carEvent -> onroadEvent (commaai#33432)

robin-reckmann · Sep 1, 2024 · c481f11 · c481f11
1 parent fefb033
commit c481f11
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Showing 16 changed files with 23 additions and 21 deletions.
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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