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