88 lines
2.8 KiB
Python
88 lines
2.8 KiB
Python
import copy
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import os
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import json
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from collections import defaultdict
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from dataclasses import dataclass
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from typing import List, Dict, Optional
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from cereal import car, log
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from common.basedir import BASEDIR
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from common.params import Params
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from common.realtime import DT_CTRL
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from selfdrive.controls.lib.events import Alert
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with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
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OFFROAD_ALERTS = json.load(f)
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def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = None) -> None:
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if show_alert:
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a = OFFROAD_ALERTS[alert]
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if extra_text is not None:
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a = copy.copy(OFFROAD_ALERTS[alert])
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a['text'] += extra_text
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Params().put(alert, json.dumps(a))
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else:
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Params().delete(alert)
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@dataclass
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class AlertEntry:
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alert: Optional[Alert] = None
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start_frame: int = -1
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end_frame: int = -1
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class AlertManager:
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def __init__(self):
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self.reset()
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self.activealerts: Dict[str, AlertEntry] = defaultdict(AlertEntry)
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def reset(self) -> None:
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self.alert: Optional[Alert] = None
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self.alert_type: str = ""
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self.alert_text_1: str = ""
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self.alert_text_2: str = ""
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self.alert_status = log.ControlsState.AlertStatus.normal
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self.alert_size = log.ControlsState.AlertSize.none
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self.visual_alert = car.CarControl.HUDControl.VisualAlert.none
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self.audible_alert = car.CarControl.HUDControl.AudibleAlert.none
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self.alert_rate: float = 0.
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def add_many(self, frame: int, alerts: List[Alert], enabled: bool = True) -> None:
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for alert in alerts:
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self.activealerts[alert.alert_type].alert = alert
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self.activealerts[alert.alert_type].start_frame = frame
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self.activealerts[alert.alert_type].end_frame = frame + int(alert.duration / DT_CTRL)
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def process_alerts(self, frame: int, clear_event_type=None) -> None:
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current_alert = AlertEntry()
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for k, v in self.activealerts.items():
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if v.alert is None:
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continue
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if v.alert.event_type == clear_event_type:
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self.activealerts[k].end_frame = -1
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# sort by priority first and then by start_frame
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active = self.activealerts[k].end_frame > frame
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greater = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame)
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if active and greater:
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current_alert = v
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# clear current alert
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self.reset()
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self.alert = current_alert.alert
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if self.alert is not None:
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self.alert_type = self.alert.alert_type
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self.audible_alert = self.alert.audible_alert
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self.visual_alert = self.alert.visual_alert
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self.alert_text_1 = self.alert.alert_text_1
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self.alert_text_2 = self.alert.alert_text_2
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self.alert_status = self.alert.alert_status
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self.alert_size = self.alert.alert_size
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self.alert_rate = self.alert.alert_rate
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