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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/selfdrive/controls/lib/events.py

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from enum import IntEnum
from typing import Dict, Union, Callable, Any
from cereal import log, car
import cereal.messaging as messaging
from common.realtime import DT_CTRL
from selfdrive.config import Conversions as CV
from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
AlertSize = log.ControlsState.AlertSize
AlertStatus = log.ControlsState.AlertStatus
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
EventName = car.CarEvent.EventName
# Alert priorities
class Priority(IntEnum):
LOWEST = 0
LOWER = 1
LOW = 2
MID = 3
HIGH = 4
HIGHEST = 5
# Event types
class ET:
ENABLE = 'enable'
PRE_ENABLE = 'preEnable'
NO_ENTRY = 'noEntry'
WARNING = 'warning'
USER_DISABLE = 'userDisable'
SOFT_DISABLE = 'softDisable'
IMMEDIATE_DISABLE = 'immediateDisable'
PERMANENT = 'permanent'
# get event name from enum
EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
class Events:
def __init__(self):
self.events = []
self.static_events = []
self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
@property
def names(self):
return self.events
def __len__(self):
return len(self.events)
def add(self, event_name, static=False):
if static:
self.static_events.append(event_name)
self.events.append(event_name)
def clear(self):
self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
self.events = self.static_events.copy()
def any(self, event_type):
for e in self.events:
if event_type in EVENTS.get(e, {}).keys():
return True
return False
def create_alerts(self, event_types, callback_args=None):
if callback_args is None:
callback_args = []
ret = []
for e in self.events:
types = EVENTS[e].keys()
for et in event_types:
if et in types:
alert = EVENTS[e][et]
if not isinstance(alert, Alert):
alert = alert(*callback_args)
if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay:
alert.alert_type = f"{EVENT_NAME[e]}/{et}"
alert.event_type = et
ret.append(alert)
return ret
def add_from_msg(self, events):
for e in events:
self.events.append(e.name.raw)
def to_msg(self):
ret = []
for event_name in self.events:
event = car.CarEvent.new_message()
event.name = event_name
for event_type in EVENTS.get(event_name, {}).keys():
setattr(event, event_type, True)
ret.append(event)
return ret
class Alert:
def __init__(self,
alert_text_1: str,
alert_text_2: str,
alert_status: log.ControlsState.AlertStatus,
alert_size: log.ControlsState.AlertSize,
alert_priority: Priority,
visual_alert: car.CarControl.HUDControl.VisualAlert,
audible_alert: car.CarControl.HUDControl.AudibleAlert,
duration_sound: float,
duration_hud_alert: float,
duration_text: float,
alert_rate: float = 0.,
creation_delay: float = 0.):
self.alert_text_1 = alert_text_1
self.alert_text_2 = alert_text_2
self.alert_status = alert_status
self.alert_size = alert_size
self.alert_priority = alert_priority
self.visual_alert = visual_alert
self.audible_alert = audible_alert
self.duration_sound = duration_sound
self.duration_hud_alert = duration_hud_alert
self.duration_text = duration_text
self.alert_rate = alert_rate
self.creation_delay = creation_delay
self.start_time = 0.
self.alert_type = ""
self.event_type = None
def __str__(self) -> str:
return f"{self.alert_text_1}/{self.alert_text_2} {self.alert_priority} {self.visual_alert} {self.audible_alert}"
def __gt__(self, alert2) -> bool:
return self.alert_priority > alert2.alert_priority
class NoEntryAlert(Alert):
def __init__(self, alert_text_2, audible_alert=AudibleAlert.chimeError,
visual_alert=VisualAlert.none, duration_hud_alert=2.):
super().__init__("openpilot Unavailable", alert_text_2, AlertStatus.normal,
AlertSize.mid, Priority.LOW, visual_alert,
audible_alert, .4, duration_hud_alert, 3.)
class SoftDisableAlert(Alert):
def __init__(self, alert_text_2):
super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
AlertStatus.critical, AlertSize.full,
Priority.MID, VisualAlert.steerRequired,
AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
class ImmediateDisableAlert(Alert):
def __init__(self, alert_text_2, alert_text_1="TAKE CONTROL IMMEDIATELY"):
super().__init__(alert_text_1, alert_text_2,
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.steerRequired,
AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
class EngagementAlert(Alert):
def __init__(self, audible_alert=True):
super().__init__("", "",
AlertStatus.normal, AlertSize.none,
Priority.MID, VisualAlert.none,
audible_alert, .2, 0., 0.),
class NormalPermanentAlert(Alert):
def __init__(self, alert_text_1: str, alert_text_2: str, duration_text: float = 0.2):
super().__init__(alert_text_1, alert_text_2,
AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., duration_text),
# ********** alert callback functions **********
def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
speed = int(round(CP.minSteerSpeed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
unit = "km/h" if metric else "mph"
return Alert(
"TAKE CONTROL",
"Steer Unavailable Below %d %s" % (speed, unit),
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 0., 0.4, .3)
def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
speed = int(MIN_SPEED_FILTER * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
unit = "km/h" if metric else "mph"
return Alert(
"Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc,
"Drive Above %d %s" % (speed, unit),
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
gps_integrated = sm['pandaState'].pandaType in [log.PandaState.PandaType.uno, log.PandaState.PandaType.dos]
return Alert(
"Poor GPS reception",
"If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=300.)
def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
text = "Cruise Mode Disabled"
if CP.carName == "honda":
text = "Main Switch Off"
return NoEntryAlert(text, duration_hud_alert=0.)
def startup_fuzzy_fingerprint_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
return Alert(
"WARNING: No Exact Match on Car Model",
f"Closest Match: {CP.carFingerprint.title()[:40]}",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.)
def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
axes = sm['testJoystick'].axes
gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
return Alert(
"Joystick Mode",
f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .1)
EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, bool], Alert]]]] = {
# ********** events with no alerts **********
# ********** events only containing alerts displayed in all states **********
EventName.joystickDebug: {
ET.WARNING: joystick_alert,
ET.PERMANENT: Alert(
"Joystick Mode",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 0.1),
},
EventName.controlsInitializing: {
ET.NO_ENTRY: NoEntryAlert("Controls Initializing"),
},
EventName.startup: {
ET.PERMANENT: Alert(
"Be ready to take over at any time",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
},
EventName.startupMaster: {
ET.PERMANENT: Alert(
"WARNING: This branch is not tested",
"Always keep hands on wheel and eyes on road",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
},
# Car is recognized, but marked as dashcam only
EventName.startupNoControl: {
ET.PERMANENT: Alert(
"Dashcam mode",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
},
# Car is not recognized
EventName.startupNoCar: {
ET.PERMANENT: Alert(
"Dashcam mode for unsupported car",
"Always keep hands on wheel and eyes on road",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
},
# openpilot uses the version strings from various ECUs to detect the correct car model.
# Usually all ECUs are recognized and an exact match to a car model can be made. Sometimes
# one or two ECUs have unrecognized versions, but the others are present in the database.
# If openpilot is confident about the match to a car model, it fingerprints anyway.
# In this case an alert is thrown since there is a small chance the wrong car was detected
# and the user should pay extra attention.
# This alert can be prevented by adding all ECU firmware version to openpilot:
# https://github.com/commaai/openpilot/wiki/Fingerprinting
EventName.startupFuzzyFingerprint: {
ET.PERMANENT: startup_fuzzy_fingerprint_alert,
},
EventName.startupNoFw: {
ET.PERMANENT: Alert(
"Car Unrecognized",
"Check All Connections",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
},
EventName.dashcamMode: {
ET.PERMANENT: Alert(
"Dashcam Mode",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
},
EventName.invalidLkasSetting: {
ET.PERMANENT: Alert(
"Stock LKAS is turned on",
"Turn off stock LKAS to engage",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
},
# Some features or cars are marked as community features. If openpilot
# detects the use of a community feature it switches to dashcam mode
# until these features are allowed using a toggle in settings.
EventName.communityFeatureDisallowed: {
# LOW priority to overcome Cruise Error
ET.PERMANENT: Alert(
"openpilot Not Available",
"Enable Community Features in Settings to Engage",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
},
# openpilot doesn't recognize the car. This switches openpilot into a
# read-only mode. This can be solved by adding your fingerprint.
# See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information
EventName.carUnrecognized: {
ET.PERMANENT: Alert(
"Dashcam Mode",
"Car Unrecognized",
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
},
EventName.stockAeb: {
ET.PERMANENT: Alert(
"BRAKE!",
"Stock AEB: Risk of Collision",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),
ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
},
EventName.stockFcw: {
ET.PERMANENT: Alert(
"BRAKE!",
"Stock FCW: Risk of Collision",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),
ET.NO_ENTRY: NoEntryAlert("Stock FCW: Risk of Collision"),
},
EventName.fcw: {
ET.PERMANENT: Alert(
"BRAKE!",
"Risk of Collision",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),
},
EventName.ldw: {
ET.PERMANENT: Alert(
"TAKE CONTROL",
"Lane Departure Detected",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.ldw, AudibleAlert.chimePrompt, 1., 2., 3.),
},
# ********** events only containing alerts that display while engaged **********
EventName.gasPressed: {
ET.PRE_ENABLE: Alert(
"openpilot will not brake while gas pressed",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .0, .0, .1, creation_delay=1.),
},
# openpilot tries to learn certain parameters about your car by observing
# how the car behaves to steering inputs from both human and openpilot driving.
# This includes:
# - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
# - tire stiffness: how much grip your tires have
# - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
# This alert is thrown when any of these values exceed a sanity check. This can be caused by
# bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
EventName.vehicleModelInvalid: {
ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"),
ET.SOFT_DISABLE: SoftDisableAlert("Vehicle Parameter Identification Failed"),
ET.WARNING: Alert(
"Vehicle Parameter Identification Failed",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
},
EventName.steerTempUnavailableUserOverride: {
ET.WARNING: Alert(
"Steering Temporarily Unavailable",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
},
EventName.preDriverDistracted: {
ET.WARNING: Alert(
"KEEP EYES ON ROAD: Driver Distracted",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
},
EventName.promptDriverDistracted: {
ET.WARNING: Alert(
"KEEP EYES ON ROAD",
"Driver Distracted",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2Repeat, .1, .1, .1),
},
EventName.driverDistracted: {
ET.WARNING: Alert(
"DISENGAGE IMMEDIATELY",
"Driver Distracted",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
},
EventName.preDriverUnresponsive: {
ET.WARNING: Alert(
"TOUCH STEERING WHEEL: No Face Detected",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
},
EventName.promptDriverUnresponsive: {
ET.WARNING: Alert(
"TOUCH STEERING WHEEL",
"Driver Unresponsive",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2Repeat, .1, .1, .1),
},
EventName.driverUnresponsive: {
ET.WARNING: Alert(
"DISENGAGE IMMEDIATELY",
"Driver Unresponsive",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
},
EventName.driverMonitorLowAcc: {
ET.WARNING: Alert(
"CHECK DRIVER FACE VISIBILITY",
"Driver Monitoring Uncertain",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.5),
},
EventName.manualRestart: {
ET.WARNING: Alert(
"TAKE CONTROL",
"Resume Driving Manually",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
},
EventName.resumeRequired: {
ET.WARNING: Alert(
"STOPPED",
"Press Resume to Move",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
},
EventName.belowSteerSpeed: {
ET.WARNING: below_steer_speed_alert,
},
EventName.preLaneChangeLeft: {
ET.WARNING: Alert(
"Steer Left to Start Lane Change",
"Monitor Other Vehicles",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
},
EventName.preLaneChangeRight: {
ET.WARNING: Alert(
"Steer Right to Start Lane Change",
"Monitor Other Vehicles",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
},
EventName.laneChangeBlocked: {
ET.WARNING: Alert(
"Car Detected in Blindspot",
"Monitor Other Vehicles",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, .1, .1, .1),
},
EventName.laneChange: {
ET.WARNING: Alert(
"Changing Lane",
"Monitor Other Vehicles",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
},
EventName.steerSaturated: {
ET.WARNING: Alert(
"TAKE CONTROL",
"Turn Exceeds Steering Limit",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
},
# Thrown when the fan is driven at >50% but is not rotating
EventName.fanMalfunction: {
ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Contact Support"),
},
# Camera is not outputting frames at a constant framerate
EventName.cameraMalfunction: {
ET.PERMANENT: NormalPermanentAlert("Camera Malfunction", "Contact Support"),
},
# Unused
EventName.gpsMalfunction: {
ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Contact Support"),
},
# When the GPS position and localizer diverge the localizer is reset to the
# current GPS position. This alert is thrown when the localizer is reset
# more often than expected.
EventName.localizerMalfunction: {
ET.PERMANENT: NormalPermanentAlert("Localizer unstable", "Contact Support"),
},
# ********** events that affect controls state transitions **********
EventName.pcmEnable: {
ET.ENABLE: EngagementAlert(AudibleAlert.chimeEngage),
},
EventName.buttonEnable: {
ET.ENABLE: EngagementAlert(AudibleAlert.chimeEngage),
},
EventName.pcmDisable: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
},
EventName.buttonCancel: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
},
EventName.brakeHold: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
},
EventName.parkBrake: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
ET.NO_ENTRY: NoEntryAlert("Park Brake Engaged"),
},
EventName.pedalPressed: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt",
visual_alert=VisualAlert.brakePressed),
},
EventName.wrongCarMode: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
ET.NO_ENTRY: wrong_car_mode_alert,
},
EventName.wrongCruiseMode: {
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
ET.NO_ENTRY: NoEntryAlert("Enable Adaptive Cruise"),
},
EventName.steerTempUnavailable: {
ET.SOFT_DISABLE: SoftDisableAlert("Steering Temporarily Unavailable"),
ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable",
duration_hud_alert=0.),
},
EventName.outOfSpace: {
ET.PERMANENT: Alert(
"Out of Storage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.NO_ENTRY: NoEntryAlert("Out of Storage Space",
duration_hud_alert=0.),
},
EventName.belowEngageSpeed: {
ET.NO_ENTRY: NoEntryAlert("Speed Too Low"),
},
EventName.sensorDataInvalid: {
ET.PERMANENT: Alert(
"No Data from Device Sensors",
"Reboot your Device",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=1.),
ET.NO_ENTRY: NoEntryAlert("No Data from Device Sensors"),
},
EventName.noGps: {
ET.PERMANENT: no_gps_alert,
},
EventName.soundsUnavailable: {
ET.PERMANENT: NormalPermanentAlert("Speaker not found", "Reboot your Device"),
ET.NO_ENTRY: NoEntryAlert("Speaker not found"),
},
EventName.tooDistracted: {
ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
},
EventName.overheat: {
ET.PERMANENT: Alert(
"System Overheated",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.SOFT_DISABLE: SoftDisableAlert("System Overheated"),
ET.NO_ENTRY: NoEntryAlert("System Overheated"),
},
EventName.wrongGear: {
ET.SOFT_DISABLE: SoftDisableAlert("Gear not D"),
ET.NO_ENTRY: NoEntryAlert("Gear not D"),
},
# This alert is thrown when the calibration angles are outside of the acceptable range.
# For example if the device is pointed too much to the left or the right.
# Usually this can only be solved by removing the mount from the windshield completely,
# 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.SOFT_DISABLE: SoftDisableAlert("Calibration Invalid: Remount Device & Recalibrate"),
ET.NO_ENTRY: NoEntryAlert("Calibration Invalid: Remount Device & Recalibrate"),
},
EventName.calibrationIncomplete: {
ET.PERMANENT: calibration_incomplete_alert,
ET.SOFT_DISABLE: SoftDisableAlert("Calibration in Progress"),
ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
},
EventName.doorOpen: {
ET.SOFT_DISABLE: SoftDisableAlert("Door Open"),
ET.NO_ENTRY: NoEntryAlert("Door Open"),
},
EventName.seatbeltNotLatched: {
ET.SOFT_DISABLE: SoftDisableAlert("Seatbelt Unlatched"),
ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
},
EventName.espDisabled: {
ET.SOFT_DISABLE: SoftDisableAlert("ESP Off"),
ET.NO_ENTRY: NoEntryAlert("ESP Off"),
},
EventName.lowBattery: {
ET.SOFT_DISABLE: SoftDisableAlert("Low Battery"),
ET.NO_ENTRY: NoEntryAlert("Low Battery"),
},
# Different openpilot services communicate between each other at a certain
# interval. If communication does not follow the regular schedule this alert
# is thrown. This can mean a service crashed, did not broadcast a message for
# ten times the regular interval, or the average interval is more than 10% too high.
EventName.commIssue: {
ET.SOFT_DISABLE: SoftDisableAlert("Communication Issue between Processes"),
ET.NO_ENTRY: NoEntryAlert("Communication Issue between Processes",
audible_alert=AudibleAlert.chimeDisengage),
},
# Thrown when manager detects a service exited unexpectedly while driving
EventName.processNotRunning: {
ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device",
audible_alert=AudibleAlert.chimeDisengage),
},
EventName.radarFault: {
ET.SOFT_DISABLE: SoftDisableAlert("Radar Error: Restart the Car"),
ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"),
},
# Every frame from the camera should be processed by the model. If modeld
# 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: SoftDisableAlert("Driving model lagging"),
ET.NO_ENTRY: NoEntryAlert("Driving model lagging"),
},
# Besides predicting the path, lane lines and lead car data the model also
# predicts the current velocity and rotation speed of the car. If the model is
# very uncertain about the current velocity while the car is moving, this
# usually means the model has trouble understanding the scene. This is used
# as a heuristic to warn the driver.
EventName.posenetInvalid: {
ET.SOFT_DISABLE: SoftDisableAlert("Model Output Uncertain"),
ET.NO_ENTRY: NoEntryAlert("Model Output Uncertain"),
},
# When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we
# alert the driver the device might have fallen from the windshield.
EventName.deviceFalling: {
ET.SOFT_DISABLE: SoftDisableAlert("Device Fell Off Mount"),
ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"),
},
EventName.lowMemory: {
ET.SOFT_DISABLE: SoftDisableAlert("Low Memory: Reboot Your Device"),
ET.PERMANENT: NormalPermanentAlert("Low Memory", "Reboot your Device"),
ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device",
audible_alert=AudibleAlert.chimeDisengage),
},
EventName.accFaulted: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Faulted"),
ET.PERMANENT: NormalPermanentAlert("Cruise Faulted", ""),
ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"),
},
EventName.controlsMismatch: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
},
EventName.roadCameraError: {
ET.PERMANENT: NormalPermanentAlert("Road Camera Error", "",
duration_text=10.),
},
EventName.driverCameraError: {
ET.PERMANENT: NormalPermanentAlert("Driver Camera Error", "",
duration_text=10.),
},
EventName.wideRoadCameraError: {
ET.PERMANENT: NormalPermanentAlert("Wide Road Camera Error", "",
duration_text=10.),
},
# Sometimes the USB stack on the device can get into a bad state
# causing the connection to the panda to be lost
EventName.usbError: {
ET.SOFT_DISABLE: SoftDisableAlert("USB Error: Reboot Your Device"),
ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""),
ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
},
# This alert can be thrown for the following reasons:
# - No CAN data received at all
# - CAN data is received, but some message are not received at the right frequency
# If you're not writing a new car port, this is usually cause by faulty wiring
EventName.canError: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error: Check Connections"),
ET.PERMANENT: Alert(
"CAN Error: Check Connections",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=1.),
ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
},
EventName.steerUnavailable: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS Fault: Restart the Car"),
ET.PERMANENT: Alert(
"LKAS Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"),
},
EventName.brakeUnavailable: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
ET.PERMANENT: Alert(
"Cruise Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
},
EventName.reverseGear: {
ET.PERMANENT: Alert(
"Reverse\nGear",
"",
AlertStatus.normal, AlertSize.full,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=0.5),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Reverse Gear"),
ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
},
# On cars that use stock ACC the car can decide to cancel ACC for various reasons.
# When this happens we can no long control the car so the user needs to be warned immediately.
EventName.cruiseDisabled: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"),
},
# For planning the trajectory Model Predictive Control (MPC) is used. This is
# an optimization algorithm that is not guaranteed to find a feasible solution.
# If no solution is found or the solution has a very high cost this alert is thrown.
EventName.plannerError: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Planner Solution Error"),
ET.NO_ENTRY: NoEntryAlert("Planner Solution Error"),
},
# When the relay in the harness box opens the CAN bus between the LKAS camera
# and the rest of the car is separated. When messages from the LKAS camera
# are received on the car side this usually means the relay hasn't opened correctly
# and this alert is thrown.
EventName.relayMalfunction: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Malfunction"),
ET.PERMANENT: NormalPermanentAlert("Harness Malfunction", "Check Hardware"),
ET.NO_ENTRY: NoEntryAlert("Harness Malfunction"),
},
EventName.noTarget: {
ET.IMMEDIATE_DISABLE: Alert(
"openpilot Canceled",
"No close lead car",
AlertStatus.normal, AlertSize.mid,
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
ET.NO_ENTRY: NoEntryAlert("No Close Lead Car"),
},
EventName.speedTooLow: {
ET.IMMEDIATE_DISABLE: Alert(
"openpilot Canceled",
"Speed too low",
AlertStatus.normal, AlertSize.mid,
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
},
# When the car is driving faster than most cars in the training data the model outputs can be unpredictable
EventName.speedTooHigh: {
ET.WARNING: Alert(
"Speed Too High",
"Model uncertain at this speed",
AlertStatus.userPrompt, AlertSize.mid,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarning2Repeat, 2.2, 3., 4.),
ET.NO_ENTRY: Alert(
"Speed Too High",
"Slow down to engage",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
},
EventName.lowSpeedLockout: {
ET.PERMANENT: Alert(
"Cruise Fault: Restart the car to engage",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
},
}