sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
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.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
4 Commits
121 Branches
82 Tags
5.0 GiB
 
 
 
 
 
 
Tag: Branch: Tree: a7e099c946
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from 'a7e099c946'
${ noResults }
openpilot_comma/selfdrive/controls/lib/alert_database.py

178 lines
9.3 KiB
Raw Blame History

alerts = []
keys = ["id",
"chime",
"beep",
"hud_alert",
"screen_chime",
"priority",
"text_line_1",
"text_line_2",
"duration_sound",
"duration_hud_alert",
"duration_text"]
#car chimes: enumeration from dbc file. Chimes are for alerts and warnings
class CM:
MUTE = 0
SINGLE = 3
DOUBLE = 4
REPEATED = 1
CONTINUOUS = 2
#car beepss: enumeration from dbc file. Beeps are for activ and deactiv
class BP:
MUTE = 0
SINGLE = 3
TRIPLE = 2
REPEATED = 1
# lert ids
class AI:
ENABLE = 0
DISABLE = 1
SEATBELT = 2
DOOR_OPEN = 3
PEDAL_PRESSED = 4
COMM_ISSUE = 5
ESP_OFF = 6
FCW = 7
STEER_ERROR = 8
BRAKE_ERROR = 9
CALIB_INCOMPLETE = 10
CALIB_INVALID = 11
GEAR_NOT_D = 12
MAIN_OFF = 13
STEER_SATURATED = 14
PCM_LOW_SPEED = 15
THERMAL_DEAD = 16
OVERHEAT = 17
HIGH_SPEED = 18
CONTROLSD_LAG = 19
STEER_ERROR_ID = 100
BRAKE_ERROR_ID = 101
PCM_MISMATCH_ID = 102
CTRL_MISMATCH_ID = 103
SEATBELT_SD = 200
DOOR_OPEN_SD = 201
COMM_ISSUE_SD = 202
ESP_OFF_SD = 203
THERMAL_DEAD_SD = 204
OVERHEAT_SD = 205
CONTROLSD_LAG_SD = 206
CALIB_INCOMPLETE_SD = 207
CALIB_INVALID_SD = 208
DRIVER_DISTRACTED = 300
class AH:
#[alert_idx, value]
# See dbc files for info on values"
NONE = [0, 0]
FCW = [1, 0x8]
STEER = [2, 1]
BRAKE_PRESSED = [3, 10]
GEAR_NOT_D = [4, 6]
SEATBELT = [5, 5]
SPEED_TOO_HIGH = [6, 8]
class ET:
ENABLE = 0
NO_ENTRY = 1
WARNING = 2
SOFT_DISABLE = 3
IMMEDIATE_DISABLE = 4
USER_DISABLE = 5
def process_alert(alert_id, alert, cur_time, sound_exp, hud_exp, text_exp, alert_p):
# INPUTS:
# alert_id is mapped to the alert properties in alert_database
# cur_time is current time
# sound_exp is when the alert beep/chime is supposed to end
# hud_exp is when the hud visual is supposed to end
# text_exp is when the alert text is supposed to disappear
# alert_p is the priority of the current alert
# CM, BP, AH are classes defined in alert_database and they respresents chimes, beeps and hud_alerts
if len(alert_id) > 0:
# take the alert with higher priority
alerts_present = filter(lambda a_id: a_id['id'] in alert_id, alerts)
alert = sorted(alerts_present, key=lambda k: k['priority'])[-1]
# check if we have a more important alert
if alert['priority'] > alert_p:
alert_p = alert['priority']
sound_exp = cur_time + alert['duration_sound']
hud_exp = cur_time + alert['duration_hud_alert']
text_exp = cur_time + alert['duration_text']
chime = CM.MUTE
beep = BP.MUTE
if cur_time < sound_exp:
chime = alert['chime']
beep = alert['beep']
hud_alert = AH.NONE
if cur_time < hud_exp:
hud_alert = alert['hud_alert']
alert_text = ["", ""]
if cur_time < text_exp:
alert_text = [alert['text_line_1'], alert['text_line_2']]
if chime == CM.MUTE and beep == BP.MUTE and hud_alert == AH.NONE: #and alert_text[0] is None and alert_text[1] is None:
alert_p = 0
return alert, chime, beep, hud_alert, alert_text, sound_exp, hud_exp, text_exp, alert_p
def process_hud_alert(hud_alert):
# initialize to no alert
fcw_display = 0
steer_required = 0
acc_alert = 0
if hud_alert == AH.NONE: # no alert
pass
elif hud_alert == AH.FCW: # FCW
fcw_display = hud_alert[1]
elif hud_alert == AH.STEER: # STEER
steer_required = hud_alert[1]
else: # any other ACC alert
acc_alert = hud_alert[1]
return fcw_display, steer_required, acc_alert
def app_alert(alert_add):
alerts.append(dict(zip(keys, alert_add)))
app_alert([AI.ENABLE, CM.MUTE, BP.SINGLE, AH.NONE, ET.ENABLE, 2, "", "", .2, 0., 0.])
app_alert([AI.DISABLE, CM.MUTE, BP.SINGLE, AH.NONE, ET.USER_DISABLE, 2, "", "", .2, 0., 0.])
app_alert([AI.SEATBELT, CM.DOUBLE, BP.MUTE, AH.SEATBELT, ET.NO_ENTRY, 1, "Comma Unavailable", "Seatbelt Unlatched", .4, 2., 3.])
app_alert([AI.DOOR_OPEN, CM.DOUBLE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "Door Open", .4, 0., 3.])
app_alert([AI.PEDAL_PRESSED, CM.DOUBLE, BP.MUTE, AH.BRAKE_PRESSED, ET.NO_ENTRY, 1, "Comma Unavailable", "Pedal Pressed", .4, 2., 3.])
app_alert([AI.COMM_ISSUE, CM.DOUBLE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "Communcation Issues", .4, 0., 3.])
app_alert([AI.ESP_OFF, CM.DOUBLE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "ESP Off", .4, 0., 3.])
app_alert([AI.FCW, CM.REPEATED, BP.MUTE, AH.FCW, ET.WARNING, 3, "Risk of Collision", "", 1., 2., 3.])
app_alert([AI.STEER_ERROR, CM.DOUBLE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "Steer Error", .4, 0., 3.])
app_alert([AI.BRAKE_ERROR, CM.DOUBLE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "Brake Error", .4, 0., 3.])
app_alert([AI.CALIB_INCOMPLETE, CM.DOUBLE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "Calibration in Progress", .4, 0., 3.])
app_alert([AI.CALIB_INVALID, CM.DOUBLE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "Calibration Error", .4, 0., 3.])
app_alert([AI.GEAR_NOT_D, CM.DOUBLE, BP.MUTE, AH.GEAR_NOT_D, ET.NO_ENTRY, 1, "Comma Unavailable", "Gear not in D", .4, 2., 3.])
app_alert([AI.MAIN_OFF, CM.MUTE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "Main Switch Off", .4, 0., 3.])
app_alert([AI.STEER_SATURATED, CM.SINGLE, BP.MUTE, AH.STEER, ET.WARNING, 2, "Take Control", "Steer Control Saturated", 1., 2., 3.])
app_alert([AI.PCM_LOW_SPEED, CM.MUTE, BP.SINGLE, AH.STEER, ET.WARNING, 2, "Comma disengaged", "Speed too low", .2, 2., 3.])
app_alert([AI.THERMAL_DEAD, CM.DOUBLE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "Thermal Unavailable", .4, 0., 3.])
app_alert([AI.OVERHEAT, CM.DOUBLE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "System Overheated", .4, 0., 3.])
app_alert([AI.HIGH_SPEED, CM.DOUBLE, BP.MUTE, AH.SPEED_TOO_HIGH, ET.NO_ENTRY, 1, "Comma Unavailable", "Speed Too High", .4, 2., 3.])
app_alert([AI.CONTROLSD_LAG, CM.DOUBLE, BP.MUTE, AH.NONE, ET.NO_ENTRY, 1, "Comma Unavailable", "Controls Lagging", .4, 0., 3.])
app_alert([AI.STEER_ERROR_ID, CM.REPEATED, BP.MUTE, AH.STEER, ET.IMMEDIATE_DISABLE, 3, "Take Control Immediately", "Steer Error", 1., 3., 3.])
app_alert([AI.BRAKE_ERROR_ID, CM.REPEATED, BP.MUTE, AH.STEER, ET.IMMEDIATE_DISABLE, 3, "Take Control Immediately", "Brake Error", 1., 3., 3.])
app_alert([AI.PCM_MISMATCH_ID, CM.REPEATED, BP.MUTE, AH.STEER, ET.IMMEDIATE_DISABLE, 3, "Take Control Immediately", "Pcm Mismatch", 1., 3., 3.])
app_alert([AI.CTRL_MISMATCH_ID, CM.REPEATED, BP.MUTE, AH.STEER, ET.IMMEDIATE_DISABLE, 3, "Take Control Immediately", "Ctrl Mismatch", 1., 3., 3.])
app_alert([AI.SEATBELT_SD, CM.REPEATED, BP.MUTE, AH.STEER, ET.SOFT_DISABLE, 3, "Take Control Immediately", "Seatbelt Unlatched", 1., 3., 3.])
app_alert([AI.DOOR_OPEN_SD, CM.REPEATED, BP.MUTE, AH.STEER, ET.SOFT_DISABLE, 3, "Take Control Immediately", "Door Open", 1., 3., 3.])
app_alert([AI.COMM_ISSUE_SD, CM.REPEATED, BP.MUTE, AH.STEER, ET.SOFT_DISABLE, 3, "Take Control Immediately", "Technical Issues", 1., 3., 3.])
app_alert([AI.ESP_OFF_SD, CM.REPEATED, BP.MUTE, AH.STEER, ET.SOFT_DISABLE, 3, "Take Control Immediately", "ESP Off", 1., 3., 3.])
app_alert([AI.THERMAL_DEAD_SD, CM.REPEATED, BP.MUTE, AH.STEER, ET.SOFT_DISABLE, 3, "Take Control Immediately", "Thermal Unavailable", 1., 3., 3.])
app_alert([AI.OVERHEAT_SD, CM.REPEATED, BP.MUTE, AH.STEER, ET.SOFT_DISABLE, 3, "Take Control Immediately", "System Overheated", 1., 3., 3.])
app_alert([AI.CONTROLSD_LAG_SD, CM.REPEATED, BP.MUTE, AH.STEER, ET.SOFT_DISABLE, 3, "Take Control Immediately", "Controls Lagging", 1., 3., 3.])
app_alert([AI.CALIB_INCOMPLETE_SD, CM.REPEATED, BP.MUTE, AH.STEER, ET.SOFT_DISABLE, 3, "Take Control Immediately", "Calibration in Progress", 1., 3., 3.])
app_alert([AI.CALIB_INVALID_SD, CM.REPEATED, BP.MUTE, AH.STEER, ET.SOFT_DISABLE, 3, "Take Control Immediately", "Calibration Error", 1., 3., 3.])
app_alert([AI.DRIVER_DISTRACTED, CM.REPEATED, BP.MUTE, AH.STEER, ET.SOFT_DISABLE, 2, "Take Control to Regain Speed", "User Distracted", 1., 1., 1.])