openpilot v0.8.12 release

selfdrive/debug/cpu_usage_stat.py

@@ -66,7 +66,7 @@ if __name__ == "__main__":
   for p in psutil.process_iter():
     if p == psutil.Process():
       continue
-    matched = any([l for l in p.cmdline() if any([pn for pn in monitored_proc_names if re.match(r'.*{}.*'.format(pn), l, re.M | re.I)])])
+    matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(r'.*{}.*'.format(pn), l, re.M | re.I)))
     if matched:
       k = ' '.join(p.cmdline())
       print('Add monitored proc:', k)
@@ -119,5 +119,5 @@ if __name__ == "__main__":
       for x in l:
         print(x[2])
       print('avg sum: {0:.2%} over {1} samples {2} seconds\n'.format(
-        sum([stat['avg']['total'] for k, stat in stats.items()]), i, i * SLEEP_INTERVAL
+        sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL
       ))

selfdrive/debug/cycle_alerts.py

@@ -7,18 +7,31 @@ 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.alertmanager import AlertManager
 
 EventName = car.CarEvent.EventName
 
-def cycle_alerts(duration=2000, is_metric=False):
-  alerts = list(EVENTS.keys())
-  print(alerts)
+def cycle_alerts(duration=200, is_metric=False):
+  # all alerts
+  #alerts = list(EVENTS.keys())
 
-  alerts = [EventName.preDriverDistracted, EventName.promptDriverDistracted, EventName.driverDistracted]
-  #alerts = [EventName.preLaneChangeLeft, EventName.preLaneChangeRight]
+  # this plays each type of audible alert
+  alerts = [
+    (EventName.buttonEnable, ET.ENABLE),
+    (EventName.buttonCancel, ET.USER_DISABLE),
+    (EventName.wrongGear, ET.NO_ENTRY),
+
+    (EventName.vehicleModelInvalid, ET.SOFT_DISABLE),
+    (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
+
+    # DM sequence
+    (EventName.preDriverDistracted, ET.WARNING),
+    (EventName.promptDriverDistracted, ET.WARNING),
+    (EventName.driverDistracted, ET.WARNING),
+  ]
 
   CP = CarInterface.get_params("HONDA CIVIC 2016")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
@@ -30,43 +43,45 @@ def cycle_alerts(duration=2000, is_metric=False):
   AM = AlertManager()
 
   frame = 0
-  idx, last_alert_millis = 0, 0
-  while 1:
-    if frame % duration == 0:
-      idx = (idx + 1) % len(alerts)
-      events.clear()
-      events.add(alerts[idx])
-
-
+  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]
-    a = events.create_alerts(current_alert_types, [CP, sm, is_metric])
-    AM.add_many(frame, a)
-    AM.process_alerts(frame)
 
-    dat = messaging.new_message()
-    dat.init('controlsState')
-    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
-    pm.send('controlsState', dat)
+    for alert, et in alerts:
+      events.clear()
+      events.add(alert)
 
-    dat = messaging.new_message()
-    dat.init('deviceState')
-    dat.deviceState.started = True
-    pm.send('deviceState', dat)
+      a = events.create_alerts([et, ], [CP, sm, is_metric, 0])
+      AM.add_many(frame, a)
+      AM.process_alerts(frame)
+      print(AM.alert)
+      for _ in range(duration):
+        dat = messaging.new_message()
+        dat.init('controlsState')
+        dat.controlsState.enabled = True
 
-    dat = messaging.new_message('pandaStates', 1)
-    dat.pandaStates[0].ignitionLine = True
-    dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
-    pm.send('pandaStates', dat)
+        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
+        pm.send('controlsState', dat)
 
-    time.sleep(0.01)
+        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()