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alerts: show min enable speed in "speed too low" alert (#22755) 

* alerts: show min enable speed in "speed too low" alert

* commonize display speed construction
pull/22756/head
Mayfield 2021-11-02 09:10:07 -04:00 committed by GitHub
parent 79651b6c49
commit 8c501f0265
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 13 additions and 7 deletions
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20
selfdrive/controls/lib/events.py
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@ -181,24 +181,30 @@ class NormalPermanentAlert(Alert):
AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., duration_text),
# ********** helper functions **********
def get_display_speed(speed_ms: float, metric: bool) -> str:
speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
unit = 'km/h' if metric else 'mph'
return f"{speed} {unit}"
# ********** alert callback functions **********
def below_engage_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
return NoEntryAlert(f"Speed Below {get_display_speed(CP.minEnableSpeed, metric)}")
def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
speed = int(round(CP.minSteerSpeed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
unit = "km/h" if metric else "mph"
return Alert(
"Steer Unavailable Below %d %s" % (speed, unit),
f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 0., 0.4, .3)
def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
speed = int(MIN_SPEED_FILTER * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
unit = "km/h" if metric else "mph"
return Alert(
"Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc,
"Drive Above %d %s" % (speed, unit),
f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
@ -582,7 +588,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
},
EventName.belowEngageSpeed: {
ET.NO_ENTRY: NoEntryAlert("Speed Too Low"),
ET.NO_ENTRY: below_engage_speed_alert,
},
EventName.sensorDataInvalid: {