From cc29fdfed265342b931d5fa48b0854d3e2e445fe Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 20 Apr 2021 21:01:28 -0700
Subject: [PATCH] less harsh steering unavailable alert when overriding
 (#20718)

* less harsh steering unavailable alert when overriding

* just steer

* 1s

* orange

* update refs
old-commit-hash: 836668f1050e1dbc185af7d472e2016627711aeb
---
 cereal                                   | 2 +-
 selfdrive/car/interfaces.py              | 5 ++++-
 selfdrive/controls/lib/events.py         | 8 ++++++++
 selfdrive/test/process_replay/ref_commit | 2 +-
 4 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/cereal b/cereal
index b39c6fc26d..9c56c531c6 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit b39c6fc26d93ca776b27a2e4005b12ae85e7bacc
+Subproject commit 9c56c531c6b1c6dbf6d22377fbb2eb75309d1e91
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 4d2de08e86..528afdb922 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -119,7 +119,10 @@ class CarInterfaceBase():
     if cs_out.steerError:
       events.add(EventName.steerUnavailable)
     elif cs_out.steerWarning:
-      events.add(EventName.steerTempUnavailable)
+      if cs_out.steeringPressed:
+        events.add(EventName.steerTempUnavailableUserOverride)
+      else:
+        events.add(EventName.steerTempUnavailable)
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     # Optionally allow to press gas at zero speed to resume.
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index bb4ec5b78b..eca43c473a 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -351,6 +351,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
   },
 
+  EventName.steerTempUnavailableUserOverride: {
+    ET.WARNING: Alert(
+      "Steering Temporarily Unavailable",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
+  },
+
   EventName.preDriverDistracted: {
     ET.WARNING: Alert(
       "KEEP EYES ON ROAD: Driver Distracted",
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index df9e1ab4ba..7ddcabce67 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a3186f6a218e5f031239a60e218049a56c5636a6
\ No newline at end of file
+bb1af9fc73c15967a4160d8899f2688b059627bf
\ No newline at end of file