mouxangithub
b40c885c6a
将原有 TOYOTA_WILDLANDER 车型标识重命名为 TOYOTA_WILDLANDER_PHEV， 并更新相关指纹、平台名称和测试路由配置。同时增加该车型的 SRS 和 Hybrid ECU 固件版本信息。 此外，修改 dmonitoringd.py 中的监控逻辑，使在 always_on 模式下也能执行 DM.run_step 流程。 还更新了 launch_openpilot.sh 中的 API 和 ATHENA 服务地址。
236 lines
7.9 KiB
Python
236 lines
7.9 KiB
Python
import bisect
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from enum import IntEnum
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from abc import abstractmethod
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from collections.abc import Callable
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from cereal import log, car
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import cereal.messaging as messaging
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from openpilot.common.realtime import DT_CTRL
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AlertSize = log.SelfdriveState.AlertSize
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AlertStatus = log.SelfdriveState.AlertStatus
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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# Alert priorities
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class Priority(IntEnum):
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LOWEST = 0
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LOWER = 1
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LOW = 2
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MID = 3
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HIGH = 4
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HIGHEST = 5
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# Event types
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class ET:
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ENABLE = 'enable'
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PRE_ENABLE = 'preEnable'
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OVERRIDE_LATERAL = 'overrideLateral'
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OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
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NO_ENTRY = 'noEntry'
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WARNING = 'warning'
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USER_DISABLE = 'userDisable'
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SOFT_DISABLE = 'softDisable'
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IMMEDIATE_DISABLE = 'immediateDisable'
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PERMANENT = 'permanent'
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class Alert:
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def __init__(self,
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alert_text_1: str,
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alert_text_2: str,
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alert_status: log.SelfdriveState.AlertStatus,
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alert_size: log.SelfdriveState.AlertSize,
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priority: Priority,
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visual_alert: car.CarControl.HUDControl.VisualAlert,
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audible_alert: car.CarControl.HUDControl.AudibleAlert,
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duration: float,
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creation_delay: float = 0.):
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self.alert_text_1 = alert_text_1
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self.alert_text_2 = alert_text_2
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self.alert_status = alert_status
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self.alert_size = alert_size
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self.priority = priority
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self.visual_alert = visual_alert
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self.audible_alert = audible_alert
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self.duration = int(duration / DT_CTRL)
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self.creation_delay = creation_delay
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self.alert_type = ""
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self.event_type: str | None = None
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def __str__(self) -> str:
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return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
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def __gt__(self, alert2) -> bool:
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if not isinstance(alert2, Alert):
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return False
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return self.priority > alert2.priority
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class AlertBase(Alert):
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def __init__(self, alert_text_1: str, alert_text_2: str, alert_status: log.SelfdriveState.AlertStatus,
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alert_size: log.SelfdriveState.AlertSize, priority: Priority,
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visual_alert: car.CarControl.HUDControl.VisualAlert,
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audible_alert: car.CarControl.HUDControl.AudibleAlert, duration: float):
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super().__init__(alert_text_1, alert_text_2, alert_status, alert_size, priority, visual_alert, audible_alert, duration)
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AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
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# ********** alert callback functions **********
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def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
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text = "启用自适应巡航"
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if CP.brand == "honda":
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text = "启用主开关"
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return NoEntryAlert(text)
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class EventsBase:
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def __init__(self):
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self.events: list[int] = []
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self.static_events: list[int] = []
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self.event_counters = {}
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@property
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def names(self) -> list[int]:
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return self.events
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def __len__(self) -> int:
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return len(self.events)
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def add(self, event_name: int, static: bool = False) -> None:
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if static:
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bisect.insort(self.static_events, event_name)
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bisect.insort(self.events, event_name)
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def clear(self) -> None:
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self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
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self.events = self.static_events.copy()
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def contains(self, event_type: str) -> bool:
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return any(event_type in self.get_events_mapping().get(e, {}) for e in self.events)
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def create_alerts(self, event_types: list[str], callback_args=None):
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if callback_args is None:
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callback_args = []
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ret = []
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for e in self.events:
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types = self.get_events_mapping()[e].keys()
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for et in event_types:
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if et in types:
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alert = self.get_events_mapping()[e][et]
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if not isinstance(alert, Alert):
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alert = alert(*callback_args)
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if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
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alert.alert_type = f"{self.get_event_name(e)}/{et}"
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alert.event_type = et
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ret.append(alert)
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return ret
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def add_from_msg(self, events):
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for e in events:
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bisect.insort(self.events, e.name.raw)
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def to_msg(self):
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ret = []
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for event_name in self.events:
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event = self.get_event_msg_type().new_message()
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event.name = event_name
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for event_type in self.get_events_mapping().get(event_name, {}):
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setattr(event, event_type, True)
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ret.append(event)
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return ret
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def has(self, event_name: int) -> bool:
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return event_name in self.events
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def contains_in_list(self, events_list: list[int]) -> bool:
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return any(event_name in self.events for event_name in events_list)
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def remove(self, event_name: int, static: bool = False) -> None:
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if static and event_name in self.static_events:
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self.static_events.remove(event_name)
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if event_name in self.events:
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self.event_counters[event_name] = self.event_counters[event_name] + 1
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self.events.remove(event_name)
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@abstractmethod
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def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
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raise NotImplementedError
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@abstractmethod
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def get_event_name(self, event: int) -> str:
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raise NotImplementedError
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@abstractmethod
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def get_event_msg_type(self):
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raise NotImplementedError
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EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
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VisualAlert.none, AudibleAlert.none, 0)
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class NoEntryAlert(Alert):
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def __init__(self, alert_text_2: str,
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alert_text_1: str = "openpilot不可用",
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visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
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super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
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AlertSize.mid, Priority.LOW, visual_alert,
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AudibleAlert.refuse, 3.)
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class SoftDisableAlert(Alert):
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def __init__(self, alert_text_2: str):
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super().__init__("立即控制", alert_text_2,
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AlertStatus.userPrompt, AlertSize.full,
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Priority.MID, VisualAlert.steerRequired,
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AudibleAlert.warningSoft, 2.),
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# less harsh version of SoftDisable, where the condition is user-triggered
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class UserSoftDisableAlert(SoftDisableAlert):
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def __init__(self, alert_text_2: str):
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super().__init__(alert_text_2),
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self.alert_text_1 = "openpilot将停止工作"
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class ImmediateDisableAlert(Alert):
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def __init__(self, alert_text_2: str):
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super().__init__("立即掌控", alert_text_2,
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AlertStatus.critical, AlertSize.full,
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Priority.HIGHEST, VisualAlert.steerRequired,
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AudibleAlert.warningImmediate, 4.),
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class EngagementAlert(Alert):
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def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
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super().__init__("", "",
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AlertStatus.normal, AlertSize.none,
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Priority.MID, VisualAlert.none,
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audible_alert, .2),
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class NormalPermanentAlert(Alert):
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def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
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super().__init__(alert_text_1, alert_text_2,
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AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
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priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),
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class StartupAlert(Alert):
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def __init__(self, alert_text_1: str, alert_text_2: str = "驾驶时请双手握住方向盘并眼睛目视前方", alert_status=AlertStatus.normal):
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super().__init__(alert_text_1, alert_text_2,
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alert_status, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
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