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fix camera malfunction alert (#19757) 

* fix camera alert malfunction

* remove old alert
pull/19759/head
Adeeb Shihadeh 2021-01-14 16:03:16 -08:00 committed by GitHub
parent c114316d94
commit 40830a216b
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 22 additions and 32 deletions
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26
selfdrive/controls/controlsd.py
View File

@ -52,9 +52,9 @@ class Controls:
self.sm = sm
if self.sm is None:
self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', 'frontFrame',
self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', 'ubloxRaw',
'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman',
'ubloxRaw'])
'frame', 'frontFrame'])
self.can_sock = can_sock
if can_sock is None:
@ -211,12 +211,6 @@ class Controls:
if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm.alive['ubloxRaw'] and (self.sm.frame > 10. / DT_CTRL) and not SIMULATION:
self.events.add(EventName.gpsMalfunction)
elif not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
if not (SIMULATION or NOSENSOR): # TODO: send GPS in carla
self.events.add(EventName.noGps)
if not self.sm['pathPlan'].paramsValid:
self.events.add(EventName.vehicleModelInvalid)
if not self.sm['liveLocationKalman'].posenetOK:
@ -231,11 +225,19 @@ class Controls:
self.events.add(EventName.relayMalfunction)
if self.sm['plan'].fcw:
self.events.add(EventName.fcw)
if not self.sm.alive['frontFrame'] and (self.sm.frame > 5 / DT_CTRL) and not SIMULATION:
self.events.add(EventName.cameraMalfunction)
if self.sm['model'].frameDropPerc > 20 and not SIMULATION:
self.events.add(EventName.modeldLagging)
# TODO: fix simulator
if not SIMULATION:
if not NOSENSOR:
if not self.sm.alive['ubloxRaw'] and (self.sm.frame > 10. / DT_CTRL):
self.events.add(EventName.gpsMalfunction)
elif not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
self.events.add(EventName.noGps)
if not self.sm.all_alive(['frame', 'frontFrame']) and (self.sm.frame > 5 / DT_CTRL):
self.events.add(EventName.cameraMalfunction)
if self.sm['model'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging)
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \

2
selfdrive/test/longitudinal_maneuvers/plant.py
View File

@ -110,7 +110,7 @@ class Plant():
self.rate = rate
if not Plant.messaging_initialized:
Plant.pm = messaging.PubMaster(['frontFrame', 'ubloxRaw'])
Plant.pm = messaging.PubMaster(['frame', 'frontFrame', 'ubloxRaw'])
Plant.logcan = messaging.pub_sock('can')
Plant.sendcan = messaging.sub_sock('sendcan')
Plant.model = messaging.pub_sock('model')

2
selfdrive/test/process_replay/process_replay.py
View File

@ -222,7 +222,7 @@ CONFIGS = [
pub_sub={
"can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
"thermal": [], "health": [], "liveCalibration": [], "dMonitoringState": [], "plan": [], "pathPlan": [], "gpsLocation": [], "liveLocationKalman": [],
"model": [], "frontFrame": [], "ubloxRaw": [],
"model": [], "frontFrame": [], "frame": [], "ubloxRaw": [],
},
ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
init_callback=fingerprint,

7
selfdrive/ui/paint.cc
View File

@ -431,8 +431,9 @@ void ui_draw(UIState *s) {
s->scene.viz_rect.w -= sbr_w;
}
const bool draw_vision = s->started && s->status != STATUS_OFFROAD &&
s->active_app == cereal::UiLayoutState::App::NONE && s->vipc_client->connected;
const bool draw_alerts = s->started && s->status != STATUS_OFFROAD &&
s->active_app == cereal::UiLayoutState::App::NONE;
const bool draw_vision = draw_alerts && s->vipc_client->connected;
// GL drawing functions
ui_draw_background(s);
@ -450,7 +451,7 @@ void ui_draw(UIState *s) {
ui_draw_vision(s);
}
if (draw_vision && s->scene.alert_size != cereal::ControlsState::AlertSize::NONE) {
if (draw_alerts && s->scene.alert_size != cereal::ControlsState::AlertSize::NONE) {
ui_draw_vision_alert(s);
}
nvgEndFrame(s->vg);

17
selfdrive/ui/ui.cc
View File

@ -254,7 +254,7 @@ void ui_update(UIState *s) {
s->scene.alert_size = cereal::ControlsState::AlertSize::NONE;
}
// Handle controls/fcamera timeout
// Handle controls timeout
if (s->started && !s->scene.frontview && ((s->sm)->frame - s->started_frame) > 10*UI_FREQ) {
if ((s->sm)->rcv_frame("controlsState") < s->started_frame) {
// car is started, but controlsState hasn't been seen at all
@ -263,8 +263,7 @@ void ui_update(UIState *s) {
s->scene.alert_size = cereal::ControlsState::AlertSize::MID;
} else if (((s->sm)->frame - (s->sm)->rcv_frame("controlsState")) > 5*UI_FREQ) {
// car is started, but controls is lagging or died
if (s->scene.alert_text2 != "Controls Unresponsive" &&
s->scene.alert_text1 != "Camera Malfunction") {
if (s->scene.alert_text2 != "Controls Unresponsive") {
s->sound->play(AudibleAlert::CHIME_WARNING_REPEAT);
LOGE("Controls unresponsive");
}
@ -274,17 +273,5 @@ void ui_update(UIState *s) {
s->scene.alert_size = cereal::ControlsState::AlertSize::FULL;
s->status = STATUS_ALERT;
}
const uint64_t frame_pkt = (s->sm)->rcv_frame("frame");
const uint64_t frame_delayed = (s->sm)->frame - frame_pkt;
const uint64_t since_started = (s->sm)->frame - s->started_frame;
if ((frame_pkt > s->started_frame || since_started > 15*UI_FREQ) && frame_delayed > 5*UI_FREQ) {
// controls is fine, but rear camera is lagging or died
s->scene.alert_text1 = "Camera Malfunction";
s->scene.alert_text2 = "Contact Support";
s->scene.alert_size = cereal::ControlsState::AlertSize::FULL;
s->status = STATUS_DISENGAGED;
s->sound->stop();
}
}
}