openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/controls/lib/alertmanager.py

@@ -0,0 +1,62 @@
+import copy
+import os
+import json
+from collections import defaultdict
+from dataclasses import dataclass
+from typing import List, Dict, Optional
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.events import Alert
+
+
+with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
+  OFFROAD_ALERTS = json.load(f)
+
+
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = None) -> None:
+  if show_alert:
+    a = copy.copy(OFFROAD_ALERTS[alert])
+    a['extra'] = extra_text or ''
+    Params().put(alert, json.dumps(a))
+  else:
+    Params().remove(alert)
+
+
+@dataclass
+class AlertEntry:
+  alert: Optional[Alert] = None
+  start_frame: int = -1
+  end_frame: int = -1
+
+  def active(self, frame: int) -> bool:
+    return frame <= self.end_frame
+
+class AlertManager:
+  def __init__(self):
+    self.alerts: Dict[str, AlertEntry] = defaultdict(AlertEntry)
+
+  def add_many(self, frame: int, alerts: List[Alert]) -> None:
+    for alert in alerts:
+      entry = self.alerts[alert.alert_type]
+      entry.alert = alert
+      if not entry.active(frame):
+        entry.start_frame = frame
+      min_end_frame = entry.start_frame + alert.duration
+      entry.end_frame = max(frame + 1, min_end_frame)
+
+  def process_alerts(self, frame: int, clear_event_types: set) -> Optional[Alert]:
+    current_alert = AlertEntry()
+    for v in self.alerts.values():
+      if not v.alert:
+        continue
+
+      if v.alert.event_type in clear_event_types:
+        v.end_frame = -1
+
+      # sort by priority first and then by start_frame
+      greater = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame)
+      if v.active(frame) and greater:
+        current_alert = v
+
+    return current_alert.alert