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Alert cleanup (#2274) 

* no more focus recover active

* consistency

* more permanent

* dm alerts

* sanity check test

* no please

* clean that up

* update refs

* one more

* bump cereal
albatross
Adeeb Shihadeh 2020-10-14 15:56:18 -07:00 committed by GitHub
parent 753aa1edcd
commit ae4b4bd125
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 64 additions and 84 deletions
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2
cereal

@ -1 +1 @@
Subproject commit 32024acdc0fe2147f6aa62a61a5609dad56bc4f6
Subproject commit 1e7810dbbfe31003b85f11f948ac6e03b1134570

7
selfdrive/controls/controlsd.py
View File

@ -52,7 +52,7 @@ class Controls:
self.sm = sm
if self.sm is None:
self.sm = messaging.SubMaster(['thermal', 'health', 'frame', 'model', 'liveCalibration',
self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration',
'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
self.can_sock = can_sock
@ -227,9 +227,6 @@ class Controls:
self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)
if not self.sm['frame'].recoverState < 2:
# counter>=2 is active
self.events.add(EventName.focusRecoverActive)
if not self.sm['plan'].radarValid:
self.events.add(EventName.radarFault)
if self.sm['plan'].radarCanError:
@ -447,7 +444,7 @@ class Controls:
if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
self.events.add(EventName.ldw)
clear_event = ET.WARNING if ET.WARNING in self.current_alert_types else None
clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric])
self.AM.add_many(self.sm.frame, alerts, self.enabled)
self.AM.process_alerts(self.sm.frame, clear_event)

110
selfdrive/controls/lib/events.py
View File

@ -167,6 +167,11 @@ class EngagementAlert(Alert):
Priority.MID, VisualAlert.none,
audible_alert, .2, 0., 0.),
class NormalPermanentAlert(Alert):
def __init__(self, alert_text_1, alert_text_2):
super().__init__(alert_text_1, alert_text_2,
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
# ********** alert callback functions **********
@ -257,11 +262,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
EventName.whitePandaUnsupported: {
ET.PERMANENT: Alert(
"White Panda Is No Longer Supported",
"White Panda No Longer Supported",
"Upgrade to comma two or black panda",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.NO_ENTRY: NoEntryAlert("White panda is no longer supported"),
ET.NO_ENTRY: NoEntryAlert("Unsupported Hardware"),
},
EventName.invalidLkasSetting: {
@ -352,13 +357,13 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"KEEP EYES ON ROAD: Driver Distracted",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
},
EventName.promptDriverDistracted: {
ET.WARNING: Alert(
"KEEP EYES ON ROAD",
"Driver Appears Distracted",
"Driver Distracted",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2Repeat, .1, .1, .1),
},
@ -366,7 +371,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
EventName.driverDistracted: {
ET.WARNING: Alert(
"DISENGAGE IMMEDIATELY",
"Driver Was Distracted",
"Driver Distracted",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
},
@ -382,7 +387,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
EventName.promptDriverUnresponsive: {
ET.WARNING: Alert(
"TOUCH STEERING WHEEL",
"Driver Is Unresponsive",
"Driver Unresponsive",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2Repeat, .1, .1, .1),
},
@ -390,7 +395,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
EventName.driverUnresponsive: {
ET.WARNING: Alert(
"DISENGAGE IMMEDIATELY",
"Driver Was Unresponsive",
"Driver Unresponsive",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
},
@ -398,7 +403,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
EventName.driverMonitorLowAcc: {
ET.WARNING: Alert(
"CHECK DRIVER FACE VISIBILITY",
"Driver Monitor Model Output Uncertain",
"Driver Monitoring Uncertain",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.5),
},
@ -460,15 +465,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"TAKE CONTROL",
"Turn Exceeds Steering Limit",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
},
EventName.fanMalfunction: {
ET.PERMANENT: Alert(
"Fan Malfunction",
"Contact Support",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Contact Support"),
},
# ********** events that affect controls state transitions **********
@ -525,15 +526,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
duration_hud_alert=0.),
},
EventName.focusRecoverActive: {
ET.WARNING: Alert(
"TAKE CONTROL",
"Attempting Refocus: Camera Focus Invalid",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3., creation_delay=3.1),
},
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.),
},
@ -542,15 +540,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
ET.NO_ENTRY: NoEntryAlert("Speed Too Low"),
},
EventName.neosUpdateRequired: {
ET.PERMANENT: Alert(
"NEOS Update Required",
"Please Wait for Update",
AlertStatus.normal, AlertSize.mid,
Priority.HIGHEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.NO_ENTRY: NoEntryAlert("NEOS Update Required"),
},
EventName.sensorDataInvalid: {
ET.PERMANENT: Alert(
"No Data from Device Sensors",
@ -565,11 +554,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
},
EventName.soundsUnavailable: {
ET.PERMANENT: Alert(
"Speaker not found",
"Reboot your Device",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.PERMANENT: NormalPermanentAlert("Speaker not found", "Reboot your Device"),
ET.NO_ENTRY: NoEntryAlert("Speaker not found"),
},
@ -578,8 +563,13 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
},
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"),
ET.NO_ENTRY: NoEntryAlert("System Overheated"),
},
EventName.wrongGear: {
@ -588,29 +578,25 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
},
EventName.calibrationInvalid: {
ET.PERMANENT: Alert(
"Calibration Invalid",
"Reposition Device and Recalibrate",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.SOFT_DISABLE: SoftDisableAlert("Calibration Invalid: Reposition Device & Recalibrate"),
ET.NO_ENTRY: NoEntryAlert("Calibration Invalid: Reposition Device & Recalibrate"),
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.SOFT_DISABLE: SoftDisableAlert("Calibration in Progress"),
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"),
ET.NO_ENTRY: NoEntryAlert("Door Open"),
},
EventName.seatbeltNotLatched: {
ET.SOFT_DISABLE: SoftDisableAlert("Seatbelt Unlatched"),
ET.NO_ENTRY: NoEntryAlert("Seatbelt unlatched"),
ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
},
EventName.espDisabled: {
@ -651,8 +637,8 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
},
EventName.posenetInvalid: {
ET.SOFT_DISABLE: SoftDisableAlert("Vision Model Output Uncertain"),
ET.NO_ENTRY: NoEntryAlert("Vision Model Output Uncertain"),
ET.SOFT_DISABLE: SoftDisableAlert("Model Output Uncertain"),
ET.NO_ENTRY: NoEntryAlert("Model Output Uncertain"),
},
EventName.deviceFalling: {
@ -662,11 +648,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
EventName.lowMemory: {
ET.SOFT_DISABLE: SoftDisableAlert("Low Memory: Reboot Your Device"),
ET.PERMANENT: Alert(
"RAM Critically Low",
"Reboot your Device",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.PERMANENT: NormalPermanentAlert("Low Memory", "Reboot your Device"),
ET.NO_ENTRY : NoEntryAlert("Low Memory: Reboot Your Device",
audible_alert=AudibleAlert.chimeDisengage),
},
@ -710,11 +692,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
},
EventName.gasUnavailable: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Gas Fault: Restart the Car"),
ET.NO_ENTRY: NoEntryAlert("Gas Error: Restart the Car"),
},
EventName.reverseGear: {
ET.PERMANENT: Alert(
"Reverse\nGear",
@ -736,11 +713,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
EventName.relayMalfunction: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Malfunction"),
ET.PERMANENT: Alert(
"Harness Malfunction",
"Please Check Hardware",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.PERMANENT: NormalPermanentAlert("Harness Malfunction", "Check Hardware"),
ET.NO_ENTRY: NoEntryAlert("Harness Malfunction"),
},
@ -774,13 +747,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
},
# TODO: this is unclear, update check only happens offroad
EventName.internetConnectivityNeeded: {
ET.PERMANENT: Alert(
"Please connect to Internet",
"An Update Check Is Required to Engage",
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
ET.NO_ENTRY: NoEntryAlert("Please Connect to Internet",
ET.PERMANENT: NormalPermanentAlert("Connect to Internet", "An Update Check Is Required to Engage"),
ET.NO_ENTRY: NoEntryAlert("Connect to Internet",
audible_alert=AudibleAlert.chimeDisengage),
},

27
selfdrive/controls/tests/test_alerts.py
View File

@ -15,6 +15,14 @@ AlertSize = log.ControlsState.AlertSize
OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")
# TODO: add callback alerts
ALERTS = []
for event_types in EVENTS.values():
for alert in event_types.values():
if isinstance(alert, Alert):
ALERTS.append(alert)
class TestAlerts(unittest.TestCase):
@classmethod
@ -50,13 +58,7 @@ class TestAlerts(unittest.TestCase):
ImageFont.truetype(regular_font_path, int(36 * font_scale_factor))],
}
alerts = []
for event_types in EVENTS.values():
for alert in event_types.values():
if isinstance(alert, Alert):
alerts.append(alert)
for alert in alerts:
for alert in ALERTS:
# for full size alerts, both text fields wrap the text,
# so it's unlikely that they would go past the max width
if alert.alert_size in [AlertSize.none, AlertSize.full]:
@ -71,6 +73,17 @@ class TestAlerts(unittest.TestCase):
msg = "type: %s msg: %s" % (alert.alert_type, txt)
self.assertLessEqual(w, max_text_width, msg=msg)
def test_alert_sanity_check(self):
for a in ALERTS:
if a.alert_size == AlertSize.none:
self.assertEqual(0, len(a.alert_text_1))
self.assertEqual(0, len(a.alert_text_2))
else:
if a.alert_size == AlertSize.small:
self.assertEqual(0, len(a.alert_text_2))
self.assertTrue(all([n >= 0. for n in [a.duration_sound, a.duration_hud_alert, a.duration_text]]))
def test_offroad_alerts(self):
params = Params()
for a in self.offroad_alerts:

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
6f90ffa4970c48edc018ee733bf81b3231b4c463
fe7f0cbcead73a8ee5f91507238b933505bb53de