From bcdbd8edb9e82d447093b06edc4d2abc8c0367bd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 25 Nov 2022 17:00:58 -0700
Subject: [PATCH] Toyota: alert when in standstill (#26585)

* add resume required alert

* possibly need this (pressing resume with brake held does nothing)

* better text (has both meanings)

* try this

* Revert "try this"

This reverts commit 5b2991929b62f5bcd9bfa0767d709b5fe83b094b.

* no alert with interceptor

* check long
old-commit-hash: 3253b8590002fa5f56e003add3f5f47a21870873
---
 selfdrive/car/toyota/interface.py | 23 +++++++++++++----------
 selfdrive/controls/lib/events.py  |  2 +-
 2 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 3f4edb36d..0139c692c 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -247,16 +247,19 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret)
 
-    if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
-      events.add(EventName.lowSpeedLockout)
-    if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
-      events.add(EventName.belowEngageSpeed)
-      if c.actuators.accel > 0.3:
-        # some margin on the actuator to not false trigger cancellation while stopping
-        events.add(EventName.speedTooLow)
-      if ret.vEgo < 0.001:
-        # while in standstill, send a user alert
-        events.add(EventName.manualRestart)
+    if self.CP.openpilotLongitudinalControl:
+      if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor:
+        events.add(EventName.resumeRequired)
+      if self.CS.low_speed_lockout:
+        events.add(EventName.lowSpeedLockout)
+      if ret.vEgo < self.CP.minEnableSpeed:
+        events.add(EventName.belowEngageSpeed)
+        if c.actuators.accel > 0.3:
+          # some margin on the actuator to not false trigger cancellation while stopping
+          events.add(EventName.speedTooLow)
+        if ret.vEgo < 0.001:
+          # while in standstill, send a user alert
+          events.add(EventName.manualRestart)
 
     ret.events = events.to_msg()
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 1ed2ffa86..ad10b8f0b 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -501,7 +501,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   EventName.resumeRequired: {
     ET.WARNING: Alert(
       "STOPPED",
-      "Press Resume to Go",
+      "Press Resume to Exit Standstill",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
   },