mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-03-02 06:43:53 +08:00
1095df55ac
======================== * Based on latest openpilot 0.7.7 devel. * When Manager failed, display IP address. (Thanks to @dingliangxue) * Re-added sr learner toggle. * Re-added Accel Profile toggle. * Added Toyota to override lowerest cruise speed. (Thanks to @Mojo) * Added BSM indicator to UI. (Thanks to @wabes) * re-added Slow On Curve functionality. (Thanks to @Mojo)
848 lines
27 KiB
Python
848 lines
27 KiB
Python
# This Python file uses the following encoding: utf-8
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# -*- coding: utf-8 -*-
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from cereal import log, car
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from common.realtime import DT_CTRL
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from selfdrive.config import Conversions as CV
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from selfdrive.locationd.calibration_helpers import Filter
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from common.i18n import events
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_ = events()
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AlertSize = log.ControlsState.AlertSize
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AlertStatus = log.ControlsState.AlertStatus
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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EventName = car.CarEvent.EventName
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# Alert priorities
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class Priority:
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LOWEST = 0
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LOWER = 1
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LOW = 2
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MID = 3
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HIGH = 4
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HIGHEST = 5
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# Event types
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class ET:
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ENABLE = 'enable'
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PRE_ENABLE = 'preEnable'
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NO_ENTRY = 'noEntry'
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WARNING = 'warning'
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USER_DISABLE = 'userDisable'
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SOFT_DISABLE = 'softDisable'
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IMMEDIATE_DISABLE = 'immediateDisable'
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PERMANENT = 'permanent'
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# get event name from enum
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EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
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class Events:
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def __init__(self):
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self.events = []
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self.static_events = []
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self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
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@property
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def names(self):
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return self.events
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def __len__(self):
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return len(self.events)
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def add(self, event_name, static=False):
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if static:
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self.static_events.append(event_name)
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self.events.append(event_name)
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def clear(self):
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self.events_prev = {k: (v+1 if k in self.events else 0) for k, v in self.events_prev.items()}
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self.events = self.static_events.copy()
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def any(self, event_type):
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for e in self.events:
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if event_type in EVENTS.get(e, {}).keys():
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return True
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return False
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def create_alerts(self, event_types, callback_args=None):
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if callback_args is None:
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callback_args = []
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ret = []
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for e in self.events:
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types = EVENTS[e].keys()
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for et in event_types:
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if et in types:
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alert = EVENTS[e][et]
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if not isinstance(alert, Alert):
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alert = alert(*callback_args)
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if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay:
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alert.alert_type = f"{EVENT_NAME[e]}/{et}"
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ret.append(alert)
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return ret
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def add_from_msg(self, events):
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for e in events:
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self.events.append(e.name.raw)
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def to_msg(self):
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ret = []
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for event_name in self.events:
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event = car.CarEvent.new_message()
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event.name = event_name
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for event_type in EVENTS.get(event_name, {}).keys():
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setattr(event, event_type , True)
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ret.append(event)
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return ret
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class Alert:
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def __init__(self,
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alert_text_1,
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alert_text_2,
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alert_status,
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alert_size,
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alert_priority,
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visual_alert,
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audible_alert,
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duration_sound,
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duration_hud_alert,
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duration_text,
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alert_rate=0.,
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creation_delay=0.):
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self.alert_type = ""
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self.alert_text_1 = alert_text_1
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self.alert_text_2 = alert_text_2
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self.alert_status = alert_status
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self.alert_size = alert_size
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self.alert_priority = alert_priority
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self.visual_alert = visual_alert
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self.audible_alert = audible_alert
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self.duration_sound = duration_sound
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self.duration_hud_alert = duration_hud_alert
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self.duration_text = duration_text
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self.start_time = 0.
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self.alert_rate = alert_rate
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self.creation_delay = creation_delay
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# typecheck that enums are valid on startup
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tst = car.CarControl.new_message()
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tst.hudControl.visualAlert = self.visual_alert
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def __str__(self):
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return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_priority) + " " + str(
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self.visual_alert) + " " + str(self.audible_alert)
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def __gt__(self, alert2):
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return self.alert_priority > alert2.alert_priority
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class NoEntryAlert(Alert):
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def __init__(self, alert_text_2, audible_alert=AudibleAlert.chimeError,
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visual_alert=VisualAlert.none, duration_hud_alert=2.):
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super().__init__(_("openpilot Unavailable"), alert_text_2, AlertStatus.normal,
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AlertSize.mid, Priority.LOW, visual_alert,
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audible_alert, .4, duration_hud_alert, 3.)
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class SoftDisableAlert(Alert):
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def __init__(self, alert_text_2):
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super().__init__(_("TAKE CONTROL IMMEDIATELY"), alert_text_2,
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AlertStatus.critical, AlertSize.full,
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Priority.MID, VisualAlert.steerRequired,
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AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
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class ImmediateDisableAlert(Alert):
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def __init__(self, alert_text_2, alert_text_1=_("TAKE CONTROL IMMEDIATELY")):
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super().__init__(alert_text_1, alert_text_2,
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.steerRequired,
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AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
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class EngagementAlert(Alert):
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def __init__(self, audible_alert=True):
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super().__init__("", "",
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AlertStatus.normal, AlertSize.none,
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Priority.MID, VisualAlert.none,
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audible_alert, .2, 0., 0.),
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# ********** alert callback functions **********
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def below_steer_speed_alert(CP, sm, metric):
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speed = int(round(CP.minSteerSpeed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
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unit = "kph" if metric else "mph"
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return Alert(
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_("TAKE CONTROL"),
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_("Steer Unavailable Below") + (" %d %s" % (speed, unit)),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3)
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def calibration_incomplete_alert(CP, sm, metric):
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speed = int(Filter.MIN_SPEED * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
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unit = "kph" if metric else "mph"
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return Alert(
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_("Calibration in Progress:") + (" %d%%" % sm['liveCalibration'].calPerc),
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_("Drive Above") + (" %d %s" % (speed, unit)),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
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def no_gps_alert(CP, sm, metric):
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gps_integrated = sm['health'].hwType in [log.HealthData.HwType.uno, log.HealthData.HwType.dos]
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return Alert(
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_("Poor GPS reception"),
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_("If sky is visible, contact support") if gps_integrated else _("Check GPS antenna placement"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=300.)
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def wrong_car_mode_alert(CP, sm, metric):
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text = _("Cruise Mode Disabled")
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if CP.carName == "honda":
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text = _("Main Switch Off")
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return NoEntryAlert(text, duration_hud_alert=0.)
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EVENTS = {
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# ********** events with no alerts **********
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# ********** events only containing alerts displayed in all states **********
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EventName.debugAlert: {
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ET.PERMANENT: Alert(
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_("DEBUG ALERT"),
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"",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
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},
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EventName.startup: {
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ET.PERMANENT: Alert(
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_("Be ready to take over at any time"),
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_("Always keep hands on wheel and eyes on road"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.startupWhitePanda: {
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ET.PERMANENT: Alert(
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_("WARNING: White panda is deprecated"),
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_("Upgrade to comma two or black panda"),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.startupMaster: {
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ET.PERMANENT: Alert(
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_("WARNING: This branch is not tested"),
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_("Always keep hands on wheel and eyes on road"),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.startupNoControl: {
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ET.PERMANENT: Alert(
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_("Dashcam mode"),
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_("Always keep hands on wheel and eyes on road"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.startupNoCar: {
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ET.PERMANENT: Alert(
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_("Dashcam mode for unsupported car"),
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_("Always keep hands on wheel and eyes on road"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.invalidGiraffeToyota: {
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ET.PERMANENT: Alert(
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_("Unsupported Giraffe Configuration"),
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_("Visit comma.ai/tg"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.whitePandaUnsupported: {
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ET.PERMANENT: Alert(
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_("White Panda Is No Longer Supported"),
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_("Upgrade to comma two or black panda"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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ET.NO_ENTRY: NoEntryAlert(_("White panda is no longer supported")),
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},
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EventName.invalidLkasSetting: {
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ET.PERMANENT: Alert(
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_("Stock LKAS is turned on"),
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_("Turn off stock LKAS to engage"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.communityFeatureDisallowed: {
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# LOW priority to overcome Cruise Error
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ET.PERMANENT: Alert(
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"",
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_("Community Feature Detected"),
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_("Enable Community Features in Developer Settings"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.carUnrecognized: {
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ET.PERMANENT: Alert(
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_("Dashcam Mode"),
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_("Car Unrecognized"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.stockAeb: {
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ET.PERMANENT: Alert(
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_("BRAKE!"),
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_("Stock AEB: Risk of Collision"),
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),
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},
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EventName.stockFcw: {
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ET.PERMANENT: Alert(
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_("BRAKE!"),
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_("Stock FCW: Risk of Collision"),
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),
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},
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EventName.fcw: {
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ET.PERMANENT: Alert(
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_("BRAKE!"),
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_("Risk of Collision"),
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),
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},
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EventName.ldw: {
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ET.PERMANENT: Alert(
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_("TAKE CONTROL"),
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_("Lane Departure Detected"),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
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},
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# ********** events only containing alerts that display while engaged **********
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EventName.gasPressed: {
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ET.PRE_ENABLE: Alert(
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_("openpilot will not brake while gas pressed"),
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .0, .0, .1),
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},
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EventName.vehicleModelInvalid: {
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ET.WARNING: Alert(
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_("Vehicle Parameter Identification Failed"),
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
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},
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EventName.steerTempUnavailableMute: {
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ET.WARNING: Alert(
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_("TAKE CONTROL"),
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_("Steering Temporarily Unavailable"),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
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},
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EventName.preDriverDistracted: {
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ET.WARNING: Alert(
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_("KEEP EYES ON ROAD: Driver Distracted"),
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
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},
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EventName.promptDriverDistracted: {
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ET.WARNING: Alert(
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_("KEEP EYES ON ROAD"),
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_("Driver Appears Distracted"),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2Repeat, .1, .1, .1),
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},
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EventName.driverDistracted: {
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ET.WARNING: Alert(
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_("DISENGAGE IMMEDIATELY"),
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_("Driver Was Distracted"),
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
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},
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EventName.preDriverUnresponsive: {
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ET.WARNING: Alert(
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_("TOUCH STEERING WHEEL: No Face Detected"),
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
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},
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EventName.promptDriverUnresponsive: {
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ET.WARNING: Alert(
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_("TOUCH STEERING WHEEL"),
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_("Driver Is Unresponsive"),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2Repeat, .1, .1, .1),
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},
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EventName.driverUnresponsive: {
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ET.WARNING: Alert(
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_("DISENGAGE IMMEDIATELY"),
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_("Driver Was Unresponsive"),
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AlertStatus.critical, AlertSize.full,
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Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
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},
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EventName.driverMonitorLowAcc: {
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ET.WARNING: Alert(
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_("CHECK DRIVER FACE VISIBILITY"),
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_("Driver Monitor Model Output Uncertain"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.),
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},
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EventName.manualRestart: {
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ET.WARNING: Alert(
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_("TAKE CONTROL"),
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_("Resume Driving Manually"),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.resumeRequired: {
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ET.WARNING: Alert(
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_("STOPPED"),
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_("Press Resume to Move"),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
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},
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EventName.belowSteerSpeed: {
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ET.WARNING: below_steer_speed_alert,
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},
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EventName.preLaneChangeLeft: {
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ET.WARNING: Alert(
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_("Steer Left to Start Lane Change"),
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_("Monitor Other Vehicles"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
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},
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EventName.preLaneChangeRight: {
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ET.WARNING: Alert(
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_("Steer Right to Start Lane Change"),
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_("Monitor Other Vehicles"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
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},
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EventName.laneChangeBlocked: {
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ET.WARNING: Alert(
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_("Car Detected in Blindspot"),
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_("Monitor Other Vehicles"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
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},
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EventName.laneChange: {
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ET.WARNING: Alert(
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_("Changing Lane"),
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_("Monitor Other Vehicles"),
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
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},
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EventName.steerSaturated: {
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ET.WARNING: Alert(
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_("TAKE CONTROL"),
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_("Turn Exceeds Steering Limit"),
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
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},
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# ********** events that affect controls state transitions **********
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EventName.pcmEnable: {
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ET.ENABLE: EngagementAlert(AudibleAlert.chimeEngage),
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},
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EventName.buttonEnable: {
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ET.ENABLE: EngagementAlert(AudibleAlert.chimeEngage),
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},
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|
EventName.pcmDisable: {
|
|
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
|
|
},
|
|
|
|
EventName.buttonCancel: {
|
|
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
|
|
},
|
|
|
|
EventName.brakeHold: {
|
|
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Brake Hold Active")),
|
|
},
|
|
|
|
EventName.parkBrake: {
|
|
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Park Brake Engaged")),
|
|
},
|
|
|
|
EventName.pedalPressed: {
|
|
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Pedal Pressed During Attempt"),
|
|
visual_alert=VisualAlert.brakePressed),
|
|
},
|
|
|
|
EventName.wrongCarMode: {
|
|
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
|
|
ET.NO_ENTRY: wrong_car_mode_alert,
|
|
},
|
|
|
|
EventName.wrongCruiseMode: {
|
|
ET.USER_DISABLE: EngagementAlert(AudibleAlert.chimeDisengage),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Enable Adaptive Cruise")),
|
|
},
|
|
|
|
EventName.steerTempUnavailable: {
|
|
ET.WARNING: Alert(
|
|
_("TAKE CONTROL"),
|
|
_("Steering Temporarily Unavailable"),
|
|
AlertStatus.userPrompt, AlertSize.mid,
|
|
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Steering Temporarily Unavailable"),
|
|
duration_hud_alert=0.),
|
|
},
|
|
|
|
EventName.posenetInvalid: {
|
|
ET.WARNING: Alert(
|
|
_("TAKE CONTROL"),
|
|
_("Vision Model Output Uncertain"),
|
|
AlertStatus.userPrompt, AlertSize.mid,
|
|
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Vision Model Output Uncertain")),
|
|
},
|
|
|
|
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.),
|
|
},
|
|
|
|
EventName.outOfSpace: {
|
|
ET.NO_ENTRY: NoEntryAlert(_("Out of Storage Space"),
|
|
duration_hud_alert=0.),
|
|
},
|
|
|
|
EventName.belowEngageSpeed: {
|
|
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"),
|
|
_("Reboot your Device"),
|
|
AlertStatus.normal, AlertSize.mid,
|
|
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=1.),
|
|
ET.NO_ENTRY: NoEntryAlert(_("No Data from Device Sensors")),
|
|
},
|
|
|
|
EventName.noGps: {
|
|
ET.PERMANENT: no_gps_alert,
|
|
},
|
|
|
|
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.NO_ENTRY: NoEntryAlert(_("Speaker not found")),
|
|
},
|
|
|
|
EventName.tooDistracted: {
|
|
ET.NO_ENTRY: NoEntryAlert(_("Distraction Level Too High")),
|
|
},
|
|
|
|
EventName.overheat: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("System Overheated")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("System overheated")),
|
|
},
|
|
|
|
EventName.wrongGear: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("Gear not D")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Gear not D")),
|
|
},
|
|
|
|
EventName.calibrationInvalid: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("Calibration Invalid: Reposition Device and Recalibrate")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Calibration Invalid: Reposition Device & Recalibrate")),
|
|
},
|
|
|
|
EventName.calibrationIncomplete: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("Calibration in Progress")),
|
|
ET.PERMANENT: calibration_incomplete_alert,
|
|
ET.NO_ENTRY: NoEntryAlert(_("Calibration in Progress")),
|
|
},
|
|
|
|
EventName.doorOpen: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("Door Open")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Door open")),
|
|
},
|
|
|
|
EventName.seatbeltNotLatched: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("Seatbelt Unlatched")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Seatbelt unlatched")),
|
|
},
|
|
|
|
EventName.espDisabled: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("ESP Off")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("ESP Off")),
|
|
},
|
|
|
|
EventName.lowBattery: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("Low Battery")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Low Battery")),
|
|
},
|
|
|
|
EventName.commIssue: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("Communication Issue between Processes")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Communication Issue between Processes"),
|
|
audible_alert=AudibleAlert.chimeDisengage),
|
|
},
|
|
|
|
EventName.radarCommIssue: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("Radar Communication Issue")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Radar Communication Issue"),
|
|
audible_alert=AudibleAlert.chimeDisengage),
|
|
},
|
|
|
|
EventName.radarCanError: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("Radar Error: Restart the Car")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Radar Error: Restart the Car")),
|
|
},
|
|
|
|
EventName.radarFault: {
|
|
ET.SOFT_DISABLE: SoftDisableAlert(_("Radar Error: Restart the Car")),
|
|
ET.NO_ENTRY : NoEntryAlert(_("Radar Error: Restart the Car")),
|
|
},
|
|
|
|
EventName.modeldLagging: {
|
|
ET.WARNING: Alert(
|
|
_("TAKE CONTROL"),
|
|
_("Driving model lagging"),
|
|
AlertStatus.userPrompt, AlertSize.mid,
|
|
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
|
|
# ET.SOFT_DISABLE: SoftDisableAlert(_("Driving model lagging")),
|
|
ET.NO_ENTRY : NoEntryAlert(_("Driving model lagging")),
|
|
},
|
|
|
|
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.NO_ENTRY : NoEntryAlert(_("Low Memory: Reboot Your Device"),
|
|
audible_alert=AudibleAlert.chimeDisengage),
|
|
},
|
|
|
|
EventName.controlsFailed: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Controls Failed")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Controls Failed")),
|
|
},
|
|
|
|
EventName.controlsMismatch: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Controls Mismatch")),
|
|
},
|
|
|
|
EventName.canError: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("CAN Error: Check Connections")),
|
|
ET.PERMANENT: Alert(
|
|
_("CAN Error: Check Connections"),
|
|
"",
|
|
AlertStatus.normal, AlertSize.small,
|
|
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=1.),
|
|
ET.NO_ENTRY: NoEntryAlert(_("CAN Error: Check Connections")),
|
|
},
|
|
|
|
EventName.steerUnavailable: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("LKAS Fault: Restart the Car")),
|
|
ET.PERMANENT: Alert(
|
|
_("LKAS Fault: Restart the car to engage"),
|
|
"",
|
|
AlertStatus.normal, AlertSize.small,
|
|
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
|
ET.NO_ENTRY: NoEntryAlert(_("LKAS Fault: Restart the Car")),
|
|
},
|
|
|
|
EventName.brakeUnavailable: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Cruise Fault: Restart the Car")),
|
|
ET.PERMANENT: Alert(
|
|
_("Cruise Fault: Restart the car to engage"),
|
|
"",
|
|
AlertStatus.normal, AlertSize.small,
|
|
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
|
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.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Reverse Gear")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Reverse Gear")),
|
|
},
|
|
|
|
EventName.cruiseDisabled: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Cruise Is Off")),
|
|
},
|
|
|
|
EventName.plannerError: {
|
|
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert(_("Planner Solution Error")),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Planner Solution Error")),
|
|
},
|
|
|
|
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.NO_ENTRY: NoEntryAlert(_("Harness Malfunction")),
|
|
},
|
|
|
|
EventName.noTarget: {
|
|
ET.IMMEDIATE_DISABLE: Alert(
|
|
_("openpilot Canceled"),
|
|
_("No close lead car"),
|
|
AlertStatus.normal, AlertSize.mid,
|
|
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
|
|
ET.NO_ENTRY : NoEntryAlert(_("No Close Lead Car")),
|
|
},
|
|
|
|
EventName.speedTooLow: {
|
|
ET.IMMEDIATE_DISABLE: Alert(
|
|
_("openpilot Canceled"),
|
|
_("Speed too low"),
|
|
AlertStatus.normal, AlertSize.mid,
|
|
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
|
|
},
|
|
|
|
EventName.speedTooHigh: {
|
|
ET.WARNING: Alert(
|
|
_("Speed Too High"),
|
|
_("Slow down to resume operation"),
|
|
AlertStatus.normal, AlertSize.mid,
|
|
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarning2Repeat, 2.2, 3., 4.),
|
|
ET.NO_ENTRY: Alert(
|
|
_("Speed Too High"),
|
|
_("Slow down to engage"),
|
|
AlertStatus.normal, AlertSize.mid,
|
|
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
|
},
|
|
|
|
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"),
|
|
audible_alert=AudibleAlert.chimeDisengage),
|
|
},
|
|
|
|
EventName.lowSpeedLockout: {
|
|
ET.PERMANENT: Alert(
|
|
_("Cruise Fault: Restart the car to engage"),
|
|
"",
|
|
AlertStatus.normal, AlertSize.small,
|
|
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
|
ET.NO_ENTRY: NoEntryAlert(_("Cruise Fault: Restart the Car")),
|
|
},
|
|
|
|
# dp
|
|
EventName.preLaneChangeLeftALC: {
|
|
ET.WARNING: Alert(
|
|
_("Left ALC will start in 3s"),
|
|
_("Monitor Other Vehicles"),
|
|
AlertStatus.normal, AlertSize.mid,
|
|
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),
|
|
},
|
|
|
|
EventName.preLaneChangeRightALC: {
|
|
ET.WARNING: Alert(
|
|
_("Right ALC will start in 3s"),
|
|
_("Monitor Other Vehicles"),
|
|
AlertStatus.normal, AlertSize.mid,
|
|
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),
|
|
},
|
|
|
|
EventName.laneChangeALC: {
|
|
ET.WARNING: Alert(
|
|
_("Changing Lane"),
|
|
_("Monitor Other Vehicles"),
|
|
AlertStatus.normal, AlertSize.mid,
|
|
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
|
|
},
|
|
|
|
EventName.manualSteeringRequired: {
|
|
ET.WARNING: Alert(
|
|
_("STEERING REQUIRED: Lane Keeping OFF"),
|
|
"",
|
|
AlertStatus.normal, AlertSize.small,
|
|
Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
|
|
},
|
|
|
|
EventName.manualSteeringRequiredBlinkersOn: {
|
|
ET.WARNING: Alert(
|
|
_("STEERING REQUIRED: Blinkers ON"),
|
|
"",
|
|
AlertStatus.normal, AlertSize.small,
|
|
Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
|
|
},
|
|
|
|
EventName.leadCarMoving: {
|
|
ET.PERMANENT: Alert(
|
|
_("Lead Car Is Moving"),
|
|
"",
|
|
AlertStatus.userPrompt, AlertSize.small,
|
|
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, .1, .1, .1),
|
|
ET.WARNING: Alert(
|
|
_("Lead Car Is Moving"),
|
|
"",
|
|
AlertStatus.userPrompt, AlertSize.small,
|
|
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, .1, .1, .1),
|
|
},
|
|
}
|