mouxangithub
5e253a54ba
新增 Toyota Wildlander PHEV 车型的指纹、参数配置和相关控制逻辑，包括： - 在 substitute.toml 中将其映射为 TOYOTA_RAV4_TSS2 以复用现有参数 - 增加车辆指纹识别信息 - 配置车辆规格参数（质量、轴距、转向比等） - 更新 carstate 和 interface 逻辑以适配该车型 - 添加对应的神经网络前馈模型文件 此外，临时注释了 controlsd.py 中的无 GPS 事件触发逻辑，待后续修复。
1294 lines
46 KiB
Python
Executable File
1294 lines
46 KiB
Python
Executable File
#!/usr/bin/env python3
|
||
import bisect
|
||
import math
|
||
import os
|
||
from enum import IntEnum
|
||
from collections.abc import Callable
|
||
from types import SimpleNamespace
|
||
|
||
from cereal import log, car, custom
|
||
import cereal.messaging as messaging
|
||
from openpilot.common.conversions import Conversions as CV
|
||
from openpilot.common.git import get_short_branch
|
||
from openpilot.common.params import Params
|
||
from openpilot.common.realtime import DT_CTRL
|
||
from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
|
||
|
||
AlertSize = log.ControlsState.AlertSize
|
||
AlertStatus = log.ControlsState.AlertStatus
|
||
FrogPilotAlertStatus = custom.FrogPilotControlsState.AlertStatus
|
||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||
FrogPilotAudibleAlert = custom.FrogPilotCarControl.HUDControl.AudibleAlert
|
||
EventName = car.CarEvent.EventName
|
||
FrogPilotEventName = custom.FrogPilotCarEvent.EventName
|
||
|
||
|
||
# Alert priorities
|
||
class Priority(IntEnum):
|
||
LOWEST = 0
|
||
LOWER = 1
|
||
LOW = 2
|
||
MID = 3
|
||
HIGH = 4
|
||
HIGHEST = 5
|
||
|
||
|
||
# Event types
|
||
class ET:
|
||
ENABLE = 'enable'
|
||
PRE_ENABLE = 'preEnable'
|
||
OVERRIDE_LATERAL = 'overrideLateral'
|
||
OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
|
||
NO_ENTRY = 'noEntry'
|
||
WARNING = 'warning'
|
||
USER_DISABLE = 'userDisable'
|
||
SOFT_DISABLE = 'softDisable'
|
||
IMMEDIATE_DISABLE = 'immediateDisable'
|
||
PERMANENT = 'permanent'
|
||
|
||
|
||
# get event name from enum
|
||
EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
|
||
FROGPILOT_EVENT_NAME = {v: k for k, v in FrogPilotEventName.schema.enumerants.items()}
|
||
|
||
|
||
class Events:
|
||
def __init__(self, frogpilot=False):
|
||
self.events: list[int] = []
|
||
self.static_events: list[int] = []
|
||
self.event_counters = dict.fromkeys((FROGPILOT_EVENTS if frogpilot else EVENTS).keys(), 0)
|
||
|
||
# FrogPilot variables
|
||
self.frogpilot = frogpilot
|
||
|
||
@property
|
||
def names(self) -> list[int]:
|
||
return self.events
|
||
|
||
def __len__(self) -> int:
|
||
return len(self.events)
|
||
|
||
def add(self, event_name: int, static: bool=False) -> None:
|
||
if static:
|
||
bisect.insort(self.static_events, event_name)
|
||
bisect.insort(self.events, event_name)
|
||
|
||
def clear(self) -> None:
|
||
self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
|
||
self.events = self.static_events.copy()
|
||
|
||
def contains(self, event_type: str) -> bool:
|
||
return any(event_type in (FROGPILOT_EVENTS if self.frogpilot else EVENTS).get(e, {}) for e in self.events)
|
||
|
||
def create_alerts(self, event_types: list[str], callback_args=None):
|
||
if callback_args is None:
|
||
callback_args = []
|
||
|
||
ret = []
|
||
for e in self.events:
|
||
types = (FROGPILOT_EVENTS if self.frogpilot else EVENTS)[e].keys()
|
||
for et in event_types:
|
||
if et in types:
|
||
alert = (FROGPILOT_EVENTS if self.frogpilot else EVENTS)[e][et]
|
||
if not isinstance(alert, Alert):
|
||
alert = alert(*callback_args)
|
||
|
||
if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
|
||
alert.alert_type = f"{(FROGPILOT_EVENT_NAME if self.frogpilot else EVENT_NAME)[e]}/{et}"
|
||
alert.event_type = et
|
||
ret.append(alert)
|
||
return ret
|
||
|
||
def add_from_msg(self, events):
|
||
for e in events:
|
||
bisect.insort(self.events, e.name.raw)
|
||
|
||
def to_msg(self):
|
||
ret = []
|
||
for event_name in self.events:
|
||
event = (custom.FrogPilotCarEvent if self.frogpilot else car.CarEvent).new_message()
|
||
event.name = event_name
|
||
for event_type in (FROGPILOT_EVENTS if self.frogpilot else EVENTS).get(event_name, {}):
|
||
setattr(event, event_type, True)
|
||
ret.append(event)
|
||
return ret
|
||
|
||
|
||
class Alert:
|
||
def __init__(self,
|
||
alert_text_1: str,
|
||
alert_text_2: str,
|
||
alert_status: log.ControlsState.AlertStatus,
|
||
alert_size: log.ControlsState.AlertSize,
|
||
priority: Priority,
|
||
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
|
||
self.alert_text_2 = alert_text_2
|
||
self.alert_status = alert_status
|
||
self.alert_size = alert_size
|
||
self.priority = priority
|
||
self.visual_alert = visual_alert
|
||
self.audible_alert = audible_alert
|
||
|
||
self.duration = int(duration / DT_CTRL)
|
||
|
||
self.alert_rate = alert_rate
|
||
self.creation_delay = creation_delay
|
||
|
||
self.alert_type = ""
|
||
self.event_type: str | None = None
|
||
|
||
def __str__(self) -> str:
|
||
return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
|
||
|
||
def __gt__(self, alert2) -> bool:
|
||
if not isinstance(alert2, Alert):
|
||
return False
|
||
return self.priority > alert2.priority
|
||
|
||
|
||
class NoEntryAlert(Alert):
|
||
def __init__(self, alert_text_2: str,
|
||
alert_text_1: str = "openpilot 不可用",
|
||
visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
|
||
super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
|
||
AlertSize.mid, Priority.LOW, visual_alert,
|
||
AudibleAlert.refuse, 3.)
|
||
|
||
|
||
class SoftDisableAlert(Alert):
|
||
def __init__(self, alert_text_2: str):
|
||
super().__init__("立即接管控制", alert_text_2,
|
||
AlertStatus.userPrompt, AlertSize.full,
|
||
Priority.MID, VisualAlert.steerRequired,
|
||
AudibleAlert.warningSoft, 2.),
|
||
|
||
|
||
# less harsh version of SoftDisable, where the condition is user-triggered
|
||
class UserSoftDisableAlert(SoftDisableAlert):
|
||
def __init__(self, alert_text_2: str):
|
||
super().__init__(alert_text_2),
|
||
self.alert_text_1 = "openpilot 即将退出"
|
||
|
||
|
||
class ImmediateDisableAlert(Alert):
|
||
def __init__(self, alert_text_2: str):
|
||
super().__init__("立即接管控制", alert_text_2,
|
||
AlertStatus.critical, AlertSize.full,
|
||
Priority.HIGHEST, VisualAlert.steerRequired,
|
||
AudibleAlert.warningImmediate, 4.),
|
||
|
||
|
||
class EngagementAlert(Alert):
|
||
def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
|
||
super().__init__("", "",
|
||
AlertStatus.normal, AlertSize.none,
|
||
Priority.MID, VisualAlert.none,
|
||
audible_alert, .2),
|
||
|
||
|
||
class NormalPermanentAlert(Alert):
|
||
def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
|
||
super().__init__(alert_text_1, alert_text_2,
|
||
AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
|
||
priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
|
||
|
||
|
||
class StartupAlert(Alert):
|
||
def __init__(self, alert_text_1: str, alert_text_2: str = "始终保持双手在方向盘上，眼睛注视道路", alert_status=AlertStatus.normal):
|
||
super().__init__(alert_text_1, alert_text_2,
|
||
alert_status, AlertSize.mid,
|
||
Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
|
||
|
||
|
||
# ********** helper functions **********
|
||
def get_display_speed(speed_ms: float, metric: bool) -> str:
|
||
speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
|
||
unit = 'km/h' if metric else 'mph'
|
||
return f"{speed} {unit}"
|
||
|
||
|
||
# ********** alert callback functions **********
|
||
|
||
AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int], Alert]
|
||
|
||
|
||
def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
|
||
def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
if soft_disable_time < int(0.5 / DT_CTRL):
|
||
return ImmediateDisableAlert(alert_text_2)
|
||
return SoftDisableAlert(alert_text_2)
|
||
return func
|
||
|
||
def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
|
||
def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
if soft_disable_time < int(0.5 / DT_CTRL):
|
||
return ImmediateDisableAlert(alert_text_2)
|
||
return UserSoftDisableAlert(alert_text_2)
|
||
return func
|
||
|
||
def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
branch = get_short_branch() # Ensure get_short_branch is cached to avoid lags on startup
|
||
if "REPLAY" in os.environ:
|
||
branch = "replay"
|
||
|
||
return StartupAlert("警告：此分支未经测试", 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, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
return NoEntryAlert(f"车速超过 {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, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
return Alert(
|
||
f"车速低于 {get_display_speed(CP.minSteerSpeed, metric)} 时转向不可用",
|
||
"",
|
||
AlertStatus.userPrompt, AlertSize.small,
|
||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
|
||
|
||
|
||
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
first_word = '重新校准' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else '校准'
|
||
return Alert(
|
||
f"{first_word}进行中: {sm['liveCalibration'].calPerc:.0f}%",
|
||
f"车速超过 {get_display_speed(MIN_SPEED_FILTER, metric)}",
|
||
AlertStatus.normal, AlertSize.mid,
|
||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
|
||
|
||
|
||
# *** debug alerts ***
|
||
|
||
def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
full_perc = round(100. - sm['deviceState'].freeSpacePercent)
|
||
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, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan
|
||
err = CS.vEgo - mdl
|
||
msg = f"速度误差: {err:.1f} m/s"
|
||
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, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
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="进程未运行")
|
||
|
||
|
||
def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
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="进程间通信问题")
|
||
|
||
|
||
def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
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("摄像头故障", ', '.join(bad_cams))
|
||
|
||
|
||
def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
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"重新安装设备 (俯仰角: {pitch:.1f}°, 偏航角: {yaw:.1f}°)"
|
||
return NormalPermanentAlert("校准无效", angles)
|
||
|
||
|
||
def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
cpu = max(sm['deviceState'].cpuTempC, default=0.)
|
||
gpu = max(sm['deviceState'].gpuTempC, default=0.)
|
||
temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
|
||
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, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
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, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
x = max(sm['deviceState'].cpuUsagePercent, default=0.)
|
||
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, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
return NormalPermanentAlert("驾驶模型延迟", f"{sm['modelV2'].frameDropPerc:.1f}% 帧丢失")
|
||
|
||
|
||
def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
if frogpilot_toggles.has_cc_long:
|
||
text = "启用巡航控制以激活"
|
||
elif CP.carName == "honda":
|
||
text = "启用主开关以激活"
|
||
else:
|
||
text = "启用自适应巡航以激活"
|
||
return NoEntryAlert(text)
|
||
|
||
|
||
def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
axes = sm['testJoystick'].axes
|
||
gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
|
||
vals = f"油门: {round(gb * 100.)}%, 转向: {round(steer * 100.)}%"
|
||
return NormalPermanentAlert("操纵杆模式", vals)
|
||
|
||
|
||
# FrogPilot alerts
|
||
def custom_startup_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
return StartupAlert(frogpilot_toggles.startup_alert_top, frogpilot_toggles.startup_alert_bottom, alert_status=FrogPilotAlertStatus.frogpilot)
|
||
|
||
|
||
def forcing_stop_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
model_length = sm["frogpilotPlan"].forcingStopLength
|
||
model_length_msg = f"{model_length:.1f} 米" if metric else f"{model_length * CV.METER_TO_FOOT:.1f} 英尺"
|
||
|
||
return Alert(
|
||
f"强制车辆在 {model_length_msg} 后停止",
|
||
"踩油门或按'恢复'按钮可覆盖",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.mid,
|
||
Priority.MID, VisualAlert.none, AudibleAlert.prompt, 1.)
|
||
|
||
|
||
def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
holiday_messages = {
|
||
"new_years": "新年快乐！🎉",
|
||
"valentines": "情人节快乐！❤️",
|
||
"st_patricks": "圣帕特里克节快乐！🍀",
|
||
"world_frog_day": "世界青蛙日快乐！🐸",
|
||
"april_fools": "愚人节快乐！🤡",
|
||
"easter_week": "复活节快乐！🐰",
|
||
"may_the_fourth": "愿原力与你同在！🚀",
|
||
"cinco_de_mayo": "五月五日节快乐！🌮",
|
||
"stitch_day": "史迪奇日快乐！💙",
|
||
"fourth_of_july": "独立日快乐！🎆",
|
||
"halloween_week": "万圣节快乐！🎃",
|
||
"thanksgiving_week": "感恩节快乐！🦃",
|
||
"christmas_week": "圣诞快乐！🎄",
|
||
}
|
||
|
||
return Alert(
|
||
holiday_messages.get(frogpilot_toggles.current_holiday_theme),
|
||
"",
|
||
AlertStatus.normal, AlertSize.small,
|
||
Priority.LOWEST, VisualAlert.none, FrogPilotAudibleAlert.startup, 5.)
|
||
|
||
|
||
def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
lane_width = sm["frogpilotPlan"].laneWidthLeft if CS.leftBlinker else sm["frogpilotPlan"].laneWidthRight
|
||
lane_width_msg = f"{lane_width:.1f} 米" if metric else f"{lane_width * CV.METER_TO_FOOT:.1f} 英尺"
|
||
|
||
return Alert(
|
||
"无可用车道",
|
||
f"检测到的车道宽度仅为 {lane_width_msg}",
|
||
AlertStatus.normal, AlertSize.mid,
|
||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
|
||
|
||
|
||
def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||
model_name = Params().get("NNFFModelName", encoding="utf-8")
|
||
if model_name is None:
|
||
return Alert(
|
||
"NNFF 扭矩控制器不可用",
|
||
"向 Twilsonco 捐赠日志以支持您的车辆！",
|
||
AlertStatus.userPrompt, AlertSize.mid,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 10.0)
|
||
else:
|
||
return Alert(
|
||
"NNFF 扭矩控制器已加载",
|
||
model_name,
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.mid,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.engage, 5.0)
|
||
|
||
|
||
EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||
# ********** events with no alerts **********
|
||
|
||
EventName.stockFcw: {},
|
||
EventName.actuatorsApiUnavailable: {},
|
||
|
||
# ********** events only containing alerts displayed in all states **********
|
||
|
||
EventName.joystickDebug: {
|
||
ET.WARNING: joystick_alert,
|
||
ET.PERMANENT: NormalPermanentAlert("操纵杆模式"),
|
||
},
|
||
|
||
EventName.controlsInitializing: {
|
||
ET.NO_ENTRY: NoEntryAlert("系统初始化中"),
|
||
},
|
||
|
||
EventName.startup: {
|
||
ET.PERMANENT: StartupAlert("随时准备接管控制")
|
||
},
|
||
|
||
EventName.startupMaster: {
|
||
ET.PERMANENT: startup_master_alert,
|
||
},
|
||
|
||
# Car is recognized, but marked as dashcam only
|
||
EventName.startupNoControl: {
|
||
ET.PERMANENT: StartupAlert("行车记录仪模式"),
|
||
ET.NO_ENTRY: NoEntryAlert("行车记录仪模式"),
|
||
},
|
||
|
||
# Car is not recognized
|
||
EventName.startupNoCar: {
|
||
ET.PERMANENT: StartupAlert("不支持车辆的行车记录仪模式"),
|
||
},
|
||
|
||
EventName.startupNoFw: {
|
||
ET.PERMANENT: StartupAlert("车辆未识别",
|
||
"检查 comma 电源连接",
|
||
alert_status=AlertStatus.userPrompt),
|
||
},
|
||
|
||
EventName.startupNoSecOcKey: {
|
||
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("行车记录仪模式",
|
||
priority=Priority.LOWEST),
|
||
},
|
||
|
||
EventName.invalidLkasSetting: {
|
||
ET.PERMANENT: NormalPermanentAlert("原厂 LKAS 已开启",
|
||
"关闭原厂 LKAS 以激活"),
|
||
},
|
||
|
||
EventName.cruiseMismatch: {
|
||
#ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"),
|
||
},
|
||
|
||
# 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("行车记录仪模式",
|
||
"车辆未识别",
|
||
priority=Priority.LOWEST),
|
||
},
|
||
|
||
EventName.stockAeb: {
|
||
ET.PERMANENT: Alert(
|
||
"刹车！",
|
||
"原厂 AEB：碰撞风险",
|
||
AlertStatus.critical, AlertSize.full,
|
||
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.),
|
||
ET.NO_ENTRY: NoEntryAlert("原厂 AEB：碰撞风险"),
|
||
},
|
||
|
||
EventName.fcw: {
|
||
ET.PERMANENT: Alert(
|
||
"刹车！",
|
||
"碰撞风险",
|
||
AlertStatus.critical, AlertSize.full,
|
||
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.warningSoft, 2.),
|
||
},
|
||
|
||
EventName.ldw: {
|
||
ET.PERMANENT: Alert(
|
||
"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 **********
|
||
|
||
EventName.steerTempUnavailableSilent: {
|
||
ET.WARNING: Alert(
|
||
"转向暂时不可用",
|
||
"",
|
||
AlertStatus.userPrompt, AlertSize.small,
|
||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
|
||
},
|
||
|
||
EventName.preDriverDistracted: {
|
||
ET.PERMANENT: Alert(
|
||
"请注意",
|
||
"",
|
||
AlertStatus.normal, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
|
||
},
|
||
|
||
EventName.promptDriverDistracted: {
|
||
ET.PERMANENT: Alert(
|
||
"请注意",
|
||
"驾驶员分心",
|
||
AlertStatus.userPrompt, AlertSize.mid,
|
||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
|
||
},
|
||
|
||
EventName.driverDistracted: {
|
||
ET.PERMANENT: Alert(
|
||
"立即退出",
|
||
"驾驶员分心",
|
||
AlertStatus.critical, AlertSize.full,
|
||
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
|
||
},
|
||
|
||
EventName.preDriverUnresponsive: {
|
||
ET.PERMANENT: Alert(
|
||
"触摸方向盘：未检测到面部",
|
||
"",
|
||
AlertStatus.normal, AlertSize.small,
|
||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75),
|
||
},
|
||
|
||
EventName.promptDriverUnresponsive: {
|
||
ET.PERMANENT: Alert(
|
||
"触摸方向盘",
|
||
"驾驶员无响应",
|
||
AlertStatus.userPrompt, AlertSize.mid,
|
||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
|
||
},
|
||
|
||
EventName.driverUnresponsive: {
|
||
ET.PERMANENT: Alert(
|
||
"立即退出",
|
||
"驾驶员无响应",
|
||
AlertStatus.critical, AlertSize.full,
|
||
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
|
||
},
|
||
|
||
EventName.manualRestart: {
|
||
ET.WARNING: Alert(
|
||
"接管控制",
|
||
"手动恢复驾驶",
|
||
AlertStatus.userPrompt, AlertSize.mid,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
|
||
},
|
||
|
||
EventName.resumeRequired: {
|
||
ET.WARNING: Alert(
|
||
"按恢复键退出停车状态",
|
||
"",
|
||
AlertStatus.userPrompt, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
|
||
},
|
||
|
||
EventName.belowSteerSpeed: {
|
||
ET.WARNING: below_steer_speed_alert,
|
||
},
|
||
|
||
EventName.preLaneChangeLeft: {
|
||
ET.WARNING: Alert(
|
||
"安全时向左转向开始变道",
|
||
"",
|
||
AlertStatus.normal, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
|
||
},
|
||
|
||
EventName.preLaneChangeRight: {
|
||
ET.WARNING: Alert(
|
||
"安全时向右转向开始变道",
|
||
"",
|
||
AlertStatus.normal, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
|
||
},
|
||
|
||
EventName.laneChangeBlocked: {
|
||
ET.WARNING: Alert(
|
||
"检测到盲区有车辆",
|
||
"",
|
||
AlertStatus.userPrompt, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
|
||
},
|
||
|
||
EventName.laneChange: {
|
||
ET.WARNING: Alert(
|
||
"正在变道",
|
||
"",
|
||
AlertStatus.normal, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
|
||
},
|
||
|
||
EventName.steerSaturated: {
|
||
ET.WARNING: Alert(
|
||
"接管控制",
|
||
"转向超出转向限制",
|
||
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("风扇故障", "可能是硬件问题"),
|
||
},
|
||
|
||
# Camera is not outputting frames
|
||
EventName.cameraMalfunction: {
|
||
ET.PERMANENT: camera_malfunction_alert,
|
||
ET.SOFT_DISABLE: soft_disable_alert("摄像头故障"),
|
||
ET.NO_ENTRY: NoEntryAlert("摄像头故障：重启设备"),
|
||
},
|
||
# Camera framerate too low
|
||
EventName.cameraFrameRate: {
|
||
ET.PERMANENT: NormalPermanentAlert("摄像头帧率过低", "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：重启设备"),
|
||
},
|
||
|
||
# Unused
|
||
|
||
EventName.locationdTemporaryError: {
|
||
ET.NO_ENTRY: NoEntryAlert("locationd 临时错误"),
|
||
ET.SOFT_DISABLE: soft_disable_alert("locationd 临时错误"),
|
||
},
|
||
|
||
EventName.locationdPermanentError: {
|
||
ET.NO_ENTRY: NoEntryAlert("locationd 永久错误"),
|
||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd 永久错误"),
|
||
ET.PERMANENT: NormalPermanentAlert("locationd 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: {
|
||
ET.NO_ENTRY: NoEntryAlert("paramsd 临时错误"),
|
||
ET.SOFT_DISABLE: soft_disable_alert("paramsd 临时错误"),
|
||
},
|
||
|
||
EventName.paramsdPermanentError: {
|
||
ET.NO_ENTRY: NoEntryAlert("paramsd 永久错误"),
|
||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd 永久错误"),
|
||
ET.PERMANENT: NormalPermanentAlert("paramsd 永久错误"),
|
||
},
|
||
|
||
# ********** events that affect controls state transitions **********
|
||
|
||
EventName.pcmEnable: {
|
||
ET.ENABLE: EngagementAlert(AudibleAlert.engage),
|
||
},
|
||
|
||
EventName.buttonEnable: {
|
||
ET.ENABLE: EngagementAlert(AudibleAlert.engage),
|
||
},
|
||
|
||
EventName.pcmDisable: {
|
||
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
|
||
},
|
||
|
||
EventName.buttonCancel: {
|
||
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
|
||
ET.NO_ENTRY: NoEntryAlert("取消按钮已按下"),
|
||
},
|
||
|
||
EventName.brakeHold: {
|
||
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
|
||
ET.NO_ENTRY: NoEntryAlert("刹车保持激活"),
|
||
},
|
||
|
||
EventName.parkBrake: {
|
||
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
|
||
ET.NO_ENTRY: NoEntryAlert("驻车制动已启用"),
|
||
},
|
||
|
||
EventName.pedalPressed: {
|
||
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
|
||
ET.NO_ENTRY: NoEntryAlert("踏板已按下",
|
||
visual_alert=VisualAlert.brakePressed),
|
||
},
|
||
|
||
EventName.preEnableStandstill: {
|
||
ET.PRE_ENABLE: Alert(
|
||
"松开刹车以激活",
|
||
"",
|
||
AlertStatus.normal, AlertSize.small,
|
||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
|
||
},
|
||
|
||
EventName.gasPressedOverride: {
|
||
ET.OVERRIDE_LONGITUDINAL: Alert(
|
||
"",
|
||
"",
|
||
AlertStatus.normal, AlertSize.none,
|
||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
|
||
},
|
||
|
||
EventName.steerOverride: {
|
||
ET.OVERRIDE_LATERAL: Alert(
|
||
"",
|
||
"",
|
||
AlertStatus.normal, AlertSize.none,
|
||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
|
||
},
|
||
|
||
EventName.wrongCarMode: {
|
||
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
|
||
ET.NO_ENTRY: wrong_car_mode_alert,
|
||
},
|
||
|
||
EventName.resumeBlocked: {
|
||
ET.NO_ENTRY: NoEntryAlert("按设置键以激活"),
|
||
},
|
||
|
||
EventName.wrongCruiseMode: {
|
||
ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
|
||
ET.NO_ENTRY: NoEntryAlert("自适应巡航已禁用"),
|
||
},
|
||
|
||
EventName.steerTempUnavailable: {
|
||
ET.SOFT_DISABLE: soft_disable_alert("转向暂时不可用"),
|
||
ET.NO_ENTRY: NoEntryAlert("转向暂时不可用"),
|
||
},
|
||
|
||
EventName.steerTimeLimit: {
|
||
ET.SOFT_DISABLE: soft_disable_alert("车辆转向时间限制"),
|
||
ET.NO_ENTRY: NoEntryAlert("车辆转向时间限制"),
|
||
},
|
||
|
||
EventName.outOfSpace: {
|
||
ET.PERMANENT: out_of_space_alert,
|
||
ET.NO_ENTRY: NoEntryAlert("存储空间不足"),
|
||
},
|
||
|
||
EventName.belowEngageSpeed: {
|
||
ET.NO_ENTRY: below_engage_speed_alert,
|
||
},
|
||
|
||
EventName.sensorDataInvalid: {
|
||
ET.PERMANENT: Alert(
|
||
"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("传感器数据无效"),
|
||
ET.SOFT_DISABLE: soft_disable_alert("传感器数据无效"),
|
||
},
|
||
|
||
EventName.noGps: {
|
||
ET.PERMANENT: Alert(
|
||
"GPS 信号差",
|
||
"确保设备有清晰的天空视野",
|
||
AlertStatus.normal, AlertSize.mid,
|
||
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
|
||
},
|
||
|
||
EventName.soundsUnavailable: {
|
||
ET.PERMANENT: NormalPermanentAlert("未找到扬声器", "重启设备"),
|
||
ET.NO_ENTRY: NoEntryAlert("未找到扬声器"),
|
||
},
|
||
|
||
EventName.tooDistracted: {
|
||
ET.NO_ENTRY: NoEntryAlert("分心程度过高"),
|
||
},
|
||
|
||
EventName.overheat: {
|
||
ET.PERMANENT: overheat_alert,
|
||
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("档位不在 D 档"),
|
||
ET.NO_ENTRY: NoEntryAlert("档位不在 D 档"),
|
||
},
|
||
|
||
# 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: {
|
||
ET.PERMANENT: calibration_invalid_alert,
|
||
ET.SOFT_DISABLE: soft_disable_alert("校准无效：重新安装设备并重新校准"),
|
||
ET.NO_ENTRY: NoEntryAlert("校准无效：重新安装设备并重新校准"),
|
||
},
|
||
|
||
EventName.calibrationIncomplete: {
|
||
ET.PERMANENT: calibration_incomplete_alert,
|
||
ET.SOFT_DISABLE: soft_disable_alert("校准未完成"),
|
||
ET.NO_ENTRY: NoEntryAlert("校准进行中"),
|
||
},
|
||
|
||
EventName.calibrationRecalibrating: {
|
||
ET.PERMANENT: calibration_incomplete_alert,
|
||
ET.SOFT_DISABLE: soft_disable_alert("检测到设备重新安装：重新校准中"),
|
||
ET.NO_ENTRY: NoEntryAlert("检测到重新安装：重新校准中"),
|
||
},
|
||
|
||
EventName.doorOpen: {
|
||
ET.SOFT_DISABLE: user_soft_disable_alert("车门未关"),
|
||
ET.NO_ENTRY: NoEntryAlert("车门未关"),
|
||
},
|
||
|
||
EventName.seatbeltNotLatched: {
|
||
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("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("电量低"),
|
||
ET.NO_ENTRY: NoEntryAlert("电量低"),
|
||
},
|
||
|
||
# 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("进程间通信问题"),
|
||
ET.NO_ENTRY: comm_issue_alert,
|
||
},
|
||
EventName.commIssueAvgFreq: {
|
||
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.controlsdLagging: {
|
||
ET.SOFT_DISABLE: soft_disable_alert("控制进程延迟"),
|
||
ET.NO_ENTRY: NoEntryAlert("控制进程延迟：重启设备"),
|
||
},
|
||
|
||
# Thrown when manager detects a service exited unexpectedly while driving
|
||
EventName.processNotRunning: {
|
||
ET.NO_ENTRY: process_not_running_alert,
|
||
ET.SOFT_DISABLE: soft_disable_alert("进程未运行"),
|
||
},
|
||
|
||
EventName.radarFault: {
|
||
ET.SOFT_DISABLE: soft_disable_alert("雷达错误：重启车辆"),
|
||
ET.NO_ENTRY: NoEntryAlert("雷达错误：重启车辆"),
|
||
},
|
||
|
||
# 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("驾驶模型延迟"),
|
||
ET.NO_ENTRY: NoEntryAlert("驾驶模型延迟"),
|
||
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 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("设备从支架上掉落"),
|
||
ET.NO_ENTRY: NoEntryAlert("设备从支架上掉落"),
|
||
},
|
||
|
||
EventName.lowMemory: {
|
||
ET.SOFT_DISABLE: soft_disable_alert("内存不足：重启设备"),
|
||
ET.PERMANENT: low_memory_alert,
|
||
ET.NO_ENTRY: NoEntryAlert("内存不足：重启设备"),
|
||
},
|
||
|
||
EventName.highCpuUsage: {
|
||
#ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"),
|
||
#ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
|
||
ET.NO_ENTRY: high_cpu_usage_alert,
|
||
},
|
||
|
||
EventName.accFaulted: {
|
||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("巡航故障：重启车辆"),
|
||
ET.PERMANENT: NormalPermanentAlert("巡航故障：重启车辆以启用"),
|
||
ET.NO_ENTRY: NoEntryAlert("巡航故障：重启车辆"),
|
||
},
|
||
|
||
EventName.controlsMismatch: {
|
||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("控制不匹配"),
|
||
ET.NO_ENTRY: NoEntryAlert("控制不匹配"),
|
||
},
|
||
|
||
EventName.roadCameraError: {
|
||
ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Road",
|
||
duration=1.,
|
||
creation_delay=30.),
|
||
},
|
||
|
||
EventName.wideRoadCameraError: {
|
||
ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Road Fisheye",
|
||
duration=1.,
|
||
creation_delay=30.),
|
||
},
|
||
|
||
EventName.driverCameraError: {
|
||
ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Driver",
|
||
duration=1.,
|
||
creation_delay=30.),
|
||
},
|
||
|
||
# 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 错误：重启设备"),
|
||
ET.PERMANENT: NormalPermanentAlert("USB 错误：重启设备", ""),
|
||
ET.NO_ENTRY: NoEntryAlert("USB 错误：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 错误"),
|
||
ET.PERMANENT: Alert(
|
||
"CAN 错误：检查连接",
|
||
"",
|
||
AlertStatus.normal, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
|
||
ET.NO_ENTRY: NoEntryAlert("CAN 错误：检查连接"),
|
||
},
|
||
|
||
EventName.canBusMissing: {
|
||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN 总线断开"),
|
||
ET.PERMANENT: Alert(
|
||
"CAN 总线断开：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 总线断开：检查连接"),
|
||
},
|
||
|
||
EventName.steerUnavailable: {
|
||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS 故障：重启车辆"),
|
||
ET.PERMANENT: NormalPermanentAlert("LKAS 故障：重启车辆以启用"),
|
||
ET.NO_ENTRY: NoEntryAlert("LKAS 故障：重启车辆"),
|
||
},
|
||
|
||
EventName.reverseGear: {
|
||
ET.PERMANENT: Alert(
|
||
"倒车\n档位",
|
||
"",
|
||
AlertStatus.normal, AlertSize.full,
|
||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
|
||
ET.USER_DISABLE: ImmediateDisableAlert("倒车档位"),
|
||
ET.NO_ENTRY: NoEntryAlert("倒车档位"),
|
||
},
|
||
|
||
# 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("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("线束继电器故障"),
|
||
ET.PERMANENT: NormalPermanentAlert("线束继电器故障", "检查硬件"),
|
||
ET.NO_ENTRY: NoEntryAlert("线束继电器故障"),
|
||
},
|
||
|
||
EventName.speedTooLow: {
|
||
ET.IMMEDIATE_DISABLE: Alert(
|
||
"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: {
|
||
ET.WARNING: Alert(
|
||
"速度过高",
|
||
"模型在此速度下不确定",
|
||
AlertStatus.userPrompt, AlertSize.mid,
|
||
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 4.),
|
||
ET.NO_ENTRY: NoEntryAlert("减速以启用"),
|
||
},
|
||
|
||
EventName.lowSpeedLockout: {
|
||
ET.PERMANENT: NormalPermanentAlert("巡航故障：重启车辆以启用"),
|
||
ET.NO_ENTRY: NoEntryAlert("巡航故障：重启车辆"),
|
||
},
|
||
|
||
EventName.lkasDisabled: {
|
||
ET.PERMANENT: NormalPermanentAlert("LKAS 已禁用：启用 LKAS 以激活"),
|
||
ET.NO_ENTRY: NoEntryAlert("LKAS 已禁用"),
|
||
},
|
||
|
||
EventName.vehicleSensorsInvalid: {
|
||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("车辆传感器无效"),
|
||
ET.PERMANENT: NormalPermanentAlert("车辆传感器校准中", "行驶以校准"),
|
||
ET.NO_ENTRY: NoEntryAlert("车辆传感器校准中"),
|
||
},
|
||
}
|
||
|
||
FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||
FrogPilotEventName.blockUser: {
|
||
ET.PERMANENT: Alert(
|
||
"请不要使用'开发'分支！",
|
||
"为了您的安全，强制进入'行车记录仪模式'",
|
||
AlertStatus.userPrompt, AlertSize.mid,
|
||
Priority.HIGHEST, VisualAlert.none, AudibleAlert.none, 1.),
|
||
},
|
||
|
||
FrogPilotEventName.customStartupAlert: {
|
||
ET.PERMANENT: custom_startup_alert,
|
||
},
|
||
|
||
FrogPilotEventName.forcingStop: {
|
||
ET.WARNING: forcing_stop_alert,
|
||
},
|
||
|
||
FrogPilotEventName.goatSteerSaturated: {
|
||
ET.WARNING: Alert(
|
||
"耶稣接管方向盘！！",
|
||
"转向超出转向限制",
|
||
AlertStatus.userPrompt, AlertSize.mid,
|
||
Priority.LOW, VisualAlert.steerRequired, FrogPilotAudibleAlert.goat, 2.),
|
||
},
|
||
|
||
FrogPilotEventName.greenLight: {
|
||
ET.PERMANENT: Alert(
|
||
"绿灯已亮",
|
||
"",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.small,
|
||
Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
|
||
},
|
||
|
||
FrogPilotEventName.holidayActive: {
|
||
ET.PERMANENT: holiday_alert,
|
||
},
|
||
|
||
FrogPilotEventName.laneChangeBlockedLoud: {
|
||
ET.WARNING: Alert(
|
||
"盲区检测到车辆",
|
||
"",
|
||
AlertStatus.userPrompt, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.warningSoft, .1),
|
||
},
|
||
|
||
FrogPilotEventName.leadDeparting: {
|
||
ET.PERMANENT: Alert(
|
||
"前车已离开",
|
||
"",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.small,
|
||
Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
|
||
},
|
||
|
||
FrogPilotEventName.noLaneAvailable: {
|
||
ET.WARNING: no_lane_available_alert,
|
||
},
|
||
|
||
FrogPilotEventName.openpilotCrashed: {
|
||
ET.IMMEDIATE_DISABLE: Alert(
|
||
"openpilot 已崩溃",
|
||
"请在 FrogPilot Discord 中发布'错误日志'！",
|
||
AlertStatus.critical, AlertSize.mid,
|
||
Priority.HIGHEST, VisualAlert.none, AudibleAlert.prompt, .1),
|
||
|
||
ET.NO_ENTRY: Alert(
|
||
"openpilot 已崩溃",
|
||
"请在 FrogPilot Discord 中发布'错误日志'！",
|
||
AlertStatus.critical, AlertSize.mid,
|
||
Priority.HIGHEST, VisualAlert.none, AudibleAlert.prompt, .1),
|
||
},
|
||
|
||
FrogPilotEventName.pedalInterceptorNoBrake: {
|
||
ET.WARNING: Alert(
|
||
"制动不可用",
|
||
"换到 L 档",
|
||
AlertStatus.userPrompt, AlertSize.mid,
|
||
Priority.HIGH, VisualAlert.wrongGear, AudibleAlert.promptRepeat, 4.),
|
||
},
|
||
|
||
FrogPilotEventName.speedLimitChanged: {
|
||
ET.PERMANENT: Alert(
|
||
"限速已更改",
|
||
"",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
|
||
},
|
||
|
||
FrogPilotEventName.thisIsFineSteerSaturated: {
|
||
ET.WARNING: Alert(
|
||
"这很好 ☕",
|
||
"转向超出转向限制",
|
||
AlertStatus.userPrompt, AlertSize.mid,
|
||
Priority.LOW, VisualAlert.steerRequired, FrogPilotAudibleAlert.thisIsFine, 2.),
|
||
},
|
||
|
||
FrogPilotEventName.torqueNNLoad: {
|
||
ET.PERMANENT: torque_nn_load_alert,
|
||
},
|
||
|
||
FrogPilotEventName.trafficModeActive: {
|
||
ET.WARNING: Alert(
|
||
"交通模式已启用",
|
||
"",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
|
||
},
|
||
|
||
FrogPilotEventName.trafficModeInactive: {
|
||
ET.WARNING: Alert(
|
||
"交通模式已禁用",
|
||
"",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
|
||
},
|
||
|
||
FrogPilotEventName.turningLeft: {
|
||
ET.WARNING: Alert(
|
||
"向左转",
|
||
"",
|
||
AlertStatus.normal, AlertSize.small,
|
||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
|
||
},
|
||
|
||
FrogPilotEventName.turningRight: {
|
||
ET.WARNING: Alert(
|
||
"向右转",
|
||
"",
|
||
AlertStatus.normal, AlertSize.small,
|
||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
|
||
},
|
||
|
||
# 随机事件
|
||
FrogPilotEventName.accel30: {
|
||
ET.WARNING: Alert(
|
||
"UwU 你开得有点快哦！",
|
||
"(⁄ ⁄•⁄ω⁄•⁄ ⁄)",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.mid,
|
||
Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.uwu, 4.),
|
||
},
|
||
|
||
FrogPilotEventName.accel35: {
|
||
ET.WARNING: Alert(
|
||
"我不会给你三块五的",
|
||
"你这个该死的尼斯湖水怪！",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.mid,
|
||
Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.nessie, 4.),
|
||
},
|
||
|
||
FrogPilotEventName.accel40: {
|
||
ET.WARNING: Alert(
|
||
"天啊！",
|
||
"🚗💨",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.mid,
|
||
Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.doc, 4.),
|
||
},
|
||
|
||
FrogPilotEventName.dejaVuCurve: {
|
||
ET.PERMANENT: Alert(
|
||
"♬♪ 似曾相识！ᕕ(⌐■_■)ᕗ ♪♬",
|
||
"🏎️",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.mid,
|
||
Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.dejaVu, 4.),
|
||
},
|
||
|
||
FrogPilotEventName.firefoxSteerSaturated: {
|
||
ET.WARNING: Alert(
|
||
"IE 已停止响应...",
|
||
"转向超出转向限制",
|
||
AlertStatus.userPrompt, AlertSize.mid,
|
||
Priority.LOW, VisualAlert.steerRequired, FrogPilotAudibleAlert.firefox, 4.),
|
||
},
|
||
|
||
FrogPilotEventName.hal9000: {
|
||
ET.WARNING: Alert(
|
||
"对不起，戴夫",
|
||
"恐怕我不能那样做...",
|
||
AlertStatus.normal, AlertSize.mid,
|
||
Priority.HIGH, VisualAlert.none, FrogPilotAudibleAlert.hal9000, 4.),
|
||
},
|
||
|
||
FrogPilotEventName.openpilotCrashedRandomEvent: {
|
||
ET.IMMEDIATE_DISABLE: Alert(
|
||
"openpilot 崩溃了 💩",
|
||
"请在 FrogPilot Discord 中发布'错误日志'！",
|
||
AlertStatus.normal, AlertSize.mid,
|
||
Priority.HIGHEST, VisualAlert.none, FrogPilotAudibleAlert.fart, 10.),
|
||
|
||
ET.NO_ENTRY: Alert(
|
||
"openpilot 崩溃了 💩",
|
||
"请在 FrogPilot Discord 中发布'错误日志'！",
|
||
AlertStatus.normal, AlertSize.mid,
|
||
Priority.HIGHEST, VisualAlert.none, FrogPilotAudibleAlert.fart, 10.),
|
||
},
|
||
|
||
FrogPilotEventName.toBeContinued: {
|
||
ET.PERMANENT: Alert(
|
||
"未完待续...",
|
||
"⬅️",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.mid,
|
||
Priority.MID, VisualAlert.none, FrogPilotAudibleAlert.continued, 7.),
|
||
},
|
||
|
||
FrogPilotEventName.vCruise69: {
|
||
ET.WARNING: Alert(
|
||
"哈哈 69",
|
||
"",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.noice, 2.),
|
||
},
|
||
|
||
FrogPilotEventName.yourFrogTriedToKillMe: {
|
||
ET.PERMANENT: Alert(
|
||
"你的青蛙试图杀死我...",
|
||
"👺",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.mid,
|
||
Priority.MID, VisualAlert.none, FrogPilotAudibleAlert.angry, 5.),
|
||
},
|
||
|
||
FrogPilotEventName.youveGotMail: {
|
||
ET.WARNING: Alert(
|
||
"您有新邮件！📧",
|
||
"",
|
||
FrogPilotAlertStatus.frogpilot, AlertSize.small,
|
||
Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.mail, 3.),
|
||
},
|
||
}
|
||
|
||
if __name__ == '__main__':
|
||
# print all alerts by type and priority
|
||
from cereal.services import SERVICE_LIST
|
||
from collections import defaultdict
|
||
|
||
event_names = {v: k for k, v in EventName.schema.enumerants.items()}
|
||
alerts_by_type: dict[str, dict[Priority, list[str]]] = defaultdict(lambda: defaultdict(list))
|
||
|
||
CP = car.CarParams.new_message()
|
||
CS = car.CarState.new_message()
|
||
sm = messaging.SubMaster(list(SERVICE_LIST.keys()))
|
||
|
||
for i, alerts in EVENTS.items():
|
||
for et, alert in alerts.items():
|
||
if callable(alert):
|
||
alert = alert(CP, CS, sm, False, 1)
|
||
alerts_by_type[et][alert.priority].append(event_names[i])
|
||
|
||
all_alerts: dict[str, list[tuple[Priority, list[str]]]] = {}
|
||
for et, priority_alerts in alerts_by_type.items():
|
||
all_alerts[et] = sorted(priority_alerts.items(), key=lambda x: x[0], reverse=True)
|
||
|
||
for status, evs in sorted(all_alerts.items(), key=lambda x: x[0]):
|
||
print(f"**** {status} ****")
|
||
for p, alert_list in evs:
|
||
print(f" {repr(p)}:")
|
||
print(" ", ', '.join(alert_list), "\n")
|