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83 lines
2.6 KiB
83 lines
2.6 KiB
import copy
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import os
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import json
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from collections import defaultdict
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from dataclasses import dataclass
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params import Params
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from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert
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with open(os.path.join(BASEDIR, "selfdrive/selfdrived/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: str = None) -> None:
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if show_alert:
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a = copy.copy(OFFROAD_ALERTS[alert])
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a['extra'] = extra_text or ''
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Params().put(alert, json.dumps(a))
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else:
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Params().remove(alert)
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@dataclass
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class AlertEntry:
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alert: Alert | None = None
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start_frame: int = -1
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end_frame: int = -1
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added_frame: int = -1
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def active(self, frame: int) -> bool:
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return frame <= self.end_frame
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def just_added(self, frame: int) -> bool:
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return self.active(frame) and frame == (self.added_frame + 1)
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class AlertManager:
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def __init__(self):
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self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry)
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self.current_alert = EmptyAlert
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self.current_audible_alert = EmptyAlert
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def add_many(self, frame: int, alerts: list[Alert]) -> None:
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for alert in alerts:
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entry = self.alerts[alert.alert_type]
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entry.alert = alert
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if not entry.just_added(frame):
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entry.start_frame = frame
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min_end_frame = entry.start_frame + alert.duration
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entry.end_frame = max(frame + 1, min_end_frame)
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entry.added_frame = frame
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def process_alerts(self, frame: int, clear_event_types: set):
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ae = AlertEntry()
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ae_audible = AlertEntry()
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for v in self.alerts.values():
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if not v.alert:
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continue
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if v.alert.event_type in clear_event_types:
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v.end_frame = -1
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# sort by priority first and then by start_frame
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greater = ae.alert is None or (v.alert.priority, v.start_frame) > (ae.alert.priority, ae.start_frame)
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if v.active(frame) and greater:
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ae = v
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ae_audible = v
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for v in self.alerts.values():
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if not v.alert:
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continue
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if v.alert.event_type in clear_event_types:
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v.end_frame = -1
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# sort by priority first and then by start_frame
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greater = ae_audible.alert is None or (v.alert.priority, v.start_frame) > (ae_audible.alert.priority, ae_audible.start_frame)
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if v.active(frame) and v.alert.alert_size == AlertSize.none and greater:
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ae_audible = v
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self.current_alert = ae.alert if ae.alert is not None else EmptyAlert
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self.current_alert = ae_audible.alert if ae_audible.alert is not None else EmptyAlert
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