wip

selfdrive/debug/cycle_alerts.py

@@ -0,0 +1,130 @@
+#!/usr/bin/env python3
+import time
+import random
+
+from cereal import car, log
+import cereal.messaging as messaging
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car.honda.interface import CarInterface
+from openpilot.selfdrive.controls.lib.events import ET, Events
+from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
+from openpilot.selfdrive.manager.process_config import managed_processes
+
+EventName = car.CarEvent.EventName
+
+def randperc() -> float:
+  return 100. * random.random()
+
+def cycle_alerts(duration=200, is_metric=False):
+  # all alerts
+  #alerts = list(EVENTS.keys())
+
+  # this plays each type of audible alert
+  alerts = [
+    (EventName.buttonEnable, ET.ENABLE),
+    (EventName.buttonCancel, ET.USER_DISABLE),
+    (EventName.wrongGear, ET.NO_ENTRY),
+
+    (EventName.locationdTemporaryError, ET.SOFT_DISABLE),
+    (EventName.paramsdTemporaryError, ET.SOFT_DISABLE),
+    (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
+
+    # DM sequence
+    (EventName.preDriverDistracted, ET.WARNING),
+    (EventName.promptDriverDistracted, ET.WARNING),
+    (EventName.driverDistracted, ET.WARNING),
+  ]
+
+  # debug alerts
+  alerts = [
+    #(EventName.highCpuUsage, ET.NO_ENTRY),
+    #(EventName.lowMemory, ET.PERMANENT),
+    #(EventName.overheat, ET.PERMANENT),
+    #(EventName.outOfSpace, ET.PERMANENT),
+    #(EventName.modeldLagging, ET.PERMANENT),
+    #(EventName.processNotRunning, ET.NO_ENTRY),
+    #(EventName.commIssue, ET.NO_ENTRY),
+    #(EventName.calibrationInvalid, ET.PERMANENT),
+    (EventName.cameraMalfunction, ET.PERMANENT),
+    (EventName.cameraFrameRate, ET.PERMANENT),
+  ]
+
+  cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
+
+  CS = car.CarState.new_message()
+  CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
+  sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
+                            'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
+                            'managerState'] + cameras)
+
+  pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
+
+  events = Events()
+  AM = AlertManager()
+
+  frame = 0
+  while True:
+    for alert, et in alerts:
+      events.clear()
+      events.add(alert)
+
+      sm['deviceState'].freeSpacePercent = randperc()
+      sm['deviceState'].memoryUsagePercent = int(randperc())
+      sm['deviceState'].cpuTempC = [randperc() for _ in range(3)]
+      sm['deviceState'].gpuTempC = [randperc() for _ in range(3)]
+      sm['deviceState'].cpuUsagePercent = [int(randperc()) for _ in range(8)]
+      sm['modelV2'].frameDropPerc = randperc()
+
+      if random.random() > 0.25:
+        sm['modelV2'].velocity.x = [random.random(), ]
+      if random.random() > 0.25:
+        CS.vEgo = random.random()
+
+      procs = [p.get_process_state_msg() for p in managed_processes.values()]
+      random.shuffle(procs)
+      for i in range(random.randint(0, 10)):
+        procs[i].shouldBeRunning = True
+      sm['managerState'].processes = procs
+
+      sm['liveCalibration'].rpyCalib = [-1 * random.random() for _ in range(random.randint(0, 3))]
+
+      for s in sm.data.keys():
+        prob = 0.3 if s in cameras else 0.08
+        sm.alive[s] = random.random() > prob
+        sm.valid[s] = random.random() > prob
+        sm.freq_ok[s] = random.random() > prob
+
+      a = events.create_alerts([et, ], [CP, CS, sm, is_metric, 0])
+      AM.add_many(frame, a)
+      alert = AM.process_alerts(frame, [])
+      print(alert)
+      for _ in range(duration):
+        dat = messaging.new_message()
+        dat.init('controlsState')
+        dat.controlsState.enabled = False
+
+        if alert:
+          dat.controlsState.alertText1 = alert.alert_text_1
+          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)
+
+        dat = messaging.new_message()
+        dat.init('deviceState')
+        dat.deviceState.started = True
+        pm.send('deviceState', dat)
+
+        dat = messaging.new_message('pandaStates', 1)
+        dat.pandaStates[0].ignitionLine = True
+        dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
+        pm.send('pandaStates', dat)
+
+        frame += 1
+        time.sleep(DT_CTRL)
+
+if __name__ == '__main__':
+  cycle_alerts()