From 165bcf1f31ffc34b56c84cf8e71f41ce224dd7e3 Mon Sep 17 00:00:00 2001
From: Adeeb <8762862+adeebshihadeh@users.noreply.github.com>
Date: Tue, 2 Jun 2020 17:31:59 -0700
Subject: [PATCH] Fix speed too low (#1627)

* fix speed too low

* bump ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
---
 cereal                                   | 2 +-
 selfdrive/car/gm/interface.py            | 2 +-
 selfdrive/car/honda/interface.py         | 4 ++--
 selfdrive/car/mazda/interface.py         | 2 +-
 selfdrive/car/toyota/interface.py        | 2 +-
 selfdrive/controls/lib/events.py         | 5 ++++-
 selfdrive/test/process_replay/ref_commit | 2 +-
 7 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/cereal b/cereal
index 978ffda405..cc14179697 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 978ffda4057542514b233a4b540690a964651dca
+Subproject commit cc14179697fac4757daeaa7968ac29d490204693
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 6dda4f3a0a..f63f8d7741 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -149,7 +149,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, pcm_enable=False)
 
     if ret.vEgo < self.CP.minEnableSpeed:
-      events.add(EventName.speedTooLow)
+      events.add(EventName.belowEngageSpeed)
     if self.CS.park_brake:
       events.add(EventName.parkBrake)
     if ret.cruiseState.standstill:
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index aa315afd52..7e5c46c895 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -482,12 +482,12 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.parkBrake)
 
     if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
-      events.add(EventName.speedTooLow)
+      events.add(EventName.belowEngageSpeed)
 
     # it can happen that car cruise disables while comma system is enabled: need to
     # keep braking if needed or if the speed is very low
     if self.CP.enableCruise and not ret.cruiseState.enabled \
-       and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl) and (self.CP.minEnableSpeed > 0):
+       and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
       # non loud alert if cruise disables below 25mph as expected (+ a little margin)
       if ret.vEgo < self.CP.minEnableSpeed + 2.:
         events.add(EventName.speedTooLow)
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 037b84e107..20ddf5ae94 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -77,7 +77,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret)
 
     if self.CS.low_speed_lockout:
-      events.add(EventName.speedTooLow)
+      events.add(EventName.belowEngageSpeed)
 
     if self.CS.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 9b9b46cf39..7720e627f7 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -323,7 +323,7 @@ class CarInterface(CarInterfaceBase):
     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.speedTooLow)
+      events.add(EventName.belowEngageSpeed)
       if c.actuators.gas > 0.1:
         # some margin on the actuator to not false trigger cancellation while stopping
         events.add(EventName.speedTooLow)
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 413a402407..ff97a6bbd5 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -506,6 +506,10 @@ EVENTS = {
                               duration_hud_alert=0.),
   },
 
+  EventName.belowEngageSpeed: {
+    ET.NO_ENTRY: NoEntryAlert("Speed Too Low"),
+  },
+
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
       "No Data from Device Sensors",
@@ -680,7 +684,6 @@ EVENTS = {
       "Speed too low",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
-    ET.NO_ENTRY: NoEntryAlert("Speed Too Low"),
   },
 
   EventName.speedTooHigh: {
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index bdcc7b799f..47366239cf 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-5bad0192bf35d8f08f26dd5ac72b3c1d62a57569
\ No newline at end of file
+5abe4f99eec3633bc30fda47c272e0f19a840a29
\ No newline at end of file