fix unnecessary harsh steering unavailable alerts (#21541)

cereal

@@ -1 +1 @@
-Subproject commit 5383d9eddabec9f9a4d3bcded227dcd375174162
+Subproject commit b372ab3ae1a3a1097e1de87e3092ca4b05cd0471

selfdrive/car/hyundai/interface.py

@@ -265,7 +265,6 @@ class CarInterface(CarInterfaceBase):
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
     events = self.create_common_events(ret)
-    # TODO: addd abs(self.CS.angle_steers) > 90 to 'steerTempUnavailable' event
 
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:

selfdrive/car/interfaces.py

@@ -27,6 +27,8 @@ class CarInterfaceBase():
     self.VM = VehicleModel(CP)
 
     self.frame = 0
+    self.steer_warning = 0
+    self.steering_unpressed = 0
     self.low_speed_alert = False
 
     if CarState is not None:
@@ -97,14 +99,15 @@ class CarInterfaceBase():
   def apply(self, c):
     raise NotImplementedError
 
-  def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_enable=True):  # pylint: disable=dangerous-default-value
+  def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pcm_enable=True):
     events = Events()
 
     if cs_out.doorOpen:
       events.add(EventName.doorOpen)
     if cs_out.seatbeltUnlatched:
       events.add(EventName.seatbeltNotLatched)
-    if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
+    if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
+       cs_out.gearShifter not in extra_gears):
       events.add(EventName.wrongGear)
     if cs_out.gearShifter == GearShifter.reverse:
       events.add(EventName.reverseGear)
@@ -123,13 +126,19 @@ class CarInterfaceBase():
     if cs_out.cruiseState.nonAdaptive:
       events.add(EventName.wrongCruiseMode)
 
+    self.steer_warning = self.steer_warning + 1 if cs_out.steerWarning else 0
+    self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
+
+    # Handle permanent and temporary steering faults
     if cs_out.steerError:
       events.add(EventName.steerUnavailable)
     elif cs_out.steerWarning:
-      if cs_out.steeringPressed:
-        events.add(EventName.steerTempUnavailableUserOverride)
-      else:
+      # only escalate to the harsher alert after the condition has
+      # persisted for 0.5s and we're certain that the user isn't overriding
+      if self.steering_unpressed > int(0.5/DT_CTRL) and self.steer_warning > int(0.5/DT_CTRL):
         events.add(EventName.steerTempUnavailable)
+      else:
+        events.add(EventName.steerTempUnavailableSilent)
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     # Optionally allow to press gas at zero speed to resume.

selfdrive/controls/lib/events.py

@@ -410,7 +410,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
   },
 
-  EventName.steerTempUnavailableUserOverride: {
+  EventName.steerTempUnavailableSilent: {
     ET.WARNING: Alert(
       "Steering Temporarily Unavailable",
       "",