selfdrived: add permanent alert for processNotRunning#38238
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srijavuppala wants to merge 1 commit into
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selfdrived: add permanent alert for processNotRunning#38238srijavuppala wants to merge 1 commit into
srijavuppala wants to merge 1 commit into
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processNotRunning only had NO_ENTRY and SOFT_DISABLE alerts. The SOFT_DISABLE alert is transient (2-4s), and NO_ENTRY only shows while the driver is actively trying to engage. Once both expire, there is nothing left to display for it, so an unrelated lower-priority permanent alert (e.g. steerUnavailable's 'LKAS Fault: Restart the car to engage') ends up shown instead, masking the real cause of the disengagement. Add a PERMANENT alert for processNotRunning at Priority.LOW, following the same pattern already used for modeldLagging, so it keeps showing and outranks other default-priority (LOWER) permanent alerts.
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Process replay diff reportReplays driving segments through this PR and compares the behavior to master. ✅ 0 changed, 66 passed, 0 errors |
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Summary
Fixes #34751.
processNotRunningonly definesET.NO_ENTRYandET.SOFT_DISABLEalerts. TheSOFT_DISABLEalert is transient (2-4s depending onsoft_disable_time), andNO_ENTRYis only ever included incurrent_alert_typeswhile the driver is actively trying to engage (seeStateMachine.updateinselfdrive/selfdrived/state.py,ET.PERMANENTis always active butET.NO_ENTRYis only appended inside theevents.contains(ET.ENABLE)branch).So once a process dies, after both of those alerts expire there is nothing left in
EVENTS[processNotRunning]forET.PERMANENT, the alert type that's always considered. If a consequential fault is also active and has aPERMANENTalert (e.g.steerUnavailable's "LKAS Fault: Restart the car to engage"), that unrelated, lower-severity alert is the only thing left to display, masking the real cause exactly as described in the issue.modeldLaggingalready follows the pattern this needs:SOFT_DISABLE+NO_ENTRY+PERMANENT. This PR adds the samePERMANENTalert forprocessNotRunning, atPriority.LOW(one step above the defaultPriority.LOWERused byNormalPermanentAlert/steerUnavailable's permanent alert) so it reliably outranks other default-priority permanent alerts that are just side effects of the same underlying process crash, regardless of which one happened to start first.Test plan
ruff checkpassesAlertManager.process_alerts(selfdrive/selfdrived/alertmanager.py) to confirm selection ismax(priority, start_frame)across all active alerts, and reproduced both the before/after outcome with a standalone script mirroring that exact comparison using the realPriorityvalues:processNotRunningcontributes noPERMANENTalert, sosteerUnavailable'sPERMANENT(Priority.LOWER) wins by defaultprocessNotRunning's newPERMANENTalert (Priority.LOW) wins regardless of start orderea1f52a90cc05090/00000001--1fc11d46d7) thatprocessNotRunningwas present inonroadEventswith noPERMANENTentry, whilesteerUnavailablewas permanent and is what actually displayed