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Rename DM alerts to numbered stages (#37783)

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* Rename DM alerts to numbered stages

* Handle renamed DM events in replay migration

* Remove replay migration test

* Skip unknown replay event names
This commit is contained in:
Adeeb Shihadeh
2026-04-08 14:29:32 -07:00
committed by GitHub
parent 21538e5a09
commit 8b53f9158d
6 changed files with 64 additions and 52 deletions
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12
cereal/log.capnp
View File

@@ -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;

6
selfdrive/debug/cycle_alerts.py
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@@ -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

6
selfdrive/monitoring/helpers.py
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@@ -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)

53
selfdrive/monitoring/test_monitoring.py
View File

@@ -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

16
selfdrive/selfdrived/events.py
View File

@@ -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",

23
selfdrive/test/process_replay/migration.py
View File

@@ -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()