Deprecate car onroadEvents (commaai#33687)

* new OnroadEvent struct * and migrate python * more forgotten * re-index new OnroadEvent struct * fix! * more missing * migrate onroadEvents migrate onroadEvents * migrate dm events * hacks to get proc replay to say succeeded * Revert "hacks to get proc replay to say succeeded" This reverts commit 0bb8803. * update refs
cydia2020 · Oct 6, 2024 · d6fb587 · d6fb587
1 parent 82f405f
commit d6fb587
Show file tree

Hide file tree

Showing 15 changed files with 171 additions and 28 deletions.
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -5,9 +5,8 @@ $Cxx.namespace("cereal");
 
 # ******* events causing controls state machine transition *******
 
-# 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 {
+# IMPORTANT: This struct is to not be modified so old logs can be parsed
+struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 {
  name @0 :EventName;
 
  # event types
@@ -292,11 +291,11 @@ struct CarState {
  }
 
  # deprecated
- errorsDEPRECATED @0 :List(OnroadEvent.EventName);
+ errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
  steeringRateLimitedDEPRECATED @29 :Bool;
  canMonoTimesDEPRECATED @12: List(UInt64);
  canRcvTimeoutDEPRECATED @49 :Bool;
- eventsDEPRECATED @13 :List(OnroadEvent);
+ eventsDEPRECATED @13 :List(OnroadEventDEPRECATED);
 }
 
 # ******* radar state @ 20hz *******

diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -17,6 +17,118 @@ struct Map(Key, Value) {
  }
 }
 
+struct OnroadEvent @0xc4fa6047f024e718 {
+ name @0 :EventName;
+
+ # event types
+ enable @1 :Bool;
+ noEntry @2 :Bool;
+ warning @3 :Bool; # alerts presented only when enabled or soft disabling
+ userDisable @4 :Bool;
+ softDisable @5 :Bool;
+ immediateDisable @6 :Bool;
+ preEnable @7 :Bool;
+ permanent @8 :Bool; # alerts presented regardless of openpilot state
+ overrideLateral @10 :Bool;
+ overrideLongitudinal @9 :Bool;
+
+ enum EventName @0x91f1992a1f77fb03 {
+ canError @0;
+ steerUnavailable @1;
+ wrongGear @2;
+ doorOpen @3;
+ seatbeltNotLatched @4;
+ espDisabled @5;
+ wrongCarMode @6;
+ steerTempUnavailable @7;
+ reverseGear @8;
+ buttonCancel @9;
+ buttonEnable @10;
+ pedalPressed @11; # exits active state
+ preEnableStandstill @12; # added during pre-enable state with brake
+ gasPressedOverride @13; # added when user is pressing gas with no disengage on gas
+ steerOverride @14;
+ cruiseDisabled @15;
+ speedTooLow @16;
+ outOfSpace @17;
+ overheat @18;
+ calibrationIncomplete @19;
+ calibrationInvalid @20;
+ calibrationRecalibrating @21;
+ controlsMismatch @22;
+ pcmEnable @23;
+ pcmDisable @24;
+ radarFault @25;
+ brakeHold @26;
+ parkBrake @27;
+ manualRestart @28;
+ joystickDebug @29;
+ longitudinalManeuver @30;
+ steerTempUnavailableSilent @31;
+ resumeRequired @32;
+ preDriverDistracted @33;
+ promptDriverDistracted @34;
+ driverDistracted @35;
+ preDriverUnresponsive @36;
+ promptDriverUnresponsive @37;
+ driverUnresponsive @38;
+ belowSteerSpeed @39;
+ lowBattery @40;
+ accFaulted @41;
+ sensorDataInvalid @42;
+ commIssue @43;
+ commIssueAvgFreq @44;
+ tooDistracted @45;
+ posenetInvalid @46;
+ soundsUnavailable @47;
+ preLaneChangeLeft @48;
+ preLaneChangeRight @49;
+ laneChange @50;
+ lowMemory @51;
+ stockAeb @52;
+ ldw @53;
+ carUnrecognized @54;
+ invalidLkasSetting @55;
+ speedTooHigh @56;
+ laneChangeBlocked @57;
+ relayMalfunction @58;
+ stockFcw @59;
+ startup @60;
+ startupNoCar @61;
+ startupNoControl @62;
+ startupNoSecOcKey @63;
+ startupMaster @64;
+ fcw @65;
+ steerSaturated @66;
+ belowEngageSpeed @67;
+ noGps @68;
+ wrongCruiseMode @69;
+ modeldLagging @70;
+ deviceFalling @71;
+ fanMalfunction @72;
+ cameraMalfunction @73;
+ cameraFrameRate @74;
+ processNotRunning @75;
+ dashcamMode @76;
+ selfdriveInitializing @77;
+ usbError @78;
+ cruiseMismatch @79;
+ canBusMissing @80;
+ selfdrivedLagging @81;
+ resumeBlocked @82;
+ steerTimeLimit @83;
+ vehicleSensorsInvalid @84;
+ locationdTemporaryError @85;
+ locationdPermanentError @86;
+ paramsdTemporaryError @87;
+ paramsdPermanentError @88;
+ actuatorsApiUnavailable @89;
+ espActive @90;
+ personalityChanged @91;
+ aeb @92;
+ }
+}
+
 enum LongitudinalPersonality {
  aggressive @0;
  standard @1;
@@ -1157,7 +1269,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  radarValidDEPRECATED @28 :Bool;
  radarCanErrorDEPRECATED @30 :Bool;
  commIssueDEPRECATED @31 :Bool;
- eventsDEPRECATED @13 :List(Car.OnroadEvent);
+ eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
  gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
  gpsPlannerActiveDEPRECATED @19 :Bool;
  personalityDEPRECATED @36 :LongitudinalPersonality;
@@ -2072,7 +2184,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
 }
 
 struct DriverMonitoringState @0xb83cda094a1da284 {
- events @0 :List(Car.OnroadEvent);
+ events @18 :List(OnroadEvent);
  faceDetected @1 :Bool;
  isDistracted @2 :Bool;
  distractedType @17 :UInt32;
@@ -2091,6 +2203,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
 
  isPreviewDEPRECATED @15 :Bool;
  rhdCheckedDEPRECATED @5 :Bool;
+ eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
 }
 
 struct Boot {
@@ -2369,7 +2482,7 @@ struct Event {
  liveTorqueParameters @94 :LiveTorqueParametersData;
  cameraOdometry @63 :CameraOdometry;
  thumbnail @66: Thumbnail;
- onroadEvents @68: List(Car.OnroadEvent);
+ onroadEvents @134: List(OnroadEvent);
  carParams @69: Car.CarParams;
  driverMonitoringState @71: DriverMonitoringState;
  livePose @129 :LivePose;
@@ -2484,5 +2597,6 @@ struct Event {
  uiPlanDEPRECATED @106 :UiPlan;
  liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
  liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
+ onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
  }
 }
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
@@ -1,5 +1,5 @@
 from collections import deque
-from cereal import car
+from cereal import car, log
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.interfaces import MAX_CTRL_SPEED
@@ -11,7 +11,7 @@
 
 ButtonType = structs.CarState.ButtonEvent.Type
 GearShifter = structs.CarState.GearShifter
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
@@ -5,7 +5,7 @@
 
 import cereal.messaging as messaging
 
-from cereal import car
+from cereal import car, log
 
 from panda import ALTERNATIVE_EXPERIENCE
 
@@ -25,7 +25,7 @@
 
 REPLAY = "REPLAY" in os.environ
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 # forward
 carlog.addHandler(ForwardingHandler(cloudlog))

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
@@ -31,7 +31,7 @@
 
 from panda.tests.libpanda import libpanda_py
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 

diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
@@ -10,7 +10,7 @@
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 from openpilot.system.manager.process_config import managed_processes
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 def randperc() -> float:
  return 100. * random.random()

diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
@@ -1,6 +1,6 @@
 from math import atan2
 
-from cereal import car
+from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.common.numpy_fast import interp
@@ -9,7 +9,7 @@
 from openpilot.common.stat_live import RunningStatFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 # ******************************************************************************************
 # NOTE: To fork maintainers.

diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
@@ -1,10 +1,10 @@
 import numpy as np
 
-from cereal import car, log
+from cereal import log
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 dm_settings = DRIVER_MONITOR_SETTINGS()
 
 TEST_TIMESPAN = 120 # seconds

diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
@@ -16,7 +16,7 @@
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-EventName = car.OnroadEvent.EventName
+EventName = log.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.OnroadEvent.new_message()
+ event = log.OnroadEvent.new_message()
  event.name = event_name
  for event_type in EVENTS.get(event_name, {}):
  setattr(event, event_type, True)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
@@ -35,7 +35,7 @@
 PandaType = log.PandaState.PandaType
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
 

diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/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.OnroadEvent.EventName.schema.enumerants
+ events = log.OnroadEvent.EventName.schema.enumerants
 
  for name, e in events.items():
  if not name.endswith("DEPRECATED"):

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
@@ -3,7 +3,7 @@
 import functools
 import capnp
 
-from cereal import messaging, car
+from cereal import messaging, car, log
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -37,6 +37,8 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
  migrate_liveTracks,
  migrate_driverAssistance,
  migrate_drivingModelData,
+ migrate_onroadEvents,
+ migrate_driverMonitoringState,
  ]
  if manager_states:
  migrations.append(migrate_managerState)
@@ -393,3 +395,31 @@ def migrate_sensorEvents(msgs):
  add_ops.append(m.as_reader())
  del_ops.append(index)
  return [], add_ops, del_ops
+
+
+@migration(inputs=["onroadEventsDEPRECATED"], product="onroadEvents")
+def migrate_onroadEvents(msgs):
+ ops = []
+ for index, msg in msgs:
+ new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
+ new_msg.valid = msg.valid
+ new_msg.logMonoTime = msg.logMonoTime
+
+ # dict converts name enum into string representation
+ new_msg.onroadEvents = [log.OnroadEvent(**event.to_dict()) for event in msg.onroadEventsDEPRECATED]
+ ops.append((index, new_msg.as_reader()))
+
+ return ops, [], []
+
+
+@migration(inputs=["driverMonitoringState"])
+def migrate_driverMonitoringState(msgs):
+ ops = []
+ for index, msg in msgs:
+ msg = msg.as_builder()
+ # dict converts name enum into string representation
+ msg.driverMonitoringState.events = [log.OnroadEvent(**event.to_dict()) for event in
+ msg.driverMonitoringState.eventsDEPRECATED]
+ ops.append((index, msg.as_reader()))
+
+ return ops, [], []
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-fbf16d1e9b056830a12fcf29a5137e1fc0b01354
+05570b52a90fb8bf092f7a2563d6019577e1aa5d
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
@@ -13,7 +13,7 @@
 from functools import cached_property
 from pathlib import Path
 
-from cereal import car
+from cereal import log
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
@@ -422,7 +422,7 @@ def test_startup(self):
  if msg.which() == "selfdriveState":
  startup_alert = msg.selfdriveState.alertText1
  break
- expected = EVENTS[car.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
+ expected = EVENTS[log.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
@@ -3,13 +3,13 @@
 import time
 import subprocess
 
-from cereal import car
+from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.test.helpers import set_params_enabled
 
-EventName = car.OnroadEvent.EventName
+EventName = log.OnroadEvent.EventName
 
 
 @pytest.mark.tici