From 3dd4cddecbea546572649a5f67b7c0fc2f95e77b Mon Sep 17 00:00:00 2001 From: "Mr.one" Date: Fri, 19 Dec 2025 11:28:44 +0800 Subject: [PATCH] Update file events.py --- selfdrive/selfdrived/events.py | 718 +++++++++++++++++---------------- 1 file changed, 375 insertions(+), 343 deletions(-) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index b03a953a..999d27dc 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -23,7 +23,7 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert EventName = log.OnroadEvent.EventName -# get event name from enum +# 从枚举中获取事件名称 EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()} @@ -43,17 +43,19 @@ class Events(EventsBase): -# ********** helper functions ********** +# ********** 辅助函数 ********** def get_display_speed(speed_ms: float, metric: bool) -> str: + """获取带单位的显示速度""" speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))) - unit = 'km/h' if metric else 'mph' + unit = '公里/小时' if metric else '英里/小时' return f"{speed} {unit}" -# ********** alert callback functions ********** +# ********** 警报回调函数 ********** def soft_disable_alert(alert_text_2: str) -> AlertCallbackType: + """软禁用警报回调""" def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: if soft_disable_time < int(0.5 / DT_CTRL): return ImmediateDisableAlert(alert_text_2) @@ -61,6 +63,7 @@ def soft_disable_alert(alert_text_2: str) -> AlertCallbackType: return func def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType: + """用户操作导致的软禁用警报回调""" def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: if soft_disable_time < int(0.5 / DT_CTRL): return ImmediateDisableAlert(alert_text_2) @@ -68,127 +71,151 @@ def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType: return func def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: - branch = get_short_branch() # Ensure get_short_branch is cached to avoid lags on startup + """启动主警报""" + branch = get_short_branch() # 确保get_short_branch被缓存，避免启动时卡顿 if "REPLAY" in os.environ: - branch = "replay" + branch = "回放模式" - return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt) + return StartupAlert("请注意安全，这不是自动驾驶", branch, alert_status=AlertStatus.userPrompt) def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: - return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage") + """低于启用速度警报""" + return NoEntryAlert(f"车速需超过 {get_display_speed(CP.minEnableSpeed, metric)} 才能启用") def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """低于转向速度警报""" return Alert( - f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}", + f"车速低于 {get_display_speed(CP.minSteerSpeed, metric)} 时转向不可用", "", AlertStatus.userPrompt, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4) def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: - first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration' + """标定未完成警报""" + first_word = '重新标定' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else '标定' return Alert( - f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%", - f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}", + f"{first_word}进行中：{sm['liveCalibration'].calPerc:.0f}%", + f"请保持车速超过 {get_display_speed(MIN_SPEED_FILTER, metric)}", AlertStatus.normal, AlertSize.mid, Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2) def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """音频反馈录制警报""" duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE) return NormalPermanentAlert( - "Recording Audio Feedback", - f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.", + "正在录制音频反馈", + f"剩余 {round(duration)} 秒{'钟' if round(duration) != 1 else ''}。再次点击可提前保存。", priority=Priority.LOW) -# *** debug alerts *** +# *** 调试警报 *** def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """存储空间不足警报""" full_perc = round(100. - sm['deviceState'].freeSpacePercent) - return NormalPermanentAlert("Out of Storage", f"{full_perc}% full") + return NormalPermanentAlert("存储空间不足", f"已使用 {full_perc}%") def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """Posenet速度无效警报""" mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan err = CS.vEgo - mdl - msg = f"Speed Error: {err:.1f} m/s" - return NoEntryAlert(msg, alert_text_1="Posenet Speed Invalid") + msg = f"速度误差：{err:.1f} 米/秒" + return NoEntryAlert(msg, alert_text_1="Posenet速度无效") def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """进程未运行警报""" not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning] msg = ', '.join(not_running) - return NoEntryAlert(msg, alert_text_1="Process Not Running") + return NoEntryAlert(msg, alert_text_1="进程未运行") def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """进程间通信异常警报""" bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])] - msg = ', '.join(bs[:4]) # can't fit too many on one line - return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes") + msg = ', '.join(bs[:4]) # 一行显示不下太多内容 + return NoEntryAlert(msg, alert_text_1="进程间通信异常") def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """摄像头故障警报""" all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])] - return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams)) + bad_cams_cn = { + 'roadCamera': '前视摄像头', + 'driverCamera': '驾驶员摄像头', + 'wideRoadCamera': '广角前视摄像头' + } + bad_cams_display = [bad_cams_cn.get(cam, cam) for cam in bad_cams] + return NormalPermanentAlert("摄像头故障", ', '.join(bad_cams_display)) def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """标定无效警报""" rpy = sm['liveCalibration'].rpyCalib yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan) pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan) - angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)" - return NormalPermanentAlert("Calibration Invalid", angles) + angles = f"请重新安装设备（俯仰角：{pitch:.1f}°，偏航角：{yaw:.1f}°）" + return NormalPermanentAlert("标定无效", angles) def paramsd_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """参数服务异常警报""" if not sm['liveParameters'].angleOffsetValid: angle_offset_deg = sm['liveParameters'].angleOffsetDeg - title = "Steering misalignment detected" - text = f"Angle offset too high (Offset: {angle_offset_deg:.1f}°)" + title = "检测到转向未对准" + text = f"角度偏移过大（偏移量：{angle_offset_deg:.1f}°）" elif not sm['liveParameters'].steerRatioValid: steer_ratio = sm['liveParameters'].steerRatio - title = "Steer ratio mismatch" - text = f"Steering rack geometry may be off (Ratio: {steer_ratio:.1f})" + title = "转向比不匹配" + text = f"转向齿条几何结构可能异常（转向比：{steer_ratio:.1f}）" elif not sm['liveParameters'].stiffnessFactorValid: stiffness_factor = sm['liveParameters'].stiffnessFactor - title = "Abnormal tire stiffness" - text = f"Check tires, pressure, or alignment (Factor: {stiffness_factor:.1f})" + title = "轮胎刚度异常" + text = f"请检查轮胎、胎压或四轮定位（刚度系数：{stiffness_factor:.1f}）" else: - return NoEntryAlert("paramsd Temporary Error") + return NoEntryAlert("参数服务临时错误") return NoEntryAlert(alert_text_1=title, alert_text_2=text) def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """系统过热警报""" cpu = max(sm['deviceState'].cpuTempC, default=0.) gpu = max(sm['deviceState'].gpuTempC, default=0.) temp = max((cpu, gpu, sm['deviceState'].memoryTempC)) - return NormalPermanentAlert("System Overheated", f"{temp:.0f} °C") + return NormalPermanentAlert("系统过热", f"{temp:.0f} °C") def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: - return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used") + """内存不足警报""" + return NormalPermanentAlert("内存不足", f"已使用 {sm['deviceState'].memoryUsagePercent}%") def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """CPU使用率过高警报""" x = max(sm['deviceState'].cpuUsagePercent, default=0.) - return NormalPermanentAlert("High CPU Usage", f"{x}% used") + return NormalPermanentAlert("CPU使用率过高", f"已使用 {x}%") def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: - return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped") + """驾驶模型卡顿警报""" + return NormalPermanentAlert("驾驶模型运行卡顿", f"丢帧率：{sm['modelV2'].frameDropPerc:.1f}%") def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """摇杆模式警报""" gb = sm['carControl'].actuators.accel / 4. steer = sm['carControl'].actuators.torque - vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%" - return NormalPermanentAlert("Joystick Mode", vals) + vals = f"油门：{round(gb * 100.)}%，转向：{round(steer * 100.)}%" + return NormalPermanentAlert("摇杆模式", vals) def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + """纵向操控警报""" ad = sm['alertDebug'] audible_alert = AudibleAlert.prompt if 'Active' in ad.alertText1 else AudibleAlert.none alert_status = AlertStatus.userPrompt if 'Active' in ad.alertText1 else AlertStatus.normal @@ -199,345 +226,352 @@ def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messagi def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: - personality = str(personality).title() - return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5) + """驾驶风格变更警报""" + personality_map = { + log.LongitudinalPersonality.standard: "标准", + log.LongitudinalPersonality.relaxed: "舒适", + log.LongitudinalPersonality.aggressive: "激进" + } + personality_cn = personality_map.get(personality, str(personality)) + return NormalPermanentAlert(f"驾驶风格：{personality_cn}", duration=1.5) def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: - text = "Toggle stock LKAS on or off to engage" + """无效的LKAS设置警报""" + text = "请开启或关闭原厂车道保持辅助系统以启用" if CP.brand == "tesla": - text = "Switch to Traffic-Aware Cruise Control to engage" + text = "请切换至交通感知巡航控制模式以启用" elif CP.brand == "mazda": - text = "Enable your car's LKAS to engage" + text = "请启用车辆原厂车道保持辅助系统" elif CP.brand == "nissan": - text = "Disable your car's stock LKAS to engage" - return NormalPermanentAlert("Invalid LKAS setting", text) + text = "请关闭车辆原厂车道保持辅助系统" + return NormalPermanentAlert("无效的车道保持设置", text) EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { - # ********** events with no alerts ********** + # ********** 无警报的事件 ********** - EventName.stockFcw: {}, - EventName.actuatorsApiUnavailable: {}, + EventName.stockFcw: {}, # 原厂前碰撞预警 + EventName.actuatorsApiUnavailable: {}, # 执行器API不可用 - # ********** events only containing alerts displayed in all states ********** + # ********** 所有状态下都显示的警报事件 ********** - EventName.joystickDebug: { + EventName.joystickDebug: { # 摇杆调试模式 ET.WARNING: joystick_alert, - ET.PERMANENT: NormalPermanentAlert("Joystick Mode"), + ET.PERMANENT: NormalPermanentAlert("摇杆模式"), }, - EventName.longitudinalManeuver: { + EventName.longitudinalManeuver: { # 纵向操控模式 ET.WARNING: longitudinal_maneuver_alert, - ET.PERMANENT: NormalPermanentAlert("Longitudinal Maneuver Mode", - "Ensure road ahead is clear"), + ET.PERMANENT: NormalPermanentAlert("纵向操控模式", + "请确保前方道路畅通"), }, - EventName.selfdriveInitializing: { - ET.NO_ENTRY: NoEntryAlert("System Initializing"), + EventName.selfdriveInitializing: { # 系统初始化中 + ET.NO_ENTRY: NoEntryAlert("系统初始化中"), }, - EventName.startup: { - ET.PERMANENT: StartupAlert("Be ready to take over at any time") + EventName.startup: { # 启动提示 + ET.PERMANENT: StartupAlert("请随时准备接管车辆控制权") }, - EventName.startupMaster: { + EventName.startupMaster: { # 主启动警报 ET.PERMANENT: startup_master_alert, }, - EventName.startupNoControl: { - ET.PERMANENT: StartupAlert("Dashcam mode"), - ET.NO_ENTRY: NoEntryAlert("Dashcam mode"), + EventName.startupNoControl: { # 启动无控制权限 + ET.PERMANENT: StartupAlert("行车记录仪模式"), + ET.NO_ENTRY: NoEntryAlert("行车记录仪模式"), }, - EventName.startupNoCar: { - ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"), + EventName.startupNoCar: { # 不支持的车辆启动 + ET.PERMANENT: StartupAlert("不支持车辆的行车记录仪模式"), }, - EventName.startupNoSecOcKey: { - ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", - "Security Key Not Available", + EventName.startupNoSecOcKey: { # 无安全密钥启动 + ET.PERMANENT: NormalPermanentAlert("行车记录仪模式", + "安全密钥不可用", priority=Priority.HIGH), }, - EventName.dashcamMode: { - ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", + EventName.dashcamMode: { # 行车记录仪模式 + ET.PERMANENT: NormalPermanentAlert("行车记录仪模式", priority=Priority.LOWEST), }, - EventName.invalidLkasSetting: { + EventName.invalidLkasSetting: { # 无效的LKAS设置 ET.PERMANENT: invalid_lkas_setting_alert, - ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"), + ET.NO_ENTRY: NoEntryAlert("无效的车道保持设置"), }, - EventName.cruiseMismatch: { - #ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"), + EventName.cruiseMismatch: { # 巡航控制不匹配 + #ET.PERMANENT: ImmediateDisableAlert("openpilot未能取消巡航控制"), }, - # openpilot doesn't recognize the car. This switches openpilot into a - # read-only mode. This can be solved by adding your fingerprint. - # See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information - EventName.carUnrecognized: { - ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", - "Car Unrecognized", + # openpilot无法识别车辆。这会将openpilot切换到 + # 只读模式。此问题可通过添加车辆指纹解决。 + # 更多信息请参见 https://github.com/commaai/openpilot/wiki/Fingerprinting + EventName.carUnrecognized: { # 车辆未识别 + ET.PERMANENT: NormalPermanentAlert("行车记录仪模式", + "请进入设置-车辆型号，选择车型后重启", priority=Priority.LOWEST), }, - EventName.aeb: { + EventName.aeb: { # 自动紧急制动 ET.PERMANENT: Alert( - "BRAKE!", - "Emergency Braking: Risk of Collision", + "立即刹车！", + "紧急制动：检测到碰撞风险", AlertStatus.critical, AlertSize.full, Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.), - ET.NO_ENTRY: NoEntryAlert("AEB: Risk of Collision"), + ET.NO_ENTRY: NoEntryAlert("自动紧急制动：检测到碰撞风险"), }, - EventName.stockAeb: { + EventName.stockAeb: { # 原厂自动紧急制动 ET.PERMANENT: Alert( - "BRAKE!", - "Stock AEB: Risk of Collision", + "立即刹车！", + "原厂自动紧急制动：检测到碰撞风险", AlertStatus.critical, AlertSize.full, Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.), - ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"), + ET.NO_ENTRY: NoEntryAlert("原厂自动紧急制动：检测到碰撞风险"), }, - EventName.fcw: { + EventName.fcw: { # 前碰撞预警 ET.PERMANENT: Alert( - "BRAKE!", - "Risk of Collision", + "立即刹车！", + "检测到碰撞风险", AlertStatus.critical, AlertSize.full, Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.warningSoft, 2.), }, - EventName.ldw: { + EventName.ldw: { # 车道偏离预警 ET.PERMANENT: Alert( - "Lane Departure Detected", + "检测到车道偏离", "", AlertStatus.userPrompt, AlertSize.small, Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.), }, - # ********** events only containing alerts that display while engaged ********** + # ********** 仅在系统激活时显示的警报事件 ********** - EventName.steerTempUnavailableSilent: { + EventName.steerTempUnavailableSilent: { # 转向临时不可用（静默） ET.WARNING: Alert( - "Steering Temporarily Unavailable", + "转向功能暂时不可用", "", AlertStatus.userPrompt, AlertSize.small, Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8), }, - EventName.preDriverDistracted: { + EventName.preDriverDistracted: { # 驾驶员注意力不集中预警 ET.PERMANENT: Alert( - "Pay Attention", + "请集中注意力", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), }, - EventName.promptDriverDistracted: { + EventName.promptDriverDistracted: { # 驾驶员注意力不集中提示 ET.PERMANENT: Alert( - "Pay Attention", - "Driver Distracted", + "请集中注意力", + "驾驶员注意力不集中", AlertStatus.userPrompt, AlertSize.mid, Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), }, - EventName.driverDistracted: { + EventName.driverDistracted: { # 驾驶员注意力严重不集中 ET.PERMANENT: Alert( - "DISENGAGE IMMEDIATELY", - "Driver Distracted", + "立即接管车辆！", + "驾驶员注意力严重不集中", AlertStatus.critical, AlertSize.full, Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1), }, - EventName.preDriverUnresponsive: { + EventName.preDriverUnresponsive: { # 驾驶员无响应预警 ET.PERMANENT: Alert( - "Touch Steering Wheel: No Face Detected", + "请触摸方向盘：未检测到人脸", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1), }, - EventName.promptDriverUnresponsive: { + EventName.promptDriverUnresponsive: { # 驾驶员无响应提示 ET.PERMANENT: Alert( - "Touch Steering Wheel", - "Driver Unresponsive", + "请触摸方向盘", + "驾驶员无响应", AlertStatus.userPrompt, AlertSize.mid, Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), }, - EventName.driverUnresponsive: { + EventName.driverUnresponsive: { # 驾驶员完全无响应 ET.PERMANENT: Alert( - "DISENGAGE IMMEDIATELY", - "Driver Unresponsive", + "立即接管车辆！", + "驾驶员无响应", AlertStatus.critical, AlertSize.full, Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1), }, - EventName.manualRestart: { + EventName.manualRestart: { # 手动重启提示 ET.WARNING: Alert( - "TAKE CONTROL", - "Resume Driving Manually", + "请接管控制权", + "请手动恢复驾驶", AlertStatus.userPrompt, AlertSize.mid, Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), }, - EventName.resumeRequired: { + EventName.resumeRequired: { # 需要恢复行驶 ET.WARNING: Alert( - "Press Resume to Exit Standstill", + "请按恢复键退出静止状态", "", AlertStatus.userPrompt, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), }, - EventName.belowSteerSpeed: { + EventName.belowSteerSpeed: { # 低于转向速度 ET.WARNING: below_steer_speed_alert, }, - EventName.preLaneChangeLeft: { + EventName.preLaneChangeLeft: { # 准备向左变道 ET.WARNING: Alert( - "Steer Left to Start Lane Change Once Safe", + "确认安全后向左打方向开始变道", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), }, - EventName.preLaneChangeRight: { + EventName.preLaneChangeRight: { # 准备向右变道 ET.WARNING: Alert( - "Steer Right to Start Lane Change Once Safe", + "确认安全后向右打方向开始变道", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), }, - EventName.laneChangeBlocked: { + EventName.laneChangeBlocked: { # 变道被阻挡 ET.WARNING: Alert( - "Car Detected in Blindspot", + "盲区检测到车辆", "", AlertStatus.userPrompt, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1), }, - EventName.laneChange: { + EventName.laneChange: { # 变道中 ET.WARNING: Alert( - "Changing Lanes", + "正在变道", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), }, - EventName.steerSaturated: { + EventName.steerSaturated: { # 转向饱和 ET.WARNING: Alert( - "Take Control", - "Turn Exceeds Steering Limit", + "请接管控制权", + "转向角度超出限制", AlertStatus.userPrompt, AlertSize.mid, Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.), }, - # Thrown when the fan is driven at >50% but is not rotating - EventName.fanMalfunction: { - ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Likely Hardware Issue"), + # 风扇转速超过50%但未检测到旋转时触发 + EventName.fanMalfunction: { # 风扇故障 + ET.PERMANENT: NormalPermanentAlert("风扇故障", "可能是硬件问题"), }, - # Camera is not outputting frames - EventName.cameraMalfunction: { + # 摄像头未输出画面 + EventName.cameraMalfunction: { # 摄像头故障 ET.PERMANENT: camera_malfunction_alert, - ET.SOFT_DISABLE: soft_disable_alert("Camera Malfunction"), - ET.NO_ENTRY: NoEntryAlert("Camera Malfunction: Reboot Your Device"), + ET.SOFT_DISABLE: soft_disable_alert("摄像头故障"), + ET.NO_ENTRY: NoEntryAlert("摄像头故障：请重启设备"), }, - # Camera framerate too low - EventName.cameraFrameRate: { - ET.PERMANENT: NormalPermanentAlert("Camera Frame Rate Low", "Reboot your Device"), - ET.SOFT_DISABLE: soft_disable_alert("Camera Frame Rate Low"), - ET.NO_ENTRY: NoEntryAlert("Camera Frame Rate Low: Reboot Your Device"), + # 摄像头帧率过低 + EventName.cameraFrameRate: { # 摄像头帧率问题 + ET.PERMANENT: NormalPermanentAlert("摄像头帧率过低", "请重启设备"), + ET.SOFT_DISABLE: soft_disable_alert("摄像头帧率过低"), + ET.NO_ENTRY: NoEntryAlert("摄像头帧率过低：请重启设备"), }, - # Unused + # 未使用的事件 - EventName.locationdTemporaryError: { - ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"), - ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"), + EventName.locationdTemporaryError: { # 定位服务临时错误 + ET.NO_ENTRY: NoEntryAlert("定位服务临时错误"), + ET.SOFT_DISABLE: soft_disable_alert("定位服务临时错误"), }, - EventName.locationdPermanentError: { - ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"), - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"), - ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"), + EventName.locationdPermanentError: { # 定位服务永久错误 + ET.NO_ENTRY: NoEntryAlert("定位服务永久错误"), + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("定位服务永久错误"), + ET.PERMANENT: NormalPermanentAlert("定位服务永久错误"), }, - # openpilot tries to learn certain parameters about your car by observing - # how the car behaves to steering inputs from both human and openpilot driving. - # This includes: - # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle - # - tire stiffness: how much grip your tires have - # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight - # This alert is thrown when any of these values exceed a sanity check. This can be caused by - # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub - EventName.paramsdTemporaryError: { + # openpilot通过观察 + # 人类驾驶和openpilot驾驶时车辆对转向输入的响应来学习车辆的某些参数。 + # 包括： + # - 转向比：转向齿条的传动比，方向盘角度除以轮胎角度 + # - 轮胎刚度：轮胎的抓地力 + # - 角度偏移：大多数转向角度传感器在直行时会测量到非零角度 + # 当这些值超出合理性检查范围时会触发此警报。可能由 + # 四轮定位异常或传感器数据错误导致。如果频繁出现此问题，请在GitHub上提交issue + EventName.paramsdTemporaryError: { # 参数服务临时错误 ET.NO_ENTRY: paramsd_invalid_alert, - ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"), + ET.SOFT_DISABLE: soft_disable_alert("参数服务临时错误"), }, - EventName.paramsdPermanentError: { - ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"), - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"), - ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"), + EventName.paramsdPermanentError: { # 参数服务永久错误 + ET.NO_ENTRY: NoEntryAlert("参数服务永久错误"), + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("参数服务永久错误"), + ET.PERMANENT: NormalPermanentAlert("参数服务永久错误"), }, - # ********** events that affect controls state transitions ********** + # ********** 影响控制系统状态转换的事件 ********** - EventName.pcmEnable: { + EventName.pcmEnable: { # PCM启用 ET.ENABLE: EngagementAlert(AudibleAlert.engage), }, - EventName.buttonEnable: { + EventName.buttonEnable: { # 按键启用 ET.ENABLE: EngagementAlert(AudibleAlert.engage), }, - EventName.pcmDisable: { + EventName.pcmDisable: { # PCM禁用 ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), }, - EventName.buttonCancel: { + EventName.buttonCancel: { # 取消按键按下 ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), - ET.NO_ENTRY: NoEntryAlert("Cancel Pressed"), + ET.NO_ENTRY: NoEntryAlert("已按下取消键"), }, - EventName.brakeHold: { + EventName.brakeHold: { # 自动驻车 ET.WARNING: Alert( - "Press Resume to Exit Brake Hold", + "请按恢复键退出自动驻车", "", AlertStatus.userPrompt, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), }, - EventName.parkBrake: { + EventName.parkBrake: { # 手刹已拉起 ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), - ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"), + ET.NO_ENTRY: NoEntryAlert("驻车制动已启用"), }, - EventName.pedalPressed: { + EventName.pedalPressed: { # 踏板被踩下 ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), - ET.NO_ENTRY: NoEntryAlert("Pedal Pressed", + ET.NO_ENTRY: NoEntryAlert("已踩下踏板", visual_alert=VisualAlert.brakePressed), }, - EventName.steerDisengage: { + EventName.steerDisengage: { # 转向接管 ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), - ET.NO_ENTRY: NoEntryAlert("Steering Pressed"), + ET.NO_ENTRY: NoEntryAlert("已接管转向"), }, - EventName.preEnableStandstill: { + EventName.preEnableStandstill: { # 静止状态准备启用 ET.PRE_ENABLE: Alert( - "Release Brake to Engage", + "请松开刹车以启用", "", AlertStatus.normal, AlertSize.small, Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.), }, - EventName.gasPressedOverride: { + EventName.gasPressedOverride: { # 油门接管 ET.OVERRIDE_LONGITUDINAL: Alert( "", "", @@ -545,7 +579,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1), }, - EventName.steerOverride: { + EventName.steerOverride: { # 转向接管 ET.OVERRIDE_LATERAL: Alert( "", "", @@ -553,301 +587,299 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1), }, - EventName.wrongCarMode: { + EventName.wrongCarMode: { # 错误的车辆模式 ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), ET.NO_ENTRY: wrong_car_mode_alert, }, - EventName.resumeBlocked: { - ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"), + EventName.resumeBlocked: { # 恢复被阻止 + ET.NO_ENTRY: NoEntryAlert("请按设定键启用"), }, - EventName.wrongCruiseMode: { + EventName.wrongCruiseMode: { # 错误的巡航模式 ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), - ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"), + ET.NO_ENTRY: NoEntryAlert("自适应巡航已禁用"), }, - EventName.steerTempUnavailable: { - ET.SOFT_DISABLE: soft_disable_alert("Steering Temporarily Unavailable"), - ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"), + EventName.steerTempUnavailable: { # 转向临时不可用 + ET.SOFT_DISABLE: soft_disable_alert("转向功能暂时不可用"), + ET.NO_ENTRY: NoEntryAlert("转向功能暂时不可用"), }, - EventName.steerTimeLimit: { - ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"), - ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"), + EventName.steerTimeLimit: { # 转向时间限制 + ET.SOFT_DISABLE: soft_disable_alert("车辆转向时间限制已到"), + ET.NO_ENTRY: NoEntryAlert("车辆转向时间限制已到"), }, - EventName.outOfSpace: { + EventName.outOfSpace: { # 存储空间不足 ET.PERMANENT: out_of_space_alert, - ET.NO_ENTRY: NoEntryAlert("Out of Storage"), + ET.NO_ENTRY: NoEntryAlert("存储空间不足"), }, - EventName.belowEngageSpeed: { + EventName.belowEngageSpeed: { # 低于启用速度 ET.NO_ENTRY: below_engage_speed_alert, }, - EventName.sensorDataInvalid: { + EventName.sensorDataInvalid: { # 传感器数据无效 ET.PERMANENT: Alert( - "Sensor Data Invalid", - "Possible Hardware Issue", + "传感器数据无效", + "可能是硬件问题", AlertStatus.normal, AlertSize.mid, Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.), - ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"), - ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"), + ET.NO_ENTRY: NoEntryAlert("传感器数据无效"), + ET.SOFT_DISABLE: soft_disable_alert("传感器数据无效"), }, - EventName.noGps: { + EventName.noGps: { # 无GPS信号 }, - EventName.tooDistracted: { - ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"), + EventName.tooDistracted: { # 注意力分散程度过高 + ET.NO_ENTRY: NoEntryAlert("注意力分散程度过高"), }, - EventName.excessiveActuation: { - ET.SOFT_DISABLE: soft_disable_alert("Excessive Actuation"), - ET.NO_ENTRY: NoEntryAlert("Excessive Actuation"), + EventName.excessiveActuation: { # 执行器动作过度 + ET.SOFT_DISABLE: soft_disable_alert("执行器动作过度"), + ET.NO_ENTRY: NoEntryAlert("执行器动作过度"), }, - EventName.overheat: { + EventName.overheat: { # 系统过热 ET.PERMANENT: overheat_alert, - ET.SOFT_DISABLE: soft_disable_alert("System Overheated"), - ET.NO_ENTRY: NoEntryAlert("System Overheated"), + ET.SOFT_DISABLE: soft_disable_alert("系统过热"), + ET.NO_ENTRY: NoEntryAlert("系统过热"), }, - EventName.wrongGear: { - ET.SOFT_DISABLE: user_soft_disable_alert("Gear not D"), - ET.NO_ENTRY: NoEntryAlert("Gear not D"), + EventName.wrongGear: { # 错误的挡位 + ET.SOFT_DISABLE: user_soft_disable_alert("挡位未在D挡"), + ET.NO_ENTRY: NoEntryAlert("挡位未在D挡"), }, - # This alert is thrown when the calibration angles are outside of the acceptable range. - # For example if the device is pointed too much to the left or the right. - # Usually this can only be solved by removing the mount from the windshield completely, - # and attaching while making sure the device is pointed straight forward and is level. - # See https://comma.ai/setup for more information - EventName.calibrationInvalid: { + # 当标定角度超出可接受范围时触发此警报。 + # 例如设备向左或向右倾斜过多。 + # 通常需要将设备从挡风玻璃上完全取下， + # 重新安装并确保设备正对前方且水平。 + # 更多信息请参见 https://comma.ai/setup + EventName.calibrationInvalid: { # 标定无效 ET.PERMANENT: calibration_invalid_alert, - ET.SOFT_DISABLE: soft_disable_alert("Calibration Invalid: Remount Device & Recalibrate"), - ET.NO_ENTRY: NoEntryAlert("Calibration Invalid: Remount Device & Recalibrate"), + ET.SOFT_DISABLE: soft_disable_alert("标定无效：请重新安装设备并重新标定"), + ET.NO_ENTRY: NoEntryAlert("标定无效：请重新安装设备并重新标定"), }, - EventName.calibrationIncomplete: { + EventName.calibrationIncomplete: { # 标定未完成 ET.PERMANENT: calibration_incomplete_alert, - ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"), - ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"), + ET.SOFT_DISABLE: soft_disable_alert("标定未完成"), + ET.NO_ENTRY: NoEntryAlert("标定进行中"), }, - EventName.calibrationRecalibrating: { + EventName.calibrationRecalibrating: { # 重新标定中 ET.PERMANENT: calibration_incomplete_alert, - ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"), - ET.NO_ENTRY: NoEntryAlert("Remount Detected: Recalibrating"), + ET.SOFT_DISABLE: soft_disable_alert("检测到设备重新安装：正在重新标定"), + ET.NO_ENTRY: NoEntryAlert("检测到重新安装：正在标定"), }, - EventName.doorOpen: { - ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"), - ET.NO_ENTRY: NoEntryAlert("Door Open"), + EventName.doorOpen: { # 车门打开 + ET.SOFT_DISABLE: user_soft_disable_alert("车门已打开"), + ET.NO_ENTRY: NoEntryAlert("车门已打开"), }, - EventName.seatbeltNotLatched: { - ET.SOFT_DISABLE: user_soft_disable_alert("Seatbelt Unlatched"), - ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"), + EventName.seatbeltNotLatched: { # 安全带未系 + ET.SOFT_DISABLE: user_soft_disable_alert("安全带未系"), + ET.NO_ENTRY: NoEntryAlert("安全带未系"), }, - EventName.espDisabled: { - ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Disabled"), - ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Disabled"), + EventName.espDisabled: { # 电子稳定程序已禁用 + ET.SOFT_DISABLE: soft_disable_alert("电子稳定控制系统已禁用"), + ET.NO_ENTRY: NoEntryAlert("电子稳定控制系统已禁用"), }, - EventName.lowBattery: { - ET.SOFT_DISABLE: soft_disable_alert("Low Battery"), - ET.NO_ENTRY: NoEntryAlert("Low Battery"), + EventName.lowBattery: { # 电量低 + ET.SOFT_DISABLE: soft_disable_alert("电量不足"), + ET.NO_ENTRY: NoEntryAlert("电量不足"), }, - # Different openpilot services communicate between each other at a certain - # interval. If communication does not follow the regular schedule this alert - # is thrown. This can mean a service crashed, did not broadcast a message for - # ten times the regular interval, or the average interval is more than 10% too high. - EventName.commIssue: { - ET.SOFT_DISABLE: soft_disable_alert("Communication Issue Between Processes"), + # openpilot各服务之间按特定 + # 间隔通信。如果通信未按正常时间表进行，则触发此警报。 + # 可能意味着某个服务崩溃、未按正常间隔的10倍时间广播消息， + # 或平均间隔超过正常值的10%。 + EventName.commIssue: { # 通信异常 + ET.SOFT_DISABLE: soft_disable_alert("进程间通信异常"), ET.NO_ENTRY: comm_issue_alert, }, - EventName.commIssueAvgFreq: { - ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate Between Processes"), - ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"), + EventName.commIssueAvgFreq: { # 通信频率异常 + ET.SOFT_DISABLE: soft_disable_alert("进程间通信速率过低"), + ET.NO_ENTRY: NoEntryAlert("进程间通信速率过低"), }, - EventName.selfdrivedLagging: { - ET.SOFT_DISABLE: soft_disable_alert("System Lagging"), - ET.NO_ENTRY: NoEntryAlert("Selfdrive Process Lagging: Reboot Your Device"), + EventName.selfdrivedLagging: { # 自动驾驶进程卡顿 + ET.SOFT_DISABLE: soft_disable_alert("系统运行卡顿"), + ET.NO_ENTRY: NoEntryAlert("自动驾驶进程卡顿：请重启设备"), }, - # Thrown when manager detects a service exited unexpectedly while driving - EventName.processNotRunning: { + # 当管理器检测到某个服务在行驶中意外退出时触发 + EventName.processNotRunning: { # 进程未运行 ET.NO_ENTRY: process_not_running_alert, - ET.SOFT_DISABLE: soft_disable_alert("Process Not Running"), + ET.SOFT_DISABLE: soft_disable_alert("进程未运行"), }, - EventName.radarFault: { - ET.SOFT_DISABLE: soft_disable_alert("Radar Error: Restart the Car"), - ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"), + EventName.radarFault: { # 雷达故障 + ET.SOFT_DISABLE: soft_disable_alert("雷达错误：请重启车辆"), + ET.NO_ENTRY: NoEntryAlert("雷达错误：请重启车辆"), }, - EventName.radarTempUnavailable: { - ET.SOFT_DISABLE: soft_disable_alert("Radar Temporarily Unavailable"), - ET.NO_ENTRY: NoEntryAlert("Radar Temporarily Unavailable"), + EventName.radarTempUnavailable: { # 雷达临时不可用 + ET.SOFT_DISABLE: soft_disable_alert("雷达暂时不可用"), + ET.NO_ENTRY: NoEntryAlert("雷达暂时不可用"), }, - # Every frame from the camera should be processed by the model. If modeld - # is not processing frames fast enough they have to be dropped. This alert is - # thrown when over 20% of frames are dropped. - EventName.modeldLagging: { - ET.SOFT_DISABLE: soft_disable_alert("Driving Model Lagging"), - ET.NO_ENTRY: NoEntryAlert("Driving Model Lagging"), + # 摄像头的每一帧都应由模型处理。如果模型处理 + # 速度不够快，则必须丢弃帧。当丢弃帧超过20%时触发此警报。 + EventName.modeldLagging: { # 模型进程卡顿 + ET.SOFT_DISABLE: soft_disable_alert("驾驶模型运行卡顿"), + ET.NO_ENTRY: NoEntryAlert("驾驶模型运行卡顿"), ET.PERMANENT: modeld_lagging_alert, }, - # Besides predicting the path, lane lines and lead car data the model also - # predicts the current velocity and rotation speed of the car. If the model is - # very uncertain about the current velocity while the car is moving, this - # usually means the model has trouble understanding the scene. This is used - # as a heuristic to warn the driver. - EventName.posenetInvalid: { - ET.SOFT_DISABLE: soft_disable_alert("Posenet Speed Invalid"), + # 除了预测路径、车道线和前车数据外，模型还会 + # 预测车辆的当前速度和旋转速度。如果模型在车辆行驶时 + # 对当前速度的预测不确定性很高，通常意味着 + # 模型难以理解当前场景。这用作警告驾驶员的启发式方法。 + EventName.posenetInvalid: { # Posenet速度无效 + ET.SOFT_DISABLE: soft_disable_alert("Posenet速度无效"), ET.NO_ENTRY: posenet_invalid_alert, }, - # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we - # alert the driver the device might have fallen from the windshield. - EventName.deviceFalling: { - ET.SOFT_DISABLE: soft_disable_alert("Device Fell Off Mount"), - ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"), + # 当定位器检测到超过40 m/s²（约4G）的加速度时， + # 会警告驾驶员设备可能已从挡风玻璃掉落。 + EventName.deviceFalling: { # 设备掉落 + ET.SOFT_DISABLE: soft_disable_alert("设备已从支架掉落"), + ET.NO_ENTRY: NoEntryAlert("设备已从支架掉落"), }, - EventName.lowMemory: { - ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"), + EventName.lowMemory: { # 内存不足 + ET.SOFT_DISABLE: soft_disable_alert("内存不足：请重启设备"), ET.PERMANENT: low_memory_alert, - ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"), + ET.NO_ENTRY: NoEntryAlert("内存不足：请重启设备"), }, - EventName.accFaulted: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"), - ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), - ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), + EventName.accFaulted: { # ACC故障 + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("巡航故障：请重启车辆"), + ET.PERMANENT: NormalPermanentAlert("巡航故障：请重启车辆以启用"), + ET.NO_ENTRY: NoEntryAlert("巡航故障：请重启车辆"), }, - EventName.espActive: { - ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Active"), - ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"), + EventName.espActive: { # 电子稳定程序激活 + ET.SOFT_DISABLE: soft_disable_alert("电子稳定控制系统已激活"), + ET.NO_ENTRY: NoEntryAlert("电子稳定控制系统已激活"), }, - EventName.controlsMismatch: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"), - ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"), + EventName.controlsMismatch: { # 控制不匹配 + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("控制不匹配"), + ET.NO_ENTRY: NoEntryAlert("控制不匹配"), }, - # Sometimes the USB stack on the device can get into a bad state - # causing the connection to the panda to be lost - EventName.usbError: { - ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"), - ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device"), - ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"), + # 设备的USB堆栈有时会进入异常状态 + # 导致与panda的连接丢失 + EventName.usbError: { # USB错误 + ET.SOFT_DISABLE: soft_disable_alert("USB错误：请重启设备"), + ET.PERMANENT: NormalPermanentAlert("USB错误：请重启设备"), + ET.NO_ENTRY: NoEntryAlert("USB错误：请重启设备"), }, - # This alert can be thrown for the following reasons: - # - No CAN data received at all - # - CAN data is received, but some message are not received at the right frequency - # If you're not writing a new car port, this is usually cause by faulty wiring - EventName.canError: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"), + # 此警报可能因以下原因触发： + # - 完全未接收到CAN数据 + # - 接收到CAN数据，但某些消息未按正确频率接收 + # 如果您未开发新的车辆适配，这通常由接线故障导致 + EventName.canError: { # CAN错误 + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN总线错误"), ET.PERMANENT: Alert( - "CAN Error: Check Connections", + "CAN总线错误：请检查连接", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.), - ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"), + ET.NO_ENTRY: NoEntryAlert("CAN总线错误：请检查连接"), }, - EventName.canBusMissing: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Bus Disconnected"), + EventName.canBusMissing: { # CAN总线断开 + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN总线已断开"), ET.PERMANENT: Alert( - "CAN Bus Disconnected: Likely Faulty Cable", + "CAN总线已断开：可能是线缆故障", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.), - ET.NO_ENTRY: NoEntryAlert("CAN Bus Disconnected: Check Connections"), + ET.NO_ENTRY: NoEntryAlert("CAN总线已断开：请检查连接"), }, - EventName.steerUnavailable: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS Fault: Restart the Car"), - ET.PERMANENT: NormalPermanentAlert("LKAS Fault: Restart the car to engage"), - ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"), + EventName.steerUnavailable: { # 转向不可用 + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("车道保持故障：请重启车辆"), + ET.PERMANENT: NormalPermanentAlert("车道保持故障：请重启车辆以启用"), + ET.NO_ENTRY: NoEntryAlert("车道保持故障：请重启车辆"), }, - EventName.reverseGear: { + EventName.reverseGear: { # 倒挡 ET.PERMANENT: Alert( - "Reverse\nGear", + "倒车\n挡位", "", AlertStatus.normal, AlertSize.full, Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5), - ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"), - ET.NO_ENTRY: NoEntryAlert("Reverse Gear"), + ET.USER_DISABLE: ImmediateDisableAlert("已挂入倒挡"), + ET.NO_ENTRY: NoEntryAlert("已挂入倒挡"), }, - # On cars that use stock ACC the car can decide to cancel ACC for various reasons. - # When this happens we can no long control the car so the user needs to be warned immediately. - EventName.cruiseDisabled: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"), + # 在使用原厂ACC的车辆上，车辆可能因各种原因取消ACC。 + # 发生这种情况时，我们无法再控制车辆，因此需要立即警告用户。 + EventName.cruiseDisabled: { # 巡航已禁用 + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("巡航已关闭"), }, - # When the relay in the harness box opens the CAN bus between the LKAS camera - # and the rest of the car is separated. When messages from the LKAS camera - # are received on the car side this usually means the relay hasn't opened correctly - # and this alert is thrown. - EventName.relayMalfunction: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Relay Malfunction"), - ET.PERMANENT: NormalPermanentAlert("Harness Relay Malfunction", "Check Hardware"), - ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"), + # 当线束盒中的继电器打开时，LKAS摄像头与 + # 车辆其他部分之间的CAN总线被分离。当在车辆侧接收到 + # LKAS摄像头的消息时，通常意味着继电器未正确打开， + # 从而触发此警报。 + EventName.relayMalfunction: { # 继电器故障 + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("线束继电器故障"), + ET.PERMANENT: NormalPermanentAlert("线束继电器故障", "请检查硬件"), + ET.NO_ENTRY: NoEntryAlert("线束继电器故障"), }, - EventName.speedTooLow: { + EventName.speedTooLow: { # 速度过低 ET.IMMEDIATE_DISABLE: Alert( - "openpilot Canceled", - "Speed too low", + "openpilot已取消", + "速度过低", AlertStatus.normal, AlertSize.mid, Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.), }, - # When the car is driving faster than most cars in the training data, the model outputs can be unpredictable. - EventName.speedTooHigh: { + # 当车辆行驶速度超过训练数据中的大多数车辆时，模型输出可能不可预测。 + EventName.speedTooHigh: { # 速度过高 ET.WARNING: Alert( - "Speed Too High", - "Model uncertain at this speed", + "速度过高", + "模型在此速度下预测结果不确定性高", AlertStatus.userPrompt, AlertSize.mid, Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 4.), - ET.NO_ENTRY: NoEntryAlert("Slow down to engage"), + ET.NO_ENTRY: NoEntryAlert("请减速以启用"), }, - EventName.vehicleSensorsInvalid: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"), - ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"), - ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"), + EventName.vehicleSensorsInvalid: { # 车辆传感器无效 + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("车辆传感器无效"), + ET.PERMANENT: NormalPermanentAlert("车辆传感器标定中", "请行驶以完成标定"), + ET.NO_ENTRY: NoEntryAlert("车辆传感器标定中"), }, - EventName.personalityChanged: { + EventName.personalityChanged: { # 驾驶风格已变更 ET.WARNING: personality_changed_alert, }, - EventName.userBookmark: { - ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5), + EventName.userBookmark: { # 用户书签 + ET.PERMANENT: NormalPermanentAlert("书签已保存", duration=1.5), }, - EventName.audioFeedback: { + EventName.audioFeedback: { # 音频反馈 ET.PERMANENT: audio_feedback_alert, }, } if __name__ == '__main__': - # print all alerts by type and priority + # 按类型和优先级打印所有警报 from cereal.services import SERVICE_LIST from collections import defaultdict