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759 lines
24 KiB
759 lines
24 KiB
from enum import IntEnum
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from typing import Dict, Union, Callable, Any
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from cereal import log, car
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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.config import Conversions as CV
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from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
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AlertSize = log.ControlsState.AlertSize
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AlertStatus = log.ControlsState.AlertStatus
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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EventName = car.CarEvent.EventName
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# Alert priorities
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class Priority(IntEnum):
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LOWEST = 0
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LOWER = 1
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LOW = 2
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MID = 3
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HIGH = 4
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HIGHEST = 5
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# Event types
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class ET:
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ENABLE = 'enable'
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PRE_ENABLE = 'preEnable'
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NO_ENTRY = 'noEntry'
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WARNING = 'warning'
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USER_DISABLE = 'userDisable'
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SOFT_DISABLE = 'softDisable'
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IMMEDIATE_DISABLE = 'immediateDisable'
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PERMANENT = 'permanent'
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# get event name from enum
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EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
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class Events:
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def __init__(self):
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self.events = []
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self.static_events = []
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self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
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@property
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def names(self):
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return self.events
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def __len__(self):
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return len(self.events)
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def add(self, event_name, static=False):
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if static:
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self.static_events.append(event_name)
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self.events.append(event_name)
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def clear(self):
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self.events_prev = {k: (v+1 if k in self.events else 0) for k, v in self.events_prev.items()}
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self.events = self.static_events.copy()
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def any(self, event_type):
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for e in self.events:
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if event_type in EVENTS.get(e, {}).keys():
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return True
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return False
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def create_alerts(self, event_types, callback_args=None):
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if callback_args is None:
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callback_args = []
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ret = []
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for e in self.events:
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types = EVENTS[e].keys()
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for et in event_types:
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if et in types:
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alert = EVENTS[e][et]
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if not isinstance(alert, Alert):
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alert = alert(*callback_args)
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if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay:
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alert.alert_type = f"{EVENT_NAME[e]}/{et}"
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alert.event_type = et
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ret.append(alert)
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return ret
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def add_from_msg(self, events):
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for e in events:
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self.events.append(e.name.raw)
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def to_msg(self):
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ret = []
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for event_name in self.events:
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event = car.CarEvent.new_message()
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event.name = event_name
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for event_type in EVENTS.get(event_name, {}).keys():
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setattr(event, event_type , True)
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ret.append(event)
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return ret
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class Alert:
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def __init__(self,
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alert_text_1: str,
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alert_text_2: str,
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alert_status: log.ControlsState.AlertStatus,
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alert_size: log.ControlsState.AlertSize,
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alert_priority: Priority,
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visual_alert: car.CarControl.HUDControl.VisualAlert,
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audible_alert: car.CarControl.HUDControl.AudibleAlert,
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duration_sound: float,
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duration_hud_alert: float,
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duration_text: float,
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alert_rate: float = 0.,
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creation_delay: float = 0.):
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self.alert_text_1 = alert_text_1
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self.alert_text_2 = alert_text_2
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self.alert_status = alert_status
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self.alert_size = alert_size
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self.alert_priority = alert_priority
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self.visual_alert = visual_alert
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self.audible_alert = audible_alert
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self.duration_sound = duration_sound
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self.duration_hud_alert = duration_hud_alert
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self.duration_text = duration_text
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self.alert_rate = alert_rate
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self.creation_delay = creation_delay
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self.start_time = 0.
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self.alert_type = ""
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self.event_type = None
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def __str__(self) -> str:
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return f"{self.alert_text_1}/{self.alert_text_2} {self.alert_priority} {self.visual_alert} {self.audible_alert}"
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def __gt__(self, alert2) -> bool:
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return self.alert_priority > alert2.alert_priority
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class NoEntryAlert(Alert):
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def __init__(self, alert_text_2, audible_alert=AudibleAlert.chimeError,
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visual_alert=VisualAlert.none, duration_hud_alert=2.):
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super().__init__("openpilot Unavailable", alert_text_2, AlertStatus.normal,
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AlertSize.mid, Priority.LOW, visual_alert,
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audible_alert, .4, duration_hud_alert, 3.)
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class SoftDisableAlert(Alert):
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def __init__(self, alert_text_2):
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super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
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AlertStatus.critical, AlertSize.full,
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Priority.MID, VisualAlert.steerRequired,
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AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
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class ImmediateDisableAlert(Alert):
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def __init__(self, alert_text_2, alert_text_1="TAKE CONTROL IMMEDIATELY"):
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super().__init__(alert_text_1, alert_text_2,
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.steerRequired,
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AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
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class EngagementAlert(Alert):
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def __init__(self, audible_alert=True):
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super().__init__("", "",
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AlertStatus.normal, AlertSize.none,
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Priority.MID, VisualAlert.none,
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audible_alert, .2, 0., 0.),
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class NormalPermanentAlert(Alert):
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def __init__(self, alert_text_1, alert_text_2):
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super().__init__(alert_text_1, alert_text_2,
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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# ********** alert callback functions **********
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def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
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speed = int(round(CP.minSteerSpeed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
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unit = "km/h" if metric else "mph"
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return Alert(
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"TAKE CONTROL",
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"Steer Unavailable Below %d %s" % (speed, unit),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3)
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def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
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speed = int(MIN_SPEED_FILTER * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
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unit = "km/h" if metric else "mph"
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return Alert(
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"Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc,
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"Drive Above %d %s" % (speed, unit),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
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def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
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gps_integrated = sm['health'].hwType in [log.HealthData.HwType.uno, log.HealthData.HwType.dos]
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return Alert(
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"Poor GPS reception",
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"If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=300.)
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def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
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text = "Cruise Mode Disabled"
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if CP.carName == "honda":
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text = "Main Switch Off"
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return NoEntryAlert(text, duration_hud_alert=0.)
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EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, bool], Alert]]]] = {
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# ********** events with no alerts **********
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# ********** events only containing alerts displayed in all states **********
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EventName.debugAlert: {
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ET.PERMANENT: Alert(
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"DEBUG ALERT",
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"",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
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},
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EventName.startup: {
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ET.PERMANENT: Alert(
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"Be ready to take over at any time",
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"Always keep hands on wheel and eyes on road",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.startupMaster: {
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ET.PERMANENT: Alert(
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"WARNING: This branch is not tested",
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"Always keep hands on wheel and eyes on road",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.startupNoControl: {
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ET.PERMANENT: Alert(
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"Dashcam mode",
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"Always keep hands on wheel and eyes on road",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.startupNoCar: {
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ET.PERMANENT: Alert(
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"Dashcam mode for unsupported car",
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"Always keep hands on wheel and eyes on road",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.startupOneplus: {
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ET.PERMANENT: Alert(
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"WARNING: Original EON deprecated",
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"Device will no longer update",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.invalidLkasSetting: {
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ET.PERMANENT: Alert(
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"Stock LKAS is turned on",
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"Turn off stock LKAS to engage",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.communityFeatureDisallowed: {
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# LOW priority to overcome Cruise Error
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ET.PERMANENT: Alert(
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"Community Feature Detected",
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"Enable Community Features in Developer Settings",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.carUnrecognized: {
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ET.PERMANENT: Alert(
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"Dashcam Mode",
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"Car Unrecognized",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.stockAeb: {
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ET.PERMANENT: Alert(
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"BRAKE!",
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"Stock AEB: Risk of Collision",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),
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},
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EventName.stockFcw: {
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ET.PERMANENT: Alert(
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"BRAKE!",
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"Stock FCW: Risk of Collision",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),
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},
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EventName.fcw: {
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ET.PERMANENT: Alert(
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"BRAKE!",
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"Risk of Collision",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),
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},
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EventName.ldw: {
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ET.PERMANENT: Alert(
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"TAKE CONTROL",
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"Lane Departure Detected",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
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},
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# ********** events only containing alerts that display while engaged **********
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EventName.gasPressed: {
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ET.PRE_ENABLE: Alert(
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"openpilot will not brake while gas pressed",
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .0, .0, .1, creation_delay=1.),
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},
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EventName.vehicleModelInvalid: {
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ET.WARNING: Alert(
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"Vehicle Parameter Identification Failed",
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
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},
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EventName.steerTempUnavailableMute: {
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ET.WARNING: Alert(
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"TAKE CONTROL",
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"Steering Temporarily Unavailable",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
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},
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EventName.preDriverDistracted: {
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ET.WARNING: Alert(
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"KEEP EYES ON ROAD: Driver Distracted",
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
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},
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EventName.promptDriverDistracted: {
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ET.WARNING: Alert(
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"KEEP EYES ON ROAD",
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"Driver Distracted",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2Repeat, .1, .1, .1),
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},
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EventName.driverDistracted: {
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ET.WARNING: Alert(
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"DISENGAGE IMMEDIATELY",
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"Driver Distracted",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
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},
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EventName.preDriverUnresponsive: {
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ET.WARNING: Alert(
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"TOUCH STEERING WHEEL: No Face Detected",
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
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},
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EventName.promptDriverUnresponsive: {
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ET.WARNING: Alert(
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"TOUCH STEERING WHEEL",
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"Driver Unresponsive",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2Repeat, .1, .1, .1),
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},
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EventName.driverUnresponsive: {
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ET.WARNING: Alert(
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"DISENGAGE IMMEDIATELY",
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"Driver Unresponsive",
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
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},
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EventName.driverMonitorLowAcc: {
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ET.WARNING: Alert(
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"CHECK DRIVER FACE VISIBILITY",
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"Driver Monitoring Uncertain",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.5),
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},
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EventName.manualRestart: {
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ET.WARNING: Alert(
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"TAKE CONTROL",
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"Resume Driving Manually",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.resumeRequired: {
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ET.WARNING: Alert(
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"STOPPED",
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"Press Resume to Move",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.belowSteerSpeed: {
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ET.WARNING: below_steer_speed_alert,
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},
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EventName.preLaneChangeLeft: {
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ET.WARNING: Alert(
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"Steer Left to Start Lane Change",
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"Monitor Other Vehicles",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
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},
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EventName.preLaneChangeRight: {
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ET.WARNING: Alert(
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"Steer Right to Start Lane Change",
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"Monitor Other Vehicles",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
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},
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EventName.laneChangeBlocked: {
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ET.WARNING: Alert(
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"Car Detected in Blindspot",
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"Monitor Other Vehicles",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
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},
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EventName.laneChange: {
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ET.WARNING: Alert(
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"Changing Lane",
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"Monitor Other Vehicles",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
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},
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EventName.steerSaturated: {
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ET.WARNING: Alert(
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"TAKE CONTROL",
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"Turn Exceeds Steering Limit",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
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},
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EventName.fanMalfunction: {
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ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Contact Support"),
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},
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EventName.cameraMalfunction: {
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ET.PERMANENT: NormalPermanentAlert("Camera Malfunction", "Contact Support"),
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},
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EventName.gpsMalfunction: {
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ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Contact Support"),
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},
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# ********** events that affect controls state transitions **********
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EventName.pcmEnable: {
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ET.ENABLE: EngagementAlert(AudibleAlert.chimeEngage),
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},
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EventName.buttonEnable: {
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ET.ENABLE: EngagementAlert(AudibleAlert.chimeEngage),
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},
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EventName.pcmDisable: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
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},
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EventName.buttonCancel: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
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},
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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.WARNING: Alert(
|
|
"TAKE CONTROL",
|
|
"Steering Temporarily Unavailable",
|
|
AlertStatus.userPrompt, AlertSize.mid,
|
|
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 1.),
|
|
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"),
|
|
},
|
|
|
|
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"),
|
|
},
|
|
|
|
EventName.commIssue: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert("Communication Issue between Processes"),
|
|
ET.NO_ENTRY: NoEntryAlert("Communication Issue between Processes",
|
|
audible_alert=AudibleAlert.chimeDisengage),
|
|
},
|
|
|
|
EventName.radarCommIssue: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert("Radar Communication Issue"),
|
|
ET.NO_ENTRY: NoEntryAlert("Radar Communication Issue",
|
|
audible_alert=AudibleAlert.chimeDisengage),
|
|
},
|
|
|
|
EventName.radarCanError: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert("Radar Error: Restart the Car"),
|
|
ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"),
|
|
},
|
|
|
|
EventName.radarFault: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert("Radar Error: Restart the Car"),
|
|
ET.NO_ENTRY : NoEntryAlert("Radar Error: Restart the Car"),
|
|
},
|
|
|
|
EventName.modeldLagging: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert("Driving model lagging"),
|
|
ET.NO_ENTRY : NoEntryAlert("Driving model lagging"),
|
|
},
|
|
|
|
EventName.posenetInvalid: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert("Model Output Uncertain"),
|
|
ET.NO_ENTRY: NoEntryAlert("Model Output Uncertain"),
|
|
},
|
|
|
|
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.controlsFailed: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Failed"),
|
|
ET.NO_ENTRY: NoEntryAlert("Controls Failed"),
|
|
},
|
|
|
|
EventName.controlsMismatch: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
|
|
},
|
|
|
|
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"),
|
|
},
|
|
|
|
EventName.cruiseDisabled: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"),
|
|
},
|
|
|
|
EventName.plannerError: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Planner Solution Error"),
|
|
ET.NO_ENTRY: NoEntryAlert("Planner Solution Error"),
|
|
},
|
|
|
|
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.),
|
|
},
|
|
|
|
EventName.speedTooHigh: {
|
|
ET.WARNING: Alert(
|
|
"Speed Too High",
|
|
"Slow down to resume operation",
|
|
AlertStatus.normal, AlertSize.mid,
|
|
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.none, 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"),
|
|
},
|
|
|
|
}
|
|
|