lateral overriding is overriding

cereal

@@ -1 +1 @@
-Subproject commit c4cc38c4689b5e06be1cbfbb26c0463c377c0a6d
+Subproject commit 8f9885b9726cd2784db6886dd4ce01688b5ba732

selfdrive/car/interfaces.py

@@ -212,6 +212,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.parkBrake)
     if cs_out.accFaulted:
       events.add(EventName.accFaulted)
+    if cs_out.steeringPressed:
+      events.add(EventName.steerOverride)
 
     # Handle button presses
     events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))

selfdrive/controls/controlsd.py

@@ -504,9 +504,9 @@ class Controls:
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
 
-          elif self.events.any(ET.OVERRIDE):
+          elif self.events.any(ET.OVERRIDE_LAT) or self.events.any(ET.OVERRIDE_LONG):
             self.state = State.overriding
-            self.current_alert_types.append(ET.OVERRIDE)
+            self.current_alert_types += [ET.OVERRIDE_LAT, ET.OVERRIDE_LONG]
 
         # SOFT DISABLING
         elif self.state == State.softDisabling:
@@ -536,10 +536,10 @@ class Controls:
             self.state = State.softDisabling
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not self.events.any(ET.OVERRIDE):
+          elif not (self.events.any(ET.OVERRIDE_LAT) or self.events.any(ET.OVERRIDE_LONG)):
             self.state = State.enabled
           else:
-            self.current_alert_types.append(ET.OVERRIDE)
+            self.current_alert_types += [ET.OVERRIDE_LAT, ET.OVERRIDE_LONG]
 
     # DISABLED
     elif self.state == State.disabled:
@@ -550,7 +550,7 @@ class Controls:
         else:
           if self.events.any(ET.PRE_ENABLE):
             self.state = State.preEnabled
-          elif self.events.any(ET.OVERRIDE):
+          elif self.events.any(ET.OVERRIDE_LAT) or self.events.any(ET.OVERRIDE_LONG):
             self.state = State.overriding
           else:
             self.state = State.enabled
@@ -582,7 +582,7 @@ class Controls:
     # Check which actuators can be enabled
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                      CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
-    CC.longActive = self.active and not self.events.any(ET.OVERRIDE) and self.CP.openpilotLongitudinalControl
+    CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONG) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state

selfdrive/controls/lib/events.py

@@ -31,7 +31,8 @@ class Priority(IntEnum):
 class ET:
   ENABLE = 'enable'
   PRE_ENABLE = 'preEnable'
-  OVERRIDE = 'override'
+  OVERRIDE_LAT = 'overrideLat'
+  OVERRIDE_LONG = 'overrideLong'
   NO_ENTRY = 'noEntry'
   WARNING = 'warning'
   USER_DISABLE = 'userDisable'
@@ -623,7 +624,15 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   },
 
   EventName.gasPressedOverride: {
-    ET.OVERRIDE: Alert(
+    ET.OVERRIDE_LONG: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.steerOverride: {
+    ET.OVERRIDE_LAT: Alert(
       "",
       "",
       AlertStatus.normal, AlertSize.none,