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",
      "刹车!",
      "有碰撞的风险",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),

  Alert(
      "fcwStock",
      "BRAKE!",
      "Risk of Collision",
      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",
      "弯道超过方向盘转向限制",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),

  Alert(
      "steerTempUnavailable",
      "接管控制",
      "转向控制暂时失效",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),

  Alert(
      "steerTempUnavailableMute",
      "接管控制",
      "转向控制暂时失效",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),

  Alert(
      "preDriverDistracted",
      "注意路况：驾驶出现分心",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "promptDriverDistracted",
      "注意路况",
      "驾驶出现分心",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

  Alert(
      "driverDistracted",
      "立即解除",
      "驾驶出现分心",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "preDriverUnresponsive",
      "触碰方向盘：无驾驶监控",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "promptDriverUnresponsive",
      "触碰方向盘",
      "驾驶没有反应",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

  Alert(
      "driverUnresponsive",
      "立即解除",
      "驾驶没有反应",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "driverMonitorOff",
      "驾驶监控暂时停用",
      "监控准确率：低",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),

  Alert(
      "driverMonitorOn",
      "驾驶监控已启用",
      "监控准确率：高",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),

  Alert(
      "geofence",
      "请求解除",
      "不在地理围栏区域之内",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "startup",
      "随时准备好接管",
      "请您将手放在方向盘上并持续注意路况",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "startupNoControl",
      "硬扯记录模式",
      "请您将手放在方向盘上并持续注意路况",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "startupNoCar",
      "行车记录模式（为支持的车型）",
      "请您将手放在方向盘上并持续注意路况",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "ethicalDilemma",
      "即可接管控制",
      "检测到困难",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 3.),

  Alert(
      "steerTempUnavailableNoEntry",
      "无法使用 openpilot",
      "转向控制暂时失效",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "manualRestart",
      "接管控制",
      "请自行恢复驾驶",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

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

  Alert(
      "belowSteerSpeed",
      "接管控制",
      "转向控制暂时失效，车速低于",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3),

  Alert(
      "debugAlert",
      "DEBUG提示",
      "",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
  Alert(
      "preLaneChangeLeft",
      "往左打方向盘开始切换车道",
      "请注意其他车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "preLaneChangeRight",
      "往右打方向盘开始切换车道",
      "请注意其他车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "laneChange",
      "切换车道中",
      "请注意其他车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),

  Alert(
      "posenetInvalid",
      "接管控制",
      "视觉模型输出不明确",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),

  # Non-entry only alerts
  Alert(
      "wrongCarModeNoEntry",
      "无法使用 openpilot",
      "主开关关闭",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "dataNeededNoEntry",
      "无法使用 openpilot",
      "需要更多的数据来协助校准，请将行车记录上传后再试",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "outOfSpaceNoEntry",
      "无法使用 openpilot",
      "储存空间不足",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "pedalPressedNoEntry",
      "无法使用 openpilot",
      "试踩踏板",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, "brakePressed", AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "speedTooLowNoEntry",
      "无法使用 openpilot",
      "车速过慢",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "brakeHoldNoEntry",
      "无法使用 openpilot",
      "驻车刹车已启用",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "parkBrakeNoEntry",
      "无法使用 openpilot",
      "电车驻车已启动",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "lowSpeedLockoutNoEntry",
      "无法使用 openpilot",
      "巡航系统错误，请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "lowBatteryNoEntry",
      "无法使用 openpilot",
      "电池电量过低",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "sensorDataInvalidNoEntry",
      "无法使用 openpilot",
      "没有收到任何来自传感器的数据",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "soundsUnavailableNoEntry",
      "无法使用 openpilot",
      "找不到音效装置",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "tooDistractedNoEntry",
      "无法使用 openpilot",
      "注意力高度不集中",
      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",
      "系统过热",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

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

  Alert(
      "calibrationInvalid",
      "即刻接管控制",
      "校准无效：请将传感器放于新的位置并重新校准",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "calibrationIncomplete",
      "即刻接管控制",
      "正在校准相机中",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

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

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

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

  Alert(
      "lowBattery",
      "即刻接管控制",
      "电池电量过低",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "commIssue",
      "即刻接管控制",
      "雷达讯号错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarCommIssue",
      "TAKE CONTROL IMMEDIATELY",
      "Radar Communication Issue",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarFault",
      "即刻接管控制",
      "雷达讯号错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarFault",
      "即刻接管控制",
      "雷达讯号错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),


  Alert(
      "lowMemory",
      "即刻接管控制",
      "内存过低: 请重启 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",
      "控制错误",
      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错误：请检查连接",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "steerUnavailable",
      "即刻接管控制",
      "LKAS错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "brakeUnavailable",
      "即刻接管控制",
      "巡航系统错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "gasUnavailable",
      "即刻接管控制",
      "油门错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "reverseGear",
      "即刻接管控制",
      "切换至倒车档",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

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

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

  # not loud cancellations (user is in control)
  Alert(
      "noTarget",
      "openpilot已取消",
      "没有侦测到前车",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "speedTooLow",
      "openpilot已取消",
      "车速过慢",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  # Cancellation alerts causing non-entry
  Alert(
      "overheatNoEntry",
      "无法使用 openpilot",
      "系统过热",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "wrongGearNoEntry",
      "无法使用 openpilot",
      "车辆不在D档",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "calibrationInvalidNoEntry",
      "无法使用 dragonpilot",
      "校准无效：请将传感器放于新的位置并重新校准",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "calibrationIncompleteNoEntry",
      "无法使用 dragonpilot",
      "正在校准相机中",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "doorOpenNoEntry",
      "无法使用 dragonpilot",
      "车门开启",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "seatbeltNotLatchedNoEntry",
      "无法使用 dragonpilot",
      "未系安全带",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

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

  Alert(
      "geofenceNoEntry",
      "无法使用 dragonpilot",
      "不在地理围栏区域之内",
      AlertStatus.normal, AlertSize.mid,
      Priority.MID, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "radarCanErrorNoEntry",
      "无法使用 dragonpilot",
      "雷达信号错误：请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "radarFaultNoEntry",
      "无法使用 dragonpilot",
      "雷达信号错误：请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "posenetInvalidNoEntry",
      "无法使用 dragonpilot",
      "视觉模型输出不明确",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "controlsFailedNoEntry",
      "无法使用 dragonpilot",
      "控制发生错误",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "canErrorNoEntry",
      "无法使用 dragonpilot",
      "CAN错误：请检查连接",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "steerUnavailableNoEntry",
      "无法使用 dragonpilot",
      "LKAS错误: 请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "brakeUnavailableNoEntry",
      "无法使用 dragonpilot",
      "巡航系统错误：请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "gasUnavailableNoEntry",
      "无法使用 dragonpilot",
      "油门错误：请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "reverseGearNoEntry",
      "无法使用 dragonpilot",
      "切换至倒车档",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "cruiseDisabledNoEntry",
      "无法使用 dragonpilot",
      "巡航系统关闭",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "noTargetNoEntry",
      "无法使用 dragonpilot",
      "没有侦测到前车",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

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

  Alert(
      "commIssueNoEntry",
      "无法使用 dragonpilot",
      "进程通讯异常",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "radarCommIssueNoEntry",
      "openpilot Unavailable",
      "Radar Communication Issue",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "internetConnectivityNeededNoEntry",
      "无法使用 dragonpilot",
      "需要连接到网络",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "lowMemoryNoEntry",
      "无法使用 dragonpilot",
      "内存过低: 请重启 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  # permanent alerts
  Alert(
      "steerUnavailablePermanent",
      "LKAS错误: 请重新发动车辆",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "brakeUnavailablePermanent",
      "巡航系统错误：请重新发动车辆",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "lowSpeedLockoutPermanent",
      "巡航系统错误：请重新发动车辆",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "calibrationIncompletePermanent",
      "正在校准相机中 ",
      "车速请高于",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "invalidGiraffeToyotaPermanent",
      "不支持的 Giraffe 配置",
      "请查看 comma.ai/tg",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "internetConnectivityNeededPermanent",
      "需要连接到网络",
      "检查更新后才能启用",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "communityFeatureDisallowedPermanent",
      "检测到社区功能",
      "请在开发者设置中启用社区功能",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),  # LOW priority to overcome Cruise Error

  Alert(
      "sensorDataInvalidPermanent",
      "没有收到任何来自传感器的数据",
      "请重启您的传感器",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "soundsUnavailablePermanent",
      "找不到音效装置",
      "请重启您的 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "lowMemoryPermanent",
      "内存严重不足",
      "请重启您的 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "carUnrecognizedPermanent",
      "Dashcam Mode",
      "Car Unrecognized",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "vehicleModelInvalid",
      "车辆参数识别失败",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),

  # offroad alerts
  Alert(
      "ldwPermanent",
      "接管控制",
      "检测到车道偏离",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
  # dragonpilot
  Alert(
    "manualSteeringRequired",
    "接管控制: 车道保持关闭",
    "",
    AlertStatus.normal, AlertSize.small,
    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),

  Alert(
    "manualSteeringRequiredBlinkersOn",
    "接管控制: 转向灯开启",
    "",
    AlertStatus.normal, AlertSize.small,
    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
  Alert(
    "leadCarMoving",
    "前车移动中，请开始加速",
    "",
    AlertStatus.userPrompt, AlertSize.small,
    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
  Alert(
    "leadCarDetected",
    "侦测到前车，等待中",
    "",
    AlertStatus.normal, AlertSize.small,
    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
  Alert(
    "preAutoLaneChangeLeft",
    "将在三秒后自动切入左道",
    "请注意其他车辆",
    AlertStatus.normal, AlertSize.mid,
    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),

  Alert(
    "preAutoLaneChangeRight",
    "将在三秒后自动切入入右道",
    "请注意其他车辆",
    AlertStatus.normal, AlertSize.mid,
    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),

  Alert(
    "autoLaneChange",
    "切换车道中",
    "请注意其他车辆",
    AlertStatus.normal, AlertSize.mid,
    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

]