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more verbose debug alerts #24126

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Apr 22, 2022
Merged

more verbose debug alerts #24126

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35 changes: 31 additions & 4 deletions selfdrive/controls/lib/events.py
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Original file line number Diff line number Diff line change
Expand Up @@ -251,6 +251,32 @@ def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)

# *** debug alerts ***

def out_of_space_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
full_perc = round(100. - sm['deviceState'].freeSpacePercent)
return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")


def overheat_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
cpu = max(sm['deviceState'].cpuTempC, default=0.)
gpu = max(sm['deviceState'].gpuTempC, default=0.)
temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
return NormalPermanentAlert("System Overheated", f"{temp} °C")


def low_memory_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")


def high_cpu_usage_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
x = max(sm['deviceState'].cpuUsagePercent, default=0.)
return NormalPermanentAlert("High CPU Usage", f"{x}% used")


def modeld_lagging_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NormalPermanentAlert("Driving model lagging", f"{sm['modelV2'].frameDropPerc}% frames dropped")


def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
text = "Cruise Mode Disabled"
Expand Down Expand Up @@ -578,7 +604,7 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof
},

EventName.outOfSpace: {
ET.PERMANENT: NormalPermanentAlert("Out of Storage"),
ET.PERMANENT: out_of_space_alert,
ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
},

Expand Down Expand Up @@ -609,7 +635,7 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof
},

EventName.overheat: {
ET.PERMANENT: NormalPermanentAlert("System Overheated"),
ET.PERMANENT: overheat_alert,
ET.SOFT_DISABLE: soft_disable_alert("System Overheated"),
ET.NO_ENTRY: NoEntryAlert("System Overheated"),
},
Expand Down Expand Up @@ -685,6 +711,7 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof
EventName.modeldLagging: {
ET.SOFT_DISABLE: soft_disable_alert("Driving model lagging"),
ET.NO_ENTRY: NoEntryAlert("Driving model lagging"),
ET.PERMANENT: modeld_lagging_alert,
},

# Besides predicting the path, lane lines and lead car data the model also
Expand All @@ -706,14 +733,14 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof

EventName.lowMemory: {
ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"),
ET.PERMANENT: NormalPermanentAlert("Low Memory", "Reboot your Device"),
ET.PERMANENT: low_memory_alert,
ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
},

EventName.highCpuUsage: {
#ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"),
#ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"),
ET.NO_ENTRY: high_cpu_usage_alert,
},

EventName.accFaulted: {
Expand Down
49 changes: 29 additions & 20 deletions selfdrive/debug/cycle_alerts.py
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Original file line number Diff line number Diff line change
@@ -1,15 +1,11 @@
#!/usr/bin/env python3
# flake8: noqa
# pylint: skip-file
# type: ignore

import time

from cereal import car, log
import cereal.messaging as messaging
from common.realtime import DT_CTRL
from selfdrive.car.honda.interface import CarInterface
from selfdrive.controls.lib.events import ET, EVENTS, Events
from selfdrive.controls.lib.events import ET, Events
from selfdrive.controls.lib.alertmanager import AlertManager

EventName = car.CarEvent.EventName
Expand All @@ -33,41 +29,54 @@ def cycle_alerts(duration=200, is_metric=False):
(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),
]

CP = CarInterface.get_params("HONDA CIVIC 2016")
sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])

sm['deviceState'].freeSpacePercent = 55
sm['deviceState'].memoryUsagePercent = 55
sm['deviceState'].cpuTempC = [1, 2, 100]
sm['deviceState'].gpuTempC = [211, 2, 100]
sm['deviceState'].cpuUsagePercent = [23, 54]
sm['modelV2'].frameDropPerc = 20

pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])

events = Events()
AM = AlertManager()

frame = 0
while True:
current_alert_types = [ET.PERMANENT, ET.USER_DISABLE, ET.IMMEDIATE_DISABLE,
ET.SOFT_DISABLE, ET.PRE_ENABLE, ET.NO_ENTRY,
ET.ENABLE, ET.WARNING]

for alert, et in alerts:
events.clear()
events.add(alert)

a = events.create_alerts([et, ], [CP, sm, is_metric, 0])
AM.add_many(frame, a)
AM.process_alerts(frame)
print(AM.alert)
alert = AM.process_alerts(frame, [])
print(alert)
for _ in range(duration):
dat = messaging.new_message()
dat.init('controlsState')
dat.controlsState.enabled = True

dat.controlsState.alertText1 = AM.alert_text_1
dat.controlsState.alertText2 = AM.alert_text_2
dat.controlsState.alertSize = AM.alert_size
dat.controlsState.alertStatus = AM.alert_status
dat.controlsState.alertBlinkingRate = AM.alert_rate
dat.controlsState.alertType = AM.alert_type
dat.controlsState.alertSound = AM.audible_alert
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()
Expand Down