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controlsd: split out state/alerts into selfdriveState (#33421)

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* setup selfdriveState

* little more

* update refs

* migration

* all too slow
old-commit-hash: 87051803abc2a35f0260eec8976c487b877c694b
This commit is contained in:
Adeeb Shihadeh
2024-08-31 18:48:17 -07:00
committed by GitHub
parent 60549c9557
commit 1b2bc44227
25 changed files with 187 additions and 130 deletions
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selfdrive/debug/cycle_alerts.py
+10 -10
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@@ -57,7 +57,7 @@ def cycle_alerts(duration=200, is_metric=False):
'driverMonitoringState', 'longitudinalPlan', 'livePose',
'managerState'] + cameras)
pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
pm = messaging.PubMaster(['selfdriveState', 'pandaStates', 'deviceState'])
events = Events()
AM = AlertManager()
@@ -100,17 +100,17 @@ def cycle_alerts(duration=200, is_metric=False):
print(alert)
for _ in range(duration):
dat = messaging.new_message()
dat.init('controlsState')
dat.controlsState.enabled = False
dat.init('selfdriveState')
dat.selfdriveState.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.alertType = alert.alert_type
dat.controlsState.alertSound = alert.audible_alert
pm.send('controlsState', dat)
dat.selfdriveState.alertText1 = alert.alert_text_1
dat.selfdriveState.alertText2 = alert.alert_text_2
dat.selfdriveState.alertSize = alert.alert_size
dat.selfdriveState.alertStatus = alert.alert_status
dat.selfdriveState.alertType = alert.alert_type
dat.selfdriveState.alertSound = alert.audible_alert
pm.send('selfdriveState', dat)
dat = messaging.new_message()
dat.init('deviceState')