You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
90 lines
2.9 KiB
90 lines
2.9 KiB
import os
|
|
import copy
|
|
import json
|
|
|
|
from cereal import car, log
|
|
from common.basedir import BASEDIR
|
|
from common.params import Params
|
|
from common.realtime import DT_CTRL
|
|
from selfdrive.swaglog import cloudlog
|
|
|
|
AlertSize = log.ControlsState.AlertSize
|
|
AlertStatus = log.ControlsState.AlertStatus
|
|
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
|
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
|
|
|
|
|
with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
|
|
OFFROAD_ALERTS = json.load(f)
|
|
|
|
|
|
def set_offroad_alert(alert, show_alert, extra_text=None):
|
|
if show_alert:
|
|
a = OFFROAD_ALERTS[alert]
|
|
if extra_text is not None:
|
|
a = copy.copy(OFFROAD_ALERTS[alert])
|
|
a['text'] += extra_text
|
|
Params().put(alert, json.dumps(a))
|
|
else:
|
|
Params().delete(alert)
|
|
|
|
|
|
class AlertManager():
|
|
|
|
def __init__(self):
|
|
self.activealerts = []
|
|
|
|
def alert_present(self):
|
|
return len(self.activealerts) > 0
|
|
|
|
def add_many(self, frame, alerts, enabled=True):
|
|
for a in alerts:
|
|
self.add(frame, a, enabled=enabled)
|
|
|
|
def add(self, frame, alert, enabled=True):
|
|
added_alert = copy.copy(alert)
|
|
added_alert.start_time = frame * DT_CTRL
|
|
|
|
# if new alert is higher priority, log it
|
|
if not self.alert_present() or added_alert.alert_priority > self.activealerts[0].alert_priority:
|
|
cloudlog.event('alert_add', alert_type=added_alert.alert_type, enabled=enabled)
|
|
|
|
self.activealerts.append(added_alert)
|
|
|
|
# sort by priority first and then by start_time
|
|
self.activealerts.sort(key=lambda k: (k.alert_priority, k.start_time), reverse=True)
|
|
|
|
def process_alerts(self, frame):
|
|
cur_time = frame * DT_CTRL
|
|
|
|
# first get rid of all the expired alerts
|
|
self.activealerts = [a for a in self.activealerts if a.start_time +
|
|
max(a.duration_sound, a.duration_hud_alert, a.duration_text) > cur_time]
|
|
|
|
current_alert = self.activealerts[0] if self.alert_present() else None
|
|
|
|
# start with assuming no alerts
|
|
self.alert_type = ""
|
|
self.alert_text_1 = ""
|
|
self.alert_text_2 = ""
|
|
self.alert_status = AlertStatus.normal
|
|
self.alert_size = AlertSize.none
|
|
self.visual_alert = VisualAlert.none
|
|
self.audible_alert = AudibleAlert.none
|
|
self.alert_rate = 0.
|
|
|
|
if current_alert:
|
|
self.alert_type = current_alert.alert_type
|
|
|
|
if current_alert.start_time + current_alert.duration_sound > cur_time:
|
|
self.audible_alert = current_alert.audible_alert
|
|
|
|
if current_alert.start_time + current_alert.duration_hud_alert > cur_time:
|
|
self.visual_alert = current_alert.visual_alert
|
|
|
|
if current_alert.start_time + current_alert.duration_text > cur_time:
|
|
self.alert_text_1 = current_alert.alert_text_1
|
|
self.alert_text_2 = current_alert.alert_text_2
|
|
self.alert_status = current_alert.alert_status
|
|
self.alert_size = current_alert.alert_size
|
|
self.alert_rate = current_alert.alert_rate
|
|
|