From 8b53f9158d09a2a12f6eb04bd793e18f425257cd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Apr 2026 14:29:32 -0700 Subject: [PATCH] Rename DM alerts to numbered stages (#37783) * Rename DM alerts to numbered stages * Handle renamed DM events in replay migration * Remove replay migration test * Skip unknown replay event names --- cereal/log.capnp | 12 ++--- selfdrive/debug/cycle_alerts.py | 6 +-- selfdrive/monitoring/helpers.py | 6 +-- selfdrive/monitoring/test_monitoring.py | 53 +++++++++++----------- selfdrive/selfdrived/events.py | 16 +++---- selfdrive/test/process_replay/migration.py | 23 ++++++++-- 6 files changed, 64 insertions(+), 52 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 7e47ab171..565026069 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -68,12 +68,12 @@ struct OnroadEvent @0xc4fa6047f024e718 { longitudinalManeuver @30; steerTempUnavailableSilent @31; resumeRequired @32; - preDriverDistracted @33; - promptDriverDistracted @34; - driverDistracted @35; - preDriverUnresponsive @36; - promptDriverUnresponsive @37; - driverUnresponsive @38; + driverDistracted1 @33; + driverDistracted2 @34; + driverDistracted3 @35; + driverUnresponsive1 @36; + driverUnresponsive2 @37; + driverUnresponsive3 @38; belowSteerSpeed @39; lowBattery @40; accFaulted @41; diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 00fa33ac6..4b1def4fc 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -30,9 +30,9 @@ def cycle_alerts(duration=200, is_metric=False): (EventName.accFaulted, ET.IMMEDIATE_DISABLE), # DM sequence - (EventName.preDriverDistracted, ET.WARNING), - (EventName.promptDriverDistracted, ET.WARNING), - (EventName.driverDistracted, ET.WARNING), + (EventName.driverDistracted1, ET.WARNING), + (EventName.driverDistracted2, ET.WARNING), + (EventName.driverDistracted3, ET.WARNING), ] # debug alerts diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index f195c2ff8..a9d8f5b11 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -377,16 +377,16 @@ class DriverMonitoring: alert = None if self.awareness <= 0.: # terminal red alert: disengagement required - alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive + alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3 self.terminal_time += 1 if awareness_prev > 0.: self.terminal_alert_cnt += 1 elif self.awareness <= self.threshold_prompt: # prompt orange alert - alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive + alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2 elif self.awareness <= self.threshold_pre: # pre green alert - alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive + alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1 if alert is not None: self.current_events.add(alert) diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index 50a381502..d391d3f75 100644 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -75,11 +75,11 @@ class TestMonitoring: assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \ ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ - EventName.preDriverDistracted + EventName.driverDistracted1 assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \ - ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted + ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2 assert events[int((d_status.settings._DISTRACTED_TIME + \ - ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted + ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3 assert isinstance(d_status.awareness, float) # engaged, no face detected the whole time, no action @@ -88,11 +88,11 @@ class TestMonitoring: assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \ ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ - EventName.preDriverUnresponsive + EventName.driverUnresponsive1 assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \ - ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2 assert events[int((d_status.settings._AWARENESS_TIME + \ - ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive + ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3 # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel # - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention @@ -105,10 +105,10 @@ class TestMonitoring: [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON)) events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false) assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 - assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2 assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0 - assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted - assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2 + assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2 assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0 # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \ @@ -128,9 +128,9 @@ class TestMonitoring: op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \ = [False] * int(0.5/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) - assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted - assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted - assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted + assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2 + assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3 + assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3 assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0 # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears @@ -144,13 +144,13 @@ class TestMonitoring: interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false) assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 - assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2 assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0 if _visible_time == 0.5: - assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2 + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1 elif _visible_time == 10: - assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2 assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0 # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages @@ -165,10 +165,10 @@ class TestMonitoring: op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 - assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2 + assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3 + assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3 + assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3 assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0 # disengaged, always distracted driver @@ -186,8 +186,8 @@ class TestMonitoring: events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector) assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0 _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL - assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted - assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1 + assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2 # engaged, distracted while moving, then car stops after reaching orange # - should reset timer to pre green at standstill @@ -197,7 +197,7 @@ class TestMonitoring: standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON) events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector) # just before and briefly after stopping: orange alert; goes away quickly after stopped - assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2 assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0 # engaged, model is somehow uncertain and driver is distracted @@ -206,10 +206,9 @@ class TestMonitoring: ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON) interaction_vector = always_false[:] events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false) - assert EventName.preDriverUnresponsive in \ + assert EventName.driverUnresponsive1 in \ events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names - assert EventName.promptDriverUnresponsive in \ + assert EventName.driverUnresponsive2 in \ events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names - assert EventName.driverUnresponsive in \ + assert EventName.driverUnresponsive3 in \ events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names - diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 55af93c42..99e25571b 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -512,7 +512,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8), }, - EventName.preDriverDistracted: { + EventName.driverDistracted1: { ET.PERMANENT: Alert( "Pay Attention", "", @@ -520,7 +520,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), }, - EventName.promptDriverDistracted: { + EventName.driverDistracted2: { ET.PERMANENT: Alert( "Pay Attention", "Driver Distracted", @@ -528,7 +528,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), }, - EventName.driverDistracted: { + EventName.driverDistracted3: { ET.PERMANENT: Alert( "DISENGAGE IMMEDIATELY", "Driver Distracted", @@ -536,7 +536,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1), }, - EventName.preDriverUnresponsive: { + EventName.driverUnresponsive1: { ET.PERMANENT: Alert( "Touch Steering Wheel: No Face Detected", "", @@ -544,7 +544,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1), }, - EventName.promptDriverUnresponsive: { + EventName.driverUnresponsive2: { ET.PERMANENT: Alert( "Touch Steering Wheel", "Driver Unresponsive", @@ -552,7 +552,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), }, - EventName.driverUnresponsive: { + EventName.driverUnresponsive3: { ET.PERMANENT: Alert( "DISENGAGE IMMEDIATELY", "Driver Unresponsive", @@ -1032,14 +1032,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { if HARDWARE.get_device_type() == 'mici': EVENTS.update({ - EventName.preDriverDistracted: { + EventName.driverDistracted1: { ET.PERMANENT: Alert( "Pay Attention", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, 2), }, - EventName.promptDriverDistracted: { + EventName.driverDistracted2: { ET.PERMANENT: Alert( "Pay Attention", "Driver Distracted", diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 87988edbc..11eb24198 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -98,6 +98,17 @@ def migration(inputs: list[str], product: str|None=None): return decorator +def migrate_onroad_event(event: capnp.lib.capnp._DynamicStructReader): + event_dict = event.to_dict() + try: + return log.OnroadEvent(**event_dict) + except capnp.lib.capnp.KjException as e: + # Ignore legacy events the current schema no longer defines. + if "enum has no such enumerant" in str(e): + return None + raise + + @migration(inputs=["longitudinalPlan", "carParams"]) def migrate_longitudinalPlan(msgs): ops = [] @@ -456,12 +467,13 @@ def migrate_onroadEvents(msgs): for event in msg.onroadEventsDEPRECATED: try: if not str(event.name).endswith('DEPRECATED'): - # dict converts name enum into string representation - onroadEvents.append(log.OnroadEvent(**event.to_dict())) + migrated_event = migrate_onroad_event(event) + if migrated_event is not None: + onroadEvents.append(migrated_event) except RuntimeError: # Member was null traceback.print_exc() - new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED)) + new_msg = messaging.new_message('onroadEvents', len(onroadEvents)) new_msg.valid = msg.valid new_msg.logMonoTime = msg.logMonoTime new_msg.onroadEvents = onroadEvents @@ -479,8 +491,9 @@ def migrate_driverMonitoringState(msgs): for event in msg.driverMonitoringState.eventsDEPRECATED: try: if not str(event.name).endswith('DEPRECATED'): - # dict converts name enum into string representation - events.append(log.OnroadEvent(**event.to_dict())) + migrated_event = migrate_onroad_event(event) + if migrated_event is not None: + events.append(migrated_event) except RuntimeError: # Member was null traceback.print_exc()