less harsh steering unavailable alert when overriding (#20718)

* less harsh steering unavailable alert when overriding * just steer * 1s * orange * update refs old-commit-hash: 836668f105
4 years ago · cc29fdfed2
parent 8c72eac7fb
commit cc29fdfed2
4 changed files with 14 additions and 3 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit b39c6fc26d93ca776b27a2e4005b12ae85e7bacc
+Subproject commit 9c56c531c6b1c6dbf6d22377fbb2eb75309d1e91
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -119,6 +119,9 @@ class CarInterfaceBase():
    if cs_out.steerError:
      events.add(EventName.steerUnavailable)
    elif cs_out.steerWarning:
+      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.
--- 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",
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-a3186f6a218e5f031239a60e218049a56c5636a6
+bb1af9fc73c15967a4160d8899f2688b059627bf