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Code Issues Packages Projects Releases Wiki Activity

more verbose debug alerts (#24126)

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old-commit-hash: 70987fd9d9
This commit is contained in:
Adeeb Shihadeh
2022-04-22 16:12:54 -07:00
committed by GitHub
parent b9fb3cb647
commit 75174c93d7
2 changed files with 59 additions and 23 deletions
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selfdrive/controls/lib/events.py
+31 -4
View File
@@ -251,6 +251,32 @@ def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
# *** debug alerts ***
def out_of_space_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
full_perc = round(100. - sm['deviceState'].freeSpacePercent)
return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")
def overheat_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
cpu = max(sm['deviceState'].cpuTempC, default=0.)
gpu = max(sm['deviceState'].gpuTempC, default=0.)
temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
return NormalPermanentAlert("System Overheated", f"{temp} °C")
def low_memory_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
def high_cpu_usage_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
x = max(sm['deviceState'].cpuUsagePercent, default=0.)
return NormalPermanentAlert("High CPU Usage", f"{x}% used")
def modeld_lagging_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NormalPermanentAlert("Driving model lagging", f"{sm['modelV2'].frameDropPerc}% frames dropped")
def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
text = "Cruise Mode Disabled"
@@ -578,7 +604,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
},
EventName.outOfSpace: {
ET.PERMANENT: NormalPermanentAlert("Out of Storage"),
ET.PERMANENT: out_of_space_alert,
ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
},
@@ -609,7 +635,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
},
EventName.overheat: {
ET.PERMANENT: NormalPermanentAlert("System Overheated"),
ET.PERMANENT: overheat_alert,
ET.SOFT_DISABLE: soft_disable_alert("System Overheated"),
ET.NO_ENTRY: NoEntryAlert("System Overheated"),
},
@@ -685,6 +711,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
EventName.modeldLagging: {
ET.SOFT_DISABLE: soft_disable_alert("Driving model lagging"),
ET.NO_ENTRY: NoEntryAlert("Driving model lagging"),
ET.PERMANENT: modeld_lagging_alert,
},
# Besides predicting the path, lane lines and lead car data the model also
@@ -706,14 +733,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
EventName.lowMemory: {
ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"),
ET.PERMANENT: NormalPermanentAlert("Low Memory", "Reboot your Device"),
ET.PERMANENT: low_memory_alert,
ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
},
EventName.highCpuUsage: {
#ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"),
#ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"),
ET.NO_ENTRY: high_cpu_usage_alert,
},
EventName.accFaulted: {
selfdrive/debug/cycle_alerts.py
+28 -19
View File
@@ -1,15 +1,11 @@
#!/usr/bin/env python3
# flake8: noqa
# pylint: skip-file
# type: ignore
import time
from cereal import car, log
import cereal.messaging as messaging
from common.realtime import DT_CTRL
from selfdrive.car.honda.interface import CarInterface
from selfdrive.controls.lib.events import ET, EVENTS, Events
from selfdrive.controls.lib.events import ET, Events
from selfdrive.controls.lib.alertmanager import AlertManager
EventName = car.CarEvent.EventName
@@ -33,10 +29,26 @@ def cycle_alerts(duration=200, is_metric=False):
(EventName.driverDistracted, ET.WARNING),
]
# debug alerts
alerts = [
(EventName.highCpuUsage, ET.NO_ENTRY),
(EventName.lowMemory, ET.PERMANENT),
(EventName.overheat, ET.PERMANENT),
(EventName.outOfSpace, ET.PERMANENT),
(EventName.modeldLagging, ET.PERMANENT),
]
CP = CarInterface.get_params("HONDA CIVIC 2016")
sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
sm['deviceState'].freeSpacePercent = 55
sm['deviceState'].memoryUsagePercent = 55
sm['deviceState'].cpuTempC = [1, 2, 100]
sm['deviceState'].gpuTempC = [211, 2, 100]
sm['deviceState'].cpuUsagePercent = [23, 54]
sm['modelV2'].frameDropPerc = 20
pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
events = Events()
@@ -44,30 +56,27 @@ def cycle_alerts(duration=200, is_metric=False):
frame = 0
while True:
current_alert_types = [ET.PERMANENT, ET.USER_DISABLE, ET.IMMEDIATE_DISABLE,
ET.SOFT_DISABLE, ET.PRE_ENABLE, ET.NO_ENTRY,
ET.ENABLE, ET.WARNING]
for alert, et in alerts:
events.clear()
events.add(alert)
a = events.create_alerts([et, ], [CP, sm, is_metric, 0])
AM.add_many(frame, a)
AM.process_alerts(frame)
print(AM.alert)
alert = AM.process_alerts(frame, [])
print(alert)
for _ in range(duration):
dat = messaging.new_message()
dat.init('controlsState')
dat.controlsState.enabled = True
dat.controlsState.enabled = False
dat.controlsState.alertText1 = AM.alert_text_1
dat.controlsState.alertText2 = AM.alert_text_2
dat.controlsState.alertSize = AM.alert_size
dat.controlsState.alertStatus = AM.alert_status
dat.controlsState.alertBlinkingRate = AM.alert_rate
dat.controlsState.alertType = AM.alert_type
dat.controlsState.alertSound = AM.audible_alert
if alert:
dat.controlsState.alertText1 = alert.alert_text_1
dat.controlsState.alertText2 = alert.alert_text_2
dat.controlsState.alertSize = alert.alert_size
dat.controlsState.alertStatus = alert.alert_status
dat.controlsState.alertBlinkingRate = alert.alert_rate
dat.controlsState.alertType = alert.alert_type
dat.controlsState.alertSound = alert.audible_alert
pm.send('controlsState', dat)
dat = messaging.new_message()