selfdrived: prep for mici (#36633)

* selfdrived: prep for mici

* tizi reverts

* more revert

* lil more:

* invert it

* cleanup

Author: adeebshihadeh

selfdrive/selfdrived/events.py

@@ -13,6 +13,7 @@
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
+from openpilot.system.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
@@ -150,6 +151,8 @@ class NoEntryAlert(Alert):
   def __init__(self, alert_text_2: str,
                alert_text_1: str = "openpilot Unavailable",
                visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
+    if HARDWARE.get_device_type() == 'mici':
+      alert_text_1, alert_text_2 = alert_text_2, alert_text_1
     super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
                      AlertSize.mid, Priority.LOW, visual_alert,
                      AudibleAlert.refuse, 3.)
@@ -195,8 +198,13 @@ def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float =
 
 class StartupAlert(Alert):
   def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
+    alert_size = AlertSize.mid
+    if HARDWARE.get_device_type() == 'mici':
+      if alert_text_2 == "Always keep hands on wheel and eyes on road":
+        alert_text_2 = ""
+      alert_size = AlertSize.small
     super().__init__(alert_text_1, alert_text_2,
-                     alert_status, AlertSize.mid,
+                     alert_status, alert_size,
                      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
 
 
@@ -246,10 +254,19 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
     Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
 
 
+def steer_saturated_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  steer_text2 = "Steer Left" if sm['carControl'].actuators.torque > 0 else "Steer Right"
+  return Alert(
+    "Take Control",
+    steer_text2,
+    AlertStatus.userPrompt, AlertSize.mid,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.)
+
+
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration'
+  first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
   return Alert(
-    f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%",
+    f"{first_word}: {sm['liveCalibration'].calPerc:.0f}%",
     f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
@@ -1013,6 +1030,70 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
 }
 
 
+if HARDWARE.get_device_type() == 'mici':
+  EVENTS.update({
+    EventName.preDriverDistracted: {
+      ET.PERMANENT: Alert(
+        "Pay Attention",
+        "",
+        AlertStatus.normal, AlertSize.small,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
+    },
+    EventName.promptDriverDistracted: {
+      ET.PERMANENT: Alert(
+        "Pay Attention",
+        "Driver Distracted",
+        AlertStatus.userPrompt, AlertSize.mid,
+        Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, 1),
+    },
+    EventName.resumeRequired: {
+      ET.WARNING: Alert(
+        "Press Resume",
+        "",
+        AlertStatus.userPrompt, AlertSize.small,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+    },
+    EventName.preLaneChangeLeft: {
+      ET.WARNING: Alert(
+        "Steer Left",
+        "Confirm Lane Change",
+        AlertStatus.normal, AlertSize.mid,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+    },
+    EventName.preLaneChangeRight: {
+      ET.WARNING: Alert(
+        "Steer Right",
+        "Confirm Lane Change",
+        AlertStatus.normal, AlertSize.mid,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+    },
+    EventName.laneChangeBlocked: {
+      ET.WARNING: Alert(
+        "Car in Blindspot",
+        "",
+        AlertStatus.userPrompt, AlertSize.small,
+        Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
+    },
+    EventName.steerSaturated: {
+      ET.WARNING: steer_saturated_alert,
+    },
+    EventName.calibrationIncomplete: {
+      ET.PERMANENT: calibration_incomplete_alert,
+      ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
+      ET.NO_ENTRY: NoEntryAlert("Calibrating"),
+    },
+    EventName.reverseGear: {
+      ET.PERMANENT: Alert(
+        "Reverse",
+        "",
+        AlertStatus.normal, AlertSize.full,
+        Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+      ET.USER_DISABLE: ImmediateDisableAlert("Reverse"),
+      ET.NO_ENTRY: NoEntryAlert("Reverse"),
+    },
+  })
+
+
 if __name__ == '__main__':
   # print all alerts by type and priority
   from cereal.services import SERVICE_LIST

selfdrive/selfdrived/selfdrived.py

@@ -22,6 +22,7 @@
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
 from openpilot.system.version import get_build_metadata
+from openpilot.system.hardware import HARDWARE
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -123,6 +124,8 @@ def __init__(self, CP=None):
 
     # Determine startup event
     self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
+    if HARDWARE.get_device_type() == 'mici':
+      self.startup_event = None
     if not car_recognized:
       self.startup_event = EventName.startupNoCar
     elif car_recognized and self.CP.passive: