From b10802d9a2f051a9c616c6341a170f6f340579c6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 11 Jul 2025 21:16:27 -0700
Subject: [PATCH] build out lockout

---
 cereal/log.capnp                   | 1 +
 selfdrive/selfdrived/events.py     | 6 ++++++
 selfdrive/selfdrived/selfdrived.py | 8 ++++++--
 3 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 7f41cffa15..8fd22c9283 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -128,6 +128,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     personalityChanged @91;
     aeb @92;
     userFlag @95;
+    lateralIsoViolation @96;
 
     soundsUnavailableDEPRECATED @47;
   }
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 369685f398..035c049bbb 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -758,6 +758,12 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
   },
 
+  EventName.lateralIsoViolation: {
+    # TODO: call Iso something else if we don't explain it in the offroad alert?
+    ET.SOFT_DISABLE: soft_disable_alert("Lateral ISO Violation"),
+    ET.NO_ENTRY: NoEntryAlert("Lateral ISO Violation"),  # TODO: call Iso something else if we don't explain it in the offroad alert?
+  },
+
   EventName.overheat: {
     ET.PERMANENT: overheat_alert,
     ET.SOFT_DISABLE: soft_disable_alert("System Overheated"),
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index bc93b26616..719545704e 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -107,6 +107,7 @@ class SelfdriveD:
     self.active = False
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
+    self.lateral_iso_violation = False
     self.last_steering_pressed_frame = 0
     self.distance_traveled = 0
     self.last_functional_fan_frame = 0
@@ -232,9 +233,12 @@ class SelfdriveD:
       if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
         self.events.add(EventName.ldw)
 
-    if check_lateral_iso_violation(self.sm):
+    if not self.lateral_iso_violation and check_lateral_iso_violation(self.sm):
       set_offroad_alert("Offroad_LateralIsoViolation", True)
-      # TODO: lockout for rest of drive like DM attention warning
+      self.lateral_iso_violation = True
+
+    if self.lateral_iso_violation:
+      self.events.add(EventName.lateralIsoViolation)
 
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: