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129 lines
4.4 KiB
129 lines
4.4 KiB
#!/usr/bin/env python3
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import time
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import random
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from cereal import car, log
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import cereal.messaging as messaging
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from common.realtime import DT_CTRL
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from selfdrive.car.honda.interface import CarInterface
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from selfdrive.controls.lib.events import ET, Events
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from selfdrive.controls.lib.alertmanager import AlertManager
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from selfdrive.manager.process_config import managed_processes
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EventName = car.CarEvent.EventName
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def randperc() -> float:
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return 100. * random.random()
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def cycle_alerts(duration=200, is_metric=False):
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# all alerts
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#alerts = list(EVENTS.keys())
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# this plays each type of audible alert
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alerts = [
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(EventName.buttonEnable, ET.ENABLE),
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(EventName.buttonCancel, ET.USER_DISABLE),
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(EventName.wrongGear, ET.NO_ENTRY),
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(EventName.vehicleModelInvalid, ET.SOFT_DISABLE),
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(EventName.accFaulted, ET.IMMEDIATE_DISABLE),
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# DM sequence
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(EventName.preDriverDistracted, ET.WARNING),
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(EventName.promptDriverDistracted, ET.WARNING),
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(EventName.driverDistracted, ET.WARNING),
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]
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# debug alerts
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alerts = [
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#(EventName.highCpuUsage, ET.NO_ENTRY),
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#(EventName.lowMemory, ET.PERMANENT),
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#(EventName.overheat, ET.PERMANENT),
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#(EventName.outOfSpace, ET.PERMANENT),
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#(EventName.modeldLagging, ET.PERMANENT),
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#(EventName.processNotRunning, ET.NO_ENTRY),
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#(EventName.commIssue, ET.NO_ENTRY),
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#(EventName.calibrationInvalid, ET.PERMANENT),
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(EventName.cameraMalfunction, ET.PERMANENT),
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(EventName.cameraFrameRate, ET.PERMANENT),
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]
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cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
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CS = car.CarState.new_message()
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CP = CarInterface.get_params("HONDA CIVIC 2016")
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sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
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'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
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'managerState'] + cameras)
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pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
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events = Events()
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AM = AlertManager()
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frame = 0
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while True:
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for alert, et in alerts:
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events.clear()
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events.add(alert)
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sm['deviceState'].freeSpacePercent = randperc()
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sm['deviceState'].memoryUsagePercent = int(randperc())
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sm['deviceState'].cpuTempC = [randperc() for _ in range(3)]
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sm['deviceState'].gpuTempC = [randperc() for _ in range(3)]
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sm['deviceState'].cpuUsagePercent = [int(randperc()) for _ in range(8)]
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sm['modelV2'].frameDropPerc = randperc()
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if random.random() > 0.25:
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sm['modelV2'].velocity.x = [random.random(), ]
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if random.random() > 0.25:
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CS.vEgo = random.random()
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procs = [p.get_process_state_msg() for p in managed_processes.values()]
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random.shuffle(procs)
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for i in range(random.randint(0, 10)):
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procs[i].shouldBeRunning = True
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sm['managerState'].processes = procs
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sm['liveCalibration'].rpyCalib = [-1 * random.random() for _ in range(random.randint(0, 3))]
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for s in sm.data.keys():
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prob = 0.3 if s in cameras else 0.08
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sm.alive[s] = random.random() > prob
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sm.valid[s] = random.random() > prob
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sm.freq_ok[s] = random.random() > prob
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a = events.create_alerts([et, ], [CP, CS, sm, is_metric, 0])
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AM.add_many(frame, a)
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alert = AM.process_alerts(frame, [])
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print(alert)
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for _ in range(duration):
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dat = messaging.new_message()
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dat.init('controlsState')
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dat.controlsState.enabled = False
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if alert:
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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.alertBlinkingRate = alert.alert_rate
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dat.controlsState.alertType = alert.alert_type
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dat.controlsState.alertSound = alert.audible_alert
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pm.send('controlsState', dat)
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dat = messaging.new_message()
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dat.init('deviceState')
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dat.deviceState.started = True
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pm.send('deviceState', dat)
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dat = messaging.new_message('pandaStates', 1)
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dat.pandaStates[0].ignitionLine = True
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dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
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pm.send('pandaStates', dat)
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frame += 1
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time.sleep(DT_CTRL)
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if __name__ == '__main__':
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cycle_alerts()
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