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72 lines
2.3 KiB
72 lines
2.3 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 time
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from cereal import car
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import cereal.messaging as messaging
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from selfdrive.car.honda.interface import CarInterface
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from selfdrive.controls.lib.events import ET, EVENTS, Events
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from selfdrive.controls.lib.alertmanager import AlertManager
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EventName = car.CarEvent.EventName
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def cycle_alerts(duration=2000, is_metric=False):
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alerts = list(EVENTS.keys())
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print(alerts)
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#alerts = [EventName.preDriverDistracted, EventName.promptDriverDistracted, EventName.driverDistracted]
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alerts = [EventName.preLaneChangeLeft, EventName.preLaneChangeRight]
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CP = CarInterface.get_params("HONDA CIVIC 2016")
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sm = messaging.SubMaster(['deviceState', 'pandaState', 'roadCameraState', 'modelV2', 'liveCalibration',
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'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
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pm = messaging.PubMaster(['controlsState', 'pandaState', 'deviceState'])
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events = Events()
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AM = AlertManager()
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frame = 0
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idx, last_alert_millis = 0, 0
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while 1:
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if frame % duration == 0:
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idx = (idx + 1) % len(alerts)
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events.clear()
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events.add(alerts[idx])
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current_alert_types = [ET.PERMANENT, ET.USER_DISABLE, ET.IMMEDIATE_DISABLE,
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ET.SOFT_DISABLE, ET.PRE_ENABLE, ET.NO_ENTRY,
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ET.ENABLE, ET.WARNING]
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a = events.create_alerts(current_alert_types, [CP, sm, is_metric])
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AM.add_many(frame, a)
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AM.process_alerts(frame)
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dat = messaging.new_message()
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dat.init('controlsState')
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dat.controlsState.alertText1 = AM.alert_text_1
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dat.controlsState.alertText2 = AM.alert_text_2
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dat.controlsState.alertSize = AM.alert_size
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dat.controlsState.alertStatus = AM.alert_status
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dat.controlsState.alertBlinkingRate = AM.alert_rate
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dat.controlsState.alertType = AM.alert_type
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dat.controlsState.alertSound = AM.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()
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dat.init('pandaState')
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dat.pandaState.ignitionLine = True
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pm.send('pandaState', dat)
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time.sleep(0.01)
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if __name__ == '__main__':
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cycle_alerts()
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