From 5265c36de7be6a2519488fa4a46462f13918b1fb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 Nov 2021 16:14:31 -0800 Subject: [PATCH] alert cleanup (#22919) --- selfdrive/controls/lib/events.py | 104 +++++++++---------------------- 1 file changed, 31 insertions(+), 73 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 09e9d65c90c34a..4710d50507f1b5 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -171,10 +171,18 @@ def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert): class NormalPermanentAlert(Alert): - def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2): + def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER): super().__init__(alert_text_1, alert_text_2, AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, duration), + priority, VisualAlert.none, AudibleAlert.none, duration), + + +class StartupAlert(Alert): + def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal): + super().__init__(alert_text_1, alert_text_2, + alert_status, AlertSize.mid, + Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + # ********** helper functions ********** def get_display_speed(speed_ms: float, metric: bool) -> str: @@ -244,61 +252,38 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> }, EventName.startup: { - ET.PERMANENT: Alert( - "Be ready to take over at any time", - "Always keep hands on wheel and eyes on road", - AlertStatus.normal, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + ET.PERMANENT: StartupAlert("Be ready to take over at any time") }, EventName.startupMaster: { - ET.PERMANENT: Alert( - "WARNING: This branch is not tested", - "Always keep hands on wheel and eyes on road", - AlertStatus.userPrompt, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + ET.PERMANENT: StartupAlert("WARNING: This branch is not tested", + alert_status=AlertStatus.userPrompt), }, # Car is recognized, but marked as dashcam only EventName.startupNoControl: { - ET.PERMANENT: Alert( - "Dashcam mode", - "Always keep hands on wheel and eyes on road", - AlertStatus.normal, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + ET.PERMANENT: StartupAlert("Dashcam mode"), }, # Car is not recognized EventName.startupNoCar: { - ET.PERMANENT: Alert( - "Dashcam mode for unsupported car", - "Always keep hands on wheel and eyes on road", - AlertStatus.normal, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"), }, EventName.startupNoFw: { - ET.PERMANENT: Alert( - "Car Unrecognized", - "Check comma power connections", - AlertStatus.userPrompt, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + ET.PERMANENT: StartupAlert("Car Unrecognized", + "Check comma power connections", + alert_status=AlertStatus.userPrompt), }, EventName.dashcamMode: { - ET.PERMANENT: Alert( - "Dashcam Mode", - "", - AlertStatus.normal, AlertSize.small, - Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", + priority=Priority.LOWEST), }, EventName.invalidLkasSetting: { - ET.PERMANENT: Alert( - "Stock LKAS is turned on", - "Turn off stock LKAS to engage", - AlertStatus.normal, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("Stock LKAS is turned on", + "Turn off stock LKAS to engage"), }, EventName.cruiseMismatch: { @@ -309,23 +294,17 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> # detects the use of a community feature it switches to dashcam mode # until these features are allowed using a toggle in settings. EventName.communityFeatureDisallowed: { - # LOW priority to overcome Cruise Error - ET.PERMANENT: Alert( - "openpilot Not Available", - "Enable Community Features in Settings to Engage", - AlertStatus.normal, AlertSize.mid, - Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("openpilot Not Available", + "Enable Community Features in Settings to Engage"), }, # openpilot doesn't recognize the car. This switches openpilot into a # read-only mode. This can be solved by adding your fingerprint. # See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information EventName.carUnrecognized: { - ET.PERMANENT: Alert( - "Dashcam Mode", - "Car Unrecognized", - AlertStatus.normal, AlertSize.mid, - Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", + "Car Unrecognized", + priority=Priority.LOWEST), }, EventName.stockAeb: { @@ -374,11 +353,6 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> EventName.vehicleModelInvalid: { ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"), ET.SOFT_DISABLE: SoftDisableAlert("Vehicle Parameter Identification Failed"), - ET.WARNING: Alert( - "Vehicle Parameter Identification Failed", - "", - AlertStatus.normal, AlertSize.small, - Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1), }, EventName.steerTempUnavailableSilent: { @@ -756,21 +730,13 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> 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, .2), + ET.PERMANENT: NormalPermanentAlert("LKAS Fault: Restart the car to engage"), 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, .2), + ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), }, @@ -832,19 +798,11 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> "Model uncertain at this speed", AlertStatus.userPrompt, AlertSize.mid, Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, 4.), - ET.NO_ENTRY: Alert( - "Speed Too High", - "Slow down to engage", - AlertStatus.normal, AlertSize.mid, - Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, 3.), + ET.NO_ENTRY: NoEntryAlert("Slow down to engage"), }, EventName.lowSpeedLockout: { - ET.PERMANENT: Alert( - "Cruise Fault: Restart the car to engage", - "", - AlertStatus.normal, AlertSize.small, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), },