From 7575c707f13297270e231a231d7d3fd8c5ccac6a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 1 Sep 2024 11:31:39 -0700 Subject: [PATCH] carEvent -> onroadEvent (#33432) old-commit-hash: c481f11833d748a0d12d2ba14003e931d2849135 --- cereal/car.capnp | 8 +++++--- cereal/log.capnp | 6 +++--- selfdrive/car/car_specific.py | 2 +- selfdrive/car/card.py | 2 +- selfdrive/car/tests/test_models.py | 2 +- selfdrive/controls/controlsd.py | 2 +- selfdrive/controls/lib/drive_helpers.py | 2 +- selfdrive/controls/lib/events.py | 4 ++-- selfdrive/controls/tests/test_alerts.py | 2 +- selfdrive/controls/tests/test_startup.py | 2 +- selfdrive/debug/cycle_alerts.py | 2 +- selfdrive/monitoring/helpers.py | 2 +- selfdrive/monitoring/test_monitoring.py | 2 +- selfdrive/test/process_replay/process_replay.py | 2 +- selfdrive/test/test_onroad.py | 2 +- selfdrive/test/test_time_to_onroad.py | 2 +- 16 files changed, 23 insertions(+), 21 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index d945fc468e5973..aa0f336ffe1987 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -5,7 +5,9 @@ $Cxx.namespace("cereal"); # ******* events causing controls state machine transition ******* -struct CarEvent @0x9b1657f34caf3ad3 { +# FIXME: OnroadEvent shouldn't be in car.capnp, but can't immediately +# move due to being referenced by structs in this file +struct OnroadEvent @0x9b1657f34caf3ad3 { name @0 :EventName; # event types @@ -152,7 +154,7 @@ struct CarEvent @0x9b1657f34caf3ad3 { # all speeds in m/s struct CarState { - events @13 :List(CarEvent); + events @13 :List(OnroadEvent); # CAN health canValid @26 :Bool; # invalid counter/checksums @@ -281,7 +283,7 @@ struct CarState { } # deprecated - errorsDEPRECATED @0 :List(CarEvent.EventName); + errorsDEPRECATED @0 :List(OnroadEvent.EventName); brakeLightsDEPRECATED @19 :Bool; steeringRateLimitedDEPRECATED @29 :Bool; canMonoTimesDEPRECATED @12: List(UInt64); diff --git a/cereal/log.capnp b/cereal/log.capnp index 4742473318e6b3..0d047628aaa53f 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -1149,7 +1149,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c { radarValidDEPRECATED @28 :Bool; radarCanErrorDEPRECATED @30 :Bool; commIssueDEPRECATED @31 :Bool; - eventsDEPRECATED @13 :List(Car.CarEvent); + eventsDEPRECATED @13 :List(Car.OnroadEvent); gpsTrajectoryDEPRECATED @12 :GpsTrajectory; gpsPlannerActiveDEPRECATED @19 :Bool; personalityDEPRECATED @36 :LongitudinalPersonality; @@ -2055,7 +2055,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 { } struct DriverMonitoringState @0xb83cda094a1da284 { - events @0 :List(Car.CarEvent); + events @0 :List(Car.OnroadEvent); faceDetected @1 :Bool; isDistracted @2 :Bool; distractedType @17 :UInt32; @@ -2346,7 +2346,7 @@ struct Event { liveTorqueParameters @94 :LiveTorqueParametersData; cameraOdometry @63 :CameraOdometry; thumbnail @66: Thumbnail; - onroadEvents @68: List(Car.CarEvent); + onroadEvents @68: List(Car.OnroadEvent); carParams @69: Car.CarParams; driverMonitoringState @71: DriverMonitoringState; livePose @129 :LivePose; diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 899f56beb0f5df..25a7defbbd5c1e 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -9,7 +9,7 @@ ButtonType = structs.CarState.ButtonEvent.Type GearShifter = structs.CarState.GearShifter -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName NetworkLocation = structs.CarParams.NetworkLocation diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 4a205f15c4c186..8b44daa4fc310a 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -24,7 +24,7 @@ REPLAY = "REPLAY" in os.environ -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName # forward carlog.addHandler(ForwardingHandler(cloudlog)) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 7016adbd5122fd..25db426d234e0b 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -29,7 +29,7 @@ from panda.tests.libpanda import libpanda_py -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName PandaType = log.PandaState.PandaType SafetyModel = car.CarParams.SafetyModel diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f5af9573d5daa2..6ea4d2096c051a 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -49,7 +49,7 @@ Desire = log.Desire LaneChangeState = log.LaneChangeState LaneChangeDirection = log.LaneChangeDirection -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName ButtonType = car.CarState.ButtonEvent.Type SafetyModel = car.CarParams.SafetyModel diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 47ab36e6bd5cf9..777e0a1f7f6bc3 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -6,7 +6,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.system.version import get_build_metadata -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName # WARNING: this value was determined based on the model's training distribution, # model predictions above this speed can be unpredictable diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 3f4f15024dde2c..d27f02794b351b 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -16,7 +16,7 @@ AlertStatus = log.SelfdriveState.AlertStatus VisualAlert = car.CarControl.HUDControl.VisualAlert AudibleAlert = car.CarControl.HUDControl.AudibleAlert -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName # Alert priorities @@ -98,7 +98,7 @@ def add_from_msg(self, events): def to_msg(self): ret = [] for event_name in self.events: - event = car.CarEvent.new_message() + event = car.OnroadEvent.new_message() event.name = event_name for event_type in EVENTS.get(event_name, {}): setattr(event, event_type, True) diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index 754763bcf0fc87..52d71dc22dd68b 100644 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -38,7 +38,7 @@ def setup_class(cls): def test_events_defined(self): # Ensure all events in capnp schema are defined in events.py - events = car.CarEvent.EventName.schema.enumerants + events = car.OnroadEvent.EventName.schema.enumerants for name, e in events.items(): if not name.endswith("DEPRECATED"): diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index bfe117062e7328..077d4ae93aa80e 100644 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -11,7 +11,7 @@ from openpilot.selfdrive.controls.lib.events import EVENT_NAME from openpilot.system.manager.process_config import managed_processes -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName Ecu = car.CarParams.Ecu COROLLA_FW_VERSIONS = [ diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 6ab9ab87331c46..fbac65cac1606d 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -10,7 +10,7 @@ from openpilot.selfdrive.controls.lib.alertmanager import AlertManager from openpilot.system.manager.process_config import managed_processes -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName def randperc() -> float: return 100. * random.random() diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index dfb35182b24dad..374219379fe8cc 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -9,7 +9,7 @@ from openpilot.common.stat_live import RunningStatFilter from openpilot.common.transformations.camera import DEVICE_CAMERAS -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName # ****************************************************************************************** # NOTE: To fork maintainers. diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index f750437dc36951..31ae98c63886a3 100644 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -4,7 +4,7 @@ from openpilot.common.realtime import DT_DMON from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName dm_settings = DRIVER_MONITOR_SETTINGS() TEST_TIMESPAN = 120 # seconds diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index c11f684690faa0..8e1e769e710a54 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -461,7 +461,7 @@ def controlsd_config_callback(params, cfg, lr): if initialized: break elif msg.which() == "onroadEvents": - initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents] + initialized = car.OnroadEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents] assert controlsState is not None and initialized, "controlsState never initialized" params.put("ReplayControlsState", controlsState.as_builder().to_bytes()) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0d6c0ba214b98f..e550344c7d29e0 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -419,7 +419,7 @@ def test_startup(self): if msg.which() == "selfdriveState": startup_alert = msg.selfdriveState.alertText1 break - expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1 + expected = EVENTS[car.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1 assert startup_alert == expected, "wrong startup alert" def test_engagable(self): diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index e08d0e676cf974..0ec14e2d8cdf8e 100644 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -9,7 +9,7 @@ from openpilot.common.timeout import Timeout from openpilot.selfdrive.test.helpers import set_params_enabled -EventName = car.CarEvent.EventName +EventName = car.OnroadEvent.EventName @pytest.mark.tici