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64 lines
1.8 KiB
64 lines
1.8 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 typing import List, Dict, Optional
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from common.basedir import BASEDIR
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from common.params import Params
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from selfdrive.controls.lib.events import Alert
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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().remove(alert)
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@dataclass
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class AlertEntry:
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alert: Optional[Alert] = None
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start_frame: int = -1
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end_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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class AlertManager:
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def __init__(self):
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self.alerts: Dict[str, AlertEntry] = defaultdict(AlertEntry)
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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.active(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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def process_alerts(self, frame: int, clear_event_types: set) -> Optional[Alert]:
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current_alert = 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 = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame)
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if v.active(frame) and greater:
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current_alert = v
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return current_alert.alert
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