carState: add invalid sensors field (#33266)

* add to CS

* add vehicleSensorsInvalid to CarState

* fix ord

* clean up

cereal/car.capnp

@@ -196,6 +196,7 @@ struct CarState {
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
   espActive @51 :Bool;
+  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
 
   # cruise state
   cruiseState @10 :CruiseState;

selfdrive/car/ford/carstate.py

@@ -17,8 +17,6 @@ class CarState(CarStateBase):
     if CP.transmissionType == TransmissionType.automatic:
       self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
 
-    self.vehicle_sensors_valid = False
-
     self.prev_distance_button = 0
     self.distance_button = 0
 
@@ -27,7 +25,7 @@ class CarState(CarStateBase):
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving
-    self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
+    ret.vehicleSensorsInvalid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] != 3
 
     # car speed
     ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS

selfdrive/car/ford/interface.py

@@ -73,8 +73,6 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
-    if not self.CS.vehicle_sensors_valid:
-      events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
 
     ret.events = events.to_msg()
 

selfdrive/car/interfaces.py

@@ -300,6 +300,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.preEnableStandstill)
     if cs_out.gasPressed:
       events.add(EventName.gasPressedOverride)
+    if cs_out.vehicleSensorsInvalid:
+      events.add(EventName.vehicleSensorsInvalid)
 
     # Handle button presses
     for b in cs_out.buttonEvents:

selfdrive/car/toyota/carstate.py

@@ -112,6 +112,10 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS
       ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS
 
+      # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
+      # the more accurate angle sensor signal is initialized
+      ret.vehicleSensorsInvalid = not self.accurate_steer_angle_seen
+
     if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0

selfdrive/car/toyota/interface.py

@@ -154,11 +154,6 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret)
 
-    # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
-    # the more accurate angle sensor signal is initialized
-    if self.CP.steerControlType == SteerControlType.angle and not self.CS.accurate_steer_angle_seen:
-      events.add(EventName.vehicleSensorsInvalid)
-
     if self.CP.openpilotLongitudinalControl:
       if ret.cruiseState.standstill and not ret.brakePressed:
         events.add(EventName.resumeRequired)