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optimize alertmanager (#23433)

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old-commit-hash: 09a835916b0c10175c5658a92cf5ca23a337cb19
This commit is contained in:
Dean Lee
2022-01-07 14:15:32 +08:00
committed by GitHub
parent 557882ddf3
commit 296925cd6a
3 changed files with 20 additions and 43 deletions
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selfdrive/controls/controlsd.py
+12 -9
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@@ -619,8 +619,9 @@ class Controls:
clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric, self.soft_disable_timer])
self.AM.add_many(self.sm.frame, alerts)
self.AM.process_alerts(self.sm.frame, clear_event)
hudControl.visualAlert = self.AM.visual_alert
current_alert = self.AM.process_alerts(self.sm.frame, clear_event)
if current_alert:
hudControl.visualAlert = current_alert.visual_alert
if not self.read_only and self.initialized:
# send car controls over can
@@ -641,13 +642,15 @@ class Controls:
dat = messaging.new_message('controlsState')
dat.valid = CS.canValid
controlsState = dat.controlsState
controlsState.alertText1 = self.AM.alert_text_1
controlsState.alertText2 = self.AM.alert_text_2
controlsState.alertSize = self.AM.alert_size
controlsState.alertStatus = self.AM.alert_status
controlsState.alertBlinkingRate = self.AM.alert_rate
controlsState.alertType = self.AM.alert_type
controlsState.alertSound = self.AM.audible_alert
if current_alert:
controlsState.alertText1 = current_alert.alert_text_1
controlsState.alertText2 = current_alert.alert_text_2
controlsState.alertSize = current_alert.alert_size
controlsState.alertStatus = current_alert.alert_status
controlsState.alertBlinkingRate = current_alert.alert_rate
controlsState.alertType = current_alert.alert_type
controlsState.alertSound = current_alert.audible_alert
controlsState.canMonoTimes = list(CS.canMonoTimes)
controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']