alerts[0]
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while 1:
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if (now_millis() - last_alert_millis) > duration_millis:
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alert = alerts[idx]
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idx = (idx + 1) % len(alerts)
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last_alert_millis = now_millis()
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print('sending {}'.format(str(alert)))
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dat = messaging.new_message()
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dat.init('controlsState')
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dat.controlsState.alertType = alert.alert_type
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dat.controlsState.alertText1 = alert.alert_text_1
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dat.controlsState.alertText2 = alert.alert_text_2
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dat.controlsState.alertSize = alert.alert_size
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#dat.controlsState.alertStatus = alert.alert_status
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dat.controlsState.alertSound = alert.audible_alert
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controls_state.send(dat.to_bytes())
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time.sleep(0.01)
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if __name__ == '__main__':
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parser = argparse.ArgumentParser()
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parser.add_argument('--duration', type=int, default=1000)
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parser.add_argument('--alert-types', nargs='+')
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args = parser.parse_args()
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alerts = None
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if args.alert_types:
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alerts = [next(a for a in ALERTS if a.alert_type==alert_type) for alert_type in args.alert_types]
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cycle_alerts(args.duration, alerts=alerts)
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