From 055b8b06e604f7c7a189d4a27d3a5174b0897eb7 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Sun, 30 Jan 2022 23:04:07 -0600 Subject: [PATCH] Mazda: alert when LKAS is disabled (#23288) * Mazda: alert when LKAS is disabled Signed-off-by: Jafar Al-Gharaibeh * update refs * revert that Co-authored-by: Adeeb Shihadeh old-commit-hash: 1c31c9b7a3b0ee72b9dca443067deab793e19187 --- selfdrive/car/mazda/carstate.py | 6 +++++- selfdrive/car/mazda/interface.py | 4 +++- selfdrive/controls/lib/events.py | 7 +++++-- 3 files changed, 13 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 93d4aee643..1f1a3eafef 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -16,6 +16,7 @@ class CarState(CarStateBase): self.acc_active_last = False self.low_speed_alert = False self.lkas_allowed_speed = False + self.lkas_disabled = False def update(self, cp, cp_cam): @@ -91,9 +92,12 @@ class CarState(CarStateBase): self.acc_active_last = ret.cruiseState.enabled + self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"] + + # camera signals + self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0 self.cam_lkas = cp_cam.vl["CAM_LKAS"] self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"] - self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"] ret.steerError = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1 return ret diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index a4c0ce705d..b703402cd9 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -86,7 +86,9 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret) - if self.CS.low_speed_alert: + if self.CS.lkas_disabled: + events.add(EventName.lkasDisabled) + elif self.CS.low_speed_alert: events.add(EventName.belowSteerSpeed) ret.events = events.to_msg() diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index ea670311b6..514d2f0cc2 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -264,8 +264,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.stockFcw: {}, - EventName.lkasDisabled: {}, - # ********** events only containing alerts displayed in all states ********** EventName.joystickDebug: { @@ -823,4 +821,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), }, + EventName.lkasDisabled: { + ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"), + ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"), + }, + }