carrot/scripts/add/events_ko.py

#!/usr/bin/env python3
import bisect
import math
import os
from enum import IntEnum
from collections.abc import Callable

from cereal import log, car
import cereal.messaging as messaging
from openpilot.common.conversions import Conversions as CV
from openpilot.common.params import Params
from openpilot.common.git import get_short_branch
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER

AlertSize = log.SelfdriveState.AlertSize
AlertStatus = log.SelfdriveState.AlertStatus
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
EventName = log.OnroadEvent.EventName


# Alert priorities
class Priority(IntEnum):
  LOWEST = 0
  LOWER = 1
  LOW = 2
  MID = 3
  HIGH = 4
  HIGHEST = 5


# Event types
class ET:
  ENABLE = 'enable'
  PRE_ENABLE = 'preEnable'
  OVERRIDE_LATERAL = 'overrideLateral'
  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
  NO_ENTRY = 'noEntry'
  WARNING = 'warning'
  USER_DISABLE = 'userDisable'
  SOFT_DISABLE = 'softDisable'
  IMMEDIATE_DISABLE = 'immediateDisable'
  PERMANENT = 'permanent'


# get event name from enum
EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}


class Events:
  def __init__(self):
    self.events: list[int] = []
    self.static_events: list[int] = []
    self.event_counters = dict.fromkeys(EVENTS.keys(), 0)

  @property
  def names(self) -> list[int]:
    return self.events

  def __len__(self) -> int:
    return len(self.events)

  def add(self, event_name: int, static: bool=False) -> None:
    if static:
      bisect.insort(self.static_events, event_name)
    bisect.insort(self.events, event_name)

  def clear(self) -> None:
    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
    self.events = self.static_events.copy()

  def contains(self, event_type: str) -> bool:
    return any(event_type in EVENTS.get(e, {}) for e in self.events)

  def create_alerts(self, event_types: list[str], callback_args=None):
    if callback_args is None:
      callback_args = []

    ret = []
    for e in self.events:
      types = EVENTS[e].keys()
      for et in event_types:
        if et in types:
          alert = EVENTS[e][et]
          if not isinstance(alert, Alert):
            alert = alert(*callback_args)

          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
            alert.alert_type = f"{EVENT_NAME[e]}/{et}"
            alert.event_type = et
            ret.append(alert)
    return ret

  def add_from_msg(self, events):
    for e in events:
      bisect.insort(self.events, e.name.raw)

  def to_msg(self):
    ret = []
    for event_name in self.events:
      event = log.OnroadEvent.new_message()
      event.name = event_name
      for event_type in EVENTS.get(event_name, {}):
        setattr(event, event_type, True)
      ret.append(event)
    return ret

# 메세지 한글화 : 로웰 ( https://github.com/crwusiz/openpilot )

class Alert:
  def __init__(self,
               alert_text_1: str,
               alert_text_2: str,
               alert_status: log.SelfdriveState.AlertStatus,
               alert_size: log.SelfdriveState.AlertSize,
               priority: Priority,
               visual_alert: car.CarControl.HUDControl.VisualAlert,
               audible_alert: car.CarControl.HUDControl.AudibleAlert,
               duration: float,
               creation_delay: float = 0.):

    self.alert_text_1 = alert_text_1
    self.alert_text_2 = alert_text_2
    self.alert_status = alert_status
    self.alert_size = alert_size
    self.priority = priority
    self.visual_alert = visual_alert
    self.audible_alert = audible_alert

    self.duration = int(duration / DT_CTRL)

    self.creation_delay = creation_delay

    self.alert_type = ""
    self.event_type: str | None = None

  def __str__(self) -> str:
    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"

  def __gt__(self, alert2) -> bool:
    if not isinstance(alert2, Alert):
      return False
    return self.priority > alert2.priority

EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
                   VisualAlert.none, AudibleAlert.none, 0)

class NoEntryAlert(Alert):
  def __init__(self, alert_text_2: str,
               alert_text_1: str = "오픈파일럿 사용불가",
               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
                     AlertSize.mid, Priority.LOW, visual_alert,
                     AudibleAlert.refuse, 3.)


class SoftDisableAlert(Alert):
  def __init__(self, alert_text_2: str):
    super().__init__("핸들을 즉시 잡아주세요", alert_text_2,
                     AlertStatus.userPrompt, AlertSize.full,
                     Priority.MID, VisualAlert.steerRequired,
                     AudibleAlert.warningSoft, 2.),


# less harsh version of SoftDisable, where the condition is user-triggered
class UserSoftDisableAlert(SoftDisableAlert):
  def __init__(self, alert_text_2: str):
    super().__init__(alert_text_2),
    self.alert_text_1 = "오픈파일럿이 해제됩니다"

class ImmediateDisableAlert(Alert):
  def __init__(self, alert_text_2: str):
    super().__init__("핸들을 즉시 잡아주세요", alert_text_2,
                     AlertStatus.critical, AlertSize.full,
                     Priority.HIGHEST, VisualAlert.steerRequired,
                     AudibleAlert.warningImmediate, 4.),


class EngagementAlert(Alert):
  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
    super().__init__("", "",
                     AlertStatus.normal, AlertSize.none,
                     Priority.MID, VisualAlert.none,
                     audible_alert, .2),


class NormalPermanentAlert(Alert):
  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
    super().__init__(alert_text_1, alert_text_2,
                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),


class StartupAlert(Alert):
  def __init__(self, alert_text_1: str, alert_text_2: str = "항상 핸들을 잡고 도로를 주시하세요", alert_status=AlertStatus.normal):
    super().__init__(alert_text_1, alert_text_2,
                     alert_status, AlertSize.mid,
                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),


# ********** helper functions **********
def get_display_speed(speed_ms: float, metric: bool) -> str:
  speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
  unit = 'km/h' if metric else 'mph'
  return f"{speed} {unit}"


# ********** alert callback functions **********

AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]


def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
    if soft_disable_time < int(0.5 / DT_CTRL):
      return ImmediateDisableAlert(alert_text_2)
    return SoftDisableAlert(alert_text_2)
  return func

def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
    if soft_disable_time < int(0.5 / DT_CTRL):
      return ImmediateDisableAlert(alert_text_2)
    return UserSoftDisableAlert(alert_text_2)
  return func

def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  branch = get_short_branch()  # Ensure get_short_branch is cached to avoid lags on startup
  if "REPLAY" in os.environ:
    branch = "replay"

  return StartupAlert("경고: 이 브랜치는 테스트되지 않았습니다", branch, alert_status=AlertStatus.userPrompt)

def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  return NoEntryAlert(f"{get_display_speed(CP.minEnableSpeed, metric)} 이상의 속도에서 활성됩니다")


def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  return Alert(
    f"{get_display_speed(CP.minSteerSpeed, metric)} 이상의 속도에서 조향 됩니다",
    "",
    AlertStatus.userPrompt, AlertSize.small,
    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)


def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  first_word = '캘리브레이션을 다시' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else '캘리브레이션'
  return Alert(
    f"{first_word} 진행중 : {sm['liveCalibration'].calPerc:.0f}%",
    f"{get_display_speed(MIN_SPEED_FILTER, metric)} 이상의 속도로 주행하세요",
    AlertStatus.normal, AlertSize.mid,
    Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)

def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  model_name = Params().get("NNFFModelName", encoding='utf-8')
  if model_name == "":
    return Alert(
      "NNFF Torque Controller not available",
      "Donate logs to Twilsonco to get it added!",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 6.0)
  else:
    return Alert(
      "NNFF Torque Controller loaded",
      model_name,
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.nnff, 5.0)

# *** debug alerts ***

def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  full_perc = round(100. - sm['deviceState'].freeSpacePercent)
  return NormalPermanentAlert("저장공간이 부족합니다", f"{full_perc}% full")


def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan
  err = CS.vEgo - mdl
  msg = f"Speed Error: {err:.1f} m/s"
  return NoEntryAlert(msg, alert_text_1="잘못된 Posenet 속도")


def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
  msg = ', '.join(not_running)
  return NoEntryAlert(msg, alert_text_1="프로세스가 실행되지 않았습니다")


def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])]
  msg = ', '.join(bs[:4])  # can't fit too many on one line
  return NoEntryAlert(msg, alert_text_1="프로세스 동작오류")


def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
  bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
  return NormalPermanentAlert("카메라를 점검하세요", ', '.join(bad_cams))


def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  rpy = sm['liveCalibration'].rpyCalib
  yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
  pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
  angles = f"장치 재장착 (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)"
  return NormalPermanentAlert("캘리브레이션 오류", angles)


def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  cpu = max(sm['deviceState'].cpuTempC, default=0.)
  gpu = max(sm['deviceState'].gpuTempC, default=0.)
  temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
  return NormalPermanentAlert("시스템 과열", f"{temp:.0f} °C")


def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  return NormalPermanentAlert("메모리 부족", f"{sm['deviceState'].memoryUsagePercent}% used")


def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  x = max(sm['deviceState'].cpuUsagePercent, default=0.)
  return NormalPermanentAlert("CPU 사용량이 높습니다", f"{x}% used")


def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  return NormalPermanentAlert("주행모델 지연됨", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")


def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  text = "크루즈 버튼으로 활성화됩니다"
  if CP.carName == "honda":
    text = "메인 스위치로 활성화됩니다"
  return NoEntryAlert(text)


def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  gb = sm['carControl'].actuators.accel / 4.
  steer = sm['carControl'].actuators.steer
  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
  return NormalPermanentAlert("조이스틱 모드", vals)


def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  ad = sm['alertDebug']
  audible_alert = AudibleAlert.prompt if 'Active' in ad.alertText1 else AudibleAlert.none
  alert_status = AlertStatus.userPrompt if 'Active' in ad.alertText1 else AlertStatus.normal
  alert_size = AlertSize.mid if ad.alertText2 else AlertSize.small
  return Alert(ad.alertText1, ad.alertText2,
               alert_status, alert_size,
               Priority.LOW, VisualAlert.none, audible_alert, 0.2)


def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  personality = str(personality).title()
  return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)

def car_parser_result(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  results = Params().get("CanParserResult")
  if results is None:
    results = ""
  return Alert(
    "CAN 오류: Check Connections",
    results,
    AlertStatus.normal, AlertSize.small,
    Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.)
  


EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  # ********** events with no alerts **********

  EventName.stockFcw: {},
  EventName.actuatorsApiUnavailable: {},

  # ********** events only containing alerts displayed in all states **********

  EventName.joystickDebug: {
    ET.WARNING: joystick_alert,
    ET.PERMANENT: NormalPermanentAlert("조이스틱 모드"),
  },

  EventName.longitudinalManeuver: {
    ET.WARNING: longitudinal_maneuver_alert,
    ET.PERMANENT: NormalPermanentAlert("롱컨 가동 모드",
                                       "전방 도로에 장애물이 없는지 확인하세요"),
  },

  EventName.selfdriveInitializing: {
    ET.NO_ENTRY: NoEntryAlert("시스템이 준비중입니다"),
  },

  EventName.startup: {
    ET.PERMANENT: StartupAlert("오픈파일럿 사용준비 완료")
  },

  EventName.startupMaster: {
    ET.PERMANENT: startup_master_alert,
  },

  EventName.startupNoControl: {
    ET.PERMANENT: StartupAlert("대시캠 모드"),
    ET.NO_ENTRY: NoEntryAlert("대시캠 모드"),
  },

  EventName.startupNoCar: {
    ET.PERMANENT: StartupAlert("대시캠 모드 : 호환되지않는 차량"),
  },

  EventName.startupNoSecOcKey: {
    ET.PERMANENT: NormalPermanentAlert("대시캠 모드",
                                       "보안키 사용불가",
                                       priority=Priority.HIGH),
  },

  EventName.dashcamMode: {
    ET.PERMANENT: NormalPermanentAlert("대시캠 모드",
                                       priority=Priority.LOWEST),
  },

  EventName.invalidLkasSetting: {
    ET.PERMANENT: NormalPermanentAlert("잘못된 LKAS 설정",
                                       "활성화 하려면 차량의 LKAS를 켜거나 끄세요."),
    ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
  },

  EventName.cruiseMismatch: {
    #ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"),
  },

  # openpilot doesn't recognize the car. This switches openpilot into a
  # read-only mode. This can be solved by adding your fingerprint.
  # See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information
  EventName.carUnrecognized: {
    ET.PERMANENT: NormalPermanentAlert("대시캠 모드",
                                       "배선연결상태를 확인하세요",
                                       priority=Priority.LOWEST),
  },

  EventName.aeb: {
    ET.PERMANENT: Alert(
      "브레이크!",
      "추돌 위험: 긴급제동 작동",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.),
    ET.NO_ENTRY: NoEntryAlert("추돌 위험: 긴급제동 작동"),
  },

  EventName.stockAeb: {
    ET.PERMANENT: Alert(
      "브레이크!",
      "추돌 위험: 차량 AEB 작동",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.warningSoft, 2.),
    ET.NO_ENTRY: NoEntryAlert("추돌 위험: 차량 AEB 작동"),
  },

  EventName.fcw: {
    ET.PERMANENT: Alert(
      "브레이크!",
      "추돌 위험",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.warningSoft, 2.),
  },

  EventName.ldw: {
    ET.PERMANENT: Alert(
      "차선이탈",
      "",
      AlertStatus.userPrompt, AlertSize.small,
      Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.),
  },

  # ********** events only containing alerts that display while engaged **********

  EventName.steerTempUnavailableSilent: {
    ET.WARNING: Alert(
      "조향제어 일시적 불가능",
      "",
      AlertStatus.userPrompt, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
  },

  EventName.preDriverDistracted: {
    ET.WARNING: Alert(
      "도로를 주시하세요",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 1.),
  },

  EventName.promptDriverDistracted: {
    ET.WARNING: Alert(
      "도로를 주시하세요",
      "운전자 도로주시 불안",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
  },

  EventName.driverDistracted: {
    ET.WARNING: Alert(
      "조향제어가 해제됩니다",
      "운전자 도로주시 불안",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
  },

  EventName.preDriverUnresponsive: {
    ET.WARNING: Alert(
      "핸들을 잡아주세요 : 운전자 인식 불가",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, .1),
  },

  EventName.promptDriverUnresponsive: {
    ET.WARNING: Alert(
      "핸들을 잡아주세요",
      "운전자 응답없음",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
  },

  EventName.driverUnresponsive: {
    ET.WARNING: Alert(
      "조향제어가 해제됩니다",
      "운전자 응답없음",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
  },

  EventName.manualRestart: {
    ET.WARNING: Alert(
      "핸들을 잡아주세요",
      "장치를 재부팅 하세요",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
  },

  EventName.resumeRequired: {
    ET.WARNING: Alert(
      "정지 상태를 종료하려면 RES버튼을 누르세요",
      "",
      AlertStatus.userPrompt, AlertSize.small,
      Priority.MID, VisualAlert.none, AudibleAlert.none, .2),
  },

  EventName.belowSteerSpeed: {
    ET.WARNING: below_steer_speed_alert,
  },

  EventName.preLaneChangeLeft: {
    ET.WARNING: Alert(
      "좌측 차선이 안전한지 확인하세요",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.preLaneChangeRight: {
    ET.WARNING: Alert(
      "우측 차선이 안전한지 확인하세요",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.laneChangeBlocked: {
    ET.WARNING: Alert(
      "사각지대에 차량이 감지되니 대기하세요",
      "",
      AlertStatus.userPrompt, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
  },

  EventName.laneChange: {
    ET.WARNING: Alert(
      "차선을 변경합니다",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.steerSaturated: {
    ET.WARNING: Alert(
      "핸들을 잡아주세요",
      "회전이 조향 한도를 초과함",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.),
  },

  # Thrown when the fan is driven at >50% but is not rotating
  EventName.fanMalfunction: {
    ET.PERMANENT: NormalPermanentAlert("FAN 오작동", "장치를 점검하세요"),
  },

  # Camera is not outputting frames
  EventName.cameraMalfunction: {
    ET.PERMANENT: camera_malfunction_alert,
    ET.SOFT_DISABLE: soft_disable_alert("카메라 오작동"),
    ET.NO_ENTRY: NoEntryAlert("카메라 오작동: 장치를 재부팅 하세요"),
  },
  # Camera framerate too low
  EventName.cameraFrameRate: {
    ET.PERMANENT: NormalPermanentAlert("카메라 프레임 낮음", "장치를 재부팅 하세요"),
    ET.SOFT_DISABLE: soft_disable_alert("카메라 프레임 낮음"),
    ET.NO_ENTRY: NoEntryAlert("카메라 프레임 낮음", "장치를 재부팅 하세요"),
  },

  # Unused

  EventName.locationdTemporaryError: {
    ET.NO_ENTRY: NoEntryAlert("locationd 일시적 오류"),
    ET.SOFT_DISABLE: soft_disable_alert("locationd 일시적 오류"),
  },

  EventName.locationdPermanentError: {
    ET.NO_ENTRY: NoEntryAlert("locationd 오류"),
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd 오류"),
    ET.PERMANENT: NormalPermanentAlert("locationd 오류"),
  },

  # openpilot tries to learn certain parameters about your car by observing
  # how the car behaves to steering inputs from both human and openpilot driving.
  # This includes:
  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
  # - tire stiffness: how much grip your tires have
  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
  EventName.paramsdTemporaryError: {
    ET.NO_ENTRY: NoEntryAlert("paramsd 일시적 오류"),
    ET.SOFT_DISABLE: soft_disable_alert("paramsd 일시적 오류"),
  },

  EventName.paramsdPermanentError: {
    ET.NO_ENTRY: NoEntryAlert("paramsd 오류"),
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd 오류"),
    ET.PERMANENT: NormalPermanentAlert("paramsd 오류"),
  },

  # ********** events that affect controls state transitions **********

  EventName.pcmEnable: {
    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
  },

  EventName.buttonEnable: {
    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
  },

  EventName.pcmDisable: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
  },

  EventName.buttonCancel: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("Cancel 버튼을 눌렀습니다"),
  },

  EventName.brakeHold: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("브레이크 감지됨"),
  },

  EventName.parkBrake: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("주차 브레이크를 해제하세요"),
  },

  EventName.pedalPressed: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("브레이크 감지됨",
                              visual_alert=VisualAlert.brakePressed),
  },

  EventName.preEnableStandstill: {
    ET.PRE_ENABLE: Alert(
      "브레이크 해제 후 활성화하세요",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
  },

  EventName.gasPressedOverride: {
    ET.OVERRIDE_LONGITUDINAL: Alert(
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.steerOverride: {
    ET.OVERRIDE_LATERAL: Alert(
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.wrongCarMode: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: wrong_car_mode_alert,
  },

  EventName.resumeBlocked: {
    ET.NO_ENTRY: NoEntryAlert("SET 버튼으로 활성화됩니다"),
  },

  EventName.wrongCruiseMode: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("어뎁티브크루즈를 활성화하세요"),
  },

  EventName.steerTempUnavailable: {
    ET.SOFT_DISABLE: soft_disable_alert("조향제어 일시적 불가능"),
    ET.NO_ENTRY: NoEntryAlert("조향제어 일시적 불가능"),
  },

  EventName.steerTimeLimit: {
    ET.SOFT_DISABLE: soft_disable_alert("차량 조향제어 시간 제한"),
    ET.NO_ENTRY: NoEntryAlert("차량 조향제어 시간 제한"),
  },

  EventName.outOfSpace: {
    ET.PERMANENT: out_of_space_alert,
    ET.NO_ENTRY: NoEntryAlert("저장공간 부족"),
  },

  EventName.belowEngageSpeed: {
    ET.NO_ENTRY: below_engage_speed_alert,
  },

  EventName.sensorDataInvalid: {
    ET.PERMANENT: Alert(
      "센서 데이터 오류",
      "장치를 점검하세요",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
    ET.NO_ENTRY: NoEntryAlert("센서 데이터 오류"),
    ET.SOFT_DISABLE: soft_disable_alert("센서 데이터 오류"),
  },

  EventName.noGps: {
    ET.PERMANENT: Alert(
      "GPS 수신 불량",
      "기기에서 하늘이 잘 보이는지 확인하세요",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
  },

  EventName.tooDistracted: {
    ET.NO_ENTRY: NoEntryAlert("방해 수준이 너무높습니다"),
  },

  EventName.overheat: {
    ET.PERMANENT: overheat_alert,
    ET.SOFT_DISABLE: soft_disable_alert("장치 과열됨"),
    ET.NO_ENTRY: NoEntryAlert("장치 과열됨"),
  },

  EventName.wrongGear: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("기어를 [D]로 변경하세요"),
  },

  # This alert is thrown when the calibration angles are outside of the acceptable range.
  # For example if the device is pointed too much to the left or the right.
  # Usually this can only be solved by removing the mount from the windshield completely,
  # and attaching while making sure the device is pointed straight forward and is level.
  # See https://comma.ai/setup for more information
  EventName.calibrationInvalid: {
    ET.PERMANENT: calibration_invalid_alert,
    ET.SOFT_DISABLE: soft_disable_alert("캘리브레이션 오류 : 장치 위치 변경 후 캘리브레이션을 다시 하세요"),
    ET.NO_ENTRY: NoEntryAlert("캘리브레이션 오류 : 장치 위치 변경 후 캘리브레이션을 다시 하세요"),
  },

  EventName.calibrationIncomplete: {
    ET.PERMANENT: calibration_incomplete_alert,
    ET.SOFT_DISABLE: soft_disable_alert("캘리브레이션이 완료되지않았습니다"),
    ET.NO_ENTRY: NoEntryAlert("캘리브레이션이 진행중입니다"),
  },

  EventName.calibrationRecalibrating: {
    ET.PERMANENT: calibration_incomplete_alert,
    ET.SOFT_DISABLE: soft_disable_alert("장치 위치변경이 감지되어 캘리브레이션이 다시 진행중입니다"),
    ET.NO_ENTRY: NoEntryAlert("장치 위치변경 감지되어 캘리브레이션이 다시 진행중입니다"),
  },

  EventName.doorOpen: {
    #ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"),
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("도어 열림"),
    ET.PERMANENT: Alert(
      "도어 열림",
      "",
      AlertStatus.normal, AlertSize.full,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
  },

  EventName.seatbeltNotLatched: {
    ET.SOFT_DISABLE: user_soft_disable_alert("안전벨트를 착용해주세요"),
    ET.NO_ENTRY: NoEntryAlert("안전벨트를 착용해주세요"),
    ET.PERMANENT: Alert(
      "안전벨트 미착용",
      "",
      AlertStatus.normal, AlertSize.full,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
  },

  EventName.espDisabled: {
    ET.SOFT_DISABLE: soft_disable_alert("ESC 해제됨"),
    ET.NO_ENTRY: NoEntryAlert("ESC 해제됨"),
  },

  EventName.lowBattery: {
    ET.SOFT_DISABLE: soft_disable_alert("배터리 부족"),
    ET.NO_ENTRY: NoEntryAlert("배터리 부족"),
  },

  # Different openpilot services communicate between each other at a certain
  # interval. If communication does not follow the regular schedule this alert
  # is thrown. This can mean a service crashed, did not broadcast a message for
  # ten times the regular interval, or the average interval is more than 10% too high.
  EventName.commIssue: {
    ET.SOFT_DISABLE: soft_disable_alert("장치 프로세스 동작오류"),
    ET.NO_ENTRY: comm_issue_alert,
  },
  EventName.commIssueAvgFreq: {
    ET.SOFT_DISABLE: soft_disable_alert("장치 프로세스 통신속도 오류"),
    ET.NO_ENTRY: NoEntryAlert("장치 프로세스 통신속도 오류"),
  },

  EventName.selfdrivedLagging: {
    ET.SOFT_DISABLE: soft_disable_alert("시스템 지연됨"),
    ET.NO_ENTRY: NoEntryAlert("Selfdrive 프로세스 지연됨: 장치를 재부팅 하세요"),
  },

  # Thrown when manager detects a service exited unexpectedly while driving
  EventName.processNotRunning: {
    ET.NO_ENTRY: process_not_running_alert,
    ET.SOFT_DISABLE: soft_disable_alert("프로세스가 실행되지 않았습니다"),
  },

  EventName.radarFault: {
    ET.SOFT_DISABLE: soft_disable_alert("레이더 오류 : 차량을 재가동 하세요"),
    ET.NO_ENTRY: NoEntryAlert("레이더 오류 : 차량을 재가동 하세요"),
  },

  # Every frame from the camera should be processed by the model. If modeld
  # is not processing frames fast enough they have to be dropped. This alert is
  # thrown when over 20% of frames are dropped.
  EventName.modeldLagging: {
    ET.SOFT_DISABLE: soft_disable_alert("주행모델 지연됨"),
    ET.NO_ENTRY: NoEntryAlert("주행모델 지연됨"),
    ET.PERMANENT: modeld_lagging_alert,
  },

  # Besides predicting the path, lane lines and lead car data the model also
  # predicts the current velocity and rotation speed of the car. If the model is
  # very uncertain about the current velocity while the car is moving, this
  # usually means the model has trouble understanding the scene. This is used
  # as a heuristic to warn the driver.
  EventName.posenetInvalid: {
    ET.SOFT_DISABLE: soft_disable_alert("Posenet 속도 잘못됨"),
    ET.NO_ENTRY: posenet_invalid_alert,
  },

  # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we
  # alert the driver the device might have fallen from the windshield.
  EventName.deviceFalling: {
    ET.SOFT_DISABLE: soft_disable_alert("장치가 마운트에서 떨어짐"),
    ET.NO_ENTRY: NoEntryAlert("장치가 마운트에서 떨어짐"),
  },

  EventName.lowMemory: {
    ET.SOFT_DISABLE: soft_disable_alert("메모리 부족 : 장치를 재부팅 하세요"),
    ET.PERMANENT: low_memory_alert,
    ET.NO_ENTRY: NoEntryAlert("메모리 부족 : 장치를 재부팅 하세요"),
  },

  EventName.accFaulted: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("크루즈 오류 : 차량을 재가동 하세요"),
    ET.PERMANENT: NormalPermanentAlert("크루즈 오류 : 차량을 재가동 하세요"),
    ET.NO_ENTRY: NoEntryAlert("크루즈 오류 : 차량을 재가동 하세요"),
  },

  EventName.espActive: {
    ET.SOFT_DISABLE: ImmediateDisableAlert("ESC 동작됨"),
    ET.NO_ENTRY: NoEntryAlert("ESC 동작됨"),
  },

  EventName.controlsMismatch: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("컨트롤 불일치"),
    ET.NO_ENTRY: NoEntryAlert("컨트롤 불일치"),
  },

  # Sometimes the USB stack on the device can get into a bad state
  # causing the connection to the panda to be lost
  EventName.usbError: {
    ET.SOFT_DISABLE: soft_disable_alert("USB 오류 : 장치를 재부팅 하세요"),
    ET.PERMANENT: NormalPermanentAlert("USB 오류 : 장치를 재부팅 하세요", ""),
    ET.NO_ENTRY: NoEntryAlert("USB 오류 : 장치를 재부팅 하세요"),
  },

  # This alert can be thrown for the following reasons:
  # - No CAN data received at all
  # - CAN data is received, but some message are not received at the right frequency
  # If you're not writing a new car port, this is usually cause by faulty wiring
  EventName.canError: {
    ET.PERMANENT: car_parser_result,
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN 오류 : 장치를 점검하세요"),
    #ET.PERMANENT: Alert(
    #  "CAN 오류 : 장치를 점검하세요",
    #  "",
    #  AlertStatus.normal, AlertSize.small,
    #  Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
    ET.NO_ENTRY: NoEntryAlert("CAN 오류 : 장치를 점검하세요"),
  },

  EventName.canBusMissing: {
    ET.PERMANENT: car_parser_result,
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Bus 연결 끈김"),
    #ET.PERMANENT: Alert(
    #  "CAN Bus 오류 : 케이블을 점검하세요",
    #  "",
    #  AlertStatus.normal, AlertSize.small,
    #  Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
    ET.NO_ENTRY: NoEntryAlert("CAN Bus 오류 : 장치를 점검하세요"),
  },

  EventName.steerUnavailable: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS 오류 : 차량을 재가동 하세요"),
    ET.PERMANENT: NormalPermanentAlert("LKAS 오류 : 차량을 재가동 하세요"),
    ET.NO_ENTRY: NoEntryAlert("LKAS 오류 : 차량을 재가동 하세요"),
  },

  EventName.reverseGear: {
    ET.PERMANENT: Alert(
      "기어 [R] 상태",
      "",
      AlertStatus.normal, AlertSize.full,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
    ET.USER_DISABLE: SoftDisableAlert("기어 [R] 상태"),
    ET.NO_ENTRY: NoEntryAlert("기어 [R] 상태"),
  },

  # On cars that use stock ACC the car can decide to cancel ACC for various reasons.
  # When this happens we can no long control the car so the user needs to be warned immediately.
  EventName.cruiseDisabled: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("크루즈 해제됨"),
  },

  # When the relay in the harness box opens the CAN bus between the LKAS camera
  # and the rest of the car is separated. When messages from the LKAS camera
  # are received on the car side this usually means the relay hasn't opened correctly
  # and this alert is thrown.
  EventName.relayMalfunction: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("하네스 릴레이 오작동"),
    ET.PERMANENT: NormalPermanentAlert("하네스 릴레이 오작동", "장치를 점검하세요"),
    ET.NO_ENTRY: NoEntryAlert("하네스 릴레이 오작동"),
  },

  EventName.speedTooLow: {
    ET.IMMEDIATE_DISABLE: Alert(
      "오픈파일럿 사용불가",
      "속도를 높이고 활성화하세요",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.),
  },

  # When the car is driving faster than most cars in the training data, the model outputs can be unpredictable.
  EventName.speedTooHigh: {
    ET.WARNING: Alert(
      "속도가 너무 높습니다",
      "속도를 줄여주세요",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 4.),
    ET.NO_ENTRY: NoEntryAlert("속도를 줄인 후 활성화하세요"),
  },

  EventName.vehicleSensorsInvalid: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("차량 센서 정보가 유효하지 않습니다"),
    ET.PERMANENT: NormalPermanentAlert("차량 센서 보정", "주행 하여 보정하세요"),
    ET.NO_ENTRY: NoEntryAlert("차량 센서 보정"),
  },

  EventName.personalityChanged: {
    ET.WARNING: personality_changed_alert,
  },

  EventName.softHold: {
    ET.WARNING: Alert(
      "SoftHold 동작",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },
  EventName.trafficStopping: {
    ET.WARNING: EngagementAlert(AudibleAlert.stopping),
    #ET.WARNING: Alert(
    #  "신호 감속정지중입니다.",
    #  "",
    #  AlertStatus.normal, AlertSize.small,
    #  Priority.LOW, VisualAlert.none, AudibleAlert.stopping, 3.),
  },
  EventName.audioPrompt: {
     ET.WARNING: EngagementAlert(AudibleAlert.prompt),
  },
  EventName.audioRefuse: {
     ET.WARNING: EngagementAlert(AudibleAlert.refuse),
  },
  EventName.stopStop: {
     ET.WARNING: EngagementAlert(AudibleAlert.stopStop),
  },
  EventName.audioLaneChange: {
     ET.WARNING: EngagementAlert(AudibleAlert.laneChange),
  },
  EventName.audioTurn: {
     ET.WARNING: EngagementAlert(AudibleAlert.audioTurn),
  },
  EventName.trafficSignGreen: {
    ET.WARNING: EngagementAlert(AudibleAlert.trafficSignGreen),
    #ET.WARNING: Alert(
    #  "출발합니다.",
    #  "",
    #  AlertStatus.normal, AlertSize.small,
    #  Priority.LOW, VisualAlert.none, AudibleAlert.trafficSignGreen, 3.),
  },
  EventName.trafficSignChanged: {
    ET.WARNING: Alert(
      "신호가바뀌었어요.",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.trafficSignChanged, 1.),
  },
  EventName.turningLeft: {
    ET.WARNING: Alert(
      "좌회전 합니다",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.turningRight: {
    ET.WARNING: Alert(
      "우회전 합니다",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },
  EventName.audio1: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio1),
  },
  EventName.audio2: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio2),
  },
  EventName.audio3: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio3),
  },
  EventName.audio4: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio4),
  },
  EventName.audio5: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio5),
  },
  EventName.audio6: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio6),
  },
  EventName.audio7: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio7),
  },
  EventName.audio8: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio8),
  },
  EventName.audio9: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio9),
  },
  EventName.audio10: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio10),
  },
  EventName.audio0: {
     ET.WARNING: EngagementAlert(AudibleAlert.longDisengaged),
  },

}


if __name__ == '__main__':
  # print all alerts by type and priority
  from cereal.services import SERVICE_LIST
  from collections import defaultdict

  event_names = {v: k for k, v in EventName.schema.enumerants.items()}
  alerts_by_type: dict[str, dict[Priority, list[str]]] = defaultdict(lambda: defaultdict(list))

  CP = car.CarParams.new_message()
  CS = car.CarState.new_message()
  sm = messaging.SubMaster(list(SERVICE_LIST.keys()))

  for i, alerts in EVENTS.items():
    for et, alert in alerts.items():
      if callable(alert):
        alert = alert(CP, CS, sm, False, 1, log.LongitudinalPersonality.standard)
      alerts_by_type[et][alert.priority].append(event_names[i])

  all_alerts: dict[str, list[tuple[Priority, list[str]]]] = {}
  for et, priority_alerts in alerts_by_type.items():
    all_alerts[et] = sorted(priority_alerts.items(), key=lambda x: x[0], reverse=True)

  for status, evs in sorted(all_alerts.items(), key=lambda x: x[0]):
    print(f"**** {status} ****")
    for p, alert_list in evs:
      print(f"  {repr(p)}:")
      print("   ", ', '.join(alert_list), "\n")