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controlsd: deprecate alertBlinkingRate (#33422) 

* controlsd: deprecate alertBlinkingRate

* simplify

* update refs
old-commit-hash: f4e101c67d
This commit is contained in:
Adeeb Shihadeh 2024-08-31 17:58:02 -07:00 committed by GitHub
parent 5144cb0538
commit 60549c9557
5 changed files with 5 additions and 9 deletions
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2
cereal/log.capnp
View File

@ -713,7 +713,6 @@ struct ControlsState @0x97ff69c53601abf1 {
alertText2 @25 :Text;
alertStatus @38 :AlertStatus;
alertSize @39 :AlertSize;
alertBlinkingRate @42 :Float32;
alertType @44 :Text;
alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
engageable @41 :Bool; # can OP be engaged?
@ -865,6 +864,7 @@ struct ControlsState @0x97ff69c53601abf1 {
desiredCurvatureRateDEPRECATED @62 :Float32;
canErrorCounterDEPRECATED @57 :UInt32;
vPidDEPRECATED @2 :Float32;
alertBlinkingRateDEPRECATED @42 :Float32;
}
struct DrivingModelData {

1
selfdrive/controls/controlsd.py
View File

@ -746,7 +746,6 @@ class Controls:
controlsState.alertText2 = current_alert.alert_text_2
controlsState.alertSize = current_alert.alert_size
controlsState.alertStatus = current_alert.alert_status
controlsState.alertBlinkingRate = current_alert.alert_rate
controlsState.alertType = current_alert.alert_type
controlsState.alertSound = current_alert.audible_alert

8
selfdrive/controls/lib/events.py
View File

@ -116,7 +116,6 @@ class Alert:
visual_alert: car.CarControl.HUDControl.VisualAlert,
audible_alert: car.CarControl.HUDControl.AudibleAlert,
duration: float,
alert_rate: float = 0.,
creation_delay: float = 0.):
self.alert_text_1 = alert_text_1
@ -129,7 +128,6 @@ class Alert:
self.duration = int(duration / DT_CTRL)
self.alert_rate = alert_rate
self.creation_delay = creation_delay
self.alert_type = ""
@ -456,7 +454,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
"Touch Steering Wheel: No Face Detected",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75),
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
},
EventName.promptDriverUnresponsive: {
@ -500,7 +498,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
"Steer Left to Start Lane Change Once Safe",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
},
EventName.preLaneChangeRight: {
@ -508,7 +506,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
"Steer Right to Start Lane Change Once Safe",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
},
EventName.laneChangeBlocked: {

1
selfdrive/debug/cycle_alerts.py
View File

@ -108,7 +108,6 @@ def cycle_alerts(duration=200, is_metric=False):
dat.controlsState.alertText2 = alert.alert_text_2
dat.controlsState.alertSize = alert.alert_size
dat.controlsState.alertStatus = alert.alert_status
dat.controlsState.alertBlinkingRate = alert.alert_rate
dat.controlsState.alertType = alert.alert_type
dat.controlsState.alertSound = alert.audible_alert
pm.send('controlsState', dat)

2
selfdrive/test/process_replay/ref_commit
View File

@ -1 +1 @@
51a1a4716fdd6d58fc69c586aaa62c5c25a3d93e
a8b4c81ec1df5135ae448c8273ce14c1a98b1bfc