Add steerWarning and steerError to carState (#1444)

* Add steerWarning and steerError to carState

* fix gm and hyundai

* update refs

cereal

@@ -1 +1 @@
-Subproject commit 8b347b0ac7a1acc73a9f83fe20ecd5d9fcf91d0a
+Subproject commit 8573a24d2e19e00f5667aee6d2bf689dfda35ee7

selfdrive/car/chrysler/carstate.py

@@ -54,7 +54,7 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
     steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
-    self.steer_error = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
+    ret.steerError = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
     ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
 

selfdrive/car/ford/carstate.py

@@ -19,6 +19,7 @@ class CarState(CarStateBase):
     ret.standstill = not ret.vEgoRaw > 0.001
     ret.steeringAngle = cp.vl["Steering_Wheel_Data_CG1"]['SteWhlRelInit_An_Sns']
     ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]['LaHandsOff_B_Actl']
+    ret.steerError = cp.vl["Lane_Keep_Assist_Status"]['LaActDeny_B_Actl'] == 1
     ret.cruiseState.speed = cp.vl["Cruise_Status"]['Set_Speed'] * CV.MPH_TO_MS
     ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]['Cruise_State'] in [0, 3])
     ret.cruiseState.available = cp.vl["Cruise_Status"]['Cruise_State'] != 0
@@ -29,7 +30,6 @@ class CarState(CarStateBase):
     ret.genericToggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
     # TODO: we also need raw driver torque, needed for Assisted Lane Change
     self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]['LaActAvail_D_Actl']
-    self.steer_error = cp.vl["Lane_Keep_Assist_Status"]['LaActDeny_B_Actl']
 
     return ret
 

selfdrive/car/gm/carcontroller.py

@@ -77,7 +77,7 @@ class CarController():
     ### STEER ###
 
     if (frame % P.STEER_STEP) == 0:
-      lkas_enabled = enabled and not CS.steer_warning and CS.out.vEgo > P.MIN_STEER_SPEED
+      lkas_enabled = enabled and not CS.out.steerWarning and CS.out.vEgo > P.MIN_STEER_SPEED
       if lkas_enabled:
         new_steer = actuators.steer * P.STEER_MAX
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)

selfdrive/car/gm/carstate.py

@@ -69,7 +69,7 @@ class CarState(CarStateBase):
 
     # 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
     self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
-    self.steer_warning = not is_eps_status_ok(self.lkas_status, self.car_fingerprint)
+    ret.steerWarning = not is_eps_status_ok(self.lkas_status, self.car_fingerprint)
 
     return ret
 

selfdrive/car/honda/carstate.py

@@ -194,11 +194,11 @@ class CarState(CarStateBase):
     ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] or not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED'])
 
     steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]['STEER_STATUS']]
-    self.steer_error = steer_status not in ['NORMAL', 'NO_TORQUE_ALERT_1', 'NO_TORQUE_ALERT_2', 'LOW_SPEED_LOCKOUT', 'TMP_FAULT']
+    ret.steerError = steer_status not in ['NORMAL', 'NO_TORQUE_ALERT_1', 'NO_TORQUE_ALERT_2', 'LOW_SPEED_LOCKOUT', 'TMP_FAULT']
     # NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
     self.steer_not_allowed = steer_status not in ['NORMAL', 'NO_TORQUE_ALERT_2']
     # LOW_SPEED_LOCKOUT is not worth a warning
-    self.steer_warning = steer_status not in ['NORMAL', 'LOW_SPEED_LOCKOUT', 'NO_TORQUE_ALERT_2']
+    ret.steerWarning = steer_status not in ['NORMAL', 'LOW_SPEED_LOCKOUT', 'NO_TORQUE_ALERT_2']
 
     if self.CP.radarOffCan:
       self.brake_error = 0

selfdrive/car/hyundai/carstate.py

@@ -33,6 +33,7 @@ class CarState(CarStateBase):
     ret.steeringTorque = cp.vl["MDPS12"]['CR_Mdps_StrColTq']
     ret.steeringTorqueEps = cp.vl["MDPS12"]['CR_Mdps_OutTq']
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0
 
     # cruise state
     ret.cruiseState.available = True
@@ -113,7 +114,6 @@ class CarState(CarStateBase):
     self.clu11 = cp.vl["CLU11"]
     self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
     self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
-    self.steer_warning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
     self.lead_distance = cp.vl["SCC11"]['ACC_ObjDist']
 
     return ret

selfdrive/car/interfaces.py

@@ -97,10 +97,9 @@ class CarInterfaceBase():
     if cs_out.gasPressed:
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
-    # TODO: move this stuff to the capnp strut
+    if cs_out.steerError:
-    if getattr(self.CS, "steer_error", False):
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    elif getattr(self.CS, "steer_warning", False):
+    elif cs_out.steerWarning:
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.

selfdrive/car/toyota/carstate.py

@@ -72,6 +72,7 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    ret.steerWarning = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
 
     if self.CP.carFingerprint == CAR.LEXUS_IS:
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]['MAIN_ON'] != 0
@@ -99,8 +100,7 @@ class CarState(CarStateBase):
     ret.espDisabled = cp.vl["ESP_CONTROL"]['TC_DISABLED'] != 0
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
-    self.steer_warning = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
+
-    
     if self.CP.carFingerprint in TSS2_CAR:
       ret.leftBlindspot = cp.vl["BSM"]['L_ADJACENT'] == 1
       ret.rightBlindspot = cp.vl["BSM"]['R_ADJACENT'] == 1

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b33259e2dae9852c58b0507dbb98fb01d8b884b8
+79bba4ca90f4c7d6c4fddcd9a916f94966a40dca