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selfdrived: prep for mici (#36633)

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* selfdrived: prep for mici

* tizi reverts

* more revert

* lil more:

* invert it

* cleanup
This commit is contained in:
Adeeb Shihadeh
2025-11-18 10:39:32 -08:00
committed by GitHub
parent 4ef0d3ee99
commit ad7f3d2b24
2 changed files with 88 additions and 4 deletions
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89
selfdrive/selfdrived/events.py
View File

@@ -13,6 +13,7 @@ from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
from openpilot.system.hardware import HARDWARE
AlertSize = log.SelfdriveState.AlertSize
AlertStatus = log.SelfdriveState.AlertStatus
@@ -150,6 +151,8 @@ class NoEntryAlert(Alert):
def __init__(self, alert_text_2: str,
alert_text_1: str = "openpilot Unavailable",
visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
if HARDWARE.get_device_type() == 'mici':
alert_text_1, alert_text_2 = alert_text_2, alert_text_1
super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
AlertSize.mid, Priority.LOW, visual_alert,
AudibleAlert.refuse, 3.)
@@ -195,8 +198,13 @@ class NormalPermanentAlert(Alert):
class StartupAlert(Alert):
def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
alert_size = AlertSize.mid
if HARDWARE.get_device_type() == 'mici':
if alert_text_2 == "Always keep hands on wheel and eyes on road":
alert_text_2 = ""
alert_size = AlertSize.small
super().__init__(alert_text_1, alert_text_2,
alert_status, AlertSize.mid,
alert_status, alert_size,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
@@ -246,10 +254,19 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
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'
def steer_saturated_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
steer_text2 = "Steer Left" if sm['carControl'].actuators.torque > 0 else "Steer Right"
return Alert(
f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%",
"Take Control",
steer_text2,
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.)
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
return Alert(
f"{first_word}: {sm['liveCalibration'].calPerc:.0f}%",
f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
AlertStatus.normal, AlertSize.mid,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
@@ -1013,6 +1030,70 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
}
if HARDWARE.get_device_type() == 'mici':
EVENTS.update({
EventName.preDriverDistracted: {
ET.PERMANENT: Alert(
"Pay Attention",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
},
EventName.promptDriverDistracted: {
ET.PERMANENT: Alert(
"Pay Attention",
"Driver Distracted",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, 1),
},
EventName.resumeRequired: {
ET.WARNING: Alert(
"Press Resume",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
},
EventName.preLaneChangeLeft: {
ET.WARNING: Alert(
"Steer Left",
"Confirm Lane Change",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
},
EventName.preLaneChangeRight: {
ET.WARNING: Alert(
"Steer Right",
"Confirm Lane Change",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
},
EventName.laneChangeBlocked: {
ET.WARNING: Alert(
"Car in Blindspot",
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
},
EventName.steerSaturated: {
ET.WARNING: steer_saturated_alert,
},
EventName.calibrationIncomplete: {
ET.PERMANENT: calibration_incomplete_alert,
ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
ET.NO_ENTRY: NoEntryAlert("Calibrating"),
},
EventName.reverseGear: {
ET.PERMANENT: Alert(
"Reverse",
"",
AlertStatus.normal, AlertSize.full,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
ET.USER_DISABLE: ImmediateDisableAlert("Reverse"),
ET.NO_ENTRY: NoEntryAlert("Reverse"),
},
})
if __name__ == '__main__':
# print all alerts by type and priority
from cereal.services import SERVICE_LIST

3
selfdrive/selfdrived/selfdrived.py
View File

@@ -22,6 +22,7 @@ from openpilot.selfdrive.selfdrived.state import StateMachine
from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
from openpilot.system.version import get_build_metadata
from openpilot.system.hardware import HARDWARE
REPLAY = "REPLAY" in os.environ
SIMULATION = "SIMULATION" in os.environ
@@ -123,6 +124,8 @@ class SelfdriveD:
# Determine startup event
self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
if HARDWARE.get_device_type() == 'mici':
self.startup_event = None
if not car_recognized:
self.startup_event = EventName.startupNoCar
elif car_recognized and self.CP.passive: