68 lines
1.9 KiB
Python
Executable File
68 lines
1.9 KiB
Python
Executable File
#!/usr/bin/env python3
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# flake8: noqa
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# pylint: skip-file
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# type: ignore
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import time
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import cereal.messaging as messaging
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from selfdrive.car.honda.interface import CarInterface
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from selfdrive.controls.lib.events import ET, EVENTS, Events
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from selfdrive.controls.lib.alertmanager import AlertManager
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def cycle_alerts(duration=200, is_metric=False):
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alerts = list(EVENTS.keys())
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print(alerts)
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CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
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sm = messaging.SubMaster(['thermal', 'health', 'frame', 'model', 'liveCalibration',
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'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
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controls_state = messaging.pub_sock('controlsState')
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thermal = messaging.pub_sock('thermal')
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idx, last_alert_millis = 0, 0
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events = Events()
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AM = AlertManager()
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frame = 0
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while 1:
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if frame % duration == 0:
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idx = (idx + 1) % len(alerts)
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events.clear()
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events.add(alerts[idx])
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current_alert_types = [ET.PERMANENT, ET.USER_DISABLE, ET.IMMEDIATE_DISABLE,
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ET.SOFT_DISABLE, ET.PRE_ENABLE, ET.NO_ENTRY,
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ET.ENABLE, ET.WARNING]
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a = events.create_alerts(current_alert_types, [CP, sm, is_metric])
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AM.add_many(frame, a)
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AM.process_alerts(frame)
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dat = messaging.new_message()
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dat.init('controlsState')
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dat.controlsState.alertText1 = AM.alert_text_1
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dat.controlsState.alertText2 = AM.alert_text_2
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dat.controlsState.alertSize = AM.alert_size
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dat.controlsState.alertStatus = AM.alert_status
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dat.controlsState.alertBlinkingRate = AM.alert_rate
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dat.controlsState.alertType = AM.alert_type
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dat.controlsState.alertSound = AM.audible_alert
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controls_state.send(dat.to_bytes())
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dat = messaging.new_message()
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dat.init('thermal')
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dat.thermal.started = True
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thermal.send(dat.to_bytes())
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frame += 1
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time.sleep(0.01)
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if __name__ == '__main__':
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cycle_alerts()
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