controls: enter overriding state for steering override (#25617)

* lateral overriding is overriding

* Update test

* remove

* also could do something like this and only have one OVERRIDE ET

* Revert "also could do something like this and only have one OVERRIDE ET"

This reverts commit 5c381641c08961676a56a9718fbdaa84989ac249.

* full names

* bump cereal

* test every event type

* update refs
old-commit-hash: 992707c172

cereal

@@ -1 +1 @@
-Subproject commit 2335f98bbe628ec6fde92c8d929ecaf373b125af
+Subproject commit f363cc13c67d286f87606f35f91952927d1c2d4d

selfdrive/car/interfaces.py

@@ -215,6 +215,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.parkBrake)
     if cs_out.accFaulted:
       events.add(EventName.accFaulted)
+    if cs_out.steeringPressed:
+      events.add(EventName.steerOverride)
 
     # Handle button presses
     events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))

selfdrive/controls/controlsd.py

@@ -508,9 +508,9 @@ class Controls:
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
 
-          elif self.events.any(ET.OVERRIDE):
+          elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
             self.state = State.overriding
-            self.current_alert_types.append(ET.OVERRIDE)
+            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
 
         # SOFT DISABLING
         elif self.state == State.softDisabling:
@@ -540,10 +540,10 @@ class Controls:
             self.state = State.softDisabling
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not self.events.any(ET.OVERRIDE):
+          elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)):
             self.state = State.enabled
           else:
-            self.current_alert_types.append(ET.OVERRIDE)
+            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
 
     # DISABLED
     elif self.state == State.disabled:
@@ -554,7 +554,7 @@ class Controls:
         else:
           if self.events.any(ET.PRE_ENABLE):
             self.state = State.preEnabled
-          elif self.events.any(ET.OVERRIDE):
+          elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
             self.state = State.overriding
           else:
             self.state = State.enabled
@@ -586,7 +586,7 @@ class Controls:
     # Check which actuators can be enabled
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                      CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
-    CC.longActive = self.active and not self.events.any(ET.OVERRIDE) and self.CP.openpilotLongitudinalControl
+    CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state

selfdrive/controls/lib/events.py

@@ -31,7 +31,8 @@ class Priority(IntEnum):
 class ET:
   ENABLE = 'enable'
   PRE_ENABLE = 'preEnable'
-  OVERRIDE = 'override'
+  OVERRIDE_LATERAL = 'overrideLateral'
+  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
   NO_ENTRY = 'noEntry'
   WARNING = 'warning'
   USER_DISABLE = 'userDisable'
@@ -623,7 +624,15 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   },
 
   EventName.gasPressedOverride: {
-    ET.OVERRIDE: Alert(
+    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,

selfdrive/controls/tests/test_state_machine.py

@@ -11,11 +11,11 @@ from selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize
 State = log.ControlsState.OpenpilotState
 
 # The event types that maintain the current state
-MAINTAIN_STATES = {State.enabled: None, State.disabled: None, State.softDisabling: ET.SOFT_DISABLE,
-                   State.preEnabled: ET.PRE_ENABLE, State.overriding: ET.OVERRIDE}
+MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
+                   State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)}
 ALL_STATES = tuple(State.schema.enumerants.values())
 # The event types checked in DISABLED section of state machine
-ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE)
+ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
 
 
 def make_event(event_types):
@@ -41,29 +41,32 @@ class TestStateMachine(unittest.TestCase):
 
   def test_immediate_disable(self):
     for state in ALL_STATES:
-      self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.IMMEDIATE_DISABLE]))
-      self.controlsd.state = state
-      self.controlsd.state_transition(self.CS)
-      self.assertEqual(State.disabled, self.controlsd.state)
-      self.controlsd.events.clear()
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.controlsd.state = state
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(State.disabled, self.controlsd.state)
+        self.controlsd.events.clear()
 
   def test_user_disable(self):
     for state in ALL_STATES:
-      self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.USER_DISABLE]))
-      self.controlsd.state = state
-      self.controlsd.state_transition(self.CS)
-      self.assertEqual(State.disabled, self.controlsd.state)
-      self.controlsd.events.clear()
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.events.add(make_event([et, ET.USER_DISABLE]))
+        self.controlsd.state = state
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(State.disabled, self.controlsd.state)
+        self.controlsd.events.clear()
 
   def test_soft_disable(self):
     for state in ALL_STATES:
       if state == State.preEnabled:  # preEnabled considers NO_ENTRY instead
         continue
-      self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.SOFT_DISABLE]))
-      self.controlsd.state = state
-      self.controlsd.state_transition(self.CS)
-      self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling)
-      self.controlsd.events.clear()
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE]))
+        self.controlsd.state = state
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling)
+        self.controlsd.events.clear()
 
   def test_soft_disable_timer(self):
     self.controlsd.state = State.enabled
@@ -93,11 +96,12 @@ class TestStateMachine(unittest.TestCase):
   def test_maintain_states(self):
     # Given current state's event type, we should maintain state
     for state in ALL_STATES:
-      self.controlsd.state = state
-      self.controlsd.events.add(make_event([MAINTAIN_STATES[state]]))
-      self.controlsd.state_transition(self.CS)
-      self.assertEqual(self.controlsd.state, state)
-      self.controlsd.events.clear()
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.state = state
+        self.controlsd.events.add(make_event([et]))
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(self.controlsd.state, state)
+        self.controlsd.events.clear()
 
 
 if __name__ == "__main__":

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-48db2dee177706285226d1287912e191f1699865
+260bd1a7240221e75a20d547f68e8d1217f9f29e