High speed alert (#1295)

* add speed to high alerts

* Add permanent alert

* Two lines

* No permanent alerts

* Less bad alert

* Typo

selfdrive/controls/controlsd.py

@@ -116,6 +116,9 @@ def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter
     else:
       events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
+  if CS.vEgo > 92 * CV.MPH_TO_MS:
+    events.append(create_event('speedTooHigh', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+
   # When the panda and controlsd do not agree on controls_allowed
   # we want to disengage openpilot. However the status from the panda goes through
   # another socket other than the CAN messages and one can arrive earlier than the other.

selfdrive/controls/lib/alerts.py

@@ -503,6 +503,7 @@ ALERTS = [
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
+
   # not loud cancellations (user is in control)
   Alert(
       "noTarget",
@@ -518,6 +519,13 @@ ALERTS = [
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
+  Alert(
+      "speedTooHigh",
+      "Speed Too High",
+      "Slow down to resume operation",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
+
   # Cancellation alerts causing non-entry
   Alert(
       "overheatNoEntry",
@@ -687,6 +695,13 @@ ALERTS = [
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
+  Alert(
+      "speedTooHighNoEntry",
+      "Speed Too High",
+      "Slow down to engage",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
+
   # permanent alerts
   Alert(
       "steerUnavailablePermanent",