dragonpilot/selfdrive/controls/lib/alerts.py

# This Python file uses the following encoding: utf-8
# -*- coding: utf-8 -*-
from cereal import car, log

# Priority
class Priority:
  LOWEST = 0
  LOW_LOWEST = 1
  LOW = 2
  MID = 3
  HIGH = 4
  HIGHEST = 5

AlertSize = log.ControlsState.AlertSize
AlertStatus = log.ControlsState.AlertStatus
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
VisualAlert = car.CarControl.HUDControl.VisualAlert

class Alert():
  def __init__(self,
               alert_type,
               alert_text_1,
               alert_text_2,
               alert_status,
               alert_size,
               alert_priority,
               visual_alert,
               audible_alert,
               duration_sound,
               duration_hud_alert,
               duration_text,
               alert_rate=0.):

    self.alert_type = alert_type
    self.alert_text_1 = alert_text_1
    self.alert_text_2 = alert_text_2
    self.alert_status = alert_status
    self.alert_size = alert_size
    self.alert_priority = alert_priority
    self.visual_alert = visual_alert
    self.audible_alert = audible_alert

    self.duration_sound = duration_sound
    self.duration_hud_alert = duration_hud_alert
    self.duration_text = duration_text

    self.start_time = 0.
    self.alert_rate = alert_rate

    # typecheck that enums are valid on startup
    tst = car.CarControl.new_message()
    tst.hudControl.visualAlert = self.visual_alert

  def __str__(self):
    return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_priority) + "  " + str(
      self.visual_alert) + " " + str(self.audible_alert)

  def __gt__(self, alert2):
    return self.alert_priority > alert2.alert_priority


ALERTS = [
  # Miscellaneous alerts
  Alert(
      "enable",
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.MID, VisualAlert.none, AudibleAlert.chimeEngage, .2, 0., 0.),

  Alert(
      "disable",
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.MID, VisualAlert.none, AudibleAlert.chimeDisengage, .2, 0., 0.),

  Alert(
      "fcw",
      "剎車!",
      "有碰撞的風險",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),

  Alert(
      "fcwStock",
      "馬上剎車！",
      "有碰撞風險",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),  # no EON chime for stock FCW

  Alert(
      "steerSaturated",
      "接管控制",
      "彎道超過方向盤轉向限制",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),

  Alert(
      "steerTempUnavailable",
      "接管控制",
      "轉向控制暫時失效",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),

  Alert(
      "steerTempUnavailableMute",
      "接管控制",
      "轉向控制暫時失效",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),

  Alert(
      "preDriverDistracted",
      "注意路況：駕駛分心",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "promptDriverDistracted",
      "注意路況",
      "駕駛分心",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

  Alert(
      "driverDistracted",
      "立即解除",
      "駕駛分心",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "preDriverUnresponsive",
      "請觸碰方向盤：無駕駛監控",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "promptDriverUnresponsive",
      "觸碰方向盤",
      "駕駛沒有反應",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

  Alert(
      "driverUnresponsive",
      "立即解除",
      "駕駛沒有反應",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "driverMonitorOff",
      "駕駛監控暫時停用",
      "監控準確率：低",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),

  Alert(
      "driverMonitorOn",
      "駕駛監控已啟用",
      "監控準確率：高",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),

  Alert(
      "geofence",
      "DISENGAGEMENT REQUIRED",
      "不在地理圍欄區域之內",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "startup",
      "隨時準備好接管",
      "請您將手放在方向盤上並持續注意路況",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "startupNoControl",
      "行車記錄模式",
      "請您將手放在方向盤上並持續注意路況",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "startupNoCar",
      "行車記錄模式 (尚未支援車種)",
      "請您將手放在方向盤上並持續注意路況",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "ethicalDilemma",
      "即刻接管控制",
      "Ethical Dilemma Detected",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 3.),

  Alert(
      "steerTempUnavailableNoEntry",
      "無法使用 dragonpilot",
      "轉向控制暫時失效",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "manualRestart",
      "接管控制",
      "請自行恢復駕駛",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "resumeRequired",
      "已停止",
      "請按 RES 繼續",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "belowSteerSpeed",
      "接管控制",
      "轉向控制暫時失效，車速低於 ",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3),

  Alert(
      "debugAlert",
      "DEBUG ALERT",
      "",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
  Alert(
      "preLaneChangeLeft",
      "請往左打方向盤切換車道",
      "請注意其它車輛",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "preLaneChangeRight",
      "請往右打方向盤切換車道",
      "請注意其它車輛",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "laneChange",
      "切換車道中",
      "請注意其它車輛",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),

  Alert(
      "posenetInvalid",
      "接管控制",
      "視覺模型輸出不明確",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),

  # Non-entry only alerts
  Alert(
      "wrongCarModeNoEntry",
      "無法使用 dragonpilot",
      "主開關關閉",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "dataNeededNoEntry",
      "無法使用 dragonpilot",
      "需要更多的數據來協助校準，請將行車記錄上傳後再試",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "outOfSpaceNoEntry",
      "無法使用 dragonpilot",
      "儲存空間不足",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "pedalPressedNoEntry",
      "無法使用 dragonpilot",
      "Pedal Pressed During Attempt",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, "brakePressed", AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "speedTooLowNoEntry",
      "無法使用 dragonpilot",
      "車速過慢",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "brakeHoldNoEntry",
      "無法使用 dragonpilot",
      "駐車煞車已啟用",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "parkBrakeNoEntry",
      "無法使用 dragonpilot",
      "電子駐車已啟動",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "lowSpeedLockoutNoEntry",
      "無法使用 dragonpilot",
      "巡航系統錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "lowBatteryNoEntry",
      "無法使用 dragonpilot",
      "電池電量過低",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "sensorDataInvalidNoEntry",
      "無法使用 dragonpilot",
      "沒有收到任何來自 EON 傳感器的資料",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "soundsUnavailableNoEntry",
      "無法使用 dragonpilot",
      "找不到音效裝置",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "tooDistractedNoEntry",
      "無法使用 dragonpilot",
      "駕駛分心次數過高",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  # Cancellation alerts causing soft disabling
  Alert(
      "overheat",
      "即刻接管控制",
      "系統過熱",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "wrongGear",
      "即刻接管控制",
      "檔位不在 D 檔",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "calibrationInvalid",
      "即刻接管控制",
      "校準無效：請將 EON 放於新的位置並重新校準",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "calibrationIncomplete",
      "即刻接管控制",
      "正在校準相機中",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "doorOpen",
      "即刻接管控制",
      "車門開啟",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "seatbeltNotLatched",
      "即刻接管控制",
      "安全帶未繫",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "espDisabled",
      "即刻接管控制",
      "ESP 關閉",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "lowBattery",
      "即刻接管控制",
      "電池電量過低",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "commIssue",
      "即刻接管控制",
      "雷達訊號錯誤：請重新發動車子",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarCommIssue",
      "即刻接管控制",
      "雷達通訊出現問題",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarCanError",
      "即刻接管控制",
      "雷達訊號錯誤：請重新發動車子",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarFault",
      "即刻接管控制",
      "AI 模型錯誤：請檢查網路連線",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),


  Alert(
      "lowMemory",
      "即刻接管控制",
      "記憶體不足：請重啟您的 EON",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  # Cancellation alerts causing immediate disabling
  Alert(
      "controlsFailed",
      "即刻接管控制",
      "控制發生錯誤",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "controlsMismatch",
      "即刻接管控制",
      "控制不匹配",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "canError",
      "即刻接管控制",
      "CAN 訊號錯誤：請檢查接線",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "steerUnavailable",
      "即刻接管控制",
      "LKAS 錯誤：請重新發動車子",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "brakeUnavailable",
      "即刻接管控制",
      "巡航系統錯誤：請重新發動車子",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "gasUnavailable",
      "即刻接管控制",
      "油門錯誤：請重新發動車子",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "reverseGear",
      "即刻接管控制",
      "切換至倒車檔",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "cruiseDisabled",
      "即刻接管控制",
      "巡航系統關閉",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "plannerError",
      "即刻接管控制",
      "Planner Solution 錯誤",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  # not loud cancellations (user is in control)
  Alert(
      "noTarget",
      "dragonpilot 已取消",
      "沒有偵測到前車",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "speedTooLow",
      "dragonpilot 已取消",
      "車速過慢",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  # Cancellation alerts causing non-entry
  Alert(
      "overheatNoEntry",
      "無法使用 dragonpilot",
      "系統過熱",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "wrongGearNoEntry",
      "無法使用 dragonpilot",
      "車子不在 D 檔",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "calibrationInvalidNoEntry",
      "無法使用 dragonpilot",
      "校準無效：請將 EON 放於新的位置並重新校準",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "calibrationIncompleteNoEntry",
      "無法使用 dragonpilot",
      "正在校準相機中",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "doorOpenNoEntry",
      "無法使用 dragonpilot",
      "車門未關",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "seatbeltNotLatchedNoEntry",
      "無法使用 dragonpilot",
      "安全帶未繫",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "espDisabledNoEntry",
      "無法使用 dragonpilot",
      "ESP 關閉",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "geofenceNoEntry",
      "無法使用 dragonpilot",
      "不在地理圍欄區域之內",
      AlertStatus.normal, AlertSize.mid,
      Priority.MID, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "radarCanErrorNoEntry",
      "無法使用 dragonpilot",
      "雷達訊號錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "radarFaultNoEntry",
      "無法使用 dragonpilot",
      "雷達訊號錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "posenetInvalidNoEntry",
      "無法使用 dragonpilot",
      "視覺模型輸出不明確",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "controlsFailedNoEntry",
      "無法使用 dragonpilot",
      "控制發生錯誤",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "canErrorNoEntry",
      "無法使用 dragonpilot",
      "CAN 訊號錯誤：請檢查接線",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "steerUnavailableNoEntry",
      "無法使用 dragonpilot",
      "LKAS 錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "brakeUnavailableNoEntry",
      "無法使用 dragonpilot",
      "巡航系統錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "gasUnavailableNoEntry",
      "無法使用 dragonpilot",
      "油門錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "reverseGearNoEntry",
      "無法使用 dragonpilot",
      "切換至倒車檔",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "cruiseDisabledNoEntry",
      "無法使用 dragonpilot",
      "巡航系統關閉",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "noTargetNoEntry",
      "無法使用 dragonpilot",
      "沒有偵測到前車",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "plannerErrorNoEntry",
      "無法使用 dragonpilot",
      "Planner Solution 錯誤",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "commIssueNoEntry",
      "無法使用 dragonpilot",
      "行程出現通訊問題",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "radarCommIssueNoEntry",
      "無法使用 dragonpilot",
      "雷達通訊出現問題",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "internetConnectivityNeededNoEntry",
      "無法使用 dragonpilot",
      "請連接網路",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "lowMemoryNoEntry",
      "無法使用 dragonpilot",
      "記憶體不足：請重啟您的 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  # permanent alerts
  Alert(
      "steerUnavailablePermanent",
      "LKAS 錯誤：請重新發動車子",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "brakeUnavailablePermanent",
      "巡航系統錯誤：請重新發動車子",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "lowSpeedLockoutPermanent",
      "巡航系統錯誤：請重新發動車子",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "calibrationIncompletePermanent",
      "正在校準相機中：",
      "車速請高於 ",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "invalidGiraffeToyotaPermanent",
      "未支援的 Giraffe 設置",
      "請查閱 comma.ai/tg",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "internetConnectivityNeededPermanent",
      "請連接網路",
      "需檢查更新後才能啟用",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "communityFeatureDisallowedPermanent",
      "偵測到社群開發功能",
      "請至開發人員設定裡啟用社群開發功能",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),  # LOW priority to overcome Cruise Error

  Alert(
      "sensorDataInvalidPermanent",
      "沒有收到任何來自 EON 傳感器的資料",
      "請重啟您的 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "soundsUnavailablePermanent",
      "找不到音效裝置",
      "請重啟您的 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "lowMemoryPermanent",
      "記憶體嚴重不足",
      "請重啟您的 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "carUnrecognizedPermanent",
      "行車記錄模式",
      "無法辨識您的車款",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "vehicleModelInvalid",
      "車子參數識別失敗",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),

  # offroad alerts
  Alert(
      "ldwPermanent",
      "接管控制",
      "偵測到已偏離車道",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
  # dragonpilot
  Alert(
    "manualSteeringRequired",
    "請接管方向盤：車道維持關閉",
    "",
    AlertStatus.normal, AlertSize.small,
    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),

  Alert(
    "manualSteeringRequiredBlinkersOn",
    "請接管方向盤：方向燈開啟",
    "",
    AlertStatus.normal, AlertSize.small,
    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
  Alert(
    "leadCarMoving",
    "前車移動中，請開始加速",
    "",
    AlertStatus.userPrompt, AlertSize.small,
    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
  Alert(
    "leadCarDetected",
    "偵測到前車，等待中",
    "",
    AlertStatus.normal, AlertSize.small,
    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
  Alert(
    "preAutoLaneChangeLeft",
    "將在三秒後自動切至左車道",
    "請注意其它車輛",
    AlertStatus.normal, AlertSize.mid,
    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),

  Alert(
    "preAutoLaneChangeRight",
    "將在三秒後自動切至右車道",
    "請注意其它車輛",
    AlertStatus.normal, AlertSize.mid,
    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),

  Alert(
    "autoLaneChange",
    "切換車道中",
    "請注意其它車輛",
    AlertStatus.normal, AlertSize.mid,
    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
]